void ViargoOgreKinectTrackingCalibrationMetaphor::_finalizeCalibration() {
// Build extended positions (calculates average normal plane and adds translated points to list, needed for opencv affine transformation solver)
//_buildExtendedPositions(_screenPositions3D);
//_buildExtendedPositions(_worldPositions);
cv::Point3f origin = _worldPositions[2];
cv::Point3f xAxis = _worldPositions[3];
cv::Point3f yAxis = _worldPositions[0];
_buildTransformationMatrix(origin, xAxis, yAxis);
// SVD
//_solveRigidBodyTransformation(_worldPositions, _screenPositions3D);
// Store transformation matrix in file
_storeCalibrationData();
storeTransformation("kinect_calibration.txt");
// Reset state
_calibrating = false;
_calibrated = true;
// Hide overlays
_overlay->hide();
_backgroundOverlayContainer->hide();
for (unsigned int i = 0; i < _markers.size(); i++) {
Ogre::OverlayContainer* currentMarkerOverlay = _markers[i];
currentMarkerOverlay->hide();
}
_worldPositions.clear();
}
void OverlayMask::preViewportUpdate(const Ogre::RenderTargetViewportEvent &event)
{
if(event.source == mViewport)
{
Ogre::OverlayManager &overlayMgr = Ogre::OverlayManager::getSingleton();
for(Ogre::OverlayManager::OverlayMapIterator iter = overlayMgr.getOverlayIterator();
iter.hasMoreElements();)
{
Ogre::Overlay* item = iter.getNext();
for(Ogre::Overlay::Overlay2DElementsIterator it = item->get2DElementsIterator();
it.hasMoreElements();)
{
Ogre::OverlayContainer* container = it.getNext();
if(container) container->hide();
}
}
std::map<CSMWorld::CellCoordinates, TextOverlay *>::iterator it = mTextOverlays.begin();
for(; it != mTextOverlays.end(); ++it)
{
it->second->show(true);
}
}
}
void ViargoOgreKinectTrackingCalibrationMetaphor::_buildPattern() {
// Horizontal and vertical offets
float horizontalOffset = _offsets.x + _offsets.z;
float verticalOffset = _offsets.y + _offsets.w;
// Step in horizontal and vertical direction
double widthStep = (1.0 - horizontalOffset) / (_patternSize - 1);
double heightStep = (1.0 - verticalOffset) / (_patternSize - 1);
// Clear old positions
_screenPositions.clear();
_screenPositions3D.clear();
// Build new 2d screen positions
for (int j = 0; j < _patternSize; j++) {
for (int i = 0; i < _patternSize; i++) {
double positionX = _offsets.x + i * widthStep;
double positionY = _offsets.y + j * heightStep;
// Add to list
_screenPositions.push_back(cv::Point2d(positionX, positionY));
}
}
// Transform 2d screen positions into world space relative to window center
for (unsigned int i = 0; i < _screenPositions.size(); i++) {
cv::Point3f worldPosition = cv::Point3f(0, 0, 0);
// Scale to window size and correct position for [0,0] in window center
worldPosition.x = _screenPositions[i].x * _windowSize.x - _windowSize.x / 2.0f;
worldPosition.y = -(_screenPositions[i].y * _windowSize.y - _windowSize.y / 2.0f); // Flipped
_screenPositions3D.push_back(worldPosition);
}
// Build pattern as overlays
Ogre::OverlayManager& overlayManager = Ogre::OverlayManager::getSingleton();
// Main overlay, specific overlay containers are inserted here
_overlay = overlayManager.create("KinectTrackingCalibrationOverlay");
_overlay->hide();
_backgroundOverlayContainer = static_cast<Ogre::OverlayContainer*>(overlayManager.createOverlayElement("Panel", "KinectTrackingCalibrationBG"));
_backgroundOverlayContainer->setPosition(0.0, 0.0);
_backgroundOverlayContainer->setDimensions(1.0, 1.0);
_backgroundOverlayContainer->setMaterialName("kinecttrackingCalibrationBlackMat");
_backgroundOverlayContainer->hide();
// Add background first
_overlay->add2D(_backgroundOverlayContainer);
char overlayName[100];
// Build overlay for each marker
for (unsigned int i = 0; i < _screenPositions.size(); i++) {
