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/************************************************************************
*
* Copyright (C) 2025 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 "chessboard_creator.hpp"
#include <core/com/signal.hxx>
#include <core/com/slots.hxx>
#include <io/opencv/matrix.hpp>
#include <io/opencv/point_list.hpp>
#include <service/macros.hpp>
namespace sight::module::geometry::vision
{
//-----------------------------------------------------------------------------
void chessboard_creator::configuring()
{
}
//-----------------------------------------------------------------------------
void chessboard_creator::starting()
{
this->updating();
}
//-----------------------------------------------------------------------------
void chessboard_creator::updating()
{
auto chessboard_data = m_chessboard_model.lock();
SIGHT_ASSERT("Missing 'chessboard_model'.", chessboard_data);
// Ignore if values are negative
if(*m_width < 0 || *m_height < 0 || *m_square_size < 0)
{
chessboard_data->clear();
SIGHT_ERROR("Chessboard properties are negative.");
return;
}
const auto width = static_cast<std::uint64_t>(*m_width);
const auto height = static_cast<std::uint64_t>(*m_height);
const double square_size(*m_square_size);
chessboard_data->clear();
for(std::uint64_t i = 0 ; i < height - 1 ; ++i)
{
const double x = double(i) * square_size;
for(std::uint64_t j = 0 ; j < width - 1 ; ++j)
{
const double y = double(j) * square_size;
chessboard_data->push_back(std::make_shared<data::point>(x, y, 0.));
}
}
auto sig = chessboard_data->signal<data::point_list::modified_signal_t>(data::point_list::MODIFIED_SIG);
sig->async_emit();
}
//-----------------------------------------------------------------------------
void chessboard_creator::stopping()
{
}
//-----------------------------------------------------------------------------
service::connections_t chessboard_creator::auto_connections() const
{
return {
{m_width, data::object::MODIFIED_SIG, slots::UPDATE},
{m_height, data::object::MODIFIED_SIG, slots::UPDATE},
{m_square_size, data::object::MODIFIED_SIG, slots::UPDATE}
};
}
//-----------------------------------------------------------------------------
} //namespace sight::module::geometry::vision
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