diff --git a/Base/SceneElements/Controllers/imstkCameraController.cpp b/Base/SceneElements/Controllers/imstkCameraController.cpp
index e6e68f2fcccdad6d7685555e83c9e85ff2824d5c..f68c00a6f2695caf8e24967fe352b0fb47829800 100644
--- a/Base/SceneElements/Controllers/imstkCameraController.cpp
+++ b/Base/SceneElements/Controllers/imstkCameraController.cpp
@@ -30,20 +30,6 @@ namespace imstk
void
CameraController::initModule()
{
- auto pos = m_camera.getPosition();
- auto viewUp = m_camera.getViewUp();
- auto focus = m_camera.getFocalPoint();
-
- m_translationOffset = pos;
-
- auto viewNormal = (pos - focus).normalized();
- auto viewSide = viewUp.cross(viewNormal).normalized();
- viewUp = viewNormal.cross(viewSide);
- Mat3d rot;
- rot.col(0) = viewSide;
- rot.col(1) = viewUp;
- rot.col(2) = viewNormal;
- m_rotationOffset = Quatd(rot);
}
void
@@ -58,8 +44,12 @@ CameraController::runModule()
}
}
- const Vec3d p = getPosition();
- const Quatd r = getRotation();
+ Vec3d p = getPosition();
+ Quatd r = getRotation();
+
+ // Apply Offsets over the device pose
+ p = p + m_cameraTranslationOffset; // Offset the device position
+ r *= m_cameraRotationalOffset; // Apply camera head rotation offset
// Set camera info
m_camera.setPosition(p);
@@ -70,7 +60,45 @@ CameraController::runModule()
}
void
-CameraController::cleanUpModule()
+CameraController::setOffsetUsingCurrentCameraPose()
+{
+ auto pos = m_camera.getPosition();
+ auto viewUp = m_camera.getViewUp();
+ auto focus = m_camera.getFocalPoint();
+
+ m_translationOffset = pos;
+
+ auto viewNormal = (pos - focus).normalized();
+ auto viewSide = viewUp.cross(viewNormal).normalized();
+ viewUp = viewNormal.cross(viewSide);
+ Mat3d rot;
+ rot.col(0) = viewSide;
+ rot.col(1) = viewUp;
+ rot.col(2) = viewNormal;
+ m_rotationOffset = Quatd(rot);
+}
+
+void
+CameraController::setCameraRotationOffset(const Quatd& r)
+{
+ m_cameraRotationalOffset = r;
+}
+
+void
+CameraController::setCameraTranslationOffset(const Vec3d& t)
+{
+ m_cameraTranslationOffset = t;
+}
+
+const Vec3d&
+CameraController::getCameraTranslationOffset() const
+{
+ return m_cameraTranslationOffset;
+}
+
+const Quatd&
+CameraController::getCameraRotationOffset() const
{
+ return m_cameraRotationalOffset;
}
} // imstk
diff --git a/Base/SceneElements/Controllers/imstkCameraController.h b/Base/SceneElements/Controllers/imstkCameraController.h
index caa0a6423c41e10a0e837549658c9db8f48c222d..6968734b0a4594f7d71ec72af2526edf1a62c4d1 100644
--- a/Base/SceneElements/Controllers/imstkCameraController.h
+++ b/Base/SceneElements/Controllers/imstkCameraController.h
@@ -53,23 +53,44 @@ public:
///
~CameraController() = default;
+ ///
+ /// \brief Set the offsets based on the current camera pose
+ ///
+ void setOffsetUsingCurrentCameraPose();
+
+ ///
+ /// \brief Get/Set translation offset of the camera
+ ///
+ const Vec3d& getCameraTranslationOffset() const;
+ void setCameraTranslationOffset(const Vec3d& t);
+
+ ///
+ /// \brief Get/Set rotation offset of the camera
+ ///
+ const Quatd& getCameraRotationOffset() const;
+ void setCameraRotationOffset(const Quatd& r);
+
+
protected:
///
/// \brief
///
- void initModule() override;
+ virtual void initModule() override;
///
/// \brief
///
- void runModule() override;
+ virtual void runModule() override;
///
/// \brief
///
- void cleanUpModule() override;
+ void cleanUpModule() override {};
Camera& m_camera; ///< Camera controlled by the external device
+
+ Vec3d m_cameraTranslationOffset = WORLD_ORIGIN; ///< Translation offset for the camera over tracking data
