File CameraEvent.cpp¶

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//
// This source file, along with its associated content, was authored by
// Andrea Settimi, Hong-Bin Yang, Naravich Chutisilp, and numerous other
// contributors. The code was originally developed at the Laboratory for
// Timber Construction (IBOIS, director: Prof. Yves Weinand) at the School of 
// Architecture, Civil and Environmental Engineering (ENAC) at the Swiss
// Federal Institute of Technology in Lausanne (EPFL) for the Doctoral
// Research "Augmented Carpentry" (PhD researcher: Andrea Settimi,
// co-director: Dr. Julien Gamerro, director: Prof. Yves Weinand).
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#include "aiacpch.h"
#include "AIAC/EventSys/CameraEvent.h"
#include "AIAC/EventSys/SLAMEvent.h"
#include "AIAC/Application.h"
#include "AIAC/Config.h"

namespace AIAC
{
    void CameraCalibrationLoadedEvent::OnCameraCalibrationFileLoaded()
    {
        // update the config first
        AIAC::Config::UpdateEntry(AIAC::Config::SEC_AIAC, AIAC::Config::CAM_PARAMS_FILE, m_FilePath);

        AIAC_APP.GetLayer<LayerCamera>()->MainCamera.UpdateCameraParamFromFile(m_FilePath);
        AIAC_APP.GetLayer<LayerSlam>()->Slam.setCamParams(m_FilePath);
        AIAC_APP.GetLayer<LayerSlam>()->Slam.imageParams.Distorsion.setTo(cv::Scalar::all(0));
        AIAC_APP.GetLayer<LayerToolhead>()->ReloadCameraFromFile();

        // Since the camera calibration file has changed, making it uncompilable with the previous SLAM map
        // we need to stop the SLAM process, or it will crash
        AIAC_APP.GetLayer<LayerSlam>()->ToProcess = false;

        // update projection matrix
        AIAC_APP.GetRenderer()->InitProjMatrix();
    }
}