From 969251c8bbf6080e01134919712a349814415541 Mon Sep 17 00:00:00 2001
From: Sam Horvath <sam.horvath@kitware.com>
Date: Thu, 11 May 2017 14:30:12 -0400
Subject: [PATCH] ENH: Setting custom controllers for imstkCamera
---
Base/SceneElements/Camera/imstkCamera.cpp | 11 ++---------
Base/SceneElements/Camera/imstkCamera.h | 2 +-
.../Controllers/imstkFLSCameraController.cpp | 5 ++++-
Examples/Sandbox/main.cpp | 4 +++-
4 files changed, 10 insertions(+), 12 deletions(-)
diff --git a/Base/SceneElements/Camera/imstkCamera.cpp b/Base/SceneElements/Camera/imstkCamera.cpp
index 0811c8c6c..2762ea0ee 100644
--- a/Base/SceneElements/Camera/imstkCamera.cpp
+++ b/Base/SceneElements/Camera/imstkCamera.cpp
@@ -106,16 +106,9 @@ Camera::getController() const
}
std::shared_ptr<CameraController>
-Camera::setupController(std::shared_ptr<DeviceClient> deviceClient)
+Camera::setController(std::shared_ptr<CameraController> controller)
{
- if(m_controller == nullptr)
- {
- m_controller = std::make_shared<CameraController>(*this, deviceClient);
- }
- else
- {
- m_controller->setDeviceClient(deviceClient);
- }
+ m_controller = controller;
return m_controller;
}
} // imstk
diff --git a/Base/SceneElements/Camera/imstkCamera.h b/Base/SceneElements/Camera/imstkCamera.h
index b426206f8..b0cda6d26 100644
--- a/Base/SceneElements/Camera/imstkCamera.h
+++ b/Base/SceneElements/Camera/imstkCamera.h
@@ -110,7 +110,7 @@ public:
///
/// \brief
///
- std::shared_ptr<CameraController> setupController(std::shared_ptr<DeviceClient> deviceClient);
+ std::shared_ptr<CameraController> setController(std::shared_ptr<CameraController> controller);
protected:
std::shared_ptr<CameraController> m_controller; ///>
diff --git a/Base/SceneElements/Controllers/imstkFLSCameraController.cpp b/Base/SceneElements/Controllers/imstkFLSCameraController.cpp
index 0aa070526..fb866cf4e 100644
--- a/Base/SceneElements/Controllers/imstkFLSCameraController.cpp
+++ b/Base/SceneElements/Controllers/imstkFLSCameraController.cpp
@@ -76,7 +76,10 @@ FLSCameraController::getCameraAngulationTranslationOffset() const
void
FLSCameraController::runModule()
{
- this->setCameraHeadAngleOffset(arduinoClient->getRoll());
+ if (arduinoActive)
+ {
+ this->setCameraHeadAngleOffset(arduinoClient->getRoll() - m_rollOffset);
+ }
auto roff = Quatd(Eigen::AngleAxisd(m_cameraHeadAngleOffset*PI / 180., Vec3d(0., 0., 1.)));
roff *= m_cameraAngulationRotOffset;
this->setCameraRotationOffset(roff);
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index 574a8c363..a54023db9 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -697,9 +697,11 @@ void testCameraController()
cam->setPosition(imstk::Vec3d(0, 0, 10));
#ifdef iMSTK_USE_OPENHAPTICS
+
+ auto camControllerInput = std::make_shared<CameraController>(*cam, client);
// Set camera controller
- auto camController = cam->setupController(client);
+ auto camController = cam->setController(camControllerInput);
//camController->setTranslationScaling(100);
//LOG(INFO) << camController->getTranslationOffset(); // should be the same than initial cam position
camController->setInversionFlags(imstk::CameraController::InvertFlag::rotY |
--
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