Release version 2.2 revision 2

Using tarball (with SHA1):
2278ccc3d45180162e44a8fbe6a2e02de7826b33 *SARndbox-2.2.tar.gz

BathymetrySaverTool.h

@@ -0,0 +1,111 @@
+/***********************************************************************
+BathymetrySaverTool - Tool to save the current bathymetry grid of an
+augmented reality sandbox to a file or network socket.
+Copyright (c) 2016 Oliver Kreylos
+
+This file is part of the Augmented Reality Sandbox (SARndbox).
+
+The Augmented Reality Sandbox is free software; you can redistribute it
+and/or modify it under the terms of the GNU General Public License as
+published by the Free Software Foundation; either version 2 of the
+License, or (at your option) any later version.
+
+The Augmented Reality Sandbox 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
+General Public License for more details.
+
+You should have received a copy of the GNU General Public License along
+with the Augmented Reality Sandbox; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+***********************************************************************/
+
+#ifndef BATHYMETRYSAVERTOOL_INCLUDED
+#define BATHYMETRYSAVERTOOL_INCLUDED
+
+#include <string>
+#include <GL/gl.h>
+#include <Vrui/Tool.h>
+#include <Vrui/Application.h>
+
+#include "Types.h"
+
+/* Forward declarations: */
+class WaterTable2;
+class Sandbox;
+class BathymetrySaverTool;
+
+class BathymetrySaverToolFactory:public Vrui::ToolFactory
+	{
+	friend class BathymetrySaverTool;
+
+	/* Embedded classes: */
+	private:
+	struct Configuration // Structure containing tool settings
+		{
+		/* Elements: */
+		public:
+		std::string saveFileName; // Name of file to which to save the bathymetry grid
+		bool postUpdate; // Flag whether to post an update message to a web server after saving the bathymetry grid
+		std::string postUpdateHostName; // Name of web server to which to send update messages
+		int postUpdatePort; // TCP port number of web server to which to send update messages
+		std::string postUpdatePage; // Name of page on web server to which update messages are posted
+		std::string postUpdateMessage; // The message to send to the web server
+
+		/* Constructors and destructors: */
+		Configuration(void); // Creates default configuration
+
+		/* Methods: */
+		void read(const Misc::ConfigurationFileSection& cfs); // Overrides configuration from configuration file section
+		void write(Misc::ConfigurationFileSection& cfs) const; // Writes configuration to configuration file section
+		};
+
+	/* Elements: */
+	private:
+	Configuration configuration; // Default configuration for all tools
+	WaterTable2* waterTable; // Pointer to water table object from which to request bathymetry grids
+	GLsizei gridSize[2]; // Width and height of the water table's bathymetry grid
+	GLfloat cellSize[2]; // Width and height of each water table cell
+
+	/* Constructors and destructors: */
+	public:
+	BathymetrySaverToolFactory(WaterTable2* sWaterTable,Vrui::ToolManager& toolManager);
+	virtual ~BathymetrySaverToolFactory(void);
+
+	/* Methods from Vrui::ToolFactory: */
+	virtual const char* getName(void) const;
+	virtual const char* getButtonFunction(int buttonSlotIndex) const;
+	virtual Vrui::Tool* createTool(const Vrui::ToolInputAssignment& inputAssignment) const;
+	virtual void destroyTool(Vrui::Tool* tool) const;
+	};
+
+class BathymetrySaverTool:public Vrui::Tool,public Vrui::Application::Tool<Sandbox>
+	{
+	friend class BathymetrySaverToolFactory;
+
+	/* Elements: */
+	private:
+	static BathymetrySaverToolFactory* factory; // Pointer to the factory object for this class
+	BathymetrySaverToolFactory::Configuration configuration; // Configuration of this tool
+	GLfloat* bathymetryBuffer; // Bathymetry grid buffer
+	bool requestPending; // Flag if this tool has a pending request to retrieve a bathymetry grid
+
+	/* Private methods: */
+	void writeDEMFile(void) const; // Writes the bathymetry grid to a file in USGS DEM format
+	void postUpdate(void) const; // Sends an update message to a web server
+
+	/* Constructors and destructors: */
+	public:
+	static BathymetrySaverToolFactory* initClass(WaterTable2* sWaterTable,Vrui::ToolManager& toolManager);
+	BathymetrySaverTool(const Vrui::ToolFactory* factory,const Vrui::ToolInputAssignment& inputAssignment);
+	virtual ~BathymetrySaverTool(void);
+
+	/* Methods from class Vrui::Tool: */
+	virtual void configure(const Misc::ConfigurationFileSection& configFileSection);
+	virtual void storeState(Misc::ConfigurationFileSection& configFileSection) const;
+	virtual const Vrui::ToolFactory* getFactory(void) const;
+	virtual void buttonCallback(int buttonSlotIndex,Vrui::InputDevice::ButtonCallbackData* cbData);
+	virtual void frame(void);
+	};
+
+#endif

CalibrateProjector.cpp

@@ -1,7 +1,7 @@
 /***********************************************************************
 CalibrateProjector - Utility to calculate the calibration transformation
 of a projector into a Kinect-captured 3D space.
-Copyright (c) 2012-2013 Oliver Kreylos
+Copyright (c) 2012-2015 Oliver Kreylos
 
 This file is part of the Augmented Reality Sandbox (SARndbox).
 
