diff --git a/Examples/LaparoscopicCamera/main.cpp b/Examples/LaparoscopicCamera/main.cpp
index 2a70a71f53a573c49d5dd92bff95bb4c3aec0ae6..a97b312724ff8ac79b09e69e0b59cd443da089b6 100644
--- a/Examples/LaparoscopicCamera/main.cpp
+++ b/Examples/LaparoscopicCamera/main.cpp
@@ -332,19 +332,16 @@ void add2DOverlay(std::shared_ptr<VTKViewer> vtkViewer,
/// \brief Create a Laparoscopic camera controller and connect
/// it to the vtk viewer
///
-std::shared_ptr<LaparoscopicCameraController> addCameraController(std::shared_ptr<SDK> sdk)
+int addCameraController(std::shared_ptr<SDK> sdk)
{
- auto viewer = sdk->getViewerInstance();
- auto camClient = std::make_shared<VRPNForceDevice>();
+ std::shared_ptr<VRPNForceDevice> camClient = std::make_shared<VRPNForceDevice>();
std::shared_ptr<VRPNDeviceServer> server;
std::string input;
if (SPACE_EXPLORER_DEVICE)
{
server = std::make_shared<VRPNDeviceServer>();
-
- //get some user input and setup device url
input = "navigator@localhost";
}
else
@@ -354,36 +351,32 @@ std::shared_ptr<LaparoscopicCameraController> addCameraController(std::shared_pt
std::cout << "Enter the VRPN device URL(" << camClient->getDeviceURL() << "): ";
std::getline(std::cin, input);
}
-
- if (!input.empty())
+ if (input.empty())
{
- camClient->setDeviceURL(input);
+ return EXIT_FAILURE;
}
- auto camController = std::make_shared<LaparoscopicCameraController>(camClient);
- camController->setScalingFactor(40.0);
+ camClient->setDeviceURL(input);
+ // Get vtkCamera
+ auto viewer = sdk->getViewerInstance();
std::shared_ptr<VTKViewer> vtkViewer = std::static_pointer_cast<VTKViewer>(viewer);
-
vtkCamera* cam = vtkViewer->getVtkCamera();
-
- // set the view angle of the camera. 80 deg for laparoscopic camera
cam->SetViewAngle(80.0);
- // set the camera to be controlled by the camera controller
+ // Set Camera Controller
+ auto camController = std::make_shared<LaparoscopicCameraController>(camClient);
+ camController->setScalingFactor(40.0);
camController->setCamera(cam);
- // Connect the camera controller to the vtk viewer to enable camera manipulation
- vtkViewer->setCameraControllerData(camController->getCameraData());
-
+ // Register modules
sdk->registerModule(camClient);
sdk->registerModule(camController);
-
if (SPACE_EXPLORER_DEVICE)
{
sdk->registerModule(server);
}
- return camController;
+ return EXIT_SUCCESS;
}
int main()
@@ -391,12 +384,10 @@ int main()
InitVTKRendering();
InitIODelegates();
- std::shared_ptr<SDK> sdk = SDK::createStandardSDK();
-
//-------------------------------------------------------
// Set up the viewer
//-------------------------------------------------------
-
+ std::shared_ptr<SDK> sdk = SDK::createStandardSDK();
std::shared_ptr<ViewerBase> viewer = sdk->getViewerInstance();
std::shared_ptr<VTKViewer> vtkViewer = std::static_pointer_cast<VTKViewer>(viewer);
@@ -410,33 +401,35 @@ int main()
//-------------------------------------------------------
// Set up the scene
//-------------------------------------------------------
-
std::shared_ptr<Scene> scene = sdk->getScene(0);
viewer->registerScene(scene, SMRENDERTARGET_SCREEN, "Collision pipeline demo");
// Create camera navigation scene
createCameraNavigationScene(scene, "./CameraNavAppData/target.png");
- // Initialize viewer with scene objects
- // NOTE : Needs to be done before VTK Add ons since
- // init create the needed renderer in the VTKView
- viewer->init();
