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;
}
void ManagedClientModule::setContainerConference(SharedPointer<core::io::conference::ContainerConference> c) {
if (m_hasExternalContainerConference) {
m_containerConference.release();
m_hasExternalContainerConference = false;
}
if (c.isValid()) {
m_containerConference = c;
m_hasExternalContainerConference = true;
}
}
SCNXArchive& SCNXArchiveFactory::getSCNXArchive(const URL &url) throw (InvalidArgumentException) {
if (!(url.isValid())) {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "URL is invalid.");
}
SCNXArchive *scnxArchive = NULL;
// Try to find an existing SCNXArchive in the map using the URL as key.
map<string, SCNXArchive*, core::strings::StringComparator>::iterator it = m_mapOfSCNXArchives.find(url.toString());
if (it != m_mapOfSCNXArchives.end()) {
clog << "Found already constructed data structure." << endl;
scnxArchive = it->second;
}
if (scnxArchive == NULL) {
clog << "Creating new SCNXArchive from " << url.toString() << endl;
string fileName = url.getResource();
fstream fin(fileName.c_str(), ios::binary | ios::in);
core::SharedPointer<core::wrapper::DecompressedData> data = core::wrapper::CompressionFactory::getContents(fin);
fin.close();
if (data.isValid()) {
Scenario scenario;
SharedPointer<istream> stream = data->getInputStreamFor("scenario.scn");
if (stream.isValid()) {
stringstream s;
char c;
while (stream->good()) {
stream->get(c);
s << c;
}
// Trying to parse the input.
scenario = ScenarioFactory::getInstance().getScenario(s.str());
} else {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "Archive from the given URL does not contain a valid SCN file.");
}
// Create SCNXArchive.
scnxArchive = new SCNXArchive(scenario, data);
// Store SCNXArchive for further usage.
// Somehow, there seems to be a bug because the data structure got corrupt...
// m_mapOfSCNXArchives[url.toString()] = scnxArchive;
}
else {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "URL could not be used to read input data.");
}
}
return *scnxArchive;
}
AbstractConferenceClientModule::AbstractConferenceClientModule(const int32_t &argc, char **argv, const string &name) throw (InvalidArgumentException) :
ManagedClientModule(argc, argv, name) {
SharedPointer<ContainerConference> containerConference = ContainerConferenceFactory::getInstance().getContainerConference(getMultiCastGroup());
if (!containerConference.isValid()) {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "ContainerConference invalid!");
}
setContainerConference(containerConference);
// Register ourselves as ContainerListener.
getContainerConference()->setContainerListener(this);
SerializationFactory::getInstance();
}
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())) {
OPENDAVINCI_CORE_THROW_EXCEPTION(InvalidArgumentException, "Given inputstream is invalid.");
}
}
OBJXArchive *objxArchive = NULL;
// Use CompressionFactory to read the contents of the OBJXArchive.
SharedPointer<core::wrapper::DecompressedData> data = core::wrapper::CompressionFactory::getContents(in);
if (data.isValid()) {
// 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.
SharedPointer<istream> stream = data->getInputStreamFor(entry);
if (stream.isValid()) {
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.
SharedPointer<istream> stream = data->getInputStreamFor(entry);
if (stream.isValid()) {
char c;
stringstream s;
while (stream->good()) {
stream->get(c);
s << c;
}
objxArchive->setContentsOfMtlFile(s.str());
}
} else {
// Try to load an image.
SharedPointer<istream> stream = data->getInputStreamFor(entry);
if (stream.isValid()) {
core::wrapper::Image *image = core::wrapper::ImageFactory::getInstance().getImage(*stream);
if (image != NULL) {
// TODO: Check where origin lies.
image->rotate(static_cast<float>(cartesian::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;
}
int32_t main(int32_t argc, char **argv)
{
uint32_t retVal = 0;
int recIndex=1;
bool log=false;
if((argc != 2 && argc != 3 && argc != 4) || (argc==4 && string(argv[1]).compare("-l")!=0))
{
errorMessage(string(argv[0]));
retVal = 1;
}
else if(argc==2 && string(argv[1]).compare("-h")==0)
{
helpMessage(string(argv[0]));
retVal = 0;
}
else
{
// if -l option is set
if(argc==4 || (argc==3 && string(argv[1]).compare("-l")==0))
{
++recIndex;
log=true;
}
// Use command line parameter as file for playback;
string recordingFile(argv[recIndex]);
stringstream recordingFileUrl;
recordingFileUrl << "file://" << recordingFile;
// Location of the recording file.
URL url(recordingFileUrl.str());
// Do we want to rewind the stream on EOF?
const bool AUTO_REWIND = false;
// Size of the memory buffer that should fit at least the size of one frame.
const uint32_t MEMORY_SEGMENT_SIZE = 1024 * 768;
// Number of memory segments (one is enough as we are running sychronously).
const uint32_t NUMBER_OF_SEGMENTS = 1;
// Run player in synchronous mode without data caching in background.
const bool THREADING = false;
// Construct the player.
Player player(url, AUTO_REWIND, MEMORY_SEGMENT_SIZE, NUMBER_OF_SEGMENTS, THREADING);
// The next container from the recording.
Container nextContainer;
// Using OpenCV's IplImage data structure to simply playback the data.
IplImage *image = NULL;
// Create the OpenCV playback window.
cvNamedWindow("CaroloCup-CameraPlayback", CV_WINDOW_AUTOSIZE);
// This flag indicates whether we have attached already to the shared
// memory containing the sequence of captured images.
bool hasAttachedToSharedImageMemory = false;
// Using this variable, we will access the captured images while
// also having convenient automated system resource management.
