void ScreenCalibrator::readOptitrackSampleFile(const char* fileName,bool flipZ)
{
/* Open the CSV input file: */
IO::TokenSource tok(Vrui::openFile(fileName));
tok.setPunctuation(",\n");
tok.setQuotes("\"");
tok.skipWs();
/* Read all point records from the file: */
double lastTimeStamp=-Math::Constants<double>::min;
Point::AffineCombiner pac;
unsigned int numPoints=0;
unsigned int line=1;
while(!tok.eof())
{
/* Read a point record: */
/* Read the marker index: */
int markerIndex=atoi(tok.readNextToken());
if(strcmp(tok.readNextToken(),",")!=0)
Misc::throwStdErr("readOptitrackSampleFile: missing comma in line %u",line);
/* Read the sample timestamp: */
double timeStamp=atof(tok.readNextToken());
/* Read the point position: */
Point p;
for(int i=0;i<3;++i)
{
if(strcmp(tok.readNextToken(),",")!=0)
Misc::throwStdErr("readOptitrackSampleFile: missing comma in line %u",line);
p[i]=Scalar(atof(tok.readNextToken()));
}
if(flipZ)
{
/* Invert the z component to flip to a right-handed coordinate system: */
p[2]=-p[2];
}
if(strcmp(tok.readNextToken(),"\n")!=0)
Misc::throwStdErr("readOptitrackSampleFile: overlong point record in line %u",line);
/* Check if the point record is valid: */
if(markerIndex==1)
{
/* Check if this record started a new sampling sequence: */
if(timeStamp>=lastTimeStamp+5.0)
{
/* Get the current average point position and reset the accumulator: */
if(numPoints>0)
{
trackingPoints.push_back(pac.getPoint());
pac.reset();
numPoints=0;
}
}
/* Add the point to the current accumulator: */
pac.addPoint(p);
++numPoints;
lastTimeStamp=timeStamp;
}
++line;
}
/* Get the last average point position: */
if(numPoints>0)
trackingPoints.push_back(pac.getPoint());
/* Cull duplicate points from the point list: */
size_t numDupes=cullDuplicates(trackingPoints,Scalar(0.05));
if(numDupes>0)
std::cout<<"ScreenCalibrator::readOptitrackSampleFile: "<<numDupes<<" duplicate points culled from input file"<<std::endl;
}
