bundles/addons/org.eclipse.apogy.addons.sensors.imaging.camera/src-gen-custom/org/eclipse/apogy/addons/sensors/imaging/camera/impl/PointerCameraToolCustomImpl.java - gerrit/apogy/apogy - Git at Google

 /*******************************************************************************
 <<<<<<< HEAD
  * Copyright (c) 2018 IBM Corporation and others.
  * All rights reserved. This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License v1.0
  * which accompanies this distribution, and is available at
  * http://www.eclipse.org/legal/epl-v10.html
  *
  * Contributors:
  *     IBM Corporation - initial API and implementation
 =======
  * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
  * All rights reserved. This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License v1.0
  * which accompanies this distribution, and is available at
  * http://www.eclipse.org/legal/epl-v10.html
  *
  * Contributors:
  *     Pierre Allard,
  *     Regent L'Archeveque - initial API and implementation
  *
  * SPDX-License-Identifier: EPL-1.0
  *
 >>>>>>> refs/heads/eclipse_pa
  *******************************************************************************/
 package org.eclipse.apogy.addons.sensors.imaging.camera.impl;

 import java.text.DecimalFormat;
 import java.util.Date;
 import java.util.Iterator;
 import java.util.List;

 import javax.vecmath.Color3f;
 import javax.vecmath.Matrix3d;
 import javax.vecmath.Matrix4d;
 import javax.vecmath.Vector3d;

 import org.eclipse.apogy.addons.sensors.fov.ApogyAddonsSensorsFOVPackage;
 import org.eclipse.apogy.addons.sensors.fov.RectangularFrustrumFieldOfView;
 import org.eclipse.apogy.addons.sensors.fov.bindings.RectangularFrustrumFieldOfViewBinding;
 import org.eclipse.apogy.addons.sensors.imaging.AbstractCamera;
 import org.eclipse.apogy.addons.sensors.imaging.ImageSnapshot;
 import org.eclipse.apogy.addons.sensors.imaging.camera.ApogyAddonsSensorsImagingCameraPackage;
 import org.eclipse.apogy.addons.sensors.imaging.camera.CameraToolList;
 import org.eclipse.apogy.addons.sensors.imaging.camera.CameraViewConfiguration;
 import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
 import org.eclipse.apogy.common.geometry.data3d.ApogyCommonGeometryData3DPackage;
 import org.eclipse.apogy.common.images.AbstractEImage;
 import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
 import org.eclipse.apogy.common.math.Matrix4x4;
 import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
 import org.eclipse.apogy.common.topology.ApogyCommonTopologyPackage;
 import org.eclipse.apogy.common.topology.GroupNode;
 import org.eclipse.apogy.common.topology.TransformNode;
 import org.eclipse.apogy.common.topology.addons.primitives.ApogyCommonTopologyAddonsPrimitivesFactory;
 import org.eclipse.apogy.common.topology.addons.primitives.ApogyCommonTopologyAddonsPrimitivesPackage;
 import org.eclipse.apogy.common.topology.bindings.AbstractTopologyBinding;
 import org.eclipse.apogy.common.topology.ui.NodePresentation;
 import org.eclipse.apogy.core.ApogyCorePackage;
 import org.eclipse.apogy.core.invocator.Context;
 import org.eclipse.apogy.core.invocator.TypeApiAdapter;
 import org.eclipse.apogy.core.invocator.Variable;
 import org.eclipse.apogy.core.invocator.listeners.AbstractVariableFeatureReferenceListener;
 import org.eclipse.emf.ecore.EObject;
 import org.eclipse.swt.graphics.RGB;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

 public class PointerCameraToolCustomImpl extends PointerCameraToolImpl {

 	private static final Logger Logger = LoggerFactory.getLogger(PointerCameraToolImpl.class);

 	private AbstractVariableFeatureReferenceListener abstractVariableFeatureReferenceListener = null;

 	private String toolTipText = "No intersection";
 	private RectangularFrustrumFieldOfView fov = null;
 	private org.eclipse.apogy.common.topology.addons.primitives.PickVector vector;
 	private TransformNode vectorTransformNode = null;
 	private ImageSnapshot imageSnapshot;
 	private final DecimalFormat distanceFormat = new DecimalFormat("0.00");

 	public void setFov(RectangularFrustrumFieldOfView newFov) {
 		// Remove Vector from previous FOV if applicable.
 		if (this.fov != null) {
 			GroupNode parent = (GroupNode) this.fov.getParent();
 			if (parent != null)
 				parent.getChildren().remove(getVectorTransformNode());
 		}

 		this.fov = newFov;

