/*
procedure tries all combinarion of leaving out i of the 3D points
(because not enough markers where specified) plus the points
leaveout1 and leavout2 (if they are passed as non-negative)
*/
char *recursive_loop (Desktop * d, char omit[], int from, int to, int i, double tol, \
int leaveout1, int leaveout2, int calc_distortion)
{
int j;
double e;
static double emin = 10e90;
static char *omitmin = 0;
if (!omit) {
emin = 10e90;
destroy ((void *) &omitmin);
return 0;
}
if (i) {
for (j = from; j <= to - i; j++) {
if (stop)
break;
omit[j] = 1;
recursive_loop (d, omit, j + 1, to, i - 1, tol, leaveout1, leaveout2, \
calc_distortion);
omit[j] = 0;
}
} else {
Vec *v;
double *x, *y;
int leave_out = (leaveout1 >= 0) + (leaveout2 >= 0);
int k;
int n;
for (i = 0, j = 0; j < to; i += omit[j++]);
n = to - i - leave_out;
v = Cmalloc (sizeof (Vec) * n);
x = Cmalloc (sizeof (double) * n);
y = Cmalloc (sizeof (double) * n);
i = 0;
k = 0;
for (j = 0; j < to; j++) {
printf ("%d", (int) omit[j]);
if (!omit[j]) {
if (k != leaveout1 && k != leaveout2) {
v[i] = d->cal_points[j];
x[i] = d->view[d->current_view].mark[k].x;
y[i] = d->view[d->current_view].mark[k].y;
i++;
}
k++;
}
}
printf ("\n");
e = findcameraposition (x, y, v, n, \
&(d->view[d->current_view].cam), tol, 1, calc_distortion);
if (e < emin) {
emin = e;
destroy ((void *) &omitmin);
omitmin = Cmalloc (to);
memcpy (omitmin, omit, to);
}
free (x);
free (y);
}
return omitmin;
}
void Cdraw3d_roundplate (const char *ident, double x, double y, double z, double a, double b, double c, double r)
{
TD_Point *p = Cmalloc ((GridDensity * 4 + 1) * 2 * sizeof (TD_Point));
double alpha = 0;
Vec r1;
Vec r2;
Vec rv;
Vec A;
Vec X;
int i = 0;
A.x = a;
A.y = b;
A.z = c;
X.x = x;
X.y = y;
X.z = z;
orth_vectors (X, &r1, &r2, r);
while (alpha < (2 * PI + 0.001)) {
rv = plus (plus (times (r1, cos (alpha)), times (r2, sin (alpha))), A);
assignTD (&p[i], rv);
i++;
assignTD (&p[i], A);
i++;
alpha += (2 * PI) / (GridDensity * 4);
}
Cinit_surf_points (ident, 2, GridDensity * 4 + 1, p);
free (p);
}
void Cdraw3d_cone (const char *ident, double x, double y, double z, double a, double b, double c, double ra, double rb)
{
int g = 4 * GridDensity / 3;
TD_Point *p = Cmalloc ((g + 1) * 3 * sizeof (TD_Point));
Vec r1;
Vec r2;
Vec A, X;
double f = rb / ra;
A.x = a;
A.y = b;
A.z = c;
X.x = x;
X.y = y;
X.z = z;
orth_vectors (X, &r1, &r2, ra);
third_cyl (0, p, A, X, r1, r2, g, f);
Cinit_surf_points (ident, 3, g + 1, p);
third_cyl (2 * PI / 3, p, A, X, r1, r2, g, f);
Cinit_surf_points (ident, 3, g + 1, p);
third_cyl (4 * PI / 3, p, A, X, r1, r2, g, f);
Cinit_surf_points (ident, 3, g + 1, p);
free (p);
}
void draw3d_surface(const char *ident, int w, int h, Vec *v)
{
int i;
TD_Point *p = Cmalloc (w * h * sizeof (TD_Point));
for(i=0; i<w*h; i++)
assignTD(&p[i], v[i]);
Cinit_surf_points (ident, w, h, p);
free (p);
}
int load_calibration_file (Desktop * d, const char *filename)
{
FILE *f;
int n, i = 0;
Vec *v;
f = fopen (filename, "r");
if (!f) {
Cerrordialog (0, 0, 0, " Load Calibration File ", \
get_sys_error (" Error trying to load file. "));
return 1;
}
v = Cmalloc (MAX_CAL_POINTS * sizeof (Vec));
while (!feof (f)) {
n = fscanf (f, "%lf %lf %lf ", &v[i].x, &v[i].y, &v[i].z);
if (n == 3) {
i++;
} else {
Cerrordialog (0, 0, 0, " Load Calibration File ", \
" Format error in calibration file ");
i = 0;
break;
}
}
fclose (f);
if (i) {
d->num_cal_points = i;
destroy ((void *) &(d->cal_points));
d->cal_points = Cmalloc (i * sizeof (Vec));
memcpy (d->cal_points, v, i * sizeof (Vec));
destroy ((void *) &(d->cal_file));
d->cal_file = strdup (filename);
}
/* else { cal points not changed */
destroy ((void *) &v);
/* fclose (f); TLD 2/6/08 */
return !i;
}
static char *strread (int f)
{
int len;
char *s;
read (f, (char *) &len, sizeof (int));
if (len < 0) {
return 0;
} else {
s = Cmalloc (len + 1);
read (f, s, len);
s[len] = 0;
return s;
}
}
/*
Takes a newline seperated list of files,
returns a null seperated list of complete path names
by prepending dnd_directory to each file name.
