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capcli.cpp
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capcli.cpp
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/*
*
* Copyright (c) 2018 - 2019 Mateusz 'mteg' Golicz
*
* Distributed under CC BY-SA 4.0 license
*
*/
#include <cstring>
#include <cstdlib>
#include <cstdio>
#include <chrono>
#include <thread>
#include <cstring>
#include <cstdarg>
#ifdef WINDOWS
#include <io.h>
#else
#include <unistd.h>
#endif
#define _USE_MATH_DEFINES
#include <cmath>
#include "capcli.h"
#include "clidata.h"
#include "capdebug.h"
capCliThread::capCliThread(capCli *cliController, struct tcpConn *conn) : cli(cliController->capCliData) {
this->cliController = cliController;
this->conn = conn;
this->startChat();
}
capCliThread::capCliThread(capCli *cliController) : cli(cliController->capCliData) {
this->cliController = cliController;
this->conn = NULL;
this->noTerminal = true;
this->commandResult.size = 65536;
this->commandResult.mem = (char*) malloc(this->commandResult.size);
}
void capCliThread::keyAction(unsigned char key, int type)
{
capCli *cli = this->cliController;
if(cli->currentKeymap)
if(cli->currentKeymap->actions[type][key])
{
this->execString(cli->currentKeymap->actions[type][key]);
return;
}
if(cli->rootKeymap)
if(cli->rootKeymap->actions[type][key])
{
this->execString(cli->rootKeymap->actions[type][key]);
return;
}
}
void capCliThread::axisAction(int action, float step, float x1, float y1, float x2, float y2)
{
capCli *cli = this->cliController;
capRenderer *r = cli->engine->renderer;
if(step != 0.0f)
cli->engine->needRefresh = true;
switch(action)
{
case CAD_CAM_PITCH: r->camPitch(-step); break;
case CAD_CAM_YAW: r->camYaw(step); break;
case CAD_CAM_PANZ: r->camMove(-step); break;
case CAD_CAM_PANX: r->camStrafe(step); break;
case CAD_CAM_PANY: r->camLift(step); break;
case CAD_RANGE_ADJUST:
{
capNvmCam *nc = cli->engine->renderer->texturedCam;
if (!nc) break;
capGenericPoint m1 = cli->engine->renderer->screenPosToNvm(x2, y2);
capGenericPoint m2 = cli->engine->renderer->screenPosToNvm(x1, y1);
cli->engine->repr.rasterRange = m1.x - m2.x;
cli->engine->needRefresh = true;
break;
}
case CAD_MARKER_SET: {
capNvmCam *nc = cli->engine->renderer->texturedCam;
if (!nc) break;
capGenericPoint m = cli->engine->renderer->screenPosToNvm(x2, y2);
nc->marker.x = m.x;
nc->marker.y = m.y;
nc->marker.valid = true;
cli->engine->needRefresh = true;
break;
// todo reimplement nvm markers
/*
case CAD_MARKER_X:
if(this->texturedCam)
{
this->texturedCam->markerX += step;
if(this->texturedCam->markerX > 1.0)
this->texturedCam->markerX = 1.0;
else if(this->texturedCam->markerX < -1.0)
this->texturedCam->markerX = -1.0;
}
break;
case CAD_MARKER_Y:
if(this->texturedCam)
{
this->texturedCam->markerY += step;
if(this->texturedCam->markerY > 1.0)
this->texturedCam->markerY = 1.0;
else if(this->texturedCam->markerY < -1.0)
this->texturedCam->markerY = -1.0;
}
break;
*/
}
case CAD_NVM_PANX:
r->views[CAV_NVMCAM].panX -= step*r->views[CAV_NVMCAM].orthoZoom;
break;
case CAD_NVM_PANY:
r->views[CAV_NVMCAM].panY += step*r->views[CAV_NVMCAM].orthoZoom;
break;
case CAD_MARK_POINTS:
case CAD_MEASURE:
{
float z1 = -r->views[CAV_XSECT].zOffset;
