unsigned int Camera::Initialize()
{
m_viewMatrix = glm::mat4();
m_projMatrix = glm::mat4();
m_viewProjMatrix = glm::mat4();
m_position = glm::vec3(0.0f, 0.0f, 10.0f);
m_target = glm::vec3();
m_up = glm::vec3(0.0f, 1.0f, 0.0f);
m_direction = glm::vec3();
m_right = glm::vec3();
m_windowWidth = CSSET_WINDOW_WIDTH_DEFAULT;
m_windowHeight = CSSET_WINDOW_HEIGHT_DEFAULT;
// now try to read real values
Engine* engine = System::GetInstance()->GetEngineData();
m_windowWidth = (float)engine->width;
m_windowHeight = (float)engine->height;
CalculateProjection();
CalculateViewProjection();
return CS_ERR_NONE;
}
float CameraProjections::ComputeError(vector<OptimizorParam> &d)
{
double totalDis = 0;
double maxDis = -9999999;
int worseCoef = 3;
int totalCount = 0;
for (size_t i = 0; i < params.camCalibrator.opticalAngle.size(); i++)
{
cameraLocation = params.camCalibrator.cameraLocation[i];
cameraOrintation = params.camCalibrator.opticalAngle[i]
+ Point3d(d[0].data, d[1].data, d[2].data);
diagnalAngleView = d[3].data;
CalculateProjection();
Point2f res;
if (GetOnRealCordinate(params.camCalibrator.clicked[i], res))
{
double t = Distance2point(res, params.camCalibrator.rvizClicked[i]);
totalDis += t;
maxDis = std::max(maxDis, t);
totalCount++;
}
else
{
return 10000000000;
}
}
return (totalDis + (maxDis * worseCoef)) / (totalCount + worseCoef);
}
/** Project average coords along eigenvectors */
int Analysis_Modes::ProjectCoords(DataSet_Modes const& modes) {
double scale = factor_;
int max_it = (int)(pcmax_ - pcmin_);
// Check that size of eigenvectors match # coords
int ncoord = tOutParm_->Natom() * 3;
if (ncoord != modes.NavgCrd()) {
mprinterr("Error: # selected coords (%i) != eigenvector size (%i)\n",
ncoord, modes.NavgCrd());
return 1;
}
// Check that mode is valid.
if (tMode_ < 1 || tMode_ > modes.Nmodes() ) {
mprinterr("Error: mode %i is out of bounds.\n", tMode_);
return Analysis::ERR;
}
// Setup frame to hold output coords, initalized to avg coords.
Frame outframe;
outframe.SetupFrameXM( modes.AvgCrd(), modes.Mass() );
// Point to correct eigenvector
const double* Vec = modes.Eigenvector(tMode_-1);
// Initialize coords to pcmin
for (int idx = 0; idx < ncoord; idx++)
outframe[idx] += pcmin_ * Vec[idx];
if (debug_>0) CalculateProjection(0, outframe, tMode_-1);
if (trajout_.SetupTrajWrite( tOutParm_, CoordinateInfo(), max_it )) {
mprinterr("Error: Could not open output modes traj '%s'\n", trajout_.Traj().Filename().full());
return 1;
}
// Write first frame with coords at pcmin.
int set = 0;
trajout_.WriteSingle(set++, outframe);
// Main loop
for (int it = 0; it < max_it; it++) {
double* crd = outframe.xAddress();
// Move coordinates along eigenvector.
for (int idx = 0; idx < ncoord; ++idx)
crd[idx] += scale * Vec[idx];
if (debug_>0) CalculateProjection(set, outframe, tMode_-1);
// DEBUG: calc PC projection for first 3 modes
//for (int m = 0; m < 3; m++)
// CalculateProjection(set, outframe, m);
// Write frame
trajout_.WriteSingle(set++, outframe);
}
trajout_.EndTraj();
return 0;
}
void Camera::FlushDimensions()
{
Engine* engine = System::GetInstance()->GetEngineData();
m_windowWidth = (float)engine->width;
m_windowHeight = (float)engine->height;
CalculateProjection();
CalculateViewProjection();
}
Camera::Camera(GameObject* gameObject)
: Component(gameObject)
{
Init();
CalculateView();
CalculateProjection();
}
// Constructor
_Camera::_Camera(float Fov, float AspectRatio, float Near, float Far)
: Fov(Fov), AspectRatio(AspectRatio), Near(Near), Far(Far), Type(THIRD_PERSON), Yaw(0.0f), Pitch(0.0f), Distance(5.0f), MinDistance(0.1f), PitchLimit(glm::radians(89.0f)),
LookAt(glm::vec3(0.0f, 0.0f, 0.0f)), Up(glm::vec3(0.0f, 1.0f, 0.0f)), Position(glm::vec3(0.0f, 0.0f, 5.0f)), LastPosition(Position), InterpolatedPosition(Position) {
CalculateProjection();
CalculateView();
CalculateTransform();
}
void CCameraInstance::LookAt(SFloat3* psFrom, SFloat3* psTo, SFloat3* psUp)
{
Float4x4LookAtRH(&mpsView->sD3DMatrix, psFrom, psTo, psUp);
Float4x4Inverse(&mpsWorld->sD3DMatrix, NULL, &mpsView->sD3DMatrix);
//Remove this?
