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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "tools/ManuallyAlignPointCloud/AlignmentSession.h"
#include <json/json.h>
namespace open3d {
bool AlignmentSession::ConvertToJsonValue(Json::Value &value) const {
value["class_name"] = "AlignmentSession";
value["version_major"] = 1;
value["version_minor"] = 0;
Json::Value source_array;
for (const auto &si : source_indices_) {
source_array.append((int)si);
}
value["source_indices"] = source_array;
Json::Value target_array;
for (const auto &ti : target_indices_) {
target_array.append((int)ti);
}
value["target_indices"] = target_array;
if (!EigenMatrix4dToJsonArray(transformation_, value["transformation"])) {
return false;
}
value["voxel_size"] = voxel_size_;
value["max_correspondence_distance"] = max_correspondence_distance_;
value["with_scaling"] = with_scaling_;
return true;
}
bool AlignmentSession::ConvertFromJsonValue(const Json::Value &value) {
if (!value.isObject()) {
utility::LogWarning(
"AlignmentSession read JSON failed: unsupported json "
"format.");
return false;
}
if (value.get("class_name", "").asString() != "AlignmentSession" ||
value.get("version_major", 1).asInt() != 1 ||
value.get("version_minor", 0).asInt() != 0) {
utility::LogWarning(
"AlignmentSession read JSON failed: unsupported json "
"format.");
return false;
}
const auto &source_array = value["source_indices"];
source_indices_.resize(source_array.size());
for (int i = 0; i < (int)source_array.size(); i++) {
source_indices_[i] = (size_t)source_array[i].asInt();
}
const auto &target_array = value["target_indices"];
target_indices_.resize(target_array.size());
for (int i = 0; i < (int)target_array.size(); i++) {
target_indices_[i] = (size_t)target_array[i].asInt();
}
if (!EigenMatrix4dFromJsonArray(transformation_, value["transformation"])) {
return false;
}
voxel_size_ = value["voxel_size"].asDouble();
max_correspondence_distance_ =
value["max_correspondence_distance"].asDouble();
with_scaling_ = value["with_scaling"].asBool();
return true;
}
} // namespace open3d
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