PoseGraph.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "pipelines/registration/PoseGraph.h"
 
#include <Logging.h>
#include <json/json.h>
 
namespace cloudViewer {
namespace pipelines {
namespace registration {
 
PoseGraphNode::~PoseGraphNode() {}
 
bool PoseGraphNode::ConvertToJsonValue(Json::Value &value) const {
    value["class_name"] = "PoseGraphNode";
    value["version_major"] = 1;
    value["version_minor"] = 0;
 
    Json::Value pose_object;
    if (!EigenMatrix4dToJsonArray(pose_, pose_object)) {
        return false;
    }
    value["pose"] = pose_object;
    return true;
}
 
bool PoseGraphNode::ConvertFromJsonValue(const Json::Value &value) {
    if (!value.isObject()) {
        utility::LogWarning(
                "PoseGraphNode read JSON failed: unsupported json format.");
        return false;
    }
    if (value.get("class_name", "").asString() != "PoseGraphNode" ||
        value.get("version_major", 1).asInt() != 1 ||
        value.get("version_minor", 0).asInt() != 0) {
        utility::LogWarning(
                "PoseGraphNode read JSON failed: unsupported json format.");
        return false;
    }
 
    const Json::Value &pose_object = value["pose"];
    if (!EigenMatrix4dFromJsonArray(pose_, pose_object)) {
        return false;
    }
    return true;
}
 
PoseGraphEdge::~PoseGraphEdge() {}
 
bool PoseGraphEdge::ConvertToJsonValue(Json::Value &value) const {
    value["class_name"] = "PoseGraphEdge";
    value["version_major"] = 1;
    value["version_minor"] = 0;
 
    value["source_node_id"] = source_node_id_;
    value["target_node_id"] = target_node_id_;
    value["uncertain"] = uncertain_;
    value["confidence"] = confidence_;
    Json::Value transformation_object;
    if (!EigenMatrix4dToJsonArray(transformation_, transformation_object)) {
        return false;
    }
    value["transformation"] = transformation_object;
    Json::Value information_object;
    if (!EigenMatrix6dToJsonArray(information_, information_object)) {
        return false;
    }
    value["information"] = information_object;
    return true;
}
 
bool PoseGraphEdge::ConvertFromJsonValue(const Json::Value &value) {
    if (!value.isObject()) {
        utility::LogWarning(
                "PoseGraphEdge read JSON failed: unsupported json format.");
        return false;
    }
    if (value.get("class_name", "").asString() != "PoseGraphEdge" ||
        value.get("version_major", 1).asInt() != 1 ||
        value.get("version_minor", 0).asInt() != 0) {
        utility::LogWarning(
                "PoseGraphEdge read JSON failed: unsupported json format.");
        return false;
    }
 
    source_node_id_ = value.get("source_node_id", -1).asInt();
    target_node_id_ = value.get("target_node_id", -1).asInt();
    uncertain_ = value.get("uncertain", false).asBool();
    confidence_ = value.get("confidence", 1.0).asDouble();
    const Json::Value &transformation_object = value["transformation"];
    if (!EigenMatrix4dFromJsonArray(transformation_, transformation_object)) {
        return false;
    }
    const Json::Value &information_object = value["information"];
    if (!EigenMatrix6dFromJsonArray(information_, information_object)) {
        return false;
    }
    return true;
}
 
PoseGraph::PoseGraph() {}
 
PoseGraph::~PoseGraph() {}
 
bool PoseGraph::ConvertToJsonValue(Json::Value &value) const {
    value["class_name"] = "PoseGraph";
    value["version_major"] = 1;
    value["version_minor"] = 0;
 
    Json::Value node_array;
    for (const auto &node : nodes_) {
        Json::Value node_object;
        if (!node.ConvertToJsonValue(node_object)) {
            return false;
        }
        node_array.append(node_object);
    }
    value["nodes"] = node_array;
 
    Json::Value edge_array;
    for (const auto &edge : edges_) {
        Json::Value edge_object;
        if (!edge.ConvertToJsonValue(edge_object)) {
            return false;
        }
        edge_array.append(edge_object);
    }
    value["edges"] = edge_array;
    return true;
}
 
bool PoseGraph::ConvertFromJsonValue(const Json::Value &value) {
    if (!value.isObject()) {
        utility::LogWarning(
                "PoseGraph read JSON failed: unsupported json format.");
        return false;
    }
    if (value.get("class_name", "").asString() != "PoseGraph" ||
        value.get("version_major", 1).asInt() != 1 ||
        value.get("version_minor", 0).asInt() != 0) {
        utility::LogWarning(
                "PoseGraph read JSON failed: unsupported json format.");
        return false;
    }
 
    const Json::Value &node_array = value["nodes"];
    if (node_array.empty()) {
        utility::LogWarning("PoseGraph read JSON failed: empty nodes.");
        return false;
    }
    nodes_.clear();
    for (int i = 0; i < (int)node_array.size(); i++) {
        const Json::Value &node_object = node_array[i];
        PoseGraphNode new_node;
        if (!new_node.ConvertFromJsonValue(node_object)) {
            return false;
        }
        nodes_.push_back(new_node);
    }
 
    const Json::Value &edge_array = value["edges"];
    if (edge_array.empty()) {
        utility::LogWarning("PoseGraph read JSON failed: empty edges.");
        return false;
    }
    edges_.clear();
    for (int i = 0; i < (int)edge_array.size(); i++) {
        const Json::Value &edge_object = edge_array[i];
        PoseGraphEdge new_edge;
        if (!new_edge.ConvertFromJsonValue(edge_object)) {
            return false;
        }
        edges_.push_back(new_edge);
    }
    return true;
}
 
}  // namespace registration
}  // namespace pipelines
}  // namespace cloudViewer