void ofxNUIWidgetNode::updateSuperCanvasPosition()
{
if (!getCam()) { return; }
ofVec2f current = getCam()->worldToScreen(
getPosition()+ofVec3f(getNodeRadius(),-getNodeRadius()/2.0f,0) );
getCanvas()->setPosition(current.x, current.y);
}
void
copyCam( ::pcl::visualization::PCLVisualizer::Ptr from,
::pcl::visualization::PCLVisualizer::Ptr to )
{
Eigen::Vector3d pos, up, dir;
getCam( pos, up, dir, from );
setCam( pos, up, dir, to );
}
bool UCamPool::findDevices()
{
UCamDevBase * testDev = NULL;
UCamPush * testCam = NULL;
int i;
const int MKL = 30;
char key[MKL];
const int MSL = 130;
char s[MSL];
const char * posName = "none";
UPosition pos;
URotation rot;
UComCam settings;
int panPos, tiltPos;
UVarPool * vpd, vpnew;
enum UCamType {USB, REPLAY, IEEE1394, GIGE, GRABBER};
UCamType camType;
//
lock();
camType = USB;
for (i = 0; i < MAX_MOUNTED_CAMERAS; i++)
{ // test if device with this number is known already
switch (camType)
{ // set new device number within allocated number range
case REPLAY:
if (i < FIRST_REPLAY_DEVICE_NUMBER)
i = FIRST_REPLAY_DEVICE_NUMBER;
break;
case IEEE1394:
if (i < FIRST_IEEE1394_DEVICE_NUMBER)
i = FIRST_IEEE1394_DEVICE_NUMBER;
break;
case GIGE:
if (i < FIRST_GIGE_DEVICE_NUMBER)
i = FIRST_GIGE_DEVICE_NUMBER;
break;
case GRABBER:
if (i < FIRST_GRABBER_DEVICE_NUMBER)
i = FIRST_GRABBER_DEVICE_NUMBER;
break;
default:
break;
}
// is this device number available already
testCam = getCam(i);
if (testCam == NULL)
{ // not known to exist, so try make a new camera device
switch (camType)
{ // need new structure
case USB:
testDev = new UCamPwc();
break;
case REPLAY:
testDev = new UCamDevReplay();
break;
case IEEE1394:
#ifdef USE_GUPPY
testDev = new UCamDevGuppy();
#else
testDev = new UCamDevIeee1394();
#endif
break;
case GIGE:
testDev = new UCamDevGigE();
break;
case GRABBER:
testDev = new UCamDevGrabber();
break;
default: break;
}
//
if (testDev == NULL)
{
if (camType >= GRABBER)
break;
// continue with next type
camType = UCamType(camType + 1);
continue;
}
// camera is not set before, so test
testDev->setDeviceNumber(i);
if (testDev->deviceExist())
{ // try open this device number
testDev->openDeviceDefault();
}
if (not testDev->isCameraOpen())
// no such camera type - advance to next
camType = UCamType(camType + 1);
else
{ // camera can be opened - register
// debug print
// printf("New device %d : %s\n", i, testDev->getCameraName());
// debug end
if (true)
{ // create a camera for the device
testCam = new UCamPush(testDev);
// allow push commands
testCam->setCmdExe(cmdExe);
// set image logger
testCam->setImageLogging(imageLog);
// get default lens and position data from camera type
snprintf(key, MKL, "device%d", i);
// load relevant settings to camera structure.
settings.setFromCam(testDev, true, true);
vpd = getVarPool()->getStruct(key);
if (vpd == NULL)
{
snprintf(s, MSL, "a %s camera device", testDev->getCameraName());
vpd = addStruct(key, s, true);
if (vpd == NULL)
printf("Failed to make global variable structure for camera\n");
}
if (vpd != NULL)
testCam->setVarPool(vpd);
//vpd->addVar("open", 0.0, "d", "is device open");
//vpd->addVar("imageCnt", 0.0, "d", "number of images fetched");
// set also pan-tilt position
if (i < 7 and testCam->setPantiltStatus())
{ // reset to home
testCam->pantiltToHomePosition();
panPos = 0; // ini.intGet(posName, "panPos", 0);
tiltPos = 0; //ini.intGet(posName, "tiltPos", 0);
// debug
// printf("Cam %s 1 pan %d, tilt %d\n", posName,
// testCam->getPanPos(), testCam->getTiltPos());
// debug end
if ((panPos != 0) or (tiltPos != 0))
{
Wait(3.5);
testCam->pantiltSetPosition(false, panPos, tiltPos);
// debug
printf("Cam %s 2 pan %d, tilt %d\n", posName,
testCam->getPanPos(), testCam->getTiltPos());
// debug end
}
}
}
testDev->closeDevice();
testDev->setInitialized(true);
// put in pool
// set device list
varCams->setInt(i, camCnt, true);
cam[camCnt++] = testCam;
varCamsCnt->setInt(camCnt);
testDev = NULL;
}
if (testDev != NULL)
{
delete testDev;
testDev = NULL;
}
}
}
//
//
unlock();
if (verboseMessages)
print("Cams:");
//
return camCnt > 0;
}
UCamPush * UCamPool::makeDevice(int devNum, const char * posName)
{
bool result = true;
UCamPush * testCam = NULL;
int n;
//Uconfig ini;
UCamDevBase * dev = NULL;
UVarPool * vpd;
const int MKL = 30;
char key[MKL];
const int MSL = 100;
char s[MSL];
//
lock();
//ini.clear();
// read camera configuration from config-file
//err = ini.readConfig(configFileCam);
//result = (err == 0);
//
if (posName != NULL)
{
testCam = getCam(posName);
if (testCam != NULL)
{
n = testCam->getDev()->getDeviceNumber();
if (n != devNum)
printf("Device name error failed to make new device %s (%d) but with number %d!\n",posName, n, devNum);
result = false;
}
}
if (result)
{
testCam = getCam(devNum);
result = (testCam == NULL);
if (not result)
{ // camera known already
printf("Trying to create a known device - device %d %s exists already!\n",
devNum, testCam->getDev()->getCameraName());
}
}
if (result and (camCnt < MAX_MOUNTED_CAMERAS))
{ // make new camera of type specified by device number
if (devNum < 7)
dev = new UCamPwc();
else if (devNum < 10)
dev = new UCamDevReplay();
else if (devNum < 14)
#ifdef USE_GUPPY
dev = new UCamDevGuppy();
#else
dev = new UCamDevIeee1394();
#endif
else if (devNum < FIRST_GRABBER_DEVICE_NUMBER)
dev = new UCamDevGigE();
else if (devNum < FIRST_USERCAM_DEVICE_NUMBER)
dev = new UCamDevGrabber();
else
dev = new UCamDevReplay();
dev->setDeviceNumber(devNum);
if (not dev->deviceExist())
{
if (not dev->isThisA(UCamDevBase::CAM_DEV_REPLAY))
{ // not a real device, so make a replay device
delete dev;
dev = new UCamDevReplay();
dev->setDeviceNumber(devNum);
}
}
testCam = new UCamPush(dev);
result = (testCam != NULL);
}