-
//-------------------------------------------------------
- // Add ons (VTK)
- //-------------------------------------------------------
-
// Enable screenshot capture
+ //-------------------------------------------------------
+ // NOTE : Needs to be done before the viewer initialisation
+ // not to erase the changes on the observers made to the
+ // interactor in vtkViewer::addRenderer()
vtkNew<ScreenCaptureInteractorStyle> style;
style->initialize(vtkViewer->getRenderWindow());
vtkViewer->getVtkRenderWindowInteractor()->SetInteractorStyle(style.GetPointer());
style->SetCurrentRenderer(vtkViewer->getVtkRenderer());
+ //-------------------------------------------------------
+ // Initialize viewer with scene objects
+ //-------------------------------------------------------
+ // NOTE : Needs to be done before VTK Add ons since
+ // init create the needed renderer in the VTKViewer
+ viewer->init();
+
+ //-------------------------------------------------------
+ // Add ons (VTK)
+ //-------------------------------------------------------
// Add a camera controller
- // NOTE: This has to come after the ScreenCaptureInteractorStyle initialization
- // since for this to work the mouse events need disabled which are
- // left as is after ScreenCaptureInteractorStyle initialization
- std::shared_ptr<LaparoscopicCameraController> camController = addCameraController(sdk);
+ addCameraController(sdk);
// Add a 2D overlay on the 3D scene
add2DOverlay(vtkViewer,"./CameraNavAppData/viewfinder.png");
@@ -444,7 +437,6 @@ int main()
//-------------------------------------------------------
// Start
//-------------------------------------------------------
-
// Run the SDK
sdk->run();
diff --git a/VTKRendering/VTKViewer.cpp b/VTKRendering/VTKViewer.cpp
index 4e710d3f76f8a057282728c25654b3e9abfff2f4..a8eea11cf786cee68f85b7fbeae5ebfd23159233 100644
--- a/VTKRendering/VTKViewer.cpp
+++ b/VTKRendering/VTKViewer.cpp
@@ -69,15 +69,6 @@ public:
if(timerId == *static_cast<int*>(callData) &&
!this->viewer->isTerminated())
{
-
- if (this->cameraControllerData != nullptr)
- {
- vtkRenderer* renderer =
- this->renderWindow->GetRenderers()->GetFirstRenderer();
- updateCamera(renderer);
- renderer->ResetCameraClippingRange();
- }
-
this->renderWindow->Render();
}
break;
@@ -96,29 +87,6 @@ public:
}
}
- ///
- /// \brief Update the camera from external source (optional)
- ///
- void updateCamera(vtkRenderer* renderer)
- {
- vtkCamera* camera = renderer->GetActiveCamera();
-
- camera->SetPosition(
- cameraControllerData->position[0],
- cameraControllerData->position[1],
- cameraControllerData->position[2]);
-
- camera->SetViewUp(
- cameraControllerData->upVector[0],
- cameraControllerData->upVector[1],
- cameraControllerData->upVector[2]);
-
- camera->SetFocalPoint(
- cameraControllerData->focus[0],
- cameraControllerData->focus[1],
- cameraControllerData->focus[2]);
- }
-
///
/// \brief Return the render window
///
@@ -323,7 +291,6 @@ public:
VTKViewer *viewer;
vtkNew<vtkRenderWindow> renderWindow;
vtkNew<vtkRenderWindowInteractor> renderWindowInteractor;
- std::shared_ptr<cameraConfigurationData> cameraControllerData;
};
VTKViewer::VTKViewer() : renderer(Core::make_unique<VTKRenderer> (this))
@@ -365,11 +332,6 @@ vtkCamera* VTKViewer::getVtkCamera()
GetFirstRenderer()->GetActiveCamera();
}
-void VTKViewer::setCameraControllerData(std::shared_ptr<cameraConfigurationData> camData)