@@ -44,6 +44,8 @@ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #include <Vrui/ToolManager.h>
 #include <Vrui/OpenFile.h>
 
+#include "Config.h"
+
 /********************************************************
 Static elements of class CalibrateProjector::CaptureTool:
 ********************************************************/
@@ -150,7 +152,7 @@ void CalibrateProjector::depthStreamingCallback(const Kinect::FrameBuffer& frame
 	Vrui::requestUpdate();
 	}
 
-void CalibrateProjector::backgroundCaptureCompleteCallback(Kinect::Camera&)
+void CalibrateProjector::backgroundCaptureCompleteCallback(Kinect::DirectFrameSource&)
 	{
 	/* Reset the background capture flag: */
 	std::cout<<" done"<<std::endl;
@@ -182,9 +184,12 @@ CalibrateProjector::CalibrateProjector(int& argc,char**& argv)
 
 	/* Process command line parameters: */
 	bool printHelp=false;
-	std::string sandboxLayoutFileName=CONFIGDIR;
+	std::string sandboxLayoutFileName=CONFIG_CONFIGDIR;
 	sandboxLayoutFileName.push_back('/');
-	sandboxLayoutFileName.append("BoxLayout.txt");
+	sandboxLayoutFileName.append(CONFIG_DEFAULTBOXLAYOUTFILENAME);
+	projectionMatrixFileName=CONFIG_CONFIGDIR;
+	projectionMatrixFileName.push_back('/');
+	projectionMatrixFileName.append(CONFIG_DEFAULTPROJECTIONMATRIXFILENAME);
 	int cameraIndex=0;
 	imageSize[0]=1024;
 	imageSize[1]=768;
@@ -233,6 +238,11 @@ CalibrateProjector::CalibrateProjector(int& argc,char**& argv)
 				++i;
 				tiePointFileName=argv[i];
 				}
+			else if(strcasecmp(argv[i]+1,"pmf")==0)
+				{
+				++i;
+				projectionMatrixFileName=argv[i];
+				}
 			}
 		}
 
@@ -244,7 +254,7 @@ CalibrateProjector::CalibrateProjector(int& argc,char**& argv)
 		std::cout<<"     Prints this help message"<<std::endl;
 		std::cout<<"  -slf <sandbox layout file name>"<<std::endl;
 		std::cout<<"     Loads the sandbox layout file of the given name"<<std::endl;
-		std::cout<<"     Default: "<<CONFIGDIR<<"/BoxLayout.txt"<<std::endl;
+		std::cout<<"     Default: "<<CONFIG_CONFIGDIR<<'/'<<CONFIG_DEFAULTBOXLAYOUTFILENAME<<std::endl;
 		std::cout<<"  -c <camera index>"<<std::endl;
 		std::cout<<"     Selects the local Kinect camera of the given index (0: first camera"<<std::endl;
 		std::cout<<"     on USB bus)"<<std::endl;
@@ -262,6 +272,9 @@ CalibrateProjector::CalibrateProjector(int& argc,char**& argv)
 		std::cout<<"     Default: 1"<<std::endl;
 		std::cout<<"  -tpf <tie point file name>"<<std::endl;
 		std::cout<<"     Reads initial calibration tie points from a CSV file"<<std::endl;
+		std::cout<<"  -pmf <projection matrix file name>"<<std::endl;
+		std::cout<<"     Saves the calibration matrix to the file of the given name"<<std::endl;
+		std::cout<<"     Default: "<<CONFIG_CONFIGDIR<<'/'<<CONFIG_DEFAULTPROJECTIONMATRIXFILENAME<<std::endl;
 		}
 
 	/* Read the sandbox layout file: */
@@ -295,18 +308,15 @@ CalibrateProjector::CalibrateProjector(int& argc,char**& argv)
 			tiePoints.push_back(tp);
 			}
 
-		if(tiePoints.size()>=numTiePoints[0]*numTiePoints[1])
+		if(tiePoints.size()>=size_t(numTiePoints[0]*numTiePoints[1]))
 			{
 			/* Calculate an initial calibration: */
 			calcCalibration();
 			}
 		}
 
-	/* Enable background USB event handling: */
-	usbContext.startEventHandling();
-
 	/* Open the Kinect camera device: */
-	camera=new Kinect::Camera(usbContext,cameraIndex);
+	camera=new Kinect::Camera(cameraIndex);
 	camera->setCompressDepthFrames(true);
 	camera->setSmoothDepthFrames(false);
 	camera->setBackgroundRemovalFuzz(1);
@@ -360,7 +370,7 @@ void CalibrateProjector::frame(void)
 	if(rawFrames.lockNewValue())
 		{
 		/* Extract all foreground blobs from the raw depth frame: */
-		const DepthPixel* framePixels=static_cast<const DepthPixel*>(rawFrames.getLockedValue().getBuffer());
+		const DepthPixel* framePixels=rawFrames.getLockedValue().getData<DepthPixel>();
 		BlobForegroundSelector bfs;
 		BlobMergeChecker bmc(blobMergeDepth);
 		DepthCentroidBlob::Creator blobCreator;
@@ -481,7 +491,7 @@ void CalibrateProjector::frame(void)
 				capturingTiePoint=false;
 
