void CAMERA::Update()
{
position = position + pos_vel;
/*if (strcmp(cam_mode.c_str(), "chase") == 0)
Chase(entities.entity_array[chase_ent]);
else if (strcmp(cam_mode.c_str(), "cockpit") == 0)
{
dir = entities.entity_array[chase_ent].dir.ReturnConjugate();
position.x = -entities.entity_array[chase_ent].x;
position.y = -entities.entity_array[chase_ent].y;
position.z = -entities.entity_array[chase_ent].z;
}*/
//position.DebugPrint();
GenerateTransform();
}
/*
Finish capture and run registration
*/
void MainWindow::on_CapDone_Btn()
{
//disconnect pick callback
m_3d_View->DisablePick();
std::vector<double*> temp_dst;
if (m_3d_View->GetMarkerList().size() == 0)
{
double a1[] = { 176.286, 195.733, 90.0183 };
double a2[] = { 75.7988, 192.343, 88.1086 };
double a3[] = { 124.12, 139.966, 167.357 };
double a4[] = { 122.669, 40.1707, 116.375 };
temp_dst.push_back(a1);
temp_dst.push_back(a2);
temp_dst.push_back(a3);
temp_dst.push_back(a4);
}
else
{
temp_dst = m_3d_View->GetMarkerList();
}
//if (m_3d_View->GetMarkerList().size() != m_Marker_Capture->GetMarkerList().size())
//{
// std::cout << "Markers invalid" << std::endl;
// m_3d_View->ClearMarkers();
// m_Marker_Capture->ClearMarkers();
//}
// start registration here
auto temp_src = m_Marker_Capture->GetMarkerList();
auto reg = vtkSmartPointer<vtkTrackingLandMarkRegistration>::New();
reg->SetSourcePoints(temp_src);
reg->SetTargetPoints(temp_dst);
reg->GenerateTransform();
auto res2 = reg->GetTransformMatrix();
std::cout << "Result" << std::endl;
std::cout << "Error is: " << reg->EstimateRegistrationError() << std::endl;
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
std::cout << res2->GetElement(i, j) << ",";
std::cout << std::endl;
}
// a messagebox for user to accecpt or discard the error
QMessageBox msgBox;
msgBox.setWindowTitle("Register Box");
QString msg = "Accept the registration error:\n ";
msg = msg + QString::number(reg->EstimateRegistrationError());
msgBox.setInformativeText(msg);
msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Discard);
msgBox.setDefaultButton(QMessageBox::Yes);
int ret = msgBox.exec();
if (ret == QMessageBox::Yes)
{
m_3d_View->SetRegisterTransform(res2);
//m_3d_View->SetLandMarks(temp_src,temp_dst);
}
else
{
m_Marker_Capture->ClearMarkers();
m_3d_View->ClearMarkers();
}
}
