void DiscreteDepthDistortionModel::deserialize(std::istream& in, bool ascii)
{
UDEBUG("");
string buf;
getline(in, buf);
UDEBUG("buf=%s", buf.c_str());
assert(buf == "DiscreteDepthDistortionModel v01");
if(ascii)
{
eigen_extensions::deserializeScalarASCII(in, &width_);
eigen_extensions::deserializeScalarASCII(in, &height_);
eigen_extensions::deserializeScalarASCII(in, &bin_width_);
eigen_extensions::deserializeScalarASCII(in, &bin_height_);
eigen_extensions::deserializeScalarASCII(in, &bin_depth_);
eigen_extensions::deserializeScalarASCII(in, &num_bins_x_);
eigen_extensions::deserializeScalarASCII(in, &num_bins_y_);
eigen_extensions::deserializeScalarASCII(in, &training_samples_);
}
else
{
eigen_extensions::deserializeScalar(in, &width_);
eigen_extensions::deserializeScalar(in, &height_);
eigen_extensions::deserializeScalar(in, &bin_width_);
eigen_extensions::deserializeScalar(in, &bin_height_);
eigen_extensions::deserializeScalar(in, &bin_depth_);
eigen_extensions::deserializeScalar(in, &num_bins_x_);
eigen_extensions::deserializeScalar(in, &num_bins_y_);
eigen_extensions::deserializeScalar(in, &training_samples_);
}
UINFO("Distortion Model: width=%d", width_);
UINFO("Distortion Model: height=%d", height_);
UINFO("Distortion Model: bin_width=%d", bin_width_);
UINFO("Distortion Model: bin_height=%d", bin_height_);
UINFO("Distortion Model: bin_depth=%f", bin_depth_);
UINFO("Distortion Model: num_bins_x=%d", num_bins_x_);
UINFO("Distortion Model: num_bins_y=%d", num_bins_y_);
UINFO("Distortion Model: training_samples=%d", training_samples_);
deleteFrustums();
frustums_.resize(num_bins_y_);
for(size_t y = 0; y < frustums_.size(); ++y) {
frustums_[y].resize(num_bins_x_, NULL);
for(size_t x = 0; x < frustums_[y].size(); ++x) {
UDEBUG("Distortion Model: Frustum[%d][%d]", y, x);
frustums_[y][x] = new DiscreteFrustum;
frustums_[y][x]->deserialize(in, ascii);
}
}
UDEBUG("");
}
void DiscreteDepthDistortionModel::deserialize(std::istream& in)
{
string buf;
getline(in, buf);
assert(buf == "DiscreteDepthDistortionModel v01");
eigen_extensions::deserializeScalar(in, &width_);
eigen_extensions::deserializeScalar(in, &height_);
eigen_extensions::deserializeScalar(in, &bin_width_);
eigen_extensions::deserializeScalar(in, &bin_height_);
eigen_extensions::deserializeScalar(in, &bin_depth_);
eigen_extensions::deserializeScalar(in, &num_bins_x_);
eigen_extensions::deserializeScalar(in, &num_bins_y_);
deleteFrustums();
frustums_.resize(num_bins_y_);
for(size_t y = 0; y < frustums_.size(); ++y) {
frustums_[y].resize(num_bins_x_, NULL);
for(size_t x = 0; x < frustums_[y].size(); ++x) {
frustums_[y][x] = new DiscreteFrustum;
frustums_[y][x]->deserialize(in);
}
}
}
DiscreteDepthDistortionModel::~DiscreteDepthDistortionModel()
{
deleteFrustums();
}