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#include "dynamic_depth/pose.h"
#include <math.h>
#include "android-base/logging.h"
#include "dynamic_depth/const.h"
using ::dynamic_depth::xmpmeta::xml::Deserializer;
using ::dynamic_depth::xmpmeta::xml::Serializer;
namespace dynamic_depth {
namespace {
const char kPositionX[] = "PositionX";
const char kPositionY[] = "PositionY";
const char kPositionZ[] = "PositionZ";
const char kRotationX[] = "RotationX";
const char kRotationY[] = "RotationY";
const char kRotationZ[] = "RotationZ";
const char kRotationW[] = "RotationW";
const char kTimestamp[] = "Timestamp";
const char kNamespaceHref[] = "http://ns.google.com/photos/dd/1.0/pose/";
const std::vector<float> NormalizeQuaternion(const std::vector<float>& quat) {
if (quat.size() < 4) {
return std::vector<float>();
}
float length = sqrt((quat[0] * quat[0]) + (quat[1] * quat[1]) +
(quat[2] * quat[2]) + (quat[3] * quat[3]));
const std::vector<float> normalized = {quat[0] / length, quat[1] / length,
quat[2] / length, quat[3] / length};
return normalized;
}
} // namespace
// Private constructor.
Pose::Pose() : timestamp_(-1) {}
// Public methods.
void Pose::GetNamespaces(std::unordered_map<string, string>* ns_name_href_map) {
if (ns_name_href_map == nullptr) {
LOG(ERROR) << "Namespace list or own namespace is null";
return;
}
ns_name_href_map->emplace(DynamicDepthConst::Pose(), kNamespaceHref);
}
std::unique_ptr<Pose> Pose::FromData(const std::vector<float>& position,
const std::vector<float>& orientation,
const int64 timestamp) {
if (position.empty() && orientation.empty()) {
LOG(ERROR) << "Either position or orientation must be provided";
return nullptr;
}
std::unique_ptr<Pose> pose(new Pose());
if (position.size() >= 3) {
pose->position_ = position;
}
if (orientation.size() >= 4) {
pose->orientation_ = NormalizeQuaternion(orientation);
}
if (timestamp >= 0) {
pose->timestamp_ = timestamp;
}
return pose;
}
std::unique_ptr<Pose> Pose::FromDeserializer(
const Deserializer& parent_deserializer, const char* parent_namespace) {
std::unique_ptr<Deserializer> deserializer =
parent_deserializer.CreateDeserializer(parent_namespace,
DynamicDepthConst::Pose());
if (deserializer == nullptr) {
return nullptr;
}
std::unique_ptr<Pose> pose(new Pose());
if (!pose->ParsePoseFields(*deserializer)) {
return nullptr;
}
return pose;
}
bool Pose::HasPosition() const { return position_.size() == 3; }
bool Pose::HasOrientation() const { return orientation_.size() == 4; }
const std::vector<float>& Pose::GetPosition() const { return position_; }
const std::vector<float>& Pose::GetOrientation() const { return orientation_; }
int64 Pose::GetTimestamp() const { return timestamp_; }
bool Pose::Serialize(Serializer* serializer) const {
if (serializer == nullptr) {
LOG(ERROR) << "Serializer is null";
return false;
}
if (!HasPosition() && !HasOrientation()) {
LOG(ERROR) << "Camera pose has neither position nor orientation";
return false;
}
bool success = true;
if (position_.size() == 3) {
success &= serializer->WriteProperty(DynamicDepthConst::Pose(), kPositionX,
std::to_string(position_[0])) &&
serializer->WriteProperty(DynamicDepthConst::Pose(), kPositionY,
std::to_string(position_[1])) &&
serializer->WriteProperty(DynamicDepthConst::Pose(), kPositionZ,
std::to_string(position_[2]));
}
if (orientation_.size() == 4) {
success &= serializer->WriteProperty(DynamicDepthConst::Pose(), kRotationX,
std::to_string(orientation_[0])) &&
serializer->WriteProperty(DynamicDepthConst::Pose(), kRotationY,
std::to_string(orientation_[1])) &&
serializer->WriteProperty(DynamicDepthConst::Pose(), kRotationZ,
std::to_string(orientation_[2])) &&
serializer->WriteProperty(DynamicDepthConst::Pose(), kRotationW,
std::to_string(orientation_[3]));
}
if (timestamp_ >= 0) {
serializer->WriteProperty(DynamicDepthConst::Pose(), kTimestamp,
std::to_string(timestamp_));
}
return success;
}
// Private methods.
bool Pose::ParsePoseFields(const Deserializer& deserializer) {
float x, y, z, w;
const string& prefix = DynamicDepthConst::Pose();
// If a position field is present, the rest must be as well.
if (deserializer.ParseFloat(prefix, kPositionX, &x)) {
if (!deserializer.ParseFloat(prefix, kPositionY, &y)) {
return false;
}
if (!deserializer.ParseFloat(prefix, kPositionZ, &z)) {
return false;
}
position_ = {x, y, z};
}
// Same for orientation.
if (deserializer.ParseFloat(prefix, kRotationX, &x)) {
if (!deserializer.ParseFloat(prefix, kRotationY, &y)) {
return false;
}
if (!deserializer.ParseFloat(prefix, kRotationZ, &z)) {
return false;
}
if (!deserializer.ParseFloat(prefix, kRotationW, &w)) {
return false;
}
orientation_ = std::vector<float>({x, y, z, w});
}
if (position_.size() < 3 && orientation_.size() < 4) {
return false;
}
deserializer.ParseLong(prefix, kTimestamp, ×tamp_);
return true;
}
} // namespace dynamic_depth
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