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/************************************************************************
*
* Copyright (C) 2022-2023 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 "get_camera.hpp"
namespace sight::module::data
{
//------------------------------------------------------------------------------
void get_camera::configuring()
{
service::config_t config = this->get_config();
const auto config_out = config.equal_range("out");
for(auto it = config_out.first ; it != config_out.second ; ++it)
{
const service::config_t& attr = it->second.get_child("<xmlattr>.group");
if(attr.get_value<std::string>() == "camera")
{
const auto key_range = it->second.equal_range("key");
for(auto it_key = key_range.first ; it_key != key_range.second ; ++it_key)
{
auto index = it_key->second.get<size_t>("<xmlattr>.index", 0);
m_camera_index_numbers.push_back(index);
}
}
else if(attr.get_value<std::string>() == "extrinsic")
{
const auto key_range = it->second.equal_range("key");
for(auto it_key = key_range.first ; it_key != key_range.second ; ++it_key)
{
auto index = it_key->second.get<size_t>("<xmlattr>.index", 0);
m_extrinsic_index_numbers.push_back(index);
}
}
}
}
//------------------------------------------------------------------------------
void get_camera::starting()
{
}
//-----------------------------------------------------------------------------
void get_camera::updating()
{
const auto camera_set = m_camera_set.lock();
if(camera_set == nullptr)
{
SIGHT_THROW_EXCEPTION(sight::data::exception("Missing input camera series"));
}
size_t i = 0;
for(auto& index : m_camera_index_numbers)
{
m_camera[i] = camera_set->get_camera(index);
i++;
}
if(!m_extrinsic_index_numbers.empty())
{
size_t j = 0;
for(auto& index : m_extrinsic_index_numbers)
{
if(camera_set->get_extrinsic_matrix(index) == nullptr)
{
SIGHT_THROW_EXCEPTION(sight::data::exception("Cameras does not have extrinsic Matrix"));
}
m_extrinsic[j] = camera_set->get_extrinsic_matrix(index);
j++;
}
}
}
//-----------------------------------------------------------------------------
void get_camera::stopping()
{
}
//-----------------------------------------------------------------------------
} // namespace sight::module::data
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