float radius = fabsf(2 * r->views[CAV_XSECT].orthoZoom * (x2-x1));
x1 *= r->views[CAV_XSECT].orthoZoom;
y1 *= r->views[CAV_XSECT].orthoZoom;
if(action == CAD_MEASURE)
{
x2 *= r->views[CAV_XSECT].orthoZoom;
y2 *= r->views[CAV_XSECT].orthoZoom;
r->setRuler(x1, y1, x2, y2);
cli->engine->virtualMeasurement(x1, y1, x2, y2);
// todo reimplement measurements
/*
this->lx1 = x1; this->ly1 = y1;
this->lx2 = x2; this->ly2 = y2;
this->miscFlags |= CMF_DISPLAY_LINE;
*/
}
else
{
if(!cli->engine->models.empty())
{
capModel_ball mb, vb;
vb.x0 = x1; vb.y0 = y1; vb.z0 = z1; vb.radius = radius;
unsigned int p = cli->engine->models[0]->ballSelect(mb = cli->engine->models[0]->ballViewToModel(vb));
cli->engine->setStatus("Selection: (%.2f, %.2f, %.2f) m, radius %.2f m, points %d", mb.x0, mb.y0, mb.z0, mb.radius, p);
}
}
cli->engine->needRefresh = true;
break;
}
}
}
void capCliThread::axisAction(int button, int axis, float step, float x1, float y1, float x2, float y2)
{
capCli *cli = this->cliController;
capKeymap *k = cli->currentKeymap;
if(!k)
k = cli->rootKeymap;
else if(!k->dragActions[button][axis])
k = cli->rootKeymap;
if(!k) return;
this->axisAction(k->dragActions[button][axis], step * k->dragFactors[button][axis], x1, y1, x2, y2);
}
struct capKeymap *capCli::findmap(const char *keyMap)
{
struct capKeymap *k;
if(!keyMap) keyMap = "root";
/* Search for a keymap */
for(k = this->keymaps; k; k = k->next)
if(!strcmp(keyMap, k->name)) break;
if(!k)
{
// todo handle memory shortage
k = (struct capKeymap*) malloc(sizeof(struct capKeymap));
memset(k, 0, sizeof(struct capKeymap));
k->name = strdup(keyMap);
k->next = this->keymaps;
this->keymaps = k;
if(!strcmp(keyMap, "root"))
this->rootKeymap = k;
}
return k;
}
void capCli::bindkey(const char *keyMap, const char *keyName, int actionType, const char *action)
{
struct capKeymap *k = findmap(keyMap);
char *finAction;
unsigned int key, finLen;
if(strlen(keyName) == 1)
key = (unsigned int) keyName[0];
else
key = (unsigned int) strtol(keyName, NULL, 0);
// todo handle memory shortage
finAction = (char*) malloc(finLen = ((int) strlen(action)) + 16);
snprintf(finAction, finLen, "%s\r", action);
k->actions[actionType][key & 0xff] = finAction;
}
void capCli::setKeymap(const char *mapName) {
struct capKeymap *k;
for(k = this->keymaps; k; k = k->next)
if(!strcmp(mapName, k->name))
{
this->currentKeymap = k;
break;
}
}
bool capCliThread::fetchColor(capColor *c, bool resetAlpha)
{
if(!this->token(T_SET_B)) return false;
c->r = (unsigned char) this->numToken(T_SET_R, 255);
c->g = (unsigned char) this->numToken(T_SET_G, 255);
c->b = (unsigned char) this->numToken(T_SET_B, 255);
if(resetAlpha || this->token(T_SET_A))
c->a = (unsigned char) this->numToken(T_SET_A, 255);
return true;
}
bool capCliThread::fetchColor(capColor *c)
{
return this->fetchColor(c, true);
}
float capCliThread::floatToken(clitok_id token, float defval)
{
cliToken *tok = this->token(token);
if(!tok) return defval;
return (float) atof(tok->data.sstr);
}
void capCliThread::exec() {
const char *s;
int modelId, delay, p;
capRenderer *r = this->cliController->engine->renderer;
capEngine *engine = this->cliController->engine;
if((delay = this->numToken(T_DELAY, 0)))