 		// Adds Vector to new FOV if applicable.
 		if (newFov != null) {
 			GroupNode parent = (GroupNode) newFov.getParent();
 			if (parent != null) {
 				parent.getChildren().add(getVectorTransformNode());
 			}
 		}
 	}

 	@Override
 	public void setVectorColor(Color3f newVectorColor) {
 		super.setVectorColor(newVectorColor);
 		updateVectorColor(newVectorColor);
 	}

 	@Override
 	public void setCameraToolList(CameraToolList newCameraToolList) {
 		super.setCameraToolList(newCameraToolList);

 		if (newCameraToolList != null) {
 			try {
 				getAbstractVariableFeatureReferenceListener()
 						.setVariableFeatureReference(newCameraToolList.getCameraViewConfiguration());
 				setFov(resolveFOV());
 			} catch (Throwable t) {
 				Logger.error("Error occured while setting the CameraToolList.", t);
 			}
 		}
 	}

 	@Override
 	public void setVisible(boolean newVisible) {
 		super.setVisible(newVisible);
 		updateVectorVisibility(newVisible);
 	}

 	@Override
 	public String getToolTipText(AbstractCamera camera, ImageSnapshot imageSnapshot, int mouseButton, int x, int y) {
 		return this.toolTipText;
 	}

 	@Override
 	public void initializeCamera(AbstractCamera camera) {
 		setFov(resolveFOV(camera));

 		// Sets the inital ImageSnapshot.
 		if (camera != null) {
 			updateImageSnapshot(camera.getLatestImageSnapshot());
 		}

 		// Sets color of vector.
 		updateVectorColor(getVectorColor());
 	}

 	@Override
 	public void updateImageSnapshot(ImageSnapshot imageSnapshot) {
 		this.imageSnapshot = imageSnapshot;
 	}

 	@Override
 	public void mouseMoved(AbstractEImage cameraImage, int mouseButton, int x, int y) {
 		double distance = Double.NaN;

 		if (mouseButton == 1) {
 			updatePointer(cameraImage, this.imageSnapshot, x, y);
 			distance = getVector().getIntersectionDistance();

 			if (!Double.isNaN(getIntersectionDistance())) {
 				this.toolTipText = "distance = " + this.distanceFormat.format(distance);
 			} else {
 				this.toolTipText = "No intersection";
 			}
 		} else {
 			this.toolTipText = null;
 		}

 		// Update the distance.
 		ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 				ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__INTERSECTION_DISTANCE, distance);
 	}

 	@Override
 	public void positionSelected(AbstractEImage cameraImage, int mouseButton, int x, int y) {
 		updatePointer(cameraImage, this.imageSnapshot, x, y);
 		double distance = getVector().getIntersectionDistance();
 		;

 		if (!Double.isNaN(getIntersectionDistance())) {
 			this.toolTipText = "distance = " + this.distanceFormat.format(distance);
 		} else {
 			this.toolTipText = "No intersection";
 		}

 		ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 				ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__INTERSECTION_DISTANCE, distance);
 	}

 	@Override
 	public void dispose() {
 		if (this.vectorTransformNode != null && this.vectorTransformNode.getParent() != null) {
 			// FIXME : Temporary fix because the PickVector is never removed from the JME3
 			// Topology.
 			try {
 				NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
 						.getTopologyPresentationRegistry().getPresentationNode(this.vectorTransformNode);
 				if (nodePresentation != null)
 					nodePresentation.setVisible(false);

 				if (this.vector != null) {
 					org.eclipse.apogy.common.topology.ui.Activator.getTopologyPresentationRegistry()
 							.getPresentationNode(this.vector);
 					if (nodePresentation != null)
 						nodePresentation.setVisible(false);
 				}
 			} catch (Exception e) {
 			}

 			// Detach vector from transform node.
 			if (this.vector != null) {
 				this.vectorTransformNode.getAggregatedChildren().remove(this.vector);
 				this.vector = null;
 			}

 			GroupNode gp = (GroupNode) this.vectorTransformNode.getParent();
 			gp.getChildren().remove(this.vectorTransformNode);
 			this.vectorTransformNode.setParent(null);
 		}

