diff --git a/CMake/FindLibusb1.cmake b/CMake/FindLibusb1.cmake
index a08709e1ce2c477b5ed4bb685ba00923b6f1f33d..e848898fa6dc67621dea2c44d6cd5ae30cb411c1 100644
--- a/CMake/FindLibusb1.cmake
+++ b/CMake/FindLibusb1.cmake
@@ -75,10 +75,18 @@ find_path(LIBUSB_INCLUDE_DIR
libusb-1.0
)
-# In windows find_* cant find the paths when a digit is included in the name
+<<<<<<< HEAD
set(LIBUSB1_LIBRARY ${LIBUSB_LIBRARY})
set(LIBUSB1_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR})
+=======
+<<<<<<< HEAD
+set(LIBUSB1_LIBRARY E:/SimMedTK/libusb-1.0.20/MS64/static/libusb-1.0.lib)
+>>>>>>> Camera scope tip bending implementation.
+=======
+ set(LIBUSB1_LIBRARY E:/SimMedTK/libusb-1.0.20/MS64/static/libusb-1.0.lib)
+
+>>>>>>> Camera scope tip bending works!
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Libusb1
REQUIRED_VARS
diff --git a/Core/Module.cpp b/Core/Module.cpp
index 563fb5a7ec71d6dc137dfd5a5d7c716d0fde66c2..4f85a5d269f1cc26d973860df29aae062b08d04f 100644
--- a/Core/Module.cpp
+++ b/Core/Module.cpp
@@ -59,7 +59,7 @@ void Module::waitTermination()
{
while ( 1 )
{
- std::cout << this->name << std::endl;
+ //std::cout << this->name << std::endl;
if ( this->terminationCompleted == true )
{
break;
diff --git a/Examples/LaparoscopicCamera/main.cpp b/Examples/LaparoscopicCamera/main.cpp
index 3e50f24658e4f7a100cd9befa03a71f0e02e9478..9933ca9c9f166f4094cf9401d8e0c3b40692d8be 100644
--- a/Examples/LaparoscopicCamera/main.cpp
+++ b/Examples/LaparoscopicCamera/main.cpp
@@ -80,7 +80,8 @@ bool createCameraNavigationScene(std::shared_ptr<SDK> sdk, char* fileName)
targetModel->getMesh()->translate(Eigen::Translation3d(0, 0, -radius));
- Eigen::Quaterniond q(cos(i*22.0 / 42), 0, sin(i*22.0 / 42), 0);
+ Eigen::Quaterniond q(cos(i*22.0/42), 0, sin(i*22.0/42), 0);
+ q.normalize();
targetModel->getMesh()->rotate(q);
}
return true;
@@ -112,7 +113,7 @@ int main(int ac, char** av)
auto planeRendDetail = std::make_shared<RenderDetail>(SIMMEDTK_RENDER_FACES);
- Color grey(0.32, 0.32, 0.32, 1.);
+ Color grey(0.32, 0.32, 0.32, 1.0);
planeRendDetail->setAmbientColor(grey);
planeRendDetail->setDiffuseColor(grey);
@@ -186,7 +187,8 @@ int main(int ac, char** av)
camClient->setDeviceURL(input);
}
auto camController = std::make_shared<LaparoscopicCameraCoupler>(camClient);
- camController->setScalingFactor(50.0);
+ camController->setScalingFactor(40.0);
+
viewer->init(); // viewer should be initialized to be able to retrieve the camera
diff --git a/VTKRendering/VTKViewer.cpp b/VTKRendering/VTKViewer.cpp
index 5eb10280b356065c93bb24cd82240646e6f0e4ff..95ef42bb07bc62559355fadf53e0ee42d26f9e44 100644
--- a/VTKRendering/VTKViewer.cpp
+++ b/VTKRendering/VTKViewer.cpp
@@ -225,7 +225,6 @@ public:
if (delegate)
{
renderer->AddActor(delegate->getActor());
-
}
}
}
diff --git a/VirtualTools/LaparoscopicCameraCoupler.cpp b/VirtualTools/LaparoscopicCameraCoupler.cpp
index 13662c1194b0da80e9f282f97d073c2b6e8c00d3..9ab71c91e168d2145c853afc778b4691444b9b5a 100644
--- a/VirtualTools/LaparoscopicCameraCoupler.cpp
+++ b/VirtualTools/LaparoscopicCameraCoupler.cpp
@@ -32,13 +32,17 @@
LaparoscopicCameraCoupler::LaparoscopicCameraCoupler(
std::shared_ptr< DeviceInterface > inputDevice,
- std::shared_ptr< vtkCamera > camera)
+ vtkCamera* camera)
{
this->inputDevice = inputDevice;
this->poolDelay = std::chrono::milliseconds(100);
this->initialTransform.setIdentity();
this->name = "LaparoscopicCameraCoupler";
+ initializeCameraScopeConfiguration();
+
+ this->camera = camera;
+
cameraPosOrientData = std::make_shared<cameraConfigurationData>();
}
@@ -50,6 +54,8 @@ LaparoscopicCameraCoupler::LaparoscopicCameraCoupler(
this->initialTransform.Identity();
this->name = "LaparoscopicCameraCoupler";
+ initializeCameraScopeConfiguration();
+
cameraPosOrientData = std::make_shared<cameraConfigurationData>();
}
@@ -57,6 +63,15 @@ LaparoscopicCameraCoupler::~LaparoscopicCameraCoupler()
{
}
+void LaparoscopicCameraCoupler::initializeCameraScopeConfiguration()
+{
+ this->bendingRadius = 1.0; // default bending radius
+ angleY = 0.0;
+ maxAngleY = 11.0 / 7; //+ 90 deg
+ minAngleY = -11.0 / 7; //- 90 deg
+ deltaAngleY = (4.0 / 360)*(22.0 / 7);// 2 deg
+}
+
void LaparoscopicCameraCoupler::setInputDevice(std::shared_ptr<DeviceInterface> newDevice)
{
this->inputDevice = newDevice;
@@ -108,14 +123,13 @@ void LaparoscopicCameraCoupler::setOrientation(