std::this_thread::sleep_for(std::chrono::milliseconds((unsigned int) delay));
if(this->token(T_EXIT))
{
if(!exitContext())
this->cliController->server->drop(this->conn);
return;
}
if((s = this->strToken(T_BINDCODE, NULL)))
{
int action = CA_HOLD;
if(this->token(T_PRESS))
action = CA_PRESS;
else if(this->token(T_RELEASE))
action = CA_RELEASE;
this->cliController->bindkey(this->strToken(T_KEYMAP, NULL), s, action, this->strToken(T_COMMAND, "camera advance"));
return;
}
if(this->token(T_DRAG))
{
struct capKeymap *k = this->cliController->findmap(this->strToken(T_KEYMAP, NULL));
int btn = this->numToken(T_BUTTON, 0) + (this->token(T_SHIFT) ? CAB_SHIFT : 0);
int ax = this->numToken(T_AXIS, 0);
k->dragActions[btn][ax] = (char) this->numToken(T_DRAG, 0);
k->dragFactors[btn][ax] = strtof(this->strToken(T_FACTOR, "0.1"), NULL);
return;
}
if(this->token(T_CAMERA))
{
float shiftStep = engine->shiftStep, rotateStep = engine->rotateStep;
const char *captureFile, *by;
if((by = this->strToken(T_BY, NULL)))
shiftStep = (float) atof(by);
if(this->token(T_SLIGHTLY))
{
shiftStep *= 0.1;
rotateStep *= 0.1;
}
if(this->token(T_LOG))
{
capDebug::report(0, "camera set %.6f %.6f %.6f %.1f %.1f\n", r->cam.x, r->cam.y, r->cam.z, r->cam.yaw/CAP_PI*180.0, r->cam.pitch/CAP_PI*180.0);
return;
}
else if((captureFile = this->strToken(T_CAPTURE, NULL)))
{
r->screenshot(captureFile);
return;
}
if(this->token(T_ADVANCE))
r->camMove(shiftStep);
else if(this->token(T_RETREAT))
r->camMove(-shiftStep);
else if(this->token(T_RIGHT))
r->camStrafe(-shiftStep);
else if(this->token(T_LEFT))
r->camStrafe(shiftStep);
else if(this->token(T_LOOKRIGHT))
r->camYaw(rotateStep);
else if(this->token(T_LOOKLEFT))
r->camYaw(-rotateStep);
else if(this->token(T_LOOKUP))
r->camPitch(rotateStep);
else if(this->token(T_LOOKDOWN))
r->camPitch(-rotateStep);
else if(this->token(T_UP))
r->camLift(shiftStep);
else if(this->token(T_DOWN))
r->camLift(-shiftStep);
else if(this->token(T_SET))
{
const char *str;
if((str = this->strToken(T_X, NULL))) r->cam.x = (float) atof(str);
if((str = this->strToken(T_Y, NULL))) r->cam.y = (float) atof(str);
if((str = this->strToken(T_Z, NULL))) r->cam.z = (float) atof(str);
if((str = this->strToken(T_YAW, NULL))) r->cam.yaw = (float) (atof(str)/180.0 * CAP_PI);
if((str = this->strToken(T_PITCH, NULL))) r->cam.pitch = (float) (atof(str)/180.0 * CAP_PI);
}
else if(this->token(T_XPLANE))
{
this->fetchColor(&r->sectColor, false);
if(this->token(T_ALPHA))
{
int step = this->numToken(T_STEP, 0);
r->sectColor.a += step;
}
}
engine->setStatus("Camera at %f %f %f, looking towards %.1f° pitch %+.1f°", r->cam.x, r->cam.y, r->cam.z, r->cam.yaw/CAP_PI*180.0, r->cam.pitch/CAP_PI*180.0);
}
if((p = this->numToken(T_SETVIEW, -1)) != -1)
r->switchView(p);
if(this->token(T_ACTIVATE))
this->cliController->setKeymap(this->strToken(T_KEYMAP, "root"));
if(this->token(T_VIEW))
if(this->token(T_ZOOM) || this->token(T_CLIP) || this->token(T_OFFSET))
{
int viewId = this->numToken(T_MODVIEW, 255);
float factor = engine->zoomStep, offset = engine->shiftStep;
const char *by;
if(viewId == 255) viewId = r->currentView;
if(!(viewId == CAV_PLAN || viewId == CAV_XSECT || viewId == CAV_PROFILE || viewId == CAV_NVMCAM || viewId == CAV_CAVER)) viewId = CAV_XSECT;
