trv_dataProvider.hpp

#ifndef TRV_DATAPROVIDER_HPP
#define TRV_DATAPROVIDER_HPP

#include "kernel/jafarException.hpp"

#include "traversability/trv_util.hpp"

#include "datareader/PositionReader.hpp"
#include "datareader/ImageReader.hpp"

#include "geom/t3d.hpp"
#include "geom/t3dEuler.hpp"

#include <image/Image.hpp>
#include <string>
#include <fstream>          // to read data files

using namespace std;

namespace jafar {
  namespace traversability {
    
    class DataProvider {
      
      private:
        FileInfoDataSet mFileInfo;
        jafar::datareader::PositionReader* mPosReader;
        jafar::datareader::ImageReader* mImgReader;
        std::string mExcepStr;
      
      public:
        DataProvider ( void );
        DataProvider ( FileInfoDataSet fileInfo );
        DataProvider ( std::string pathConfigFile, std::string excepStr = "none" );
        ~DataProvider ( void );
        
        void setup  ( std::string pathConfigFile, std::string excepStr = "none" );
        void setup  ( FileInfoDataSet fileInfo );
        void getPose ( int idx, CameraPoseParameters &camPose );
        CameraPoseParameters getPose ( int idx );
        void getImage ( int idx, jafar::image::Image &img );
        jafar::image::Image getImage ( int idx );
        void getData ( int idx, CameraPoseParameters &camPose, jafar::image::Image &img );
        void printFileInfo ( void );
        void printPoseData ( int idx );
        
        FileInfoDataSet parseConfigFile( std::string pathConfigFile );
        ImageInfo parseConfigFileForImageInfo ( std::string pathConfigFile );
        CameraIntrinsicParameters parseConfigFileForInternals ( std::string pathConfigFile );
        
      private:
        void initPositionReader ( FileInfoDataSet fileInfo );
        void initImageReader ( FileInfoDataSet fileInfo );
        jblas::vec6 getPoseDataFromSource ( jafar::datareader::PositionReader* posReader, int idx );
        CameraPoseParameters getPoseDataFromSourceStr ( jafar::datareader::PositionReader* posReader, int idx );
        template <typename T> T parseFile ( std::string pathConfigFile, std::string key )
        {
          // open config file
          ifstream inputFile;
          inputFile.open(pathConfigFile.c_str());
          T output = T(); 
          string str;
      
          while ( inputFile >> str )
          {
            if ( str == key )
            {
              inputFile >> output;
              break;
            }
          }
      
          // close config file
          inputFile.close();
      
          return output;
        }
    };
    
  } // traversability
} // jafar





#endif