-{
- renderer->cameraControllerData = camData;
-}
-
vtkRenderer* VTKViewer::getVtkRenderer()
{
return this->renderer->getRenderWindow()->GetRenderers()->GetFirstRenderer();
diff --git a/VTKRendering/VTKViewer.h b/VTKRendering/VTKViewer.h
index a576d5c00a0a31a33e617a6054bdb632575fdf9f..27c376328d17f8329f619148597a8dfded1333bc 100644
--- a/VTKRendering/VTKViewer.h
+++ b/VTKRendering/VTKViewer.h
@@ -92,11 +92,6 @@ public:
///
vtkCamera* getVtkCamera();
- ///
- /// \brief Sets the position and orientation data from the camera controller
- ///
- void setCameraControllerData(std::shared_ptr<cameraConfigurationData> camData);
-
///
/// \brief
///
diff --git a/VirtualTools/LaparoscopicCameraController.cpp b/VirtualTools/LaparoscopicCameraController.cpp
index 55a649b7af0db03c56d622168b6fc9371666cc70..8d38446c8722bb73d5fad8b728b9f5f346e404d9 100644
--- a/VirtualTools/LaparoscopicCameraController.cpp
+++ b/VirtualTools/LaparoscopicCameraController.cpp
@@ -31,32 +31,22 @@
#include "Core/RenderDelegate.h"
LaparoscopicCameraController::LaparoscopicCameraController(
- std::shared_ptr< DeviceInterface > inputDevice,
- vtkCamera* camera)
+ std::shared_ptr< DeviceInterface > inputDevice, vtkCamera* camera)
{
+ this->name = "LaparoscopicCameraController";
this->inputDevice = inputDevice;
- this->poolDelay = std::chrono::milliseconds(100);
- this->initialTransform.setIdentity();
- this->name = "LaparoscopicCameraCoupler";
-
- initializeCameraScopeConfiguration();
-
this->camera = camera;
- this->cameraPosOrientData = std::make_shared<cameraConfigurationData>();
+ initializeCameraScopeConfiguration();
}
LaparoscopicCameraController::LaparoscopicCameraController(
std::shared_ptr<DeviceInterface> inputDevice)
{
+ this->name = "LaparoscopicCameraController";
this->inputDevice = inputDevice;
- this->poolDelay = std::chrono::milliseconds(100);
- this->initialTransform.Identity();
- this->name = "LaparoscopicCameraCoupler";
initializeCameraScopeConfiguration();
-
- this->cameraPosOrientData = std::make_shared<cameraConfigurationData>();
}
LaparoscopicCameraController::~LaparoscopicCameraController()
@@ -65,9 +55,11 @@ LaparoscopicCameraController::~LaparoscopicCameraController()
void LaparoscopicCameraController::initializeCameraScopeConfiguration()
{
- this->bendingRadius = 1.0; // default bending radius
- this->angleX = 0.0;
- angleY = 0.0;
+ this->poolDelay = std::chrono::milliseconds(100);
+ this->bendingRadius = 1.0;
+ this->scalingFactor = 1.0;
+ this->currentAngleX = 0.0;
+ this->currentAngleY = 0.0;
this->maxAngleX = this->maxAngleY = 11.0 / 7; // 90 deg
this->minAngleX = this->minAngleY = -11.0 / 7; //- 90 deg
this->deltaAngleXY = (4.0 / 360)*(22.0 / 7);// 2 deg
@@ -94,19 +86,24 @@ vtkCamera* LaparoscopicCameraController::getcamera() const
return this->camera;
}
+void LaparoscopicCameraController::setPoolDelay(const std::chrono::milliseconds& delay)
+{
+ this->poolDelay = delay;
+}
+
const std::chrono::milliseconds &LaparoscopicCameraController::getPoolDelay() const
{
return this->poolDelay;
}
-void LaparoscopicCameraController::setPoolDelay(const std::chrono::milliseconds& delay)
+void LaparoscopicCameraController::setBendingRadius(const double val)
{
- this->poolDelay = delay;
+ this->bendingRadius = val;
}
-const double& LaparoscopicCameraController::getScalingFactor() const
+double LaparoscopicCameraController::getBendingRadius() const