 		// Unregister Variable feature reference listener.
 		getAbstractVariableFeatureReferenceListener().setVariableFeatureReference(null);

 		super.dispose();
 	}

 	public RGB convert(Color3f color) {
 		int red = Math.round((color.getX() * 255));
 		int green = Math.round((color.getY() * 255));
 		int blue = Math.round((color.getZ() * 255));
 		return new RGB(red, green, blue);
 	}

 	protected void updateVectorColor(Color3f color) {
 		NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
 				.getTopologyPresentationRegistry().getPresentationNode(getVector());
 		if (nodePresentation != null) {
 			nodePresentation.setColor(convert(color));
 		}
 	}

 	protected void updateVectorVisibility(boolean visible) {
 		// Sets the visibility of the Vector.
 		NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
 				.getTopologyPresentationRegistry().getPresentationNode(getVector());
 		if (nodePresentation != null) {
 			nodePresentation.setVisible(visible);
 		}
 	}

 	protected void updatePointer(AbstractEImage cameraImage, ImageSnapshot imageSnapshot, int x, int y) {
 		if (imageSnapshot != null && cameraImage != null) {
 			double xRotation = -imageSnapshot.convertToHorizontalAngle(x);
 			double yRotation = imageSnapshot.convertToVerticalAngle(y);

 			Matrix3d xRot = new Matrix3d();
 			xRot.setIdentity();
 			xRot.rotX(xRotation);

 			Matrix3d yRot = new Matrix3d();
 			yRot.setIdentity();
 			yRot.rotY(yRotation);

 			Matrix3d rotation = new Matrix3d();
 			rotation.setIdentity();

 			rotation.mul(xRot);
 			rotation.mul(yRot);

 			// Updates the Vector.
 			Vector3d v = new Vector3d(0, 0, 100.0);
 			rotation.transform(v);
 			double vx = v.x;
 			double vy = v.y;
 			double vz = v.z;

 			this.vector.setCoordinates(ApogyCommonMathFacade.INSTANCE.createTuple3d(vx, vy, vz));

 			// Force update of vector.
 			this.vector.setLength(100);

 			// Updates the absolute pose.
 			if (this.vector.getAbsoluteIntersectionPosition() != null) {
 				Matrix4d m = new Matrix4d();
 				m.setIdentity();
 				m.set(new Vector3d(this.vector.getAbsoluteIntersectionPosition()));
 				Matrix4x4 pose = ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m);

 				ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 						ApogyCorePackage.Literals.POSE_PROVIDER__POSE_TRANSFORM, pose);
 			} else {
 				ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 						ApogyCorePackage.Literals.POSE_PROVIDER__POSE_TRANSFORM, null);
 			}

 			// FIXME Forces the vector color to udpate.
 			Color3f newColor = getVectorColor();
 			ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 					ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__VECTOR_COLOR, newColor);
 		}
 	}

 	protected RectangularFrustrumFieldOfView resolveFOV(AbstractCamera camera) {
 		if (camera == null) {
 			return null;
 		} else {
 			RectangularFrustrumFieldOfView fov = null;
 			List<AbstractTopologyBinding> bindings = org.eclipse.apogy.common.topology.bindings.Activator
 					.getBindedBindings();
 			Iterator<AbstractTopologyBinding> it = bindings.iterator();

 			/*
 			 * Searches the list of topology bindings for the
 			 * RectangularFrustrumFieldOfViewBinding that binds the camera FOV to a FOV in
 			 * the topology.
 			 */
 			while (it.hasNext() && fov == null) {
 				AbstractTopologyBinding next = it.next();

 				if (next instanceof RectangularFrustrumFieldOfViewBinding) {
 					RectangularFrustrumFieldOfViewBinding fovBinding = (RectangularFrustrumFieldOfViewBinding) next;

 					// Gets the fov to which the fovBinding is binded.
 					if (fovBinding.getFeatureNodeAdapter()
 							.getCurrentValue() instanceof RectangularFrustrumFieldOfView) {
 						RectangularFrustrumFieldOfView bindedFOV = (RectangularFrustrumFieldOfView) fovBinding
 								.getFeatureNodeAdapter().getCurrentValue();

