/*!
Load the xml configuration file.
From the configuration file initialize the parameters corresponding to the objects: KLT, camera.
\warning To clean up memory allocated by the xml library, the user has to call
vpXmlParser::cleanup() before the exit().
\throw vpException::ioError if the file has not been properly parsed (file not
found or wrong format for the data).
\param configFile : full name of the xml file.
The XML configuration file has the following form:
\code
<?xml version="1.0"?>
<conf>
<camera>
<width>640</width>
<height>480</height>
<u0>320</u0>
<v0>240</v0>
<px>686.24</px>
<py>686.24</py>
</camera>
<face>
<angle_appear>65</angle_appear>
<angle_disappear>85</angle_disappear>
<near_clipping>0.01</near_clipping>
<far_clipping>0.90</far_clipping>
<fov_clipping>1</fov_clipping>
</face>
<klt>
<mask_border>10</mask_border>
<max_features>10000</max_features>
<window_size>5</window_size>
<quality>0.02</quality>
<min_distance>10</min_distance>
<harris>0.02</harris>
<size_block>3</size_block>
<pyramid_lvl>3</pyramid_lvl>
</klt>
</conf>
\endcode
\sa loadConfigFile(const std::string&), vpXmlParser::cleanup()
*/
void
vpMbKltTracker::loadConfigFile(const char* configFile)
{
#ifdef VISP_HAVE_XML2
vpMbtKltXmlParser xmlp;
xmlp.setMaxFeatures(10000);
xmlp.setWindowSize(5);
xmlp.setQuality(0.01);
xmlp.setMinDistance(5);
xmlp.setHarrisParam(0.01);
xmlp.setBlockSize(3);
xmlp.setPyramidLevels(3);
xmlp.setMaskBorder(maskBorder);
xmlp.setAngleAppear(vpMath::deg(angleAppears));
xmlp.setAngleDisappear(vpMath::deg(angleDisappears));
try{
std::cout << " *********** Parsing XML for MBT KLT Tracker ************ " << std::endl;
xmlp.parse(configFile);
}
catch(...){
vpERROR_TRACE("Can't open XML file \"%s\"\n ", configFile);
throw vpException(vpException::ioError, "problem to parse configuration file.");
}
vpCameraParameters camera;
xmlp.getCameraParameters(camera);
setCameraParameters(camera);
tracker.setMaxFeatures((int)xmlp.getMaxFeatures());
tracker.setWindowSize((int)xmlp.getWindowSize());
tracker.setQuality(xmlp.getQuality());
tracker.setMinDistance(xmlp.getMinDistance());
tracker.setHarrisFreeParameter(xmlp.getHarrisParam());
tracker.setBlockSize((int)xmlp.getBlockSize());
tracker.setPyramidLevels((int)xmlp.getPyramidLevels());
maskBorder = xmlp.getMaskBorder();
angleAppears = vpMath::rad(xmlp.getAngleAppear());
angleDisappears = vpMath::rad(xmlp.getAngleDisappear());
//if(useScanLine)
faces.getMbScanLineRenderer().setMaskBorder(maskBorder);
if(xmlp.hasNearClippingDistance())
setNearClippingDistance(xmlp.getNearClippingDistance());
if(xmlp.hasFarClippingDistance())
setFarClippingDistance(xmlp.getFarClippingDistance());
if(xmlp.getFovClipping())
setClipping(clippingFlag = clippingFlag | vpPolygon3D::FOV_CLIPPING);
useLodGeneral = xmlp.getLodState();
minLineLengthThresholdGeneral = xmlp.getMinLineLengthThreshold();
minPolygonAreaThresholdGeneral = xmlp.getMinPolygonAreaThreshold();
applyLodSettingInConfig = false;
if(this->getNbPolygon() > 0) {
applyLodSettingInConfig = true;
setLod(useLodGeneral);
setMinLineLengthThresh(minLineLengthThresholdGeneral);
setMinPolygonAreaThresh(minPolygonAreaThresholdGeneral);
}
#else
vpTRACE("You need the libXML2 to read the config file %s", configFile);
#endif
}
CC3Vector CC3Camera::calculateLocationToShowAllOf( CC3Node* aNode, const CC3Vector& targLoc, const CC3Vector& aDirection, GLfloat padding, bool checkScene )
{
ensureSceneUpdated( checkScene );
// Complementary unit vectors pointing towards camera from node, and vice versa
CC3Vector camDir = aDirection.normalize();
CC3Vector viewDir = camDir.negate();
// The camera's new forward direction will be viewDir. Use a matrix to detrmine
// the camera's new up and right directions assuming the same scene up direction.
