void
object_recognition_core::db::DummyDocument::set_attachment<cv::linemod::Detector>(const AttachmentName& attachment_name,
const cv::linemod::Detector& value)
{
// First write the class to a file
std::string file_name = temporary_yml_file_name(true);
{
cv::FileStorage fs(file_name, cv::FileStorage::WRITE);
value.write(fs);
std::vector < std::string > ids = value.classIds();
fs << "classes" << "[";
for (int i = 0; i < (int) ids.size(); ++i)
{
fs << "{";
value.writeClass(ids[i], fs);
fs << "}"; // current class
}
fs << "]"; // classes
fs.release();
}
// Read the file as a stream
std::ifstream reader(file_name.c_str());
std::stringstream out;
out << reader.rdbuf();
set_attachment_stream(attachment_name, out, MIME_TYPE);
boost::filesystem::remove(file_name.c_str());
}
void
object_recognition_core::db::Document::get_attachment<shape_msgs::Mesh>(
const AttachmentName &attachment_name, shape_msgs::Mesh &value) const
{
// Get the binary file
std::string file_name = temporary_yml_file_name(false);
std::stringstream ss;
this->get_attachment_stream(attachment_name, ss, MIME_TYPE);
// Write it to disk
std::ofstream writer(file_name.c_str());
writer << ss.rdbuf() << std::flush;
// Read it
//value.read(file_name);
//boost::filesystem::remove(file_name.c_str());
}
void
yaml2mats(std::map<std::string, cv::Mat>& mm,std::istream& in, bool do_gzip)
{
std::string fname = temporary_yml_file_name(do_gzip);
{
std::ofstream writer(fname.c_str());
writer << in.rdbuf();
}
{
cv::FileStorage fs(fname, cv::FileStorage::READ);
typedef std::pair<std::string, cv::Mat> pair_t;
BOOST_FOREACH(const pair_t& x, mm)
{
fs[x.first] >> mm[x.first];
}
}
void
object_recognition_core::db::Document::get_attachment<transpod::PoseEstimator>(const AttachmentName &attachment_name,
transpod::PoseEstimator &value) const
{
// Get the binary file
std::string file_name = temporary_yml_file_name(true);
std::stringstream ss;
this->get_attachment_stream(attachment_name, ss, MIME_TYPE);
// Write it to disk
std::ofstream writer(file_name.c_str());
writer << ss.rdbuf() << std::flush;
// Read it
value.read(file_name);
boost::filesystem::remove(file_name.c_str());
}
void
object_recognition_core::db::DummyDocument::get_attachment<std::vector<cv::Mat> >(const AttachmentName& attachment_name,
std::vector<cv::Mat> &value) const
{
// Get the binary file
std::string file_name = temporary_yml_file_name(false);
std::stringstream ss;
this->get_attachment_stream(attachment_name, ss, MIME_TYPE);
// Write it to disk
std::ofstream writer(file_name.c_str());
writer << ss.rdbuf() << std::flush;
// Read it
cv::FileStorage fs(file_name, cv::FileStorage::READ);
cv::FileNode matrices = fs["matrices"];
matrices >> value;
boost::filesystem::remove(file_name.c_str());
}
void
object_recognition_core::db::Document::set_attachment<transpod::PoseEstimator>(const AttachmentName &attachment_name,
const transpod::PoseEstimator &value)
{
// First write the class to a file
std::string file_name = temporary_yml_file_name(true);
{
cv::FileStorage fs(file_name, cv::FileStorage::WRITE);
value.write(fs);
fs.release();
}
// Read the file as a stream
std::ifstream reader(file_name.c_str());
std::stringstream out;
out << reader.rdbuf();
set_attachment_stream(attachment_name, out, MIME_TYPE);
boost::filesystem::remove(file_name.c_str());
}
void
object_recognition_core::db::DummyDocument::set_attachment<std::vector<cv::Mat> >(const AttachmentName& attachment_name,
const std::vector<cv::Mat>& value)
{
// First write the class to a file
std::string file_name = temporary_yml_file_name(false);
{
cv::FileStorage fs(file_name, cv::FileStorage::WRITE);
fs << "matrices" << value;
fs.release();
}
// Read the file as a stream
std::ifstream reader(file_name.c_str());
std::stringstream out;
out << reader.rdbuf();
set_attachment_stream(attachment_name, out, MIME_TYPE);
boost::filesystem::remove(file_name.c_str());
}
void
object_recognition_core::db::DummyDocument::get_attachment<cv::linemod::Detector>(const AttachmentName& attachment_name,
cv::linemod::Detector& value) const
{
// Get the binary file
std::string file_name = temporary_yml_file_name(true);
std::stringstream ss;
this->get_attachment_stream(attachment_name, ss, MIME_TYPE);
// Write it to disk
std::ofstream writer(file_name.c_str());
writer << ss.rdbuf() << std::flush;
// Read it
cv::FileStorage fs(file_name, cv::FileStorage::READ);
value.read(fs.root());
cv::FileNode fn = fs["classes"];
for (cv::FileNodeIterator i = fn.begin(), iend = fn.end(); i != iend; ++i)
value.readClass(*i);
// Delete the tmp file
boost::filesystem::remove(file_name.c_str());
}