 						// If the binded FOV is the one of the camera, we have found the FOV (in the
 						// topology) associated with the camera.
 						if (bindedFOV == camera.getFieldOfView()) {
 							fov = fovBinding.getFov();
 						}
 					}
 				}
 			}

 			return fov;
 		}
 	}

 	protected TransformNode getVectorTransformNode() {
 		if (this.vectorTransformNode == null) {
 			Matrix4d m = new Matrix4d();
 			m.setIdentity();

 			Vector3d position = new Vector3d(0, 0, 0.01);
 			m.set(position);

 			// DEBUG
 			Date date = new Date();

 			this.vectorTransformNode = ApogyCommonTopologyFacade.INSTANCE.createTransformNode(m);
 			this.vectorTransformNode.setNodeId("VECTOR_" + getName() + "_" + date.getTime());
 			this.vectorTransformNode.setDescription("PointerCamera Vector Transform");
 			this.vectorTransformNode.getChildren().add(getVector());
 		}
 		return this.vectorTransformNode;
 	}

 	protected org.eclipse.apogy.common.topology.addons.primitives.PickVector getVector() {
 		if (this.vector == null) {
 			// Creates a vector of length 100 along the Z axis.
 			this.vector = ApogyCommonTopologyAddonsPrimitivesFactory.eINSTANCE.createPickVector();
 			this.vector.getNodeTypesInIntersection()
 					.add(ApogyCommonGeometryData3DPackage.eINSTANCE.getCartesianCoordinatesMesh());
 			this.vector.getNodeTypesInIntersection().add(ApogyCommonTopologyPackage.eINSTANCE.getContentNode());
 			this.vector.setNodeId("PICKVECTOR_" + getName());
 			this.vector.setDescription("Pick Vector used by Pointer Camera Tool.");

 			this.vector.setCoordinates(ApogyCommonMathFacade.INSTANCE.createTuple3d(0, 0, 1.0));
 			this.vector.setLength(100.0);

 			// Exclude RectangularFrustrumFieldOfView from selected objects.
 			this.vector.getNodeTypesToExcludeFromIntersection()
 					.add(ApogyAddonsSensorsFOVPackage.Literals.RECTANGULAR_FRUSTRUM_FIELD_OF_VIEW);
 			this.vector.getNodeTypesToExcludeFromIntersection()
 					.add(ApogyCommonTopologyAddonsPrimitivesPackage.Literals.PICK_VECTOR);

 			// Adds all types of node to the list of possible intersections.
 			this.vector.getNodeTypesInIntersection().add(ApogyCommonTopologyPackage.Literals.NODE);

 			// Updates the Vector color.
 			Color3f newColor = getVectorColor();
 			ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
 					ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__VECTOR_COLOR, newColor);
 		}

 		return this.vector;
 	}

 	protected RectangularFrustrumFieldOfView resolveFOV() {
 		RectangularFrustrumFieldOfView fov = null;

 		if (getCameraToolList() != null) {
 			CameraViewConfiguration cameraViewConfiguration = getCameraToolList().getCameraViewConfiguration();
 			if (cameraViewConfiguration != null) {
 				AbstractCamera abstractCamera = cameraViewConfiguration.getCamera();
 				if (abstractCamera != null) {
 					fov = abstractCamera.getFieldOfView();
 				}
 			}
 		}

 		return fov;
 	}

 	protected AbstractVariableFeatureReferenceListener getAbstractVariableFeatureReferenceListener() {
 		if (this.abstractVariableFeatureReferenceListener == null) {
 			this.abstractVariableFeatureReferenceListener = new AbstractVariableFeatureReferenceListener(
 					getCameraToolList().getCameraViewConfiguration()) {
 				@Override
 				protected void instanceChanged(EObject oldInstance, EObject newInstance) {

 					// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
 					// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
 					// resolveFOV());
 					setFov(resolveFOV());
 				}

 				@Override
 				protected void contextChanged(Context oldContext, Context newContext) {
 					// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
 					// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
 					// resolveFOV());
 					setFov(resolveFOV());
 				}

 				@Override
 				protected void typeApiAdapterChanged(TypeApiAdapter oldTypeApiAdapter,
 						TypeApiAdapter newTypeApiAdapter) {
 					// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
 					// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
 					// resolveFOV());
 					setFov(resolveFOV());
 				}

 				@Override
 				protected void variableChanged(Variable oldVariable, Variable newVariable) {
 					// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
 					// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
 					// resolveFOV());
 					setFov(resolveFOV());
 				}

