ViargoOgreKinectTrackingCalibrationMetaphor::ViargoOgreKinectTrackingCalibrationMetaphor(const Ogre::Vector2& windowSize, int pattern, const Ogre::Vector4& offsets)
:_windowSize(windowSize)
,_patternSize(pattern)
,_offsets(offsets)
,_markerSize(Ogre::Vector2(0.01f, 0.01f))
,_calibrating(false)
,_calibrated(false)
,_pause(false)
,_markerHoldsStill(false)
,_calibrationProgress(0)
,_currentPauseTime(0.0f)
,_sensorId("")
,_transformationMatrix(0)
{
// Setup transformation matrix, try to load from file if exists
_transformationMatrix = new cv::Mat(cv::Mat::eye(3, 4, CV_32FC1));
_loadCalibrationData();
loadTransformation("kinect_calibration.txt");
// Create colored materials for markers from texture
Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create("kinecttrackingCalibrationRedMat","Essential");
mat->getTechnique(0)->getPass(0)->createTextureUnitState("red.jpg");
mat->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false);
mat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
mat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
mat = Ogre::MaterialManager::getSingleton().create("kinecttrackingCalibrationGreenMat","Essential");
mat->getTechnique(0)->getPass(0)->createTextureUnitState("green.jpg");
mat->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false);
mat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
mat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
mat = Ogre::MaterialManager::getSingleton().create("kinecttrackingCalibrationBlackMat","Essential");
mat->getTechnique(0)->getPass(0)->createTextureUnitState("white.jpg");
mat->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false);
mat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
mat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
mat = Ogre::MaterialManager::getSingleton().create("kinecttrackingCalibrationYellowMat","Essential");
mat->getTechnique(0)->getPass(0)->createTextureUnitState("yellow.jpg");
mat->getTechnique(0)->getPass(0)->setDepthCheckEnabled(false);
mat->getTechnique(0)->getPass(0)->setDepthWriteEnabled(false);
mat->getTechnique(0)->getPass(0)->setLightingEnabled(false);
// Construct pattern and overlays
_buildPattern();
}
bool PointCloud::open(const std::string& filename)
{
clearData();
QMutexLocker locker(&mutex_);
if (pcl::io::loadPCDFile(filename, *this) != 0)
return false;
filename_ = filename;
loadTransformation();
registered_ = (getView() == 0) || (!(getMatrix().isIdentity()));
expire();
return true;
}
