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#ifndef DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POSE_H_ // NOLINT
#define DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POSE_H_ // NOLINT
#include <memory>
#include <string>
#include <unordered_map>
#include <vector>
#include "dynamic_depth/element.h"
#include "xmpmeta/xml/deserializer.h"
#include "xmpmeta/xml/serializer.h"
namespace dynamic_depth {
/**
* Implements the Pose element in the Dynamic Depth specification, with
* serialization and deserialization.
* See xdm.org.
*/
class Pose : public Element {
public:
// Appends child elements' namespaces' and their respective hrefs to the
// given collection, and any parent nodes' names to prefix_names.
// Key: Name of the namespace.
// Value: Full namespace URL.
// Example: ("Pose", "http://ns.google.com/photos/dd/1.0/pose/")
void GetNamespaces(
std::unordered_map<string, string>* ns_name_href_map) override;
// Serializes this object. Returns true on success.
bool Serialize(
::dynamic_depth::xmpmeta::xml::Serializer* serializer) const override;
// Creates a Pose from the given data.
// The order of values in position is x, y, z.
// The order of values in orientation is the quaternion x, y, z, w fields.
// This is assusmed to be un-normalized.
// Position coordinates are relative to Camera 0, and must be 0 for Camera 0.
// Position and orientation are in raw coordinates, and will be stored as
// normalied values.
// At least one valid position or orientation must be provided. These
// arguments will be ignored if the vector is of the wrong size.
static std::unique_ptr<Pose> FromData(const std::vector<float>& position,
const std::vector<float>& orientation,
const int64 timestamp = -1);
// Returns the deserialized XdmAudio; null if parsing fails.
// The returned pointer is owned by the caller.
static std::unique_ptr<Pose> FromDeserializer(
const ::dynamic_depth::xmpmeta::xml::Deserializer& parent_deserializer,
const char* parent_namespace);
// Returns true if the device's position is provided.
bool HasPosition() const;
// Returns true if the device's orientation is provided.
bool HasOrientation() const;
// Returns the device's position fields, or an empty vector if they are
// not present.
const std::vector<float>& GetPosition() const;
// Returns the device's orientation fields, or an empty vector if they are
// not present.
const std::vector<float>& GetOrientation() const;
// Timestamp.
int64 GetTimestamp() const;
// Disallow copying.
Pose(const Pose&) = delete;
void operator=(const Pose&) = delete;
private:
Pose();
// Extracts camera pose fields.
bool ParsePoseFields(
const ::dynamic_depth::xmpmeta::xml::Deserializer& deserializer);
// Position variables, in meters relative to camera 0.
// If providing position data, all three fields must be set.
// Stored in normalized form.
// TODO(miraleung): Cleanup: consider std::optional for this and orientation_.
std::vector<float> position_;
// Orientation variables.
// If providing orientation data, all four fields must be set.
// Stored in normalized form.
std::vector<float> orientation_;
// Timestamp is Epoch time in milliseconds.
int64 timestamp_;
};
} // namespace dynamic_depth
#endif // DYNAMIC_DEPTH_INCLUDES_DYNAMIC_DEPTH_POSE_H_ // NOLINT
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