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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccSensor.h"
ccSensor::ccSensor(QString name)
: ccHObject(name)
, m_posBuffer(0)
, m_activeIndex(0)
, m_color(ccColor::green)
, m_scale(PC_ONE)
{
m_rigidTransformation.toIdentity();
}
ccSensor::ccSensor(const ccSensor &sensor)
: ccHObject(sensor)
, m_posBuffer(0)
, m_rigidTransformation(sensor.m_rigidTransformation)
, m_activeIndex(sensor.m_activeIndex)
, m_color(sensor.m_color)
, m_scale(sensor.m_scale)
{
if (sensor.m_posBuffer)
m_posBuffer = new ccIndexedTransformationBuffer(*sensor.m_posBuffer);
}
bool ccSensor::addPosition(ccGLMatrix& trans, double index)
{
if (!m_posBuffer)
{
m_posBuffer = new ccIndexedTransformationBuffer();
addChild(m_posBuffer);
m_posBuffer->setDisplay(getDisplay());
m_posBuffer->setVisible(true);
m_posBuffer->setEnabled(false);
}
bool sort = (!m_posBuffer->empty() && m_posBuffer->back().getIndex() > index);
try
{
m_posBuffer->emplace_back(trans,index);
}
catch (const std::bad_alloc&)
{
//not enough memory!
return false;
}
if (sort)
m_posBuffer->sort();
return true;
}
void ccSensor::applyGLTransformation(const ccGLMatrix& trans)
{
//transparent call
ccHObject::applyGLTransformation(trans);
//we update the rigid transformation
m_rigidTransformation = trans * m_rigidTransformation;
}
void ccSensor::getIndexBounds(double& minIndex, double& maxIndex) const
{
if (m_posBuffer && !m_posBuffer->empty())
{
minIndex = m_posBuffer->front().getIndex();
maxIndex = m_posBuffer->back().getIndex();
}
else
{
minIndex = maxIndex = 0;
}
}
bool ccSensor::getAbsoluteTransformation(ccIndexedTransformation& trans, double index) const
{
trans.toIdentity();
if (m_posBuffer)
if (!m_posBuffer->getInterpolatedTransformation(index,trans))
return false;
trans *= m_rigidTransformation;
return true;
}
bool ccSensor::getActiveAbsoluteTransformation(ccIndexedTransformation& trans) const
{
if (!getAbsoluteTransformation(trans, m_activeIndex))
{
ccLog::Warning("[ccSensor::getActiveAbsoluteTransformation] Failed to get a valid transformation for active index!");
return false;
}
return true;
}
bool ccSensor::getActiveAbsoluteCenter(CCVector3& vec) const
{
ccIndexedTransformation trans;
if (!getActiveAbsoluteTransformation(trans))
return false;
vec = trans.getTranslationAsVec3D();
return true;
}
bool ccSensor::getActiveAbsoluteRotation(ccGLMatrix& rotation) const
{
ccIndexedTransformation trans;
if (!getActiveAbsoluteTransformation(trans))
return false;
ccGLMatrix mat = trans;
mat.setTranslation(CCVector3(0.0,0.0,0.0));
rotation = mat;
return true;
}
bool ccSensor::toFile_MeOnly(QFile& out) const
{
if (!ccHObject::toFile_MeOnly(out))
return false;
//rigid transformation (dataVersion>=34)
if (!m_rigidTransformation.toFile(out))
return WriteError();
//various parameters (dataVersion>=35)
QDataStream outStream(&out);
outStream << m_activeIndex; //active index
outStream << m_scale; //scale
//color (dataVersion>=35)
if (out.write((const char*)&m_color.rgb,sizeof(ColorCompType)*3) < 0)
return WriteError();
//we can't save the associated position buffer (as it may be shared by multiple sensors)
//so instead we save it's unique ID (dataVersion>=34)
//WARNING: the buffer must be saved in the same BIN file! (responsibility of the caller)
uint32_t bufferUniqueID = (m_posBuffer ? (uint32_t)m_posBuffer->getUniqueID() : 0);
if (out.write((const char*)&bufferUniqueID,4) < 0)
return WriteError();
return true;
}
bool ccSensor::fromFile_MeOnly(QFile& in, short dataVersion, int flags)
{
if (!ccHObject::fromFile_MeOnly(in, dataVersion, flags))
return false;
//serialization wasn't possible before v3.4!
if (dataVersion < 34)
return false;
//rigid transformation (dataVersion>=34)
if (!m_rigidTransformation.fromFile(in,dataVersion,flags))
return ReadError();
//various parameters (dataVersion>=35)
QDataStream inStream(&in);
inStream >> m_activeIndex;
ccSerializationHelper::CoordsFromDataStream(inStream,flags,&m_scale);
//color (dataVersion>=35)
if (in.read((char*)&m_color.rgb,sizeof(ColorCompType)*3) < 0)
return ReadError();
//as the associated position buffer can't be saved directly (as it may be shared by multiple sensors)
//we only store its unique ID (dataVersion>=34) --> we hope we will find it at loading time (i.e. this
//is the responsibility of the caller to make sure that all dependencies are saved together)
uint32_t bufferUniqueID = 0;
if (in.read((char*)&bufferUniqueID,4) < 0)
return ReadError();
//[DIRTY] WARNING: temporarily, we set the vertices unique ID in the 'm_posBuffer' pointer!!!
*(uint32_t*)(&m_posBuffer) = bufferUniqueID;
return true;
}
bool ccSensor::applyViewport(ccGenericGLDisplay* win/*=0*/)
{
//not supported by default, must be reimplemented by the child class
ccLog::Warning("[ccSensor::applyViewport] Unhandled sensor type!");
return false;
}
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