{
- return this->scalingFactor;
+ return this->bendingRadius;
}
void LaparoscopicCameraController::setScalingFactor(const double factor)
@@ -114,22 +111,13 @@ void LaparoscopicCameraController::setScalingFactor(const double factor)
this->scalingFactor = factor;
}
-const Eigen::Quaternion<double> &LaparoscopicCameraController::getOrientation() const
-{
- return this->orientation;
-}
-
-void LaparoscopicCameraController::setOrientation(
- const Eigen::Map<Eigen::Quaternion<double>>& newOrientation)
+const double& LaparoscopicCameraController::getScalingFactor() const
{
- this->orientation = newOrientation;
+ return this->scalingFactor;
}
bool LaparoscopicCameraController::init()
{
- this->orientation.setIdentity();
- this->position.setZero();
-
// Open communication for the device
this->inputDevice->openDevice();
return true;
@@ -175,82 +163,47 @@ bool LaparoscopicCameraController::updateCamera()
{
if (!this->inputDevice)
{
- std::cout << "Invalid input device" << std::endl;
+ std::cerr << "updateCamera: Invalid input device" << std::endl;
return false;
}
-
- if (this->inputDevice->getButton(3) && this->angleY < this->maxAngleY)
+ if (!this->camera)
{
- this->angleY += this->deltaAngleXY;
+ std::cerr << "updateCamera: Missing camera" << std::endl;
+ return false;
}
- if (this->inputDevice->getButton(4) && this->angleY > this->minAngleY)
+ if (this->inputDevice->getButton(3) && this->currentAngleY < this->maxAngleY)
{
- this->angleY -= this->deltaAngleXY;
+ this->currentAngleY += this->deltaAngleXY;
}
-
- if (this->inputDevice->getButton(0) && this->angleX < this->maxAngleX)
+ if (this->inputDevice->getButton(4) && this->currentAngleY > this->minAngleY)
{
- this->angleX += this->deltaAngleXY;
+ this->currentAngleY -= this->deltaAngleXY;
}
-
- if (this->inputDevice->getButton(1) && this->angleX > this->minAngleX)
+ if (this->inputDevice->getButton(0) && this->currentAngleX < this->maxAngleX)
{
- this->angleX -= this->deltaAngleXY;
+ this->currentAngleX += this->deltaAngleXY;
+ }
+ if (this->inputDevice->getButton(1) && this->currentAngleX > this->minAngleX)
+ {
+ this->currentAngleX -= this->deltaAngleXY;
}
-
core::Quaterniond newDeviceRot = this->inputDevice->getOrientation();
core::Vec3d newDevicePos = this->inputDevice->getPosition()*this->scalingFactor;
-
core::Vec3d bendingOffset = core::Vec3d(0, 0, this->bendingRadius);
-
- core::Quaterniond bendingRot(cos(this->angleY/2), 0, sin(this->angleY/2), 0);
+ core::Quaterniond bendingRot(cos(this->currentAngleY/2), 0, sin(this->currentAngleY/2), 0);
bendingRot.normalize();
- bendingRot = bendingRot*core::Quaterniond(cos(this->angleX/2), sin(this->angleX/2), 0, 0);
+ bendingRot = bendingRot*core::Quaterniond(cos(this->currentAngleX/2), sin(this->currentAngleX/2), 0, 0);
bendingRot.normalize();
- // update the camera position, focus and up vector data
- this->cameraPosOrientData->focus = newDeviceRot*bendingRot*core::Vec3d(0, 0, -200.0);
- this->cameraPosOrientData->upVector = newDeviceRot*bendingRot*core::Vec3d(0, 1.0, 0);
+ // Update the camera position, focus and up vector data
+ core::Vec3d position = newDeviceRot*(bendingOffset - bendingRot*bendingOffset) + newDevicePos;
+ core::Vec3d upVector = newDeviceRot*bendingRot*core::Vec3d(0, 1.0, 0);
+ core::Vec3d focus = newDeviceRot*bendingRot*core::Vec3d(0, 0, -200.0);
- this->cameraPosOrientData->position =