returns 0 if no files in list.
result must always be free'd.
returns l as the total length of data.
returns num_files as the number of files in the list.
Alters t
*/
char *CDndFileList (char *t, int *l, int *num_files)
{
char *p, *q, *r, *result;
int i;
int path_len, len;
/* strip leading newlines */
while (*t == '\n')
t++;
/* strip trailing newlines */
striptrailing (t, '\n');
if (!*t)
return 0;
/* count files */
for (i = 1, p = t; *p; p++)
if (*p == '\n')
i++;
*num_files = i;
len = (unsigned long) p - (unsigned long) t;
path_len = strlen (dnd_directory);
result = Cmalloc ((path_len + 2) * i + len + 2);
r = result;
p = t;
for (;;) {
q = strchr (p, '\n');
if (!q)
q = t + len;
*q = 0;
strcpy (r, dnd_directory);
r += path_len;
*r++ = '/';
strcpy (r, p);
r += (unsigned long) q - (unsigned long) p;
*r++ = 0;
if ((unsigned long) q == (unsigned long) t + len)
break;
p = ++q;
}
*r = 0;
*l = (unsigned long) r - (unsigned long) result;
return result;
}
int do_load_desktop (Desktop * d, char *filename)
{
int f;
if ((f = open (filename, O_RDONLY)) >= 0) {
int i, x = 40, y = 40;
char *sign;
sign = strread (f);
if (strcmp (sign, "stereo\n - saved desktop\n\n")) {
close (f);
Cerrordialogue (CMain, 20, 20, " Load Desktop ", \
" This is not a desktop file ");
free (sign);
return 1;
}
free (sign);
for (i = 0; i < d->num_views; i++)
destroy_view (&(d->view[i]));
clear (d, Desktop);
read (f, d, sizeof (Desktop));
destroy ((void *) &d->cal_points);
d->cal_points = Cmalloc (d->num_cal_points * sizeof (Vec));
read (f, d->cal_points, d->num_cal_points * sizeof (Vec));
d->cal_file = strread (f);
d->temp_dir = strread (f);
d->image_dir = strread (f);
if (d->num_views)
for (i = 0; i < d->num_views; i++) {
char *v;
v = strread (f);
if (v) {
setup_view (d, v, x += 20, y += 20, i);
d->view[i].filename = v;
}
}
draw_markers (d);
close (f);
return 0;
} else {
Cerrordialogue (CMain, 20, 20, " Load Desktop ", \
get_sys_error (" Error trying to save file. "));
}
return 1;
}
void Cdraw3d_surface(const char *ident, int w, int h,...)
