RaycastImplementation.cpp

#include "RaycastImplementation.h"

RaycastImplementation::RaycastImplementation(): slImplementation(string("RaycastImplementation")) {
	//this->setScale(250);
	this->setScale(280);
}

bool RaycastImplementation::hasMoreIterations() {
        return experiment->getIterationIndex() == 0;
}

Mat RaycastImplementation::generatePattern() {
	Size cameraResolution = experiment->getInfrastructure()->getCameraResolution();
	
	int iterationIndex = experiment->getIterationIndex();

	int cameraWidth = (int)cameraResolution.width;
	int cameraHeight = (int)cameraResolution.height;

	Mat pattern(cameraHeight, cameraWidth, CV_8UC3, Scalar(0, 0, 0));
	return pattern;
}

void RaycastImplementation::postIterationsProcess() {
	stringstream blenderFilename, outputFilename, blenderCommandLine;

	blenderFilename << experiment->getPath() << "slVirtualScene_0.blend";
	outputFilename << experiment->getPath() << "raycast_depth.xyz";

	Size cameraResolution = experiment->getInfrastructure()->getCameraResolution();
	Rect croppedArea = experiment->getInfrastructure()->getCroppedArea();

	blenderCommandLine
		<< "blender -b -P RaycastDepth.py -- "
			<< blenderFilename.str() << " "
			<< outputFilename.str() << " "
			<< (int)cameraResolution.width << " "
			<< (int)cameraResolution.height;

	DB("blenderCommandLine: " << blenderCommandLine.str())

	int exeResult = system(blenderCommandLine.str().c_str());

	ifstream raycastDepthfile(outputFilename.str());
	string line;

	while (getline(raycastDepthfile, line)) {
		stringstream lineStream(line);
		istream_iterator<string> iterator(lineStream);
		istream_iterator<string> end;
		vector<string> results(iterator, end);

		//int x = atoi(results[0].c_str());
		//int y = atoi(results[1].c_str());
		double x = atof(results[0].c_str());
		double y = atof(results[1].c_str());
		double z = atof(results[2].c_str());

//		if (x >= croppedArea.x && x < (croppedArea.x + croppedArea.width) && y >= croppedArea.y && y < (croppedArea.y + croppedArea.height)) {
			//slDepthExperimentResult result(x - croppedArea.x, y - croppedArea.y, z * this->getScale());
			slDepthExperimentResult result(x, y, (z * this->getScale()) + 2660);
			experiment->storeResult(&result);
//		}
	}

	remove(outputFilename.str().c_str());
/*
	Rect croppedArea = experiment->getInfrastructure()->getCroppedArea();

	for (int y = 0; y < croppedArea.height; y++) {
		//int lastBinaryCode = -1;

		for (int x = 0; x < croppedArea.width; x++) {
			int currentOriginalColumn = originalColumn[(y * croppedArea.width) + x];

			//if (currentBinaryCode != -1 && currentBinaryCode != lastBinaryCode) {
			if (currentOriginalColumn != -1) {
				
				double displacement = 
					((double)x / (double)croppedArea.width) - ((double)currentOriginalColumn / (double)experiment->getInfrastructure()->getCameraResolution().width);

				slDepthExperimentResult result(x, y, displacement * RAYCAST_Z_SCALE);
				experiment->storeResult(&result);

				//lastBinaryCode = currentBinaryCode;
			}
		}
	}
*/	
}