void TrackedSceneObject::SerializeTracked( Serializer * ser )
{
vtkMatrix4x4 * calibrationMat = vtkMatrix4x4::New();
m_calibrationTransform->GetMatrix( calibrationMat );
::Serialize( ser, "CalibrationMatrix", calibrationMat );
if (ser->IsReader())
SetCalibrationMatrix( calibrationMat );
calibrationMat->Delete();
}
bool CameraObject::Import( QString & directory, QProgressDialog * progressDlg )
{
bool success = true;
// check that dir exists and is readable
QFileInfo dirInfo( directory );
Q_ASSERT( dirInfo.exists() );
Q_ASSERT( dirInfo.isReadable() );
QString objectName = dirInfo.baseName();
this->SetName( objectName );
// read intrinsic params
CameraIntrinsicParams params;
SerializerReader reader;
QString intrinsicParamsFilename = QString("%1/intrinsic_params.xml").arg( directory );
QFileInfo intrinsicParamsInfo( intrinsicParamsFilename );
if( !intrinsicParamsInfo.exists() || !intrinsicParamsInfo.isReadable() )
Application::GetInstance().Warning( "Camera import", "Intrinsic calibration params (intrinsic_params.xml) is missing or unreadable. Intrinsic camera params will be the default ones." );
else
{
reader.SetFilename( intrinsicParamsFilename.toUtf8().data() );
reader.Start();
::Serialize( &reader, "IntrinsicParams", params );
reader.Finish();
}
SetIntrinsicParams( params );
// Read calibration matrix
QString calMatrixFilename = QString("%1/calibMat.xfm").arg( directory );
QFileInfo calMatrixInfo( calMatrixFilename );
vtkMatrix4x4 * calMatrix = vtkMatrix4x4::New();
if( !calMatrixInfo.exists() || !calMatrixInfo.isReadable() )
Application::GetInstance().Warning( "Camera import", "Calibration matrix file (calibMat.xfm) is missing or unreadable. Calibration matrix will be identity." );
else
TrackedVideoBuffer::ReadMatrix( calMatrixFilename, calMatrix );
SetCalibrationMatrix( calMatrix );
calMatrix->Delete();
m_videoBuffer->Import( directory, progressDlg );
SetCurrentFrame( 0 );
m_videoInputSwitch->Update(); // Without this update, image is not displayed, but it shouldn't be needed
// Update representation in view
UpdateGeometricRepresentation();
return success;
}
/** @addtogroup GLCD_CAL_Public_Functions
* @{
*/
void TSC2004_Cal_Init(MATRIX_Type *matrixPtr)
{
int n;
COLORCFG_Type ClrCfg;
MATRIX_Type matrix[4],avgmatrix;
ts_event RTouch;
ts_eventCal screenSample[5];
ts_eventCal displaySample[5] = {
{ 20, 20 },
{ 300, 20 },
{ 300, 220 },
{ 20, 220 },
{ 160, 120 },
};
ts_eventCal displaytriangle1[3] = {displaySample[0],displaySample[4],displaySample[1]};
ts_eventCal displaytriangle2[3] = {displaySample[1],displaySample[4],displaySample[2]};
ts_eventCal displaytriangle3[3] = {displaySample[2],displaySample[4],displaySample[3]};
ts_eventCal displaytriangle4[3] = {displaySample[3],displaySample[4],displaySample[0]};
GLCD_Clear(White);
for(n=0; n<5; n++)
{
switch (n) {
case 0:
ClrCfg.bcolor = Red;
ClrCfg.bndry = FALSE;
ClrCfg.fill = TRUE;
ClrCfg.fill_color = Red;
GLCD_Circle(20,20,3,&ClrCfg);
break;
case 1:
ClrCfg.bcolor = Red;
ClrCfg.bndry = FALSE;
ClrCfg.fill = TRUE;
ClrCfg.fill_color = Red;
GLCD_Circle(300,20,3,&ClrCfg);
break;
case 2:
ClrCfg.bcolor = Red;
ClrCfg.bndry = FALSE;
ClrCfg.fill = TRUE;
ClrCfg.fill_color = Red;
GLCD_Circle(300,220,3,&ClrCfg);
break;
case 3:
ClrCfg.bcolor = Red;
ClrCfg.bndry = FALSE;
ClrCfg.fill = TRUE;
ClrCfg.fill_color = Red;
GLCD_Circle(20,220,3,&ClrCfg);
break;
case 4:
ClrCfg.bcolor = Red;
ClrCfg.bndry = FALSE;
ClrCfg.fill = TRUE;
ClrCfg.fill_color = Red;
GLCD_Circle(160,120,3,&ClrCfg);
break;
default:
break;
}
//printf(LPC_UART0, "Touch point\n\r");
while(TReady == FALSE);
// printf(LPC_UART0,"\x1b[8;1After While\n\r");
delay_ms(2000);
screenSample[n].x = gTouch.x;
screenSample[n].y = gTouch.y;
// printf(LPC_UART0,"\x1b[3;1H gTouchx = %d08",gTouch.x);
// printf(LPC_UART0,"\x1b[4;1H gTouchy = %d08",gTouch.y);
TReady = FALSE;
}
CalTouch=FALSE;
// printf(LPC_UART0,"line reached");
ts_eventCal screentriangle1[3] = {screenSample[0],screenSample[4],screenSample[1]};
ts_eventCal screentriangle2[3] = {screenSample[1],screenSample[4],screenSample[2]};
ts_eventCal screentriangle3[3] = {screenSample[2],screenSample[4],screenSample[3]};
ts_eventCal screentriangle4[3] = {screenSample[3],screenSample[4],screenSample[0]};
SetCalibrationMatrix(displaytriangle1, screentriangle1, &matrix[0]);
SetCalibrationMatrix(displaytriangle2, screentriangle2, &matrix[1]);
SetCalibrationMatrix(displaytriangle3, screentriangle3, &matrix[2]);
SetCalibrationMatrix(displaytriangle4, screentriangle4, &matrix[3]);
matrixPtr->An = ( matrix[0].An + matrix[1].An + matrix[2].An + matrix[3].An ) / 4;
matrixPtr->Bn = ( matrix[0].Bn + matrix[1].Bn + matrix[2].Bn + matrix[3].Bn ) / 4;
matrixPtr->Cn = ( matrix[0].Cn + matrix[1].Cn + matrix[2].Cn + matrix[3].Cn ) / 4;
matrixPtr->Dn = ( matrix[0].Dn + matrix[1].Dn + matrix[2].Dn + matrix[3].Dn ) / 4;
matrixPtr->En = ( matrix[0].En + matrix[1].En + matrix[2].En + matrix[3].En ) / 4;
matrixPtr->Fn = ( matrix[0].Fn + matrix[1].Fn + matrix[2].Fn + matrix[3].Fn ) / 4;
matrixPtr->Divider = ( matrix[0].Divider + matrix[1].Divider + matrix[2].Divider + matrix[3].Divider ) / 4;
GLCD_Clear(White);
}
