PinholeCameraTrajectory.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include "camera/PinholeCameraTrajectory.h"
 
#include <Logging.h>
#include <json/json.h>
 
#include "camera/PinholeCameraIntrinsic.h"
 
namespace cloudViewer {
namespace camera {
using namespace cloudViewer;
 
PinholeCameraTrajectory::PinholeCameraTrajectory() {}
 
PinholeCameraTrajectory::~PinholeCameraTrajectory() {}
 
bool PinholeCameraTrajectory::ConvertToJsonValue(Json::Value &value) const {
    value["class_name"] = "PinholeCameraTrajectory";
    value["version_major"] = 1;
    value["version_minor"] = 0;
    Json::Value parameters_array;
    for (const auto &parameter : parameters_) {
        Json::Value parameter_value;
        parameter.ConvertToJsonValue(parameter_value);
        parameters_array.append(parameter_value);
    }
    value["parameters"] = parameters_array;
 
    return true;
}
 
bool PinholeCameraTrajectory::ConvertFromJsonValue(const Json::Value &value) {
    if (value.isObject() == false) {
        utility::LogWarning(
                "PinholeCameraTrajectory read JSON failed: unsupported json "
                "format.");
        return false;
    }
    if (value.get("class_name", "").asString() != "PinholeCameraTrajectory" ||
        value.get("version_major", 1).asInt() != 1 ||
        value.get("version_minor", 0).asInt() != 0) {
        utility::LogWarning(
                "PinholeCameraTrajectory read JSON failed: unsupported json "
                "format.");
        return false;
    }
 
    const Json::Value parameter_array = value["parameters"];
 
    if (parameter_array.size() == 0) {
        utility::LogWarning(
                "PinholeCameraTrajectory read JSON failed: empty "
                "trajectory.");
        return false;
    }
    parameters_.resize(parameter_array.size());
    for (size_t i = 0; i < parameter_array.size(); i++) {
        const Json::Value &status_object = parameter_array[int(i)];
        if (parameters_[i].intrinsic_.ConvertFromJsonValue(
                    status_object["intrinsic"]) == false) {
            return false;
        }
        if (EigenMatrix4dFromJsonArray(parameters_[i].extrinsic_,
                                       status_object["extrinsic"]) == false) {
            return false;
        }
    }
    return true;
}
}  // namespace camera
}  // namespace cloudViewer