+ Quatd m_cameraRotationalOffset = Quatd::Identity(); ///< camera head angle offset (in deg)
};
} // imstk
diff --git a/Base/SceneElements/Controllers/imstkFLSCameraController.cpp b/Base/SceneElements/Controllers/imstkFLSCameraController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca843fb154266b8b79a2a2564fba138222833acd
--- /dev/null
+++ b/Base/SceneElements/Controllers/imstkFLSCameraController.cpp
@@ -0,0 +1,63 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#include "imstkFLSCameraController.h"
+
+#include <utility>
+
+#include <g3log/g3log.hpp>
+
+namespace imstk
+{
+void
+FLSCameraController::setCameraHeadAngleOffset(const double angle)
+{
+ m_cameraHeadAngleOffset = angle;
+}
+
+const double
+FLSCameraController::getCameraHeadAngleOffset() const
+{
+ return m_cameraHeadAngleOffset;
+}
+
+void
+FLSCameraController::setCameraAngulationOffset(const Quatd& r)
+{
+ m_cameraAngulationOffset = r;
+}
+
+const imstk::Quatd&
+FLSCameraController::getCameraAngulationOffset() const
+{
+ return m_cameraAngulationOffset;
+}
+
+void
+FLSCameraController::runModule()
+{
+ auto roff = Quatd(Eigen::AngleAxisd(m_cameraHeadAngleOffset*PI / 180., Vec3d(0., 0., 1.)));
+ roff *= m_cameraAngulationOffset;
+ this->setRotationOffset(roff);
+
+ CameraController::runModule();
+}
+} // imstk
diff --git a/Base/SceneElements/Controllers/imstkFLSCameraController.h b/Base/SceneElements/Controllers/imstkFLSCameraController.h
new file mode 100644
index 0000000000000000000000000000000000000000..49390bc1399ad2232dcc03dd96c3d7661974f7f1
--- /dev/null
+++ b/Base/SceneElements/Controllers/imstkFLSCameraController.h
@@ -0,0 +1,74 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#ifndef imstkFLSCameraController_h
+#define imstkFLSCameraController_h
+
+#include "imstkCameraController.h"
+
+namespace imstk
+{
+///
+/// \class FLSCameraController
+///
+/// \brief Custom camera controller for the virtual FLS camera navigation
+///
+class FLSCameraController : public CameraController
+{
+public:
+ ///
+ /// \brief
+ ///
+ FLSCameraController(Camera& camera,
+ std::shared_ptr<DeviceClient> deviceClient) :
+ CameraController(camera, deviceClient)
+ {}
+
+ ///
+ /// \brief Destructor
+ ///
+ ~FLSCameraController() = default;
+
+ ///
+ /// \brief Get/Set the camera head angular offset
+ ///
+ void setCameraHeadAngleOffset(const double angle);
+ const double getCameraHeadAngleOffset() const;
+
+ ///
+ /// \brief Get/Set the rotation offset due to angulation
+ ///
+ void setCameraAngulationOffset(const Quatd& r);
+ const Quatd& getCameraAngulationOffset() const;
+
+protected:
+
+ ///
+ /// \brief
+ ///
+ void runModule() override;
+
+ double m_cameraHeadAngleOffset = 0; ///< camera head angle offset (in deg)
+ Quatd m_cameraAngulationOffset = Quatd::Identity(); ///< Rotation offset for the camera via telescope angulation
+};
+} // imstk
+
+#endif // ifndef imstkFLSCameraController_h
\ No newline at end of file
diff --git a/Base/SceneElements/Controllers/imstkSceneObjectController.h b/Base/SceneElements/Controllers/imstkSceneObjectController.h
index a4bf690194661adbe200ddce65865a7458fddf25..49beb3f8ec3263860b60c8d999590921c108ddd1 100644
--- a/Base/SceneElements/Controllers/imstkSceneObjectController.h
+++ b/Base/SceneElements/Controllers/imstkSceneObjectController.h
@@ -37,7 +37,7 @@ namespace imstk
///
class SceneObjectController : public SceneObjectControllerBase
{
- using ControllerCallbackFunction = std::function<void(SceneObjectController* hdapiClient)>;
+using ControllerCallbackFunction = std::function<void(SceneObjectController* hdapiClient)>;
public:
///
/// \brief Constructor