transformationfile_manager_XML.cpp

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#include "Transformation/transformationfile_manager_XML.h"
#include <iostream>
#include <fstream>
#include <string>
#include <ros/ros.h>
#ifndef Q_MOC_RUN
#include <boost/foreach.hpp>
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
#endif

using namespace std;

TransformationFile_Manager_XML::TransformationFile_Manager_XML (string filePath) : Abstract_TransformationFile_Manager(filePath) {}

bool TransformationFile_Manager_XML::writeToFile(Transformation_Data data)
{    
    boost::property_tree::ptree pt;
    ifstream infile(this->filePath);
    if (infile.good()) boost::property_tree::read_xml(this->filePath, pt); //If file exists, append new data

    boost::property_tree::ptree dataNode;
    boost::property_tree::ptree transformLaserScan_Node;
    boost::property_tree::ptree transformPTU_Node;

    dataNode.put<double>("<xmlattr>.Pan", data.pan);
    dataNode.put<double>("<xmlattr>.Tilt", data.tilt);

    for (unsigned int i = 0; i < 4; i++)
    {
        for (unsigned int j = 0; j < 4; j++)
        {
            std::string name = "<xmlattr>.x_" + std::to_string(i) + std::to_string(j);
            transformLaserScan_Node.put<double>(name, data.LaserScan_Frame(i,j));
            transformPTU_Node.put<double>(name, data.PTU_Frame(i,j));
        }
    }
    dataNode.add_child("FrameLaserscan", transformLaserScan_Node);
    dataNode.add_child("FramePTU", transformPTU_Node);
    pt.add_child("TransformationData.DataSet", dataNode);
    //boost::property_tree::xml_writer_settings<char> settings('\t', 1);
    boost::property_tree::write_xml(this->filePath, pt,std::locale());
    return true;
}

std::vector<Transformation_Data> TransformationFile_Manager_XML::readFromFile(string filePath)
{
    std::vector<Transformation_Data> output;
    boost::property_tree::ptree pt;
    //open the archive
    read_xml(filePath, pt);

    BOOST_FOREACH(boost::property_tree::ptree::value_type &node, pt.get_child("TransformationData"))
    {
        if (node.first == "DataSet")
        {
            Transformation_Data data;
            data.pan = node.second.get<double>("<xmlattr>.Pan");
            data.tilt = node.second.get<double>("<xmlattr>.Tilt");
            boost::property_tree::ptree transformLaserScan_Node = node.second.get_child("FrameLaserscan");
            boost::property_tree::ptree transformPTU_Node = node.second.get_child("FramePTU");
            for (unsigned int i = 0; i < 4; i++)
            {
                for (unsigned int j = 0; j < 4; j++)
                {
                    std::string name = "<xmlattr>.x_" + std::to_string(i) + std::to_string(j);
                    data.LaserScan_Frame(i, j) = transformLaserScan_Node.get<double>(name);
                    data.PTU_Frame(i, j) = transformPTU_Node.get<double>(name);
                }
            }
            output.push_back(data);
        }
    }
    return output;
}

std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> TransformationFile_Manager_XML::readTransformationFromFile(string filePath)
{
    std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> re;
    return re;
}

bool TransformationFile_Manager_XML::writeTransformationToFile(const std::vector<Eigen::Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d>> transformation)
{
    return false;
}

bool TransformationFile_Manager_XML::writeCameraOffsetToFile(const PanTiltOffsetTupleList &offsetData)
{
    return true;
}