if((by = this->strToken(T_BY, NULL)))
factor = offset = (float) atof(by);
if(viewId == CAV_CAVER)
{
if(this->token(T_ZOOM))
{
float fov = r->views[CAV_CAVER].fov;
fov += (this->token(T_OUT) ? -1 : 1) * engine->shiftStep;
if (fov <= 1.0) fov = 1.0;
if (fov >= 360.0) fov = 360.0;
r->views[viewId].fov = fov;
}
}
if(this->token(T_OUT)) { factor = 1.0f / factor; offset = -offset; }
if(this->token(T_SET))
{
if(this->token(T_ZOOM))
r->views[viewId].orthoZoom = factor;
else if(this->token(T_CLIP))
r->views[viewId].orthoClip = factor;
else
r->views[viewId].zOffset = factor;
}
else if(this->token(T_ZOOM))
r->views[viewId].orthoZoom /= factor;
else if(this->token(T_CLIP))
r->views[viewId].orthoClip /= factor;
else
{
r->views[viewId].zOffset += offset;
capDebug::report(2, "zOffset is now %f", r->views[viewId].zOffset);
}
}
if(this->token(T_FOG))
if(r->currentView != CAV_FOURVIEW)
{
float shiftStep = engine->shiftStep;
if(this->token(T_SLIGHTLY))
shiftStep *= 0.1;
if(this->token(T_ON))
r->views[r->currentView].fogStart = 10.0;
else if(this->token(T_OFF))
r->views[r->currentView].fogStart = 0.0;
else if(this->token(T_IN))
r->views[r->currentView].fogStart -= shiftStep;
else if(this->token(T_OUT))
r->views[r->currentView].fogStart += shiftStep;
else if(this->token(T_SET))
r->views[r->currentView].fogStart = this->floatToken(T_LEVEL, 0.0);
}
if(this->token(T_VIEW))
{
if(this->token(T_RSIZE))
{
int v = r->currentView;
if(v == CAV_FOURVIEW) v = CAV_CAVER;
if(this->token(T_ENLARGE))
r->views[v].rasterSize *= 1.41;
else if(this->token(T_SHRINK))
r->views[v].rasterSize /= 1.41;
else if(this->token(T_VALUE))
r->views[v].rasterSize = this->floatToken(T_VALUE, 0.0);
}
// todo orientation histogram
/*
if(this->token(T_DRADIUS))
{
if(this->token(T_ENLARGE))
m->dipRadius *= 1.05;
else if(this->token(T_SHRINK))
m->dipRadius /= 1.05;
else if(this->token(T_VALUE))
m->dipRadius = atof(this->strToken(T_VALUE, "0.0"));
}
if(this->token(T_DSCALE))
{
if(this->token(T_ENLARGE))
m->dipScale *= 1.05;
else if(this->token(T_SHRINK))
m->dipScale /= 1.05;
else if(this->token(T_VALUE))
m->dipScale = atof(this->strToken(T_VALUE, "0.0"));
}
*/
if(this->token(T_RRANGE))
{
if(this->token(T_ENLARGE))
engine->repr.rasterRange *= 1.2;
else if(this->token(T_SHRINK))
engine->repr.rasterRange /= 1.2;
}
}
if(this->token(T_LIGHT))
{
const char *bystr;
if(this->token(T_ENABLE))
r->enableLight();
else if(this->token(T_DISABLE))
r->disableLight();
else if((bystr = this->strToken(T_BY, NULL)))
{
auto by = (float) atof(bystr);
if(this->token(T_RAISE))
r->light.lightHeight += by;
else if(this->token(T_OFFSET))
r->light.lightOffset += by;
else if(this->token(T_QUADRATIC) && this->token(T_BRIGHTEN))
r->light.lightQuadAtt *= by;
else if(this->token(T_QUADRATIC) && this->token(T_SET))
r->light.lightQuadAtt = by;
else if(this->token(T_LINEAR) && this->token(T_BRIGHTEN))
r->light.lightLinAtt *= by;
else if(this->token(T_LINEAR) && this->token(T_SET))
r->light.lightLinAtt = by;
else if(this->token(T_CONSTANT) && this->token(T_BRIGHTEN))
r->light.lightConstAtt *= by;
else if(this->token(T_CONSTANT) && this->token(T_SET))
r->light.lightConstAtt = by;
