bool RGBDKeyframe::save(
const RGBDKeyframe& keyframe,
const std::string& path)
{
std::string pose_filename = path + "/pose.yaml";
std::string prop_filename = path + "/properties.yaml";
// save frame
bool save_frame_result = RGBDFrame::save(keyframe, path);
if (!save_frame_result) return false;
// save pose as OpenCV rmat and tvec
cv::Mat rmat, tvec;
tfToOpenCVRt(keyframe.pose, rmat, tvec);
cv::FileStorage fs_m(pose_filename, cv::FileStorage::WRITE);
fs_m << "rmat" << rmat;
fs_m << "tvec" << tvec;
// save other class members
cv::FileStorage fs_p(prop_filename, cv::FileStorage::WRITE);
fs_p << "manually_added" << keyframe.manually_added;
fs_p << "path_length_linear" << keyframe.path_length_linear;
fs_p << "path_length_angular" << keyframe.path_length_angular;
return true;
}
bool RGBDKeyframe::load(RGBDKeyframe& keyframe, const std::string& path)
{
// load frame
bool load_frame_result = RGBDFrame::load(keyframe, path);
if (!load_frame_result) return false;
// set up filenames
std::string pose_filename = path + "/pose.yaml";
std::string prop_filename = path + "/properties.yaml";
// check if files exist
if (!boost::filesystem::exists(pose_filename) ||
!boost::filesystem::exists(prop_filename) )
{
ROS_ERROR("files for loading keyframe not found");
return false;
}
// load pose
cv::FileStorage fs_m(pose_filename, cv::FileStorage::READ);
cv::Mat rmat, tvec;
fs_m["rmat"] >> rmat;
fs_m["tvec"] >> tvec;
openCVRtToTf(rmat, tvec, keyframe.pose);
// load other class members
cv::FileStorage fs_p(prop_filename, cv::FileStorage::READ);
fs_p["manually_added"] >> keyframe.manually_added;
fs_p["path_length_linear"] >> keyframe.path_length_linear;
fs_p["path_length_angular"] >> keyframe.path_length_angular;
return true;
}
void FragSpectrumScanDatabase::savePsm( unsigned int scanNr,
std::auto_ptr< percolatorInNs::peptideSpectrumMatch > psm_p ) {
std::auto_ptr< ::percolatorInNs::fragSpectrumScan> fss = getFSS(scanNr);
// if FragSpectrumScan does not yet exist, create it
if (!fss.get()) {
std::auto_ptr< ::percolatorInNs::fragSpectrumScan>
fs_p( new ::percolatorInNs::fragSpectrumScan(scanNr));
fss = fs_p;
}
// add the psm to the FragSpectrumScan
fss->peptideSpectrumMatch().push_back(psm_p);
putFSS(*fss);
}
