C++ (Cpp) ccBBox::getDiagNorm Examples

Example #1

File: IcmFilter.cpp Project: coolshahabaz/trunk

int IcmFilter::LoadCalibratedImages(ccHObject* entities, const QString& path, const QString& imageDescFilename, const ccBBox& globalBBox)
{
	assert(entities);

	//ouverture du fichier
	QString completeImageDescFilename = QString("%0/%1").arg(path).arg(imageDescFilename);
	FILE* fp = fopen(qPrintable(completeImageDescFilename), "rt");
	if (fp == NULL)
	{
		ccLog::Error(QString("[IcmFilter::loadCalibratedImages] Error opening file %1!").arg(completeImageDescFilename));
		return -1;
	}

	//buffers
	char line[MAX_ASCII_FILE_LINE_LENGTH];
#ifdef INCLUDE_PHOTOS
	char totalFileName[256];
#endif
	int loadedImages = 0;

	//IL FAUDRAIT ETRE PLUS SOUPLE QUE CA !!!
	while (fgets(line, MAX_ASCII_FILE_LINE_LENGTH , fp) != NULL)
	{
		if (line[0] == 'D' && line[1] == 'E' && line[2] == 'F')
		{
			char imageFileName[256];
			sscanf(line,"DEF %s Viewpoint {",imageFileName);

			//add absolute path
			ccImage* CI = new ccImage();
			QString errorStr;
			if (!CI->load(QString("%0/%1").arg(path).arg(imageFileName),errorStr))
			{
				ccLog::Warning(QString("[IcmFilter] Failed to load image %1 (%2)! Process stopped...").arg(imageFileName).arg(errorStr));
				delete CI;
				fclose(fp);
				return loadedImages;
			}

			ccLog::Print("[IcmFilter] Image '%s' loaded",imageFileName);
			CI->setEnabled(false);
			CI->setName(imageFileName);
#ifdef INCLUDE_PHOTOS
			CI->setCompleteFileName(totalFileName);
#endif

			//FOV
			if (!fgets(line, MAX_ASCII_FILE_LINE_LENGTH , fp))
			{
				ccLog::Print("[IcmFilter] Read error (fieldOfView)!");
				delete CI;
				fclose(fp);
				return loadedImages;
			}
			
			float fov_rad = 0;
			sscanf(line,"\t fieldOfView %f\n",&fov_rad);

			float fov_deg = fov_rad*static_cast<float>(CC_RAD_TO_DEG);
			ccLog::Print("\t FOV=%f (degrees)",fov_deg);

			//Position
			float t[3];
			if (!fgets(line, MAX_ASCII_FILE_LINE_LENGTH , fp))
			{
				ccLog::Error("[IcmFilter] Read error (position)!");
				delete CI;
				fclose(fp);
				return loadedImages;
			}
			sscanf(line,"\t position %f %f %f\n",t,t+1,t+2);

			ccLog::Print("\t Camera pos=(%f,%f,%f)",t[0],t[1],t[2]);

			//Description
			char desc[MAX_ASCII_FILE_LINE_LENGTH];
			if (!fgets(line, MAX_ASCII_FILE_LINE_LENGTH , fp))
			{
				ccLog::Error("[IcmFilter] Read error (description)!");
				delete CI;
				fclose(fp);
				return loadedImages;
			}
			sscanf(line,"\t description \"%s\"\n",desc);

			//CI->setDescription(desc);
			ccLog::Print("\t Description: '%s'",desc);

			//Orientation
			float axis[3], angle_rad;
			if (!fgets(line, MAX_ASCII_FILE_LINE_LENGTH , fp))
			{
				ccLog::Error("[IcmFilter] Read error (orientation)!");
				fclose(fp);
				return loadedImages;
			}
			sscanf(line,"\t orientation %f %f %f %f\n",axis,axis+1,axis+2,&angle_rad);

			ccLog::Print("\t Camera orientation=(%f,%f,%f)+[%f]",axis[0],axis[1],axis[2],angle_rad);
			
			ccCameraSensor::IntrinsicParameters params;
			params.vFOV_rad = fov_rad;
			params.arrayWidth = CI->getW();
			params.arrayHeight = CI->getH();
			params.principal_point[0] = params.arrayWidth / 2.0f;
			params.principal_point[1] = params.arrayHeight / 2.0f;
			params.vertFocal_pix = 1.0f; //default focal (for the 3D symbol)
			params.pixelSize_mm[0] = params.pixelSize_mm[1] = 1.0f;
			ccCameraSensor* sensor = new ccCameraSensor(params);

			ccGLMatrix mat;
			mat.initFromParameters(angle_rad,CCVector3::fromArray(axis),CCVector3::fromArray(t));
			sensor->setRigidTransformation(mat);

			sensor->setGraphicScale(globalBBox.getDiagNorm() / 20);
			sensor->setVisible(true);
			sensor->setEnabled(false);
			CI->addChild(sensor);
			CI->setAssociatedSensor(sensor);

			entities->addChild(CI);
			++loadedImages;
		}
	}

	fclose(fp);

	return loadedImages;
}