 				@Override
 				protected void listRootNodeChanged() {
 					// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
 					// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
 					// resolveFOV());
 					setFov(resolveFOV());
 				}
 			};
 		}
 		return this.abstractVariableFeatureReferenceListener;
 	}

 } // PointerCameraToolImpl
	/*******************************************************************************
	<<<<<<< HEAD
	* Copyright (c) 2018 IBM Corporation and others.
	* All rights reserved. This program and the accompanying materials
	* are made available under the terms of the Eclipse Public License v1.0
	* which accompanies this distribution, and is available at
	* http://www.eclipse.org/legal/epl-v10.html
	*
	* Contributors:
	* IBM Corporation - initial API and implementation
	=======
	* Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency
	* All rights reserved. This program and the accompanying materials
	* are made available under the terms of the Eclipse Public License v1.0
	* which accompanies this distribution, and is available at
	* http://www.eclipse.org/legal/epl-v10.html
	*
	* Contributors:
	* Pierre Allard,
	* Regent L'Archeveque - initial API and implementation
	*
	* SPDX-License-Identifier: EPL-1.0
	*
	>>>>>>> refs/heads/eclipse_pa
	*******************************************************************************/
	package org.eclipse.apogy.addons.sensors.imaging.camera.impl;

	import java.text.DecimalFormat;
	import java.util.Date;
	import java.util.Iterator;
	import java.util.List;

	import javax.vecmath.Color3f;
	import javax.vecmath.Matrix3d;
	import javax.vecmath.Matrix4d;
	import javax.vecmath.Vector3d;

	import org.eclipse.apogy.addons.sensors.fov.ApogyAddonsSensorsFOVPackage;
	import org.eclipse.apogy.addons.sensors.fov.RectangularFrustrumFieldOfView;
	import org.eclipse.apogy.addons.sensors.fov.bindings.RectangularFrustrumFieldOfViewBinding;
	import org.eclipse.apogy.addons.sensors.imaging.AbstractCamera;
	import org.eclipse.apogy.addons.sensors.imaging.ImageSnapshot;
	import org.eclipse.apogy.addons.sensors.imaging.camera.ApogyAddonsSensorsImagingCameraPackage;
	import org.eclipse.apogy.addons.sensors.imaging.camera.CameraToolList;
	import org.eclipse.apogy.addons.sensors.imaging.camera.CameraViewConfiguration;
	import org.eclipse.apogy.common.emf.transaction.ApogyCommonTransactionFacade;
	import org.eclipse.apogy.common.geometry.data3d.ApogyCommonGeometryData3DPackage;
	import org.eclipse.apogy.common.images.AbstractEImage;
	import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
	import org.eclipse.apogy.common.math.Matrix4x4;
	import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
	import org.eclipse.apogy.common.topology.ApogyCommonTopologyPackage;
	import org.eclipse.apogy.common.topology.GroupNode;
	import org.eclipse.apogy.common.topology.TransformNode;
	import org.eclipse.apogy.common.topology.addons.primitives.ApogyCommonTopologyAddonsPrimitivesFactory;
	import org.eclipse.apogy.common.topology.addons.primitives.ApogyCommonTopologyAddonsPrimitivesPackage;
	import org.eclipse.apogy.common.topology.bindings.AbstractTopologyBinding;
	import org.eclipse.apogy.common.topology.ui.NodePresentation;
	import org.eclipse.apogy.core.ApogyCorePackage;
	import org.eclipse.apogy.core.invocator.Context;
	import org.eclipse.apogy.core.invocator.TypeApiAdapter;
	import org.eclipse.apogy.core.invocator.Variable;
	import org.eclipse.apogy.core.invocator.listeners.AbstractVariableFeatureReferenceListener;
	import org.eclipse.emf.ecore.EObject;
	import org.eclipse.swt.graphics.RGB;
	import org.slf4j.Logger;
	import org.slf4j.LoggerFactory;

	public class PointerCameraToolCustomImpl extends PointerCameraToolImpl {

	private static final Logger Logger = LoggerFactory.getLogger(PointerCameraToolImpl.class);

	private AbstractVariableFeatureReferenceListener abstractVariableFeatureReferenceListener = null;

	private String toolTipText = "No intersection";
	private RectangularFrustrumFieldOfView fov = null;
	private org.eclipse.apogy.common.topology.addons.primitives.PickVector vector;
	private TransformNode vectorTransformNode = null;
	private ImageSnapshot imageSnapshot;
	private final DecimalFormat distanceFormat = new DecimalFormat("0.00");

	public void setFov(RectangularFrustrumFieldOfView newFov) {
	// Remove Vector from previous FOV if applicable.
	if (this.fov != null) {
	GroupNode parent = (GroupNode) this.fov.getParent();
	if (parent != null)
	parent.getChildren().remove(getVectorTransformNode());
	}

	this.fov = newFov;