CC3Matrix3x3 rotMtx;
CC3Matrix3x3PopulateToPointTowards(&rotMtx, viewDir, getReferenceUpDirection());
CC3Vector upDir = CC3Matrix3x3ExtractUpDirection(&rotMtx);
CC3Vector rtDir = CC3Matrix3x3ExtractRightDirection(&rotMtx);
// Determine the eight vertices, of the node's bounding box, in the global coordinate system
CC3Box gbb = aNode->getGlobalBoundingBox();
CC3Vector targetLoc = targLoc;
// If a target location has not been specified, use the center of the node's global bounding box
if ( targetLoc.isNull() )
targetLoc = gbb.getCenter();
CC3Vector bbMin = gbb.minimum;
CC3Vector bbMax = gbb.maximum;
CC3Vector bbVertices[8];
bbVertices[0] = cc3v(bbMin.x, bbMin.y, bbMin.z);
bbVertices[1] = cc3v(bbMin.x, bbMin.y, bbMax.z);
bbVertices[2] = cc3v(bbMin.x, bbMax.y, bbMin.z);
bbVertices[3] = cc3v(bbMin.x, bbMax.y, bbMax.z);
bbVertices[4] = cc3v(bbMax.x, bbMin.y, bbMin.z);
bbVertices[5] = cc3v(bbMax.x, bbMin.y, bbMax.z);
bbVertices[6] = cc3v(bbMax.x, bbMax.y, bbMin.z);
bbVertices[7] = cc3v(bbMax.x, bbMax.y, bbMax.z);
// Express the camera's FOV in terms of ratios of the near clip bounds to
// the near clip distance, so we can determine distances using similar triangles.
CCSize fovRatios = getFovRatios();
// Iterate through all eight vertices of the node's bounding box, and calculate
// the largest distance required to place the camera away from the center of the
// node in order to fit all eight vertices within the camera's frustum.
// Simultaneously, calculate the extra distance from the center of the node to
// the vertex that will be farthest from the camera, so we can ensure that all
// vertices will fall within the frustum's far end.
GLfloat maxCtrDist = 0;
GLfloat maxVtxDeltaDist = 0;
GLfloat minVtxDeltaDist = 0;
for (int i = 0; i < 8; i++)
{
// Get a vector from the target location to the vertex
CC3Vector relVtx = bbVertices[i] - targetLoc;
// Project that vector onto each of the camera's new up and right directions,
// and use similar triangles to determine the distance at which to place the
// camera so that the vertex will fit in both the up and right directions.
GLfloat vtxDistUp = fabs(relVtx.dot( upDir ) / fovRatios.height);
GLfloat vtxDistRt = fabs(relVtx.dot( rtDir ) / fovRatios.width);
GLfloat vtxDist = MAX(vtxDistUp, vtxDistRt);
// Calculate how far along the view direction the vertex is from the center
GLfloat vtxDeltaDist = relVtx.dot( viewDir );
GLfloat ctrDist = vtxDist - vtxDeltaDist;
// Accumulate the maximum distance from the node's center to the camera
// required to fit all eight points, and the distance from the node's
// center to the vertex that will be farthest away from the camera.
maxCtrDist = MAX(maxCtrDist, ctrDist);
maxVtxDeltaDist = MAX(maxVtxDeltaDist, vtxDeltaDist);
minVtxDeltaDist = MIN(minVtxDeltaDist, vtxDeltaDist);
}
// Add some padding so we will have a bit of space around the node when it fills the view.
maxCtrDist *= (1 + padding);
// Determine if we need to move the far end of the camera frustum farther away
GLfloat farClip = viewDir.scaleUniform(maxCtrDist + maxVtxDeltaDist).length();
farClip *= (GLfloat)(1 + kCC3FrustumFitPadding); // Include a little bit of padding
if (farClip > getFarClippingDistance())
setFarClippingDistance( farClip );
// Determine if we need to move the near end of the camera frustum closer
GLfloat nearClip = viewDir.scaleUniform(maxCtrDist + minVtxDeltaDist).length();
nearClip *= (GLfloat)(1 - kCC3FrustumFitPadding); // Include a little bit of padding
if (nearClip < getNearClippingDistance())
setNearClippingDistance( nearClip );
//LogTrace(@"%@ moving to %@ to show %@ at %@ within %@ with new farClip: %.3f", self,
// NSStringFromCC3Vector(CC3VectorAdd(targLoc, CC3VectorScaleUniform(camDir, maxCtrDist))),
// aNode, NSStringFromCC3Vector(targLoc), _frustum, self.farClippingDistance);
// Return the new location of the camera,
return targetLoc.add( camDir.scaleUniform( maxCtrDist ) );
}