capDebug::report(2, "Set light to: q=%.6f l=%.6f c=%.6f", r->light.lightQuadAtt, r->light.lightLinAtt, r->light.lightConstAtt);
}
else if(this->token(T_LDRAG))
{
r->light.lightFlags |= CLF_DRAGGED;
}
else if(this->token(T_LDROP))
{
r->light.lightFlags |= CLF_DROPPED;
r->light.x = r->cam.x;
r->light.y = r->cam.y;
r->light.z = r->cam.z;
}
}
if(this->token(T_SET_REPROJECTION))
{
if((s = this->strToken(T_ZTOL, NULL))) engine->repr.zTol = (float) atof(s);
if((s = this->strToken(T_ZMAX, NULL))) engine->repr.zMax = (float) atof(s);
if((s = this->strToken(T_ZMIN, NULL))) engine->repr.zMin = (float) atof(s);
if((s = this->strToken(T_DOTMAX, NULL))) engine->repr.dotMax = (float) atof(s);
if((s = this->strToken(T_DOTMIN, NULL))) engine->repr.dotMin = (float) atof(s);
if(this->token(T_ENABLE_CACHE)) engine->repr.flags |= CARF_CACHE_MAPS;
if(this->token(T_DISABLE_CACHE)) engine->repr.flags &= ~CARF_CACHE_MAPS;
}
// todo nvm texture transparency adjustment
/*
if(this->token(T_SET_NVM))
{
if(this->token(T_NVM_ALPHA))
m->nvmAlpha = this->numToken(T_NVM_ALPHA, 0);
}
*/
if((modelId = this->numToken(T_MODEL, -1)) != -1)
{
int destModel, modelCount = (int) engine->models.size();
const char *loadFrom;
if(modelId == 255) modelId = modelCount;
if((loadFrom = this->strToken(T_LOAD_MODEL, NULL)))
if(modelId <= modelCount || ((modelId<modelCount) && this->token(T_APPEND)))
{
capColor rgba;
capModel *model;
bool got_rgba = this->fetchColor(&rgba);
if(modelId == modelCount)
engine->models.push_back(model = new capModel(r));
else
model = engine->models[modelId];
if(!model->loadFile(loadFrom, this->token(T_APPEND) ? 1 : 0, got_rgba ? &rgba : NULL))
{
this->printf("Cannot load model '%s': '%s'\r\n", loadFrom, capDebug::errorMessage);
return;
}
engine->needRefresh = true;
return;
}
if(modelId < modelCount)
{
const char *saveAs;
capModel *model = engine->models[modelId];
if(this->token(T_POINT))
{
const char *zC;
if((zC = this->strToken(T_PZ, NULL))) {
const char *pointName = this->strToken(T_POINT_ID, NULL);
model->setPoint((char *const) pointName, this->floatToken(T_PX, 0.0), this->floatToken(T_PY, 0.0),
(float) atof(zC));
}
else if(this->strToken(T_DELETE, NULL))
model->deletePoint((char *const) this->strToken(T_POINT_ID, NULL));
else if(this->token(T_SEE))
model->seePoint((char *const) this->strToken(T_POINT_ID, NULL), &engine->renderer->cam, -3.0f);
}
if((destModel = this->numToken(T_TRANSFORM_TO, -1)) != -1)
if(destModel < (int) engine->models.size() && destModel >= 0)
model->findTransformTo(engine->models[destModel], this->boolToken(T_COMPOSE));
if(this->token(T_SELECTION))
{
if(this->token(T_DELETE))
model->deleteSelected();
else if(this->token(T_UNDELETE))
model->undeleteAll();
else if(this->token(T_RESET))
model->resetSelection();
else if(this->token(T_FIT)) {
if(model->fitPlaneToSelection())
engine->setStatus("Fit plane: dip %.1f, dip direction %.1f", model->fitPlane.dip, model->fitPlane.dipDir);
}
else if(this->token(T_GROW))
model->growSelection(this->floatToken(T_BY, 0.1));
else if(this->token(T_WALKEDGE))
model->walkEdge(this->numToken(T_STEPS, 1));
else if(this->token(T_BOUNDARY))
model->selectBoundary();
else if(this->token(T_POPCOMPONENT))