CalculateView();
CalculateProjection();
}
void MyCameraSingleton::SetTarget(vector3 a_v3Target)
{
m_v3Target = a_v3Target;
m_v3Forward = glm::normalize(m_v3Target - m_v3Position);
m_v3Upward = glm::normalize(glm::cross(m_v3Rightward, m_v3Forward));
m_v3Rightward = glm::normalize(glm::cross(m_v3Forward, m_v3Upward));
m_v3Top = m_v3Position + m_v3Upward;
m_v3Target = m_v3Position + glm::normalize(m_v3Forward);
CalculateProjection();
}
void MyCameraSingleton::MoveSideways(float a_fDistance)
{
m_v3Position += m_v3Rightward * a_fDistance;
m_v3Target += m_v3Rightward * a_fDistance;
m_v3Top += m_v3Rightward * a_fDistance;
m_v3Forward = glm::normalize(m_v3Target - m_v3Position);
m_v3Upward = glm::normalize(m_v3Top - m_v3Position);
m_v3Rightward = glm::normalize(glm::cross(m_v3Forward, m_v3Upward));
if (m_nMode != CAMERAMODE::CAMPERSP)
{
CalculateProjection();
}
}
BOOL CCameraInstance::Use(void)
{
//It's allowable to have a NULL surface... the render target won't be changed.
if (mpsSurface != NULL)
{
gcD3D.SetRenderTarget(mpsSurface);
}
//Do this every frame... not a problem on todays hardware.
CalculateView();
CalculateProjection();
return gcD3D.SetCamera(mpsProjection, mpsView);
}
unsigned int Camera::Update()
{
if (m_projDirty)
{
CalculateProjection();
m_projDirty = false;
}
if (m_viewDirty)
{
CalculateViewProjection();
m_viewDirty = false;
}
return CS_ERR_NONE;
}
void Camera::Init()
{
m_Transform = _gameObject->GetTransform();
m_bOrthogonal = false;
m_b6DoF = false;
m_v3Up = glm::vec3(0, 1.0f, 0);
m_v3Forward = glm::vec3(-1.0f, 0, 0);
m_fFOVy = 45.0f;
m_fAspectRatio = static_cast<float>( GameWindow::GetCurrentWindow()->GetWidth() ) / GameWindow::GetCurrentWindow()->GetHeight();
m_fMinPlane = 0.001f;
m_fMaxPlane = 1024.0f;
m_fHeight = static_cast<float>( GameWindow::GetCurrentWindow()->GetHeight() );
CalculateDirectionVectors();
CalculateView();
CalculateProjection();
}
void CameraProjections::Calibrate()
{
if (params.camCalibrator.IsReady())
{
if (params.topView.calibrateKinematic->get())
{
ROS_INFO("Calibration Started!");
calibrating = true;
initialParameters.clear();
initialParameters.push_back(
OptimizorParam(params.orientation.x->get()));
initialParameters.push_back(
OptimizorParam(params.orientation.y->get()));
initialParameters.push_back(
OptimizorParam(params.orientation.z->get()));
initialParameters.push_back(
OptimizorParam(params.camera.diagonalAngleView->get(),
0.05));
optimizer.setParameters(initialParameters);
if (!optimizer.TuneForBest(50, 0.0000001))
{
ROS_WARN("Not complete success in converging");
}
vector<OptimizorParam> p = optimizer.getParameters();
params.orientation.x->set(p[0].data);
params.orientation.y->set(p[1].data);
params.orientation.z->set(p[2].data);
params.camera.diagonalAngleView->set(p[3].data);
params.topView.calibrateKinematic->set(false);
Update();
CalculateProjection();
calibrating = false;
ROS_INFO("Calibration Finished!");
}
}
}
//The big 3
MyCameraSingleton::MyCameraSingleton()
{
Init();
CalculateProjection();
}
matrix4 MyCameraSingleton::GetVP(void)
{
CalculateView();
CalculateProjection();
return m_m4Projection * m_m4View;
}
matrix4 MyCameraSingleton::GetMVP(matrix4 a_m4ModelToWorld)
{
CalculateView();
CalculateProjection();
return m_m4Projection * m_m4View * a_m4ModelToWorld;
}
matrix4 MyCameraSingleton::GetProjectionMatrix(void){ CalculateProjection(); return m_m4Projection; }
