TrackerROI.cpp

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#include <labust/blueview/TrackerROI.hpp>
#include <labust/xml/XMLReader.hpp>
#include <labust/xml/XMLWriter.hpp>

#include <modp_b85.h>

#include <sstream>

using namespace labust::blueview;

TrackerROI::TrackerROI(){};

TrackerROI::TrackerROI(const std::string& str)
{
  this->deserialize(str,this);
}

TrackerROI::~TrackerROI(){};

bool TrackerROI::deserialize(const std::string& str, TrackerROI* const object)
try
{
  //Punch the stuff into the querier
        labust::xml::Reader reader(str);

        reader.useNode(reader.value<_xmlNode*>("/tracker-roi"));

        reader.value("width",&object->size.width);
        reader.value("height",&object->size.height);
        reader.value("meters-per-pixel",&object->headData.resolution);

        //Initialize the image and decode the information.
        object->roi = cv::Mat(object->size, CV_16U);
        std::string pixels;
        reader.value("pixels",&pixels);
        modp_b85_decode(reinterpret_cast<char*>(object->roi.data), str.c_str(), str.length());

        reader.useNode(reader.value<_xmlNode*>("sonar-head"));
        reader.value("latitude",&object->headData.latlon.x);
        reader.value("longitude",&object->headData.latlon.y);
        reader.value("heading",&object->headData.heading);
        reader.value("pan-angle",&object->headData.panAngle);
        reader.value("tilt-angle",&object->headData.tiltAngle);
        reader.value("origin-x",&object->origin.x);
        reader.value("origin-y",&object->origin.y);

        return true;
}
catch (labust::xml::XMLException& e)
{
        std::cerr<<"Failed to deserialize:"<<e.what()<<std::endl;
        return false;
}

bool TrackerROI::serialize(const TrackerROI& object, std::string* str)
try
{
  //Initialize the XMLWriter.
        labust::xml::Writer writer;
        writer.startElement("tracker-roi");
         writer.addElement("width",object.size.width);
         writer.addElement("height",object.size.height);
         writer.addElement("meters-per-pixel",object.headData.resolution);
         writer.startElement("sonar-head");
          writer.addElement("latitude",object.headData.latlon.x);
          writer.addElement("longitude",object.headData.latlon.y);
          writer.addElement("heading",object.headData.heading);
          writer.addElement("pan-angle",object.headData.panAngle);
    writer.addElement("tilt-angle",object.headData.tiltAngle);
    writer.addElement("origin-x",object.origin.x);
    writer.addElement("origin-y",object.origin.y);
   writer.endElement();

   boost::shared_ptr<char> buffer(new char[modp_b85_encode_strlen(object.roi.rows*object.roi.step)]);
   modp_b85_encode(buffer.get(),reinterpret_cast<const char*>(object.roi.data),object.roi.rows*object.roi.step);
   writer.addElement("pixels",buffer.get());
  writer.endDocument();

  (*str) = writer.toString();

        return true;
}
catch (labust::xml::XMLException& e)
{
        std::cerr<<"Failed to serialize:"<<e.what()<<std::endl;
        return false;
}