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();
}
Exemplo n.º 2
0
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);
	}
}
Exemplo n.º 4
0
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 ***" );
}