 				/* Check if the calibration is complete: */
-				if(tiePoints.size()>=numTiePoints[0]*numTiePoints[1])
+				if(tiePoints.size()>=size_t(numTiePoints[0]*numTiePoints[1]))
 					{
 					/* Calculate the calibration transformation: */
 					calcCalibration();
@@ -829,10 +839,7 @@ void CalibrateProjector::calcCalibration(void)
 		projection=invViewport*projection;
 
 		/* Write the projection matrix to a file: */
-		std::string projFileName=CONFIGDIR;
-		projFileName.push_back('/');
-		projFileName.append("ProjectorMatrix.dat");
-		IO::FilePtr projFile=Vrui::openFile(projFileName.c_str(),IO::File::WriteOnly);
+		IO::FilePtr projFile=Vrui::openFile(projectionMatrixFileName.c_str(),IO::File::WriteOnly);
 		projFile->setEndianness(Misc::LittleEndian);
 		for(int i=0;i<4;++i)
 			for(int j=0;j<4;++j)

CalibrateProjector.h

@@ -1,7 +1,7 @@
 /***********************************************************************
 CalibrateProjector - Utility to calculate the calibration transformation
 of a projector into a Kinect-captured 3D space.
-Copyright (c) 2012-2013 Oliver Kreylos
+Copyright (c) 2012-2015 Oliver Kreylos
 
 This file is part of the Augmented Reality Sandbox (SARndbox).
 
@@ -27,7 +27,6 @@ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #include <Threads/Mutex.h>
 #include <Threads/Cond.h>
 #include <Threads/TripleBuffer.h>
-#include <USB/Context.h>
 #include <Math/Matrix.h>
 #include <Geometry/Point.h>
 #include <Geometry/AffineCombiner.h>
@@ -176,7 +175,6 @@ class CalibrateProjector:public Vrui::Application,public GLObject
 	unsigned int numTiePointFrames; // Number of frames to capture per tie point
 	unsigned int numBackgroundFrames; // Number of frames to capture for background removal
 	int blobMergeDepth; // Maximum depth difference between neighboring pixels in the same blob
-	USB::Context usbContext; // USB device context
 	Kinect::Camera* camera; // Pointer to Kinect camera defining the object space
 	unsigned int frameSize[2]; // Size of the Kinect camera's depth frames in pixels
 	PixelDepthCorrection* pixelDepthCorrection; // Buffer of per-pixel depth correction coefficients
@@ -199,9 +197,11 @@ class CalibrateProjector:public Vrui::Application,public GLObject
 	bool haveProjection; // Flag if a projection matrix has been computed
 	Math::Matrix projection; // The current projection matrix
 
+	std::string projectionMatrixFileName; // Name of the file to which the projection matrix is saved
+
 	/* Private methods: */
 	void depthStreamingCallback(const Kinect::FrameBuffer& frameBuffer); // Callback receiving depth frames from the Kinect camera
-	void backgroundCaptureCompleteCallback(Kinect::Camera& camera); // Callback when the Kinect camera is done capturing a background image
+	void backgroundCaptureCompleteCallback(Kinect::DirectFrameSource& camera); // Callback when the Kinect camera is done capturing a background image
 
 	/* Constructors and destructors: */
 	public:

Config.h

@@ -0,0 +1,33 @@
+/***********************************************************************
+Config - Configuration header file for the Augmented Reality Sandbox.
+Copyright (c) 2014-2016 Oliver Kreylos
+
+This file is part of the Augmented Reality Sandbox (SARndbox).
+
+The Augmented Reality Sandbox is free software; you can redistribute it
+and/or modify it under the terms of the GNU General Public License as
+published by the Free Software Foundation; either version 2 of the
+License, or (at your option) any later version.
+
+The Augmented Reality Sandbox 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
+General Public License for more details.
+
+You should have received a copy of the GNU General Public License along
+with the Augmented Reality Sandbox; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+***********************************************************************/
+
+#ifndef CONFIG_INCLUDED
+#define CONFIG_INCLUDED
+
+#define CONFIG_CONFIGDIR "/usr/local/etc/SARndbox-3.0"
+#define CONFIG_SHADERDIR "/usr/local/share/SARndbox-3.0/Shaders"
+
+#define CONFIG_DEFAULTCONFIGFILENAME "SARndbox.cfg"
+#define CONFIG_DEFAULTBOXLAYOUTFILENAME "BoxLayout.txt"
+#define CONFIG_DEFAULTPROJECTIONMATRIXFILENAME "ProjectorMatrix.dat"
+#define CONFIG_DEFAULTHEIGHTCOLORMAPFILENAME "HeightColorMap.cpt"
+
+#endif