- newDeviceRot*(bendingOffset - bendingRot*bendingOffset) + newDevicePos;
+ this->camera->SetPosition(position[0], position[1], position[2]);
+ this->camera->SetViewUp(upVector[0], upVector[1], upVector[2]);
+ this->camera->SetFocalPoint(focus[0], focus[1], focus[2]);
return true;
}
-
-void LaparoscopicCameraController::setOffsetOrientation(
- const Eigen::Map<core::Quaterniond> &offsetOrientation)
-{
- this->offsetOrientation = offsetOrientation;
-}
-
-void LaparoscopicCameraController::setOffsetPosition(const core::Vec3d &offsetPosition)
-{
- this->offsetPosition = offsetPosition;
-}
-
-const core::Quaterniond & LaparoscopicCameraController::getOffsetOrientation() const
-{
- return this->offsetOrientation;
-}
-
-const core::Vec3d & LaparoscopicCameraController::getOffsetPosition() const
-{
- return this->offsetPosition;
-}
-
-std::shared_ptr<cameraConfigurationData> LaparoscopicCameraController::getCameraData()
-{
- return this->cameraPosOrientData;
-};
-
-double LaparoscopicCameraController::getBendingRadius() const
-{
- return this->bendingRadius;
-}
-
-void LaparoscopicCameraController::setBendingRadius(const double val)
-{
- this->bendingRadius = val;
-}
diff --git a/VirtualTools/LaparoscopicCameraController.h b/VirtualTools/LaparoscopicCameraController.h
index f0e25e0766f2d631fcfe9659de906831a42ba0f6..2ce2297513cfcdfcb3c9d5baf1c3721b5c3b905c 100644
--- a/VirtualTools/LaparoscopicCameraController.h
+++ b/VirtualTools/LaparoscopicCameraController.h
@@ -41,16 +41,6 @@
class DeviceInterface;
-struct cameraConfigurationData
-{
- core::Vec3d position;
- core::Vec3d focus;
- core::Vec3d upVector;
-
- cameraConfigurationData() : position(0, 0, 0), focus(0, 0, -1), upVector(0, 1, 0){};
- ~cameraConfigurationData(){};
-};
-
///
/// \class LaparoscopicCameraController
///
@@ -86,158 +76,63 @@ public:
void initializeCameraScopeConfiguration();
///
- /// \brief Set the input device for this tool
- /// \param newDevice A pointer to an allocated device
+ /// \brief Set/Get the input device for this tool coupler
///
void setInputDevice(std::shared_ptr<DeviceInterface> newDevice);
-
- ///
- /// \brief Set the output device for this tool coupler
- ///
std::shared_ptr<DeviceInterface> getInputDevice();
///
- /// \brief Set the pointer to the mesh to control
- /// \param newMesh A pointer to an allocated mesh
+ /// \brief Set/Get the pointer to the controlled camera
///
void setCamera(vtkCamera* newCamera);
-
- ///
- /// \brief Get the output device for this tool coupler
- ///
vtkCamera* getcamera() const;
///
- /// \brief Get the current pooling delay
- /// \return The currently set polling delay
+ /// \brief Set/Get the pooling delay of the controller
///
+ void setPoolDelay(const std::chrono::milliseconds& delay);
const std::chrono::milliseconds &getPoolDelay() const;
///
- /// \brief Set the pooling delay of the controller to get new data from the device
- /// \param delay The new polling delay to set
- ///
- void setPoolDelay(const std::chrono::milliseconds &delay);
-
- ///
- /// \brief Get the current scaling factor
- /// \return The currently set scaling factor
+ /// \brief Set/Get the bending radius of the tip of the scope
///
- const double &getScalingFactor() const;
+ void setBendingRadius(const double val);
+ double getBendingRadius() const;
///
- /// \brief Set how much to scale the physical movement by in 3D space
- /// \param The new scaling factor to set
