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/************************************************************************
*
* Copyright (C) 2014-2023 IRCAD France
* Copyright (C) 2014-2020 IHU Strasbourg
*
* 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 "marker_to_point.hpp"
#include <core/com/signal.hxx>
#include <core/com/slots.hxx>
#include <data/matrix4.hpp>
#include <data/point.hpp>
#include <service/base.hpp>
namespace sight::module::geometry::vision
{
const core::com::slots::key_t marker_to_point::ADD_POINT_SLOT = "add_point";
const core::com::slots::key_t marker_to_point::CLEAR_SLOT = "clear";
// ----------------------------------------------------------------------------
marker_to_point::marker_to_point() noexcept
{
new_slot(ADD_POINT_SLOT, &marker_to_point::add_point, this);
new_slot(CLEAR_SLOT, &marker_to_point::clear, this);
}
// ----------------------------------------------------------------------------
marker_to_point::~marker_to_point() noexcept =
default;
// ----------------------------------------------------------------------------
void marker_to_point::configuring()
{
}
// ----------------------------------------------------------------------------
void marker_to_point::starting()
{
}
// ----------------------------------------------------------------------------
void marker_to_point::updating()
{
}
// ----------------------------------------------------------------------------
void marker_to_point::stopping()
{
}
// ----------------------------------------------------------------------------
void marker_to_point::add_point()
{
const auto matrix_tl = m_matrix_tl.lock();
data::matrix4::sptr matrix_3d = std::make_shared<data::matrix4>();
core::clock::type current_timestamp = core::clock::get_time_in_milli_sec();
CSPTR(data::matrix_tl::buffer_t) buffer = matrix_tl->get_closest_buffer(current_timestamp);
SIGHT_ASSERT("Buffer not found with timestamp " << current_timestamp, buffer);
const std::array<float, 16> values = buffer->get_element(0);
for(unsigned int i = 0 ; i < 4 ; ++i)
{
for(unsigned int j = 0 ; j < 4 ; ++j)
{
(*matrix_3d)(i, j) = values[i * std::size_t(4) + j];
}
}
SIGHT_DEBUG(
"Marker Center Position : " << (*matrix_3d)(0, 3) << " , "
<< (*matrix_3d)(1, 3) << " , "
<< (*matrix_3d)(2, 3)
);
//Save the position and drop the orientation
data::point::sptr p = std::make_shared<data::point>(
(*matrix_3d)(0, 3),
(*matrix_3d)(1, 3),
(*matrix_3d)(2, 3)
);
const auto pl = m_point_list.lock();
pl->push_back(p);
auto sig = pl->signal<data::point_list::point_added_signal_t>(data::point_list::POINT_ADDED_SIG);
{
core::com::connection::blocker block(sig->get_connection(slot(service::slots::UPDATE)));
sig->async_emit(p);
}
}
// ----------------------------------------------------------------------------
void marker_to_point::clear()
{
const auto pl = m_point_list.lock();
if(pl && !pl->get_points().empty())
{
pl->clear();
auto sig = pl->signal<data::point_list::modified_signal_t>(data::point_list::MODIFIED_SIG);
{
core::com::connection::blocker block(sig->get_connection(slot(service::slots::UPDATE)));
sig->async_emit();
}
}
}
} //namespace sight::module::geometry::vision
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