void DataRenderer::loadComplexModel(const uint32_t &id, opendlv::data::situation::ComplexModel &cm) {
std::shared_ptr<istream> in = m_scnxArchive->getModelData(cm.getModelFile());
if (in.get()) {
// Load model.
OBJXArchive *objxArchive = NULL;
if (cm.getModelFile().find(".objx") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(*in);
}
else if (cm.getModelFile().find(".obj") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchiveFromPlainOBJFile(*in);
}
if (objxArchive != NULL) {
m_listOfLoadedOBJXArchives.push_back(objxArchive);
vector<TriangleSet> listOfTriangleSets = objxArchive->getListOfTriangleSets();
if (listOfTriangleSets.size() > 0) {
clog << "OBJ model successfully opened (containing " << listOfTriangleSets.size() << " sets of triangles)." << endl;
clog << " Translation: " << cm.getPosition().toString() << endl;
clog << " Rotation: " << cm.getRotation().toString() << endl;
m_mapOfModels[id] = listOfTriangleSets;
}
else {
clog << "OBJ model could not be opened." << endl;
}
}
}
}
void ScenarioRenderer::loadGroundBasedComplexModel(ComplexModel &cm) {
SharedPointer<istream> in = m_scnxArchive->getModelData(cm.getModelFile());
if (in.isValid()) {
// Load model.
OBJXArchive *objxArchive = NULL;
if (cm.getModelFile().find(".objx") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(*in);
}
else if (cm.getModelFile().find(".obj") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchiveFromPlainOBJFile(*in);
}
if (objxArchive != NULL) {
m_listOfLoadedOBJXArchives.push_back(objxArchive);
vector<TriangleSet> listOfTriangleSets = objxArchive->getListOfTriangleSets();
if (listOfTriangleSets.size() > 0) {
clog << "OBJ model successfully opened (containing " << listOfTriangleSets.size() << " sets of triangles)." << endl;
clog << " Translation: " << cm.getPosition().toString() << endl;
clog << " Rotation: " << cm.getRotation().toString() << endl;
m_mapOfGroundBasedComplexModels[cm.toString()] = listOfTriangleSets;
}
else {
clog << "OBJ model could not be opened." << endl;
}
}
}
}
TransformGroup* GroundBasedComplexModelLoader::getGroundBasedComplexModels(const SCNXArchive &scnxArchive) const {
TransformGroup *complexModels = new TransformGroup();
// Get list of all ground based complex models.
vector<ComplexModel*> listOfComplexModels = scnxArchive.getListOfGroundBasedComplexModels();
// Iterate over all ground based complex models and try to build a transform group.
vector<ComplexModel*>::iterator jt = listOfComplexModels.begin();
while (jt != listOfComplexModels.end()) {
ComplexModel *cm = (*jt++);
SharedPointer<istream> in = scnxArchive.getModelData(cm->getModelFile());
if (in.isValid()) {
Node *model = NULL;
// Check model.
OBJXArchive *objxArchive = NULL;
if (cm->getModelFile().find(".objx") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(*in);
} else if (cm->getModelFile().find(".obj") != string::npos) {
objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchiveFromPlainOBJFile(*in);
}
if (objxArchive != NULL) {
model = objxArchive->createTransformGroup(NodeDescriptor(cm->getName()));
if (model != NULL) {
clog << "OBJ model successfully opened." << endl;
clog << " Translation: " << cm->getPosition().toString() << endl;
clog << " Rotation: " << cm->getRotation().toString() << endl;
TransformGroup *complexModel = new TransformGroup();
// Translation.
Point3 translation(cm->getPosition());
complexModel->setTranslation(translation);
// TODO: Achsenprüfung!!