SharedPointer<SharedMemory> sharedImageMemory;
ifstream file(argv[recIndex+1]);
CSVRow row;
// read out the header row
row.readNextRow(file);
uint32_t frameNumber=1, csvFN;
int32_t VPx,VPy,BLx,BLy,BRx,BRy,TLx,TLy,TRx,TRy;
stringstream frameMessage;
stringstream VPMessage;
frameMessage.str(string());
VPMessage.str(string());
bool fbf=false;
// Main data processing loop.
while (player.hasMoreData()) {
// Read next entry from recording.
nextContainer = player.getNextContainerToBeSent();
// Data type SHARED_IMAGE contains a SharedImage data structure that
// provides meta-information about the captured image.
if (nextContainer.getDataType() == Container::SHARED_IMAGE) {
// Read the data structure to retrieve information about the image.
SharedImage si = nextContainer.getData<SharedImage>();
// Check if we have already attached to the shared memory.
if (!hasAttachedToSharedImageMemory) {
sharedImageMemory = SharedMemoryFactory::attachToSharedMemory(si.getName());
// Toggle the flag as we have now attached to the shared memory.
hasAttachedToSharedImageMemory = true;
}
// Check if we could successfully attach to the shared memory.
if (sharedImageMemory->isValid()) {
// Using a scoped lock to get exclusive access.
{
Lock l(sharedImageMemory);
if (image == NULL) {
// Create the IplImage header data and access the shared memory for the actual image data.
image = cvCreateImageHeader(cvSize(si.getWidth(), si.getHeight()), IPL_DEPTH_8U, si.getBytesPerPixel());
// Let the IplImage point to the shared memory containing the captured image.
image->imageData = static_cast<char*>(sharedImageMemory->getSharedMemory());
}
}
// Show the image using OpenCV.
// if csv parameter is set
if(argc==4 || (argc==3 && string(argv[1]).compare("-l")!=0))
{
if(! row.readNextRow(file)) break;
while(row[0].compare("")==0)
if(! row.readNextRow(file)) break;
sscanf(row[0].c_str(), "%d", &csvFN);
if(frameNumber==csvFN)
{
Mat img = cvarrToMat(image);
frameMessage.str(string());
VPMessage.str(string());
sscanf(row[9].c_str(), "%d", &VPx);
sscanf(row[10].c_str(), "%d", &VPy);
frameMessage<<"Frame "<<frameNumber;
VPMessage<<"Vanishing Point ("<<VPx<<","<<VPy<<")";
setLabel(img, frameMessage.str(), cvPoint(30,45));
setLabel(img, VPMessage.str(), cvPoint(30,60));
if(log)
cout << frameNumber << ", " << VPx << ", " << VPy <<endl;
// print support points and lines
sscanf(row[1].c_str(), "%d", &BLx);
sscanf(row[2].c_str(), "%d", &BLy);BLy+=60;
sscanf(row[3].c_str(), "%d", &TLx);
sscanf(row[4].c_str(), "%d", &TLy);TLy+=60;
sscanf(row[5].c_str(), "%d", &TRx);
sscanf(row[6].c_str(), "%d", &TRy);TRy+=60;
sscanf(row[7].c_str(), "%d", &BRx);
sscanf(row[8].c_str(), "%d", &BRy);BRy+=60;
circle(img, Point(BLx,BLy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(TLx,TLy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(TRx,TRy), 5, CV_RGB(255, 255, 255), CV_FILLED);
circle(img, Point(BRx,BRy), 5, CV_RGB(255, 255, 255), CV_FILLED);
double slope1 = static_cast<double>(TLy-BLy)/static_cast<double>(TLx-BLx);
double slope2 = static_cast<double>(TRy-BRy)/static_cast<double>(TRx-BRx);
Point p1(0,0), q1(img.cols,img.rows);
Point p2(0,0), q2(img.cols,img.rows);
p1.y = -(BLx-p1.x) * slope1 + BLy;
q1.y = -(TLx-q1.x) * slope1 + TLy;
p2.y = -(BRx-p2.x) * slope2 + BRy;
q2.y = -(TRx-q2.x) * slope2 + TRy;
line(img,p1,q1,CV_RGB(255, 255, 255),1,CV_AA);
line(img,p2,q2,CV_RGB(255, 255, 255),1,CV_AA);
imshow("CaroloCup-CameraPlayback", img);
}
}
else
cvShowImage("CaroloCup-CameraPlayback", image);
// Let the image render before proceeding to the next image.
char c = cvWaitKey(10);
// Check if the user wants to stop the replay by pressing ESC or pause it by pressing SPACE (needed also to go frame-by-frame).
if (static_cast<uint8_t>(c) == 27) break;
else if (static_cast<uint8_t>(c) == 32 || fbf) {
do
{
c = cvWaitKey();
}while(c!='n' && static_cast<uint8_t>(c) != 32 && static_cast<uint8_t>(c) != 27);
if (static_cast<uint8_t>(c) == 27) break; // ESC
else if (static_cast<uint8_t>(c) == 32) fbf=false; // SPACE -> continue
else if (c=='n') fbf=true; // pressed 'n' -> next frame
}
++frameNumber;
}
}
}
// maybe print EOF message && wait for user input?
// Release IplImage data structure.
cvReleaseImage(&image);
// Close playback window.
cvDestroyWindow("CaroloCup-CameraPlayback");
// The shared memory will be automatically released.
}
// Return error code.
return retVal;
}