this->orientation = newOrientation;
}
-bool LaparoscopicCameraCoupler::init()
+void LaparoscopicCameraCoupler::init()
{
this->orientation.setIdentity();
this->position.setZero();
// Open communication for the device
this->inputDevice->openDevice();
- return true;
}
void LaparoscopicCameraCoupler::beginFrame()
@@ -135,14 +149,15 @@ void LaparoscopicCameraCoupler::exec()
while(!this->terminateExecution)
{
- if(!this->updateCamera())
+ if (!this->updateCamera())
{
this->terminate();
}
std::this_thread::sleep_for(poolDelay);
}
- this->terminationCompleted = true;
this->inputDevice->closeDevice();
+
+ this->terminate();
}
bool LaparoscopicCameraCoupler::updateCamera()
@@ -153,13 +168,32 @@ bool LaparoscopicCameraCoupler::updateCamera()
return false;
}
- core::Quaterniond newRot = inputDevice->getOrientation();
- core::Vec3d newPos = inputDevice->getPosition() * this->scalingFactor;
+ if (this->inputDevice->getButton(0) && angleY<maxAngleY)
+ {
+ angleY += deltaAngleY;
+ //std::cout << "button 0 pressed. angle:" << angleY << std::endl;
+ }
+ else if (this->inputDevice->getButton(1) && angleY>minAngleY)
+ {
+ angleY -= deltaAngleY;
+ //std::cout << "button 1 pressed. angle:" << angleY << std::endl;
+ }
+
+ core::Quaterniond newDeviceRot = inputDevice->getOrientation();
+ core::Vec3d newDevicePos = inputDevice->getPosition()*this->scalingFactor;
+
+ core::Vec3d bendingOffset = core::Vec3d(0, 0, this->bendingRadius);
+
+ core::Quaterniond bendingRot(cos(angleY/2), 0, sin(angleY/2), 0);
+ bendingRot.normalize();
// update the camera position, focus and up vector data
- cameraPosOrientData->position = inputDevice->getPosition() * this->scalingFactor;
- cameraPosOrientData->focus = newRot._transformVector(core::Vec3d(0, 0, -200));
- cameraPosOrientData->upVector = newRot._transformVector(core::Vec3d(0, 1, 0));
+ cameraPosOrientData->focus = newDeviceRot*bendingRot*core::Vec3d(0, 0, -200.0);
+ cameraPosOrientData->upVector = newDeviceRot*bendingRot*core::Vec3d(0, 1.0, 0);
+
+ cameraPosOrientData->position =
+ newDeviceRot*(bendingOffset - bendingRot*bendingOffset)
+ + newDevicePos;
return true;
}
@@ -188,4 +222,15 @@ const core::Vec3d & LaparoscopicCameraCoupler::getOffsetPosition() const
std::shared_ptr<cameraConfigurationData> LaparoscopicCameraCoupler::getCameraData()
{
return cameraPosOrientData;
-};
\ No newline at end of file
+};
+
+
+double LaparoscopicCameraCoupler::getBendingRadius() const
+{
+ return bendingRadius;
+}
+
+void LaparoscopicCameraCoupler::setBendingRadius(const double val)
+{
+ bendingRadius = val;
+}
\ No newline at end of file
diff --git a/VirtualTools/LaparoscopicCameraCoupler.h b/VirtualTools/LaparoscopicCameraCoupler.h
index 1c4e25a499cc016edc4ce354f306553d07aedee9..1f2bf275e0671f72f107d3e11a661053e48880f4 100644
--- a/VirtualTools/LaparoscopicCameraCoupler.h
+++ b/VirtualTools/LaparoscopicCameraCoupler.h
@@ -59,8 +59,9 @@ public:
///
LaparoscopicCameraCoupler() = default;
- LaparoscopicCameraCoupler(std::shared_ptr<DeviceInterface> inputDevice,
- std::shared_ptr<vtkCamera> camera);
+ LaparoscopicCameraCoupler(
+ std::shared_ptr<DeviceInterface> inputDevice,
+ vtkCamera* camera);
LaparoscopicCameraCoupler(std::shared_ptr<DeviceInterface> inputDevice);
@@ -69,6 +70,11 @@ public:
///
~LaparoscopicCameraCoupler();
+ ///
+ /// \brief Initialize the camera scope configuration
+ ///
+ void initializeCameraScopeConfiguration();
+
///
/// \brief Set the input device for this tool
/// \param newDevice A pointer to an allocated device
@@ -168,11 +174,17 @@ public:
///
bool updateCamera();
- ///
+ ///
/// \brief Returns the pointer to the camera data that is updated by this controller
///
std::shared_ptr<cameraConfigurationData> getCameraData();
+ ///
+ /// \brief Getter and setter for the bending radius of the tip of the scope
+ ///
+ double getBendingRadius() const;
+ void setBendingRadius(const double val);
+
///
/// \brief Module overrides
///
@@ -202,6 +214,12 @@ private:
vtkCamera* camera; //!< Pointer to rendering camera
std::shared_ptr<DeviceInterface> inputDevice; //!< Pointer to input device
+ double bendingRadius;//!< bending radius of the tip of the scope
+ double angleY;
+ double maxAngleY;
+ double minAngleY;
+ double deltaAngleY;
+
std::shared_ptr<cameraConfigurationData> cameraPosOrientData;//!< camera config data
};