void TODBaseImporter::importOcclusionObjects(const std::string &modelsPath,
std::vector<EdgeModel> &occlusionObjects, std::vector<PoseRT> &occlusionOffsets) const
{
//TODO: move up
const string occlusionPrefix = "occlusion_";
const string occlusionPostFix = ".xml";
//TOOD: port to other systems too
DIR *directory = opendir(testFolder.c_str());
CV_Assert(directory != 0);
occlusionObjects.clear();
for (dirent *entry = readdir(directory); entry != 0; entry = readdir(directory))
{
string filename = entry->d_name;
if (filename.substr(0, occlusionPrefix.length()) != occlusionPrefix)
{
continue;
}
int objectNameLength = static_cast<int>(filename.length()) - static_cast<int>(occlusionPostFix.length()) - static_cast<int>(occlusionPrefix.length());
string objectName = filename.substr(occlusionPrefix.length(), objectNameLength);
EdgeModel edgeModel;
importEdgeModel(modelsPath, objectName, edgeModel);
occlusionObjects.push_back(edgeModel);
PoseRT offset;
offset.read(testFolder + "/" + filename);
occlusionOffsets.push_back(offset);
}
}
void poseinfo(string path) {
FileStorage in(path, FileStorage::READ);
PoseRT pose;
pose.read(in[PoseRT::YAML_NODE_NAME]);
in.release();
cout << boost::format("%10.7f %10.7f %10.7f %10.7f %10.7f %10.7f")
% pose.tvec.at<double>(0, 0)
% pose.tvec.at<double>(1, 0)
% pose.tvec.at<double>(2, 0)
% pose.rvec.at<double>(0, 0)
% pose.rvec.at<double>(1, 0)
% pose.rvec.at<double>(2, 0) << endl;
}
void TODBaseImporter::importOffset(PoseRT &offset) const
{
//TODO: move up
const string offsetFilename = "offset.xml";
offset.read(testFolder + "/" + offsetFilename);
}