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/************************************************************************
*
* Copyright (C) 2022-2024 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "camera_set.hpp"
#include "data/container.hpp"
#include "data/registry/macros.hpp"
#include <core/com/signal.hxx>
SIGHT_REGISTER_DATA(sight::data::camera_set);
namespace sight::data
{
camera_set::camera_set()
{
new_signal<added_camera_signal_t>(ADDED_CAMERA_SIG);
new_signal<removed_camera_signal_t>(REMOVED_CAMERA_SIG);
new_signal<extrinsic_calibrated_signal_t>(EXTRINSIC_CALIBRATED_SIG);
}
//------------------------------------------------------------------------------
void camera_set::shallow_copy(const object::csptr& _source)
{
const auto& other = std::dynamic_pointer_cast<const camera_set>(_source);
SIGHT_THROW_EXCEPTION_IF(
exception(
"Unable to copy " + (_source ? _source->get_classname() : std::string("<NULL>")) + " to " + get_classname()
),
!other
);
m_calibration_error = other->m_calibration_error;
base_class_t::shallow_copy(other);
}
//------------------------------------------------------------------------------
bool camera_set::operator==(const camera_set& _other) const noexcept
{
return base_class_t::operator==(_other) && m_calibration_error == _other.m_calibration_error;
}
//------------------------------------------------------------------------------
bool camera_set::operator!=(const camera_set& _other) const noexcept
{
return base_class_t::operator!=(_other);
}
//------------------------------------------------------------------------------
void camera_set::deep_copy(const object::csptr& _source, const std::unique_ptr<deep_copy_cache_t>& _cache)
{
const auto& other = std::dynamic_pointer_cast<const camera_set>(_source);
SIGHT_THROW_EXCEPTION_IF(
exception(
"Unable to copy " + (_source ? _source->get_classname() : std::string("<NULL>")) + " to " + get_classname()
),
!other
);
clear();
std::transform(
other->cbegin(),
other->cend(),
std::back_inserter(*this),
[&](const auto& _value)
{
return std::make_pair(object::copy(_value.first, _cache), _value.second);
});
m_calibration_error = other->m_calibration_error;
base_class_t::deep_copy(other, _cache);
}
//------------------------------------------------------------------------------
void camera_set::add_camera(camera::sptr _camera)
{
if(empty())
{
// Add camera with identity matrix
push_back({_camera, std::make_shared<matrix4>()});
}
// Check if the camera is already in the set before adding it
else if(cend() == std::find_if(cbegin(), cend(), [&](const auto& _value){return _value.first == _camera;}))
{
// Add camera with nullptr matrix
push_back({_camera, nullptr});
}
else
{
SIGHT_THROW("Camera already in set");
}
}
//------------------------------------------------------------------------------
camera::csptr camera_set::get_camera(std::size_t _index) const
{
return at(_index).first;
}
//------------------------------------------------------------------------------
camera::sptr camera_set::get_camera(std::size_t _index)
{
return at(_index).first;
}
//------------------------------------------------------------------------------
void camera_set::remove_camera(camera::sptr _camera)
{
const auto& it = std::find_if(cbegin(), cend(), [&](const auto& _value){return _value.first == _camera;});
SIGHT_THROW_IF("Camera not found.", it == cend());
erase(it);
}
//------------------------------------------------------------------------------
void camera_set::set_extrinsic_matrix(std::size_t _index, matrix4::sptr _matrix)
{
at(_index).second = _matrix;
}
//------------------------------------------------------------------------------
matrix4::csptr camera_set::get_extrinsic_matrix(std::size_t _index) const
{
return at(_index).second;
}
//------------------------------------------------------------------------------
matrix4::sptr camera_set::get_extrinsic_matrix(std::size_t _index)
{
return at(_index).second;
}
} // namespace sight::data
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