model->popComponent();
else if(this->token(T_PATCHES))
model->dumpComponents();
else if(this->token(T_ADD_BEHIND))
model->selectBehind();
r->reinitModel(model);
}
// todo decide upon colorQuality
/*
if(this->token(T_RESET_COLORS))
{
free(model->colorQuality);
model->colorQuality = NULL;
}
*/
if(this->token(T_RECOLOR))
{
const char *recolorFile;
capColor rgba;
if(this->fetchColor(&rgba))
model->recolor(&rgba);
if((recolorFile = this->strToken(T_RECOLOR_FROM, NULL)))
{
int toDo = 0;
if(this->token(T_GRAY_UNCOLORABLE)) toDo |= CAC_GRAY_UNCOLORABLE;
if(this->token(T_DELETE_UNCOLORABLE)) toDo |= CAC_DELETE_UNCOLORABLE;
if(this->token(T_UNDELETE_COLORABLE)) toDo |= CAC_UNDELETE_COLORABLE;
if(!model->recolorFrom(recolorFile, toDo))
this->printf("Error while recoloring: %s\r\n", capDebug::errorMessage);
}
}
if((saveAs = this->strToken(T_SAVE_AS, NULL)))
{
if(this->token(T_SELECTION))
model->saveSelectionOff(saveAs);
else
model->saveOff(saveAs);
return;
}
if(this->token(T_INFO))
{
this->printf("Vert count %d, face count %d\r\n", model->nv, model->nt);
this->printf("Affine matrix:\r\n");
this->printAffine(&model->affineMatrix);
this->printf("\r\nModelview matrix:\r\n");
this->printAffine(&model->modelviewMatrix);
this->printf("\r\nScales: affine %g modelview %g\r\n", model->affineMatrix.getScale(), model->modelviewMatrix.getScale());
}
if(this->token(T_DISPLAY))
{
if(model->decRate > 0)
if(this->token(T_REFINE))
model->decRate--;
if(model->decRate < CA_DEC_MAX)
if(this->token(T_GENERALIZE))
model->decRate++;
if(this->token(T_POINTS))
{
model->flags &= ~(CAMF_POINTS | CAMF_FACES | CAMF_EDGES);
model->flags |= CAMF_POINTS;
}
else if(this->token(T_FACES))
{
model->flags &= ~(CAMF_POINTS | CAMF_FACES | CAMF_EDGES);
model->flags |= CAMF_FACES;
}
else if(this->token(T_EDGES))
{
model->flags &= ~(CAMF_POINTS | CAMF_FACES | CAMF_EDGES);
model->flags |= CAMF_EDGES;
}
else if(this->token(T_NONE))
model->flags &= ~(CAMF_POINTS | CAMF_FACES | CAMF_EDGES);
model->updateDisplay();
}
if(this->token(T_NVM))
{
const char *fname;
if((fname = this->strToken(T_LOAD_NVM, NULL)))
{
int n = this->numToken(T_NVM_ID, 0);
delete model->nvm;
model->nvm = new capNvm(r, model);
if(!model->nvm->load(fname, n))
this->printf("%s\r\n", capDebug::errorMessage);
}
else if(this->token(T_SEARCH))
{
double cx = 0, cy = 0, cz = 0, r = 0.0, pcnt = 0.0;
for(p = 0; p<(int) model->nv; p++)
{
if(!CA_HASFLAG_A(model->vf, p, CAV_MARKED)) continue;
cx += model->v[p].x; cy += model->v[p].y; cz += model->v[p].z;
pcnt = pcnt + 1.0;
}
if(pcnt == 0.0)
{
this->printf("Selection is empty\r\n");
return;
}
cx /= pcnt; cy /= pcnt; cz /= pcnt;
for(p = 0; p<(int) model->nv; p++)
{
double dist;
if(!CA_HASFLAG_A(model->vf, p, CAV_MARKED)) continue;
dist = (model->v[p].x-cx)*(model->v[p].x-cx) +
(model->v[p].y-cy)*(model->v[p].y-cy) +
(model->v[p].z-cz)*(model->v[p].z-cz);
if(dist > r) r = dist;
}
this->printf("Selection center: %f %f %f, radius %f\r\n", cx, cy, cz, sqrt(r));
if(this->token(T_DENSE) && model->nvm)
{
float affineScale = model->affineMatrix.getScale();
unsigned int i, skipped = 0;
double maxDist;
int toDo = CAR_ONLY_SELECTED;
if(this->token(T_NOMAP)) toDo |= CAR_NO_DEPTHMAP;