+ /// \brief Set/Get the current scaling factor
///
void setScalingFactor(const double factor);
-
- ///
- /// \brief Get the current orientation
- /// \return The orientation
- ///
- const core::Quaterniond &getOrientation() const;
-
- ///
- /// \brief Set orientation much to scale the physical movement by in 3D space
- /// \param The new scaling factor to set
- ///
- void setOrientation(const Eigen::Map<core::Quaterniond> &newOrientation);
-
- ///
- /// \brief Get the current orientation
- /// \return The currently set scaling factor
- ///
- const core::Vec3d &getPosition() const;
-
- ///
- /// \brief Set orientation much to scale the physical movement by in 3D space
- /// \param The new scaling factor to set
- ///
- void setPosition(const core::Vec3d &newPosition);
-
- ///
- /// \brief Set offset orientation much to scale the physical movement by in 3D space
- /// \param The new scaling factor to set
- ///
- void setOffsetOrientation(const Eigen::Map<core::Quaterniond> &offsetOrientation);
-
- ///
- /// \brief Get the offset orientation
- /// \return The orientation
- ///
- const core::Quaterniond &getOffsetOrientation() const;
-
- ///
- /// \brief Get the offset position
- /// \return The currently set scaling factor
- ///
- const core::Vec3d &getOffsetPosition() const;
-
- ///
- /// \brief Set offset orientation much to scale the physical movement by in 3D space
- /// \param The new scaling factor to set
- ///
- void setOffsetPosition(const core::Vec3d &offsetPosition);
+ const double &getScalingFactor() const;
///
/// \brief Update position and orientation of the camera based on device data
///
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
///
bool init() override;
void beginFrame() override;
void endFrame() override;
-
- ///
- /// \brief Update tracker and
- ///
void exec() override;
private:
- TransformType initialTransform; //!< Transform applied to the position
- // obtained from device
-
- core::Quaterniond orientation; //!< Previous rotation quaternion from device
-
- core::Quaterniond prevOrientation; //!< Previous rotation quaternion from phantom
- core::Vec3d prevPosition; //!< Previous position from phantom
-
- core::Vec3d position; //!< Previous position from device
- double scalingFactor; //!< Scaling factor for physical to virtual translation
-
- core::Quaterniond offsetOrientation; //!< Previous rotation quaternion from device
- core::Vec3d offsetPosition; //!< Previous position from device
- std::chrono::milliseconds poolDelay; //!< Pooling delay
- vtkCamera* camera; //!< Pointer to rendering camera
- std::shared_ptr<DeviceInterface> inputDevice; //!< Pointer to input device
+ vtkCamera* camera; //!< Pointer to rendering camera
+ std::shared_ptr<DeviceInterface> inputDevice; //!< Pointer to input device
+ std::chrono::milliseconds poolDelay; //!< Pooling delay
+ double bendingRadius; //!< bending radius of the tip of the scope
+ double scalingFactor; //!< Scaling factor for physical to virtual translation
- double bendingRadius;//!< bending radius of the tip of the scope
-
- double angleY;
- double maxAngleY;
- double minAngleY;
-
- double angleX;
+ double currentAngleX;
+ double currentAngleY;
double maxAngleX;
+ double maxAngleY;
double minAngleX;
+ double minAngleY;
double deltaAngleXY;
-
- std::shared_ptr<cameraConfigurationData> cameraPosOrientData;//!< camera config data
};
#endif // iSMTK_LAPAROSCOPIC_CAMERA_COUPLER_H