{
va_list pa;
int i;
TD_Point *p = Cmalloc (w * h * sizeof (TD_Point));
va_start(pa, h);
for(i = 0; i < w * h; i++) {
p[i].x = va_arg(pa, double);
p[i].y = va_arg(pa, double);
p[i].z = va_arg(pa, double);
p[i].dirx = 0;
p[i].diry = 0;
p[i].dirz = 0;
}
va_end(pa);
Cinit_surf_points (ident, w, h, p);
free (p);
}
void Cdraw3d_ellipsoid (const char *ident, double x, double y, double z, double a, double b, double c, double f)
{
int w = GridDensity / 2;
int g = 2 * w + 1;
TD_Point *p = Cmalloc (g * g * sizeof (TD_Point));
initellipsoidpart (p, x, y, z, a, b, c, w, 0, f);
Cinit_surf_points (ident, g, g, p);
initellipsoidpart (p, x, y, z, a, b, c, w, 1, f);
Cinit_surf_points (ident, g, g, p);
initellipsoidpart (p, x, y, z, a, b, c, w, 2, f);
Cinit_surf_points (ident, g, g, p);
initellipsoidpart (p, x, y, z, a, b, c, w, 3, f);
Cinit_surf_points (ident, g, g, p);
initellipsoidpart (p, x, y, z, a, b, c, w, 4, f);
Cinit_surf_points (ident, g, g, p);
initellipsoidpart (p, x, y, z, a, b, c, w, 5, f);
Cinit_surf_points (ident, g, g, p);
free (p);
}
/* returns -1 on error, zero on success */
int Cdraw3d_from_text (const char *ident, const char *text)
{
char *p = (char *) text;
int line = 1;
double x, y, z, a, b, c, r, r2;
Vec *v;
int w, h, i, k;
do {
p += strspn(p, " \t\r");
if(!*p)
break;
if (*p == '#' || *p == '\n') {
/* comment, do nothing */ ;
} else if (!strncmp (p, "scale ", 6)) {
if (sscanf (p, "scale %lf", &x) == 1)
Cdraw3d_scale (ident, x);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "offset ", 7)) {
if (sscanf (p, "offset %lf %lf %lf", &x, &y, &z) == 3)
Cdraw3d_offset (ident, x, y, z);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "density ", 7)) {
if (sscanf (p, "density %lf", &x) == 1)
Cdraw3d_density (ident, x);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "cylinder ", 8)) {
if (sscanf (p, "cylinder %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r) == 7)
Cdraw3d_cylinder (ident, x, y, z, a, b, c, r);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "roundplate ", 11)) {
if (sscanf (p, "roundplate %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r) == 7) {
Cdraw3d_roundplate (ident, x, y, z, a, b, c, r);
Cdraw3d_roundplate (ident, -x, -y, -z, a, b, c, r);
} else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "cone ", 5)) {
if (sscanf (p, "cone %lf %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r, &r2) == 8)
Cdraw3d_cone (ident, x, y, z, a, b, c, r, r2);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "cappedcone ", 11)) {
if (sscanf (p, "cappedcone %lf %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r, &r2) == 8)
Cdraw3d_cappedcone (ident, x, y, z, a, b, c, r, r2);
else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "cappedcylinder ", 15)) {
if (sscanf (p, "cappedcylinder %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r) == 7) {
Cdraw3d_cappedcylinder (ident, x, y, z, a, b, c, r);
} else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "ellipsoid ", 10)) {
if (sscanf (p, "ellipsoid %lf %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c, &r) == 7) {
Cdraw3d_ellipsoid (ident, x, y, z, a, b, c, r);
} else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "rectangle ", 10)) {
if (sscanf (p, "rectangle %lf %lf %lf %lf %lf %lf", &x, &y, &z, &a, &b, &c) == 6) {
Cdraw3d_rectangle (ident, x, y, z, a, b, c);
} else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "sphere ", 7)) {
if (sscanf (p, "sphere %lf %lf %lf %lf ", &x, &y, &z, &r) == 4) {
Cdraw3d_sphere (ident, x, y, z, r);
} else {
textformaterror (line, ident);
return -1;
}
} else if (!strncmp (p, "surface ", 8)) {
if (sscanf (p, "surface %d %d %n", &w, &h, &i) == 2) {
v = Cmalloc(w * h * sizeof(Vec));
for(k = 0; k < w * h; k++) {
p += i;
if(sscanf(p, "%lf %lf %lf %n", &(v[k].x), &(v[k].y), &(v[k].z), &i) != 3) {
textformaterror (line, ident);
free(v);
return -1;
}
}
draw3d_surface(ident, w, h, v);
free(v);
} else {
textformaterror (line, ident);
return -1;
}
} else {
textformaterror (line, ident);
return -1;
}
while (*p != '\n' && *p)
p++;
line++;
} while (*(p++));
Credraw3dobject(ident, 1);
return 0;
}
return 2;
}
if (omit < 0) {
Cerrordialog (0, 0, 0, " Calibrate ", \
" You have more markers than calibration points ");
return 2;
}
if (d->view[d->current_view].num_marks < MIN_MARKS_NEEDED_TO_CALIBRATE) {
Cerrordialog (0, 0, 0, " Calibrate ", \
" You have at least %d markers to calibrate ", \
MIN_MARKS_NEEDED_TO_CALIBRATE);
return 2;
}
}
omitted = Cmalloc (d->num_cal_points);
memset (omitted, 0, d->num_cal_points);
recursive_loop (0, 0, 0, 0, 0, 0, 0, 0, 0); /* reset */
/* try omitting every combination of calibration points without markers and see which
gives the minimum error */
/* Here we are not yet leaving out markers: we are first trying to find out which
markers correspond to which calibration point */
printf ("Which markers are which?: Trying all combinations:\n");
omitmin = recursive_loop (d, omitted, 0, d->num_cal_points, omit, \
ROUGH_TOL, -1, -1, calc_distortion);
if (stop)
return 1;
/* save the result, there is a 1 in the array if that calibration point is \