maxDist = sqrt(r) + engine->repr.zMax/affineScale + engine->repr.zTol/affineScale;
maxDist *= maxDist;
for(i = 0; i<model->nvm->n_cams; i++)
{
double distSquare;
if(!(i & 63))
capDebug::report(1, "Reprojected %d cams + %d skipped, %d remaining...", i-skipped, skipped, model->nvm->n_cams-i);
if(engine->repr.zMax > 0.0)
{
distSquare = (model->nvm->cams[i].x - cx) * (model->nvm->cams[i].x - cx) +
(model->nvm->cams[i].y - cy) * (model->nvm->cams[i].y - cy) +
(model->nvm->cams[i].z - cz) * (model->nvm->cams[i].z - cz);
if(distSquare > maxDist)
{
model->nvm->cams[i].seenFeatures = 0;
skipped++;
continue;
}
}
model->nvm->reproject(model, &engine->repr, &model->nvm->cams[i], toDo, NULL);
}
}
else if(model->nvm)
model->nvm->findCamsLookingIntoBall((float) cx, (float) cy, (float) cz, (float) sqrt(r), NULL);
if(model->nvm)
{
unsigned int i;
if(this->token(T_REORDER))
{
model->nvm->orderBySeen();
model->nvm->stepCam(1);
}
for(i = 0; i<model->nvm->n_cams; i++)
{
int camId = model->nvm->camIndex[i];
if(model->nvm->cams[camId].seenFeatures > 0)
this->printf("%s %4d points\r\n", model->nvm->cams[camId].filename, model->nvm->cams[camId].seenFeatures);
}
}
}
}
if(this->token(T_NORMALS))
model->computeNormals();
if(this->token(T_TRANSFORM))
{
const char *transformParam;
char *eptr;
if((transformParam = this->strToken(T_TRANSFORM_SCALE, NULL)))
{
float scale = strtof(transformParam, &eptr);
if(scale > 0.0)
model->scale(scale);
}
if((transformParam = this->strToken(T_TRANSFORM_ANGLE, NULL)))
{
float angle = strtof(transformParam, &eptr);
int axis = 0;
if(this->token(T_TRANSFORM_YAW)) axis = 1;
if(this->token(T_TRANSFORM_ROLL)) axis = 2;
model->rotate(angle, axis);
}
if(this->token(T_TZ))
model->translate(this->floatToken(T_TX, 0.0), this->floatToken(T_TY, 0.0), this->floatToken(T_TZ, 0.0));
if(this->token(T_MATRIX))
{
const clitok_id matrixTokens[] = {
T_M11, T_M21, T_M31, 0,
T_M12, T_M22, T_M32, 0,
T_M13, T_M23, T_M33, 0,
T_M14, T_M24, T_M34, 0,
};
capAffineMatrix *a = &model->affineMatrix;
int i;
a->setUnit();
for(i = 0; i<16; i++)
if(matrixTokens[i])
a->m[i] = this->floatToken(matrixTokens[i], 0.0);
}
}
if(model->nvm)
{
if((this->token(T_SHOW) || this->token(T_HIDE)) && this->token(T_NVM))
{
unsigned int flagMask = 0;
if(this->token(T_2DPOINTS))
flagMask |= CACF_DISPLAY_PLANAR;
if(this->token(T_3DPOINTS))
flagMask |= CACF_DISPLAY_SPATIAL;
if(this->token(T_LINES))
flagMask |= CACF_DISPLAY_MATCHES;
if(this->token(T_IMAGE))
flagMask |= CACF_DISPLAY_IMAGE;
if(this->token(T_HIDEALL))
flagMask = CACF_DISPLAY_PLANAR | CACF_DISPLAY_SPATIAL | CACF_DISPLAY_MATCHES | CACF_DISPLAY_IMAGE;
if(this->token(T_HIDE))
r->nvmDisplay &= ~flagMask;
else
r->nvmDisplay |= flagMask;
if(r->texturedCam) {
capNvmCam *cam = r->texturedCam;
if(flagMask)
r->reinitNvmCam(r->texturedCam);
if (this->token(T_NEXT_MATCH))
model->nvm->stepMatch(cam, cam->marker, engine->repr.rasterRange, 1);
else if (this->token(T_PREV_MATCH))
model->nvm->stepMatch(cam, cam->marker, engine->repr.rasterRange, -1);
}
}
if(this->token(T_ALTER_CAMERA))
{
int loopAll = 0;
capNvmCam *cam;
const char *camName = this->strToken(T_CAMERA_NAME, NULL);
if(this->token(T_ORDER))
{
if(this->token(T_DEPTH) || this->token(T_DISTANCE))
{