Point3 rotation(cm->getRotation().getX(), cm->getRotation().getZ(), cm->getRotation().getY());
complexModel->setRotation(rotation);
complexModel->addChild(model);
complexModels->addChild(complexModel);
} else {
clog << "OBJ model could not be opened." << endl;
}
OPENDAVINCI_CORE_DELETE_POINTER(objxArchive);
}
}
}
return complexModels;
}
OpenGLGrabber::OpenGLGrabber(const KeyValueConfiguration &kvc, const ImageGrabberID &imageGrabberID, const ImageGrabberCalibration &imageGrabberCalibration, hesperia::data::environment::EgoState &egoState, core::base::FIFOQueue &obstacles) :
ImageGrabber(imageGrabberID, imageGrabberCalibration),
m_render(OpenGLGrabber::IN_CAR),
m_kvc(kvc),
m_image(),
m_sharedMemory(),
m_root(),
m_car(),
m_sensors(),
m_mapOfObstacles(),
m_egoState(egoState),
m_FIFO_Obstacles(obstacles) {
const URL urlOfSCNXFile(m_kvc.getValue<string>("global.scenario"));
const bool SHOW_GRID = (m_kvc.getValue<uint8_t>("global.showgrid") == 1);
if (urlOfSCNXFile.isValid()) {
m_root = core::SharedPointer<TransformGroup>(new hesperia::threeD::TransformGroup());
m_car = core::SharedPointer<TransformGroup>(new hesperia::threeD::TransformGroup());
m_sensors = core::SharedPointer<TransformGroup>(new hesperia::threeD::TransformGroup());
SCNXArchive &scnxArchive = SCNXArchiveFactory::getInstance().getSCNXArchive(urlOfSCNXFile);
// Read scnxArchive and decorate it for getting displayed in an OpenGL scene.
const bool SHOW_LANE_CONNECTORS = false;
m_root->addChild(DecoratorFactory::getInstance().decorate(scnxArchive, SHOW_LANE_CONNECTORS));
if (SHOW_GRID) {
m_root->addChild(new XYZAxes(NodeDescriptor("XYZAxes")));
m_root->addChild(new Grid(NodeDescriptor("Grid"), 10, 2));
}
string objxModel(m_kvc.getValue<string>("global.car"));
cout << "Opening file stream to car model " << objxModel << endl;
fstream fin(objxModel.c_str(), ios::in | ios::binary);
if (fin.good()) {
cout << "Loading car model" << endl;
OBJXArchive *objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(fin);
fin.close();
if (objxArchive != NULL) {
// Decorate objxArchive for getting displayed in an OpenGL scene.
m_car->addChild(objxArchive->createTransformGroup(NodeDescriptor("Car")));
}
}
m_sharedMemory = core::wrapper::SharedMemoryFactory::createSharedMemory("ChaseCar", 640 * 480 * 3);
m_image = core::SharedPointer<core::wrapper::Image>(core::wrapper::ImageFactory::getInstance().getImage(640, 480, core::wrapper::Image::BGR_24BIT, static_cast<char*>(m_sharedMemory->getSharedMemory())));
if (m_image.isValid()) {
cerr << "OpenGLGrabber initialized." << endl;
}
}
}
void DataRenderer::setEgoStateModel(const string &fn) {
Lock l(m_dataRendererMutex);
cout << "Trying to load file stream to car model " << fn << endl;
fstream fin(fn.c_str(), ios::in | ios::binary);
OBJXArchive *objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(fin);
if (objxArchive != NULL) {
m_egoStateModel = objxArchive->getListOfTriangleSets();
if (m_egoStateModel.size() > 0) {
clog << "OBJ model successfully opened (containing " << m_egoStateModel.size() << " sets of triangles)." << endl;
}
else {
clog << "OBJ model could not be opened." << endl;
}
m_listOfLoadedOBJXArchives.push_back(objxArchive);
}
}
OBJXArchive* OBJXArchiveFactory::getOBJXArchiveFromPlainOBJFile(istream &in) throw (InvalidArgumentException) {
if (!(in.good())) {
// Try to rewind the stream.
clog << "Trying to rewind the stream." << endl;
in.clear();
in.seekg(ios::beg);
if (!(in.good())) {
HESPERIA_CORE_THROW_EXCEPTION(InvalidArgumentException, "Given inputstream is invalid.");
}
}
OBJXArchive *objxArchive = new OBJXArchive();
char c;
stringstream s;
while (in.good()) {
in.get(c);
s << c;
}
objxArchive->setContentsOfObjFile(s.str());
return objxArchive;
}
OBJXArchive* OBJXArchiveFactory::getOBJXArchive(istream &in) throw (InvalidArgumentException) {
if (!(in.good())) {
// Try to rewind the stream.
clog << "Trying to rewind the stream." << endl;
in.clear();
in.seekg(ios::beg);
if (!(in.good())) {
HESPERIA_CORE_THROW_EXCEPTION(InvalidArgumentException, "Given inputstream is invalid.");
}
}
OBJXArchive *objxArchive = NULL;
// Use CompressionFactory to read the contents of the OBJXArchive.
core::wrapper::DecompressedData *data = core::wrapper::CompressionFactory::getInstance().getContents(in);
if (data != NULL) {
// Create OBJXArchive.
objxArchive = new OBJXArchive();
vector<string> listOfEntries = data->getListOfEntries();
vector<string>::iterator it = listOfEntries.begin();
while (it != listOfEntries.end()) {
string entry = (*it++);
if (entry.find(".obj") != string::npos) {
// Set object file.