Ogre::Vector2 screenPostion = Ogre::Vector2(_screenPositions[i].x, _screenPositions[i].y);
sprintf(overlayName, "KinectTrackingCalibration_%d", i);
Ogre::OverlayContainer* container = static_cast<Ogre::OverlayContainer*>(overlayManager.createOverlayElement("Panel", std::string(overlayName)));
container->setPosition(screenPostion.x - _markerSize.x / (Ogre::Real)2.0, screenPostion.y - _markerSize.y / (Ogre::Real)2.0);
container->setDimensions(_markerSize.x, _markerSize.y);
container->setMaterialName("kinecttrackingCalibrationRedMat");
container->hide();
// Add overlay item
_overlay->add2D(container);
// Add to list
_markers.push_back(container);
}
}
ExampleFrameListener::ExampleFrameListener( RenderWindow* win, Camera* cam, bool bufferedKeys /*= false*/, bool bufferedMouse /*= false*/, bool bufferedJoy /*= false */ ) :
mCamera(cam), mTranslateVector(Vector3::ZERO), mCurrentSpeed(0), mWindow(win), mStatsOn(false), mNumScreenShots(0),
mMoveScale(0.0f), mRotScale(0.0f), mTimeUntilNextToggle(0), mFiltering(TFO_BILINEAR),
mAniso(1), mSceneDetailIndex(0), mMoveSpeed(500), mRotateSpeed(36), mDebugOverlay(0),
mInputManager(0), mMouse(0), mKeyboard(0), mJoy(0)
{
LogManager::getSingletonPtr()->logMessage("*** Initializing OIS ***");
OIS::ParamList pl;
unsigned int windowAttr = 15;
size_t windowHnd = 10;
std::ostringstream windowHndStr;
win->getCustomAttribute("WINDOW", &windowAttr);
windowHnd = windowAttr;
printf("custom attribute = %lu, windowHnd = %lu\n",windowAttr,windowHnd);
/*while (getParentWindowHandle(windowHnd)) // loop until we get top level window
{
windowHnd = getParentWindowHandle(windowHnd);
}
*/
windowHndStr << windowHnd;
pl.insert(std::make_pair(std::string("WINDOW"), windowHndStr.str()));
pl.insert(std::make_pair(std::string("w32_keyboard"),std::string("DISCL_NONEXCLUSIVE")));
pl.insert(std::make_pair(std::string("w32_keyboard"),std::string("DISCL_BACKGROUND")));
pl.insert(std::make_pair(std::string("w32_mouse"),std::string("DISCL_NONEXCLUSIVE")));
pl.insert(std::make_pair(std::string("w32_mouse"),std::string("DISCL_BACKGROUND")));
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step1 ***" );
#if 0
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step2 ***" );
mInputManager = OIS::InputManager::createInputSystem( windowHnd );
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step3 ***" );
//Create all devices (We only catch joystick exceptions here, as, most people have Key/Mouse)
try {
mMouse = static_cast<OIS::Mouse*>(mInputManager->createInputObject( OIS::OISMouse, bufferedMouse ));
mKeyboard = static_cast<OIS::Keyboard*>(mInputManager->createInputObject( OIS::OISKeyboard, bufferedKeys ));
}
catch (OIS::Exception& e)
{
//LogManager::getSingletonPtr()->logMessage("Exception when createInputObject, description = " + e);
printf("exception = %s\n", e.eText);
}
#endif
#if 0
try {
mJoy = static_cast<OIS::JoyStick*>(mInputManager->createInputObject( OIS::OISJoyStick, bufferedJoy ));
}
catch(...) {
mJoy = 0;
}
#endif
//Set initial mouse clipping size
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step4 ***" );
windowResized(mWindow);
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step5 ***" );
#if SHOW_OGRE_DEBUG_OVERLAY
mDebugOverlay = OverlayManager::getSingleton().getByName("Core/DebugOverlay");
Ogre::OverlayContainer* logo = mDebugOverlay->getChild("Core/LogoPanel");
logo->hide();
mDebugOverlay->hide();
showDebugOverlay(false);
#endif
//LogManager::getSingletonPtr()->logMessage( "*** Initializing OIS step6 ***" );
//Register as a Window listener
WindowEventUtilities::addWindowEventListener(mWindow, this);
LogManager::getSingletonPtr()->logMessage( "*** Finish Initialize OIS ***" );
}