float offs = this->floatToken(T_OFFSET, 0.0) / model->affineMatrix.getScale();
if(this->token(T_DEPTH))
model->nvm->orderByDepth(offs);
else
model->nvm->orderByDistance(offs);
}
else if(this->token(T_NAME))
model->nvm->orderByName();
else if(this->token(T_INDEX))
model->nvm->orderByCamindex();
else if(this->token(T_SEEN))
model->nvm->orderBySeen();
model->nvm->stepCam(1);
}
if(camName)
cam = model->nvm->findCam(camName);
else
{
int offset = 0;
if(this->token(T_NEXT)) offset = 1;
if(this->token(T_PREV)) offset = -1;
cam = model->nvm->stepCam(offset);
}
if(this->token(T_ALL)) loopAll = 1;
if(!cam)
{
this->printf("Cannot find camera '%s'\r\n", camName ? camName : "<unknown>");
return;
}
if(this->token(T_REPROJECT))
{
unsigned int toDo = 0, i;
if(this->token(T_RECOLOR)) toDo |= CAR_COLOR;
if(this->token(T_THROW)) toDo |= CAR_THROW;
if(this->token(T_DEL_UNPROJ)) toDo |= CAR_DEL_UNPROJ;
if(this->token(T_GRAY_UNPROJ)) toDo |= CAR_GRY_UNPROJ;
if(this->token(T_UNDEL_COL)) toDo |= CAR_UND_COLOR;
if(this->token(T_DUMP)) toDo |= CAR_DUMP;
if(this->token(T_MARK)) toDo |= CAR_MARK;
if(this->token(T_ONLY_SELECTION)) toDo |= CAR_ONLY_SELECTED;
if(this->token(T_NOMAP)) toDo |= CAR_NO_DEPTHMAP;
if(this->token(T_SUMMARY)) toDo |= CAR_DUMP_SUMMARY;
/*
if(this->token(T_IMPROVE_ONLY)) toDo |= CAR_ONLY_IMPROVE;
if(this->token(T_RESET_QUALITY)) toDo |= CAR_RESET_QUALITY;
*/
if(loopAll)
{
for(i = 0; i<model->nvm->n_cams; i++)
model->nvm->reproject(model, &engine->repr, &model->nvm->cams[model->nvm->camIndex[i]], toDo, this->strToken(T_DEPTH_MAP, NULL));
model->nvm->orderBySeen();
model->nvm->stepCam(1);
}
else
model->nvm->reproject(model, &engine->repr, cam, toDo, this->strToken(T_DEPTH_MAP, NULL));
if(toDo&CAR_THROW)
{
if(!model->cursor.valid)
engine->setStatus("Reprojection failed");
else
{
float v[3] = {model->cursor.x, model->cursor.y, model->cursor.z};
model->affineMatrix.transform(v);
engine->setStatus("Reprojected to: model (%.4f, %.4f, %.4f), real (%.4f, %.4f, %.4f)", model->cursor.x, model->cursor.y, model->cursor.z, v[0], v[1], v[2]);
}
}
if(toDo&(CAR_MARK | CAR_GRY_UNPROJ | CAR_DEL_UNPROJ | CAR_COLOR))
r->reinitModel(model);
}
if(this->token(T_DIAG))
{
if(this->token(T_NVMINFO))
{
this->printf("#%d: %s (%.0fx%.0f)\r\n", cam->camIndex, cam->filename, cam->width, cam->height);
this->printf("f = %.1f r = %.8f\r\n", cam->f, cam->r);
this->printf("[x, y, z] = X - [%.6f %.6f %.6f]\r\n", cam->x, cam->y, cam->z);
this->printf("xp = %+.6f*x %+.6f*y %+.6f*z\r\n", cam->rot->m[0], cam->rot->m[1], cam->rot->m[2]);
this->printf("yp = %+.6f*x %+.6f*y %+.6f*z\r\n", cam->rot->m[4], cam->rot->m[5], cam->rot->m[6]);
this->printf("zp = %+.6f*x %+.6f*y %+.6f*z\r\n", cam->rot->m[8], cam->rot->m[9], cam->rot->m[10]);
this->printf("Seen projections: %d, model features: %d\r\n", cam->projCount, cam->seenFeatures);
}
else if(this->token(T_MEAS))
{
unsigned int i;
this->printf("# imX imY seenBy X Y Z\r\n");
for(i = 0; i<cam->projCount; i++)
{
auto *s = &cam->nvm->projs[cam->nvm->camProjs[cam->firstProj + i]];
auto *p = &cam->nvm->points[s->pointIndex];
this->printf("%3d %4.0f %4.0f %3d %f %f %f\r\n", i, s->x, s->y, p->projCount, p->x, p->y, p->z);
}
}
else if(this->token(T_REPROJECT_POINT) && this->token(T_Z))
{