istream *stream = data->getInputStreamFor(entry);
char c;
stringstream s;
while (stream->good()) {
stream->get(c);
s << c;
}
objxArchive->setContentsOfObjFile(s.str());
} else if (entry.find(".mtl") != string::npos) {
// Set material file.
istream *stream = data->getInputStreamFor(entry);
char c;
stringstream s;
while (stream->good()) {
stream->get(c);
s << c;
}
objxArchive->setContentsOfMtlFile(s.str());
} else {
// Try to load an image.
istream *stream = data->getInputStreamFor(entry);
if (stream != NULL) {
core::wrapper::Image *image = core::wrapper::ImageFactory::getInstance().getImage(*stream);
if (image != NULL) {
// TODO: Check where origin lies.
image->rotate(static_cast<float>(data::Constants::PI));
// Remove any directory prefixes from the entry.
string name = entry;
if (name.rfind('/') != string::npos) {
name = name.substr(name.rfind('/') + 1);
}
objxArchive->addImage(name, image);
}
}
}
}
}
return objxArchive;
}
void EnvironmentViewerGLWidget::createSceneGraph() {
m_root = new TransformGroup();
m_stationaryElements = new TransformGroup();
m_dynamicElements = new TransformGroup();
m_measurements = new TransformGroup();
m_root->addChild(m_stationaryElements);
m_root->addChild(m_dynamicElements);
m_root->addChild(m_measurements);
/*******************************************************************/
/* Stationary elements. */
/*******************************************************************/
m_stationaryElements->addChild(new hesperia::threeD::models::XYZAxes(NodeDescriptor("XYZAxes"), 1, 10));
m_stationaryElements->addChild(new hesperia::threeD::models::Grid(NodeDescriptor("Grid"), 10, 1));
// Setup surroundings.
const URL urlOfSCNXFile(getPlugIn().getKeyValueConfiguration().getValue<string>("global.scenario"));
if (urlOfSCNXFile.isValid()) {
SCNXArchive &scnxArchive = SCNXArchiveFactory::getInstance().getSCNXArchive(urlOfSCNXFile);
// Read scnxArchive and decorate it for getting displayed in an OpenGL scene.
Node *surroundings = DecoratorFactory::getInstance().decorate(scnxArchive);
if (surroundings != NULL) {
surroundings->setNodeDescriptor(NodeDescriptor("Surroundings"));
m_stationaryElements->addChild(surroundings);
}
}
/*******************************************************************/
/* Dynamic elements. */
/*******************************************************************/
string objxModel(getPlugIn().getKeyValueConfiguration().getValue<string>("global.car"));
cout << "Opening file stream to car model " << objxModel << endl;
fstream fin(objxModel.c_str(), ios::in | ios::binary);
if (fin.good()) {
cout << "Loading car model" << endl;
OBJXArchive *objxArchive = OBJXArchiveFactory::getInstance().getOBJXArchive(fin);
fin.close();
if (objxArchive != NULL) {
// Decorate objxArchive for getting displayed in an OpenGL scene.
m_egoStateNodeDescriptor = NodeDescriptor("EgoCar");
m_listOfCameraAssignableNodes.push_back(m_egoStateNodeDescriptor);
m_egoStateNode = objxArchive->createTransformGroup(m_egoStateNodeDescriptor);
}
if (m_egoStateNode == NULL) {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "Could not load car model");
}
else {
m_dynamicElements->addChild(m_egoStateNode);
// EgoCar is traceable.
NodeDescriptor traceableNodeDescriptor = NodeDescriptor("EgoCar (Trace)");
TransformGroup *traceableNode = new TransformGroup(traceableNodeDescriptor);
m_mapOfTraceablePositions[traceableNodeDescriptor] = traceableNode;
m_dynamicElements->addChild(traceableNode);
}
}
m_plannedRoute = new TransformGroup(NodeDescriptor("Planned Route"));
m_dynamicElements->addChild(m_plannedRoute);
m_lines = new TransformGroup(NodeDescriptor("Individual Lines"));
m_dynamicElements->addChild(m_lines);
/*******************************************************************/
/* Measurements. */
/*******************************************************************/
// Create node for showing contoured objects.
m_contouredObjectsNode = new TransformGroup(NodeDescriptor("Contoured Objects"));
m_measurements->addChild(m_contouredObjectsNode);
m_obstaclesRoot = new TransformGroup(NodeDescriptor("Obstacles"));
m_measurements->addChild(m_obstaclesRoot);
}