Introduce ArFrameMetadata to relly less on virtual functions for metadata getters
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143
openVulkanoCpp/AR/ArFrameMetadata.cpp
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143
openVulkanoCpp/AR/ArFrameMetadata.cpp
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at https://mozilla.org/MPL/2.0/.
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*/
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#include "ArFrameMetadata.hpp"
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#include <pugixml.hpp>
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#include <yaml-cpp/yaml.h>
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#include <sstream>
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namespace openVulkanoCpp::AR
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{
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namespace
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{
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template<typename T, int S>
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T ReadMat(const pugi::xml_node& matrixNode)
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{
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T mat(0);
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auto rowNode = matrixNode.first_child();
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for (int row = 0; row < S && rowNode; row++, rowNode = rowNode.next_sibling())
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{
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auto columnNode = rowNode.first_child();
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for (int column = 0; column < S && columnNode; column++, columnNode = columnNode.next_sibling())
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{
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mat[column][row] = columnNode.text().as_float();
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}
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}
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return mat;
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}
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template<glm::length_t SIZE, typename T, glm::qualifier Q>
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void MatToXML(const glm::mat<SIZE, SIZE, T, Q>& mat, std::ostream& stream, const std::string& nl = "\n")
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{
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auto nlRow = nl + "\t";
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stream << nl;
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for(int r = 0 ; r < SIZE; r++)
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{
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stream << "<row>" << nlRow;
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for (int c = 0; c < SIZE; c++)
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{
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stream << "<column>" << mat[c][r] << "</column>";
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}
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stream << nl << "</row>";
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}
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}
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template<glm::length_t SIZE, typename T, glm::qualifier Q>
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void MatToYaml(const glm::mat<SIZE, SIZE, T, Q>& mat, std::ostream& stream, const std::string& nl = "\n")
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{
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for(int r = 0 ; r < SIZE; r++)
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{
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stream << nl << "- [";
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for (int c = 0; c < SIZE; c++)
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{
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if (c) stream << ',';
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stream << ' ' << mat[c][r];
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}
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stream << " ]";
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}
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}
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}
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ArFrameMetadata ArFrameMetadata::FromXML(const char* xml, size_t length)
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{
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ArFrameMetadata frameData;
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pugi::xml_document doc;
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pugi::xml_parse_result result = doc.load_buffer(xml, length);
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if (!result) throw std::runtime_error("Failed to parse frame metadata");
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pugi::xml_node nodeFrame = doc.child("arframe");
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pugi::xml_node nodeCamera = nodeFrame.child("camera");
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frameData.transformation = ReadMat<Math::Matrix4f, 4>(nodeCamera.child("transform"));
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frameData.projection = ReadMat<Math::Matrix4f, 4>(nodeCamera.child("projection"));
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pugi::xml_node nodeRes = nodeCamera.child("resolution");
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Math::Vector2i resolution = { nodeRes.child("width").text().as_int(), nodeRes.child("height").text().as_int() };
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frameData.intrinsic = { ReadMat<Math::Matrix3f, 3>(nodeCamera.child("intrinsics")), resolution };
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frameData.exposureTime = nodeCamera.child("exposureDuration").text().as_float();
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frameData.exposureOffset = nodeCamera.child("exposureOffset").text().as_float();
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pugi::xml_node nodeLight = nodeFrame.child("light");
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frameData.lightIntensity = nodeLight.child("ambientIntensity").text().as_float();
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frameData.lightColorTemp = nodeLight.child("ambientColorTemp").text().as_float();
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frameData.timestamp = nodeFrame.child("timestamp").text().as_double();
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frameData.trackingState = ArTrackingState::GetFromName(nodeFrame.child("trackingState").child("camera").text().as_string());
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return frameData;
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}
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ArFrameMetadata ArFrameMetadata::FromYaml(const char* xml, size_t length)
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{
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ArFrameMetadata frameData;
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//TODO
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return frameData;
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}
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std::string ArFrameMetadata::ToYaml() const
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{
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std::stringstream meta;
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meta << std::setprecision(std::numeric_limits<double>::digits10);
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meta << "camera:\n transform: ";
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MatToYaml(transformation, meta, "\n ");
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meta << "\n projection";
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MatToYaml(projection, meta, "\n ");
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meta << "\n resolution:\n width: " << intrinsic.GetResolution().x << "\n height: " << intrinsic.GetResolution().y;
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meta << "\n intrinsics: ";
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MatToYaml(intrinsic.cameraMatrix, meta, "\n ");
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meta << "\n exposureDuration: " << exposureTime << "\n exposureOffset: " << exposureOffset;
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meta << "\ntimestamp: " << timestamp.GetSeconds();
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meta << "\ntimestampDepth: " << timestampDepth.GetNanos();
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meta << "\ntrackingState: \n camera: " << trackingState.GetName();
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meta << "\nlight:\n intensity: " << lightIntensity << "\n colorTemp: " << lightColorTemp;
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return meta.str();
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}
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std::string ArFrameMetadata::ToXML() const
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{
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std::stringstream meta;
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meta << std::setprecision(std::numeric_limits<double>::digits10);
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meta << "<arframe>\n\t<camera>\n\t\t<transform>";
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MatToXML(transformation, meta, "\n\t\t\t");
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meta << "\n\t\t</transform>\n\t\t<projection>";
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MatToXML(projection, meta, "\n\t\t\t");
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meta << "\n\t\t</projection>\n\t\t<resolution>\n\t\t\t<width>" << intrinsic.GetResolution().x << "</width>\n\t\t\t";
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meta << "<height>" << intrinsic.GetResolution().y << "</height>\n\t\t</resolution>\n\t\t<intrinsics>";
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MatToXML(intrinsic.cameraMatrix, meta, "\n\t\t\t");
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meta << "</intrinsics>\n\t\t<exposureDuration>" << exposureTime << "</exposureDuration>\n\t\t<exposureOffset>" << exposureOffset;
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meta << "</exposureOffset>\n\t</camera>\n\t";
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meta << "<timestamp>" << timestamp.GetSeconds() << "</timestamp>\n\t";
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meta << "<timestampDepth>" << timestampDepth.GetSeconds() << "</timestampDepth>\n\t";
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meta << "<trackingState>" << "\n\t\t<camera>" << trackingState.GetName() << "</camera>" << "\n\t</trackingState>";
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meta << "<light>\n\t\t<ambientIntensity>" << lightIntensity << "</ambientIntensity>\n\t\t";
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meta << "<ambientColorTemp>" << lightColorTemp << "</ambientColorTemp>\n\t</light>";
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meta << "\n</arframe>";
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return meta.str();
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}
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}
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