	// Adds Vector to new FOV if applicable.
	if (newFov != null) {
	GroupNode parent = (GroupNode) newFov.getParent();
	if (parent != null) {
	parent.getChildren().add(getVectorTransformNode());
	}
	}
	}

	@Override
	public void setVectorColor(Color3f newVectorColor) {
	super.setVectorColor(newVectorColor);
	updateVectorColor(newVectorColor);
	}

	@Override
	public void setCameraToolList(CameraToolList newCameraToolList) {
	super.setCameraToolList(newCameraToolList);

	if (newCameraToolList != null) {
	try {
	getAbstractVariableFeatureReferenceListener()
	.setVariableFeatureReference(newCameraToolList.getCameraViewConfiguration());
	setFov(resolveFOV());
	} catch (Throwable t) {
	Logger.error("Error occured while setting the CameraToolList.", t);
	}
	}
	}

	@Override
	public void setVisible(boolean newVisible) {
	super.setVisible(newVisible);
	updateVectorVisibility(newVisible);
	}

	@Override
	public String getToolTipText(AbstractCamera camera, ImageSnapshot imageSnapshot, int mouseButton, int x, int y) {
	return this.toolTipText;
	}

	@Override
	public void initializeCamera(AbstractCamera camera) {
	setFov(resolveFOV(camera));

	// Sets the inital ImageSnapshot.
	if (camera != null) {
	updateImageSnapshot(camera.getLatestImageSnapshot());
	}

	// Sets color of vector.
	updateVectorColor(getVectorColor());
	}

	@Override
	public void updateImageSnapshot(ImageSnapshot imageSnapshot) {
	this.imageSnapshot = imageSnapshot;
	}

	@Override
	public void mouseMoved(AbstractEImage cameraImage, int mouseButton, int x, int y) {
	double distance = Double.NaN;

	if (mouseButton == 1) {
	updatePointer(cameraImage, this.imageSnapshot, x, y);
	distance = getVector().getIntersectionDistance();

	if (!Double.isNaN(getIntersectionDistance())) {
	this.toolTipText = "distance = " + this.distanceFormat.format(distance);
	} else {
	this.toolTipText = "No intersection";
	}
	} else {
	this.toolTipText = null;
	}

	// Update the distance.
	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__INTERSECTION_DISTANCE, distance);
	}

	@Override
	public void positionSelected(AbstractEImage cameraImage, int mouseButton, int x, int y) {
	updatePointer(cameraImage, this.imageSnapshot, x, y);
	double distance = getVector().getIntersectionDistance();
	;

	if (!Double.isNaN(getIntersectionDistance())) {
	this.toolTipText = "distance = " + this.distanceFormat.format(distance);
	} else {
	this.toolTipText = "No intersection";
	}

	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__INTERSECTION_DISTANCE, distance);
	}

	@Override
	public void dispose() {
	if (this.vectorTransformNode != null && this.vectorTransformNode.getParent() != null) {
	// FIXME : Temporary fix because the PickVector is never removed from the JME3
	// Topology.
	try {
	NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
	.getTopologyPresentationRegistry().getPresentationNode(this.vectorTransformNode);
	if (nodePresentation != null)
	nodePresentation.setVisible(false);

	if (this.vector != null) {
	org.eclipse.apogy.common.topology.ui.Activator.getTopologyPresentationRegistry()
	.getPresentationNode(this.vector);
	if (nodePresentation != null)
	nodePresentation.setVisible(false);
	}
	} catch (Exception e) {
	}

	// Detach vector from transform node.
	if (this.vector != null) {
	this.vectorTransformNode.getAggregatedChildren().remove(this.vector);
	this.vector = null;
	}

	GroupNode gp = (GroupNode) this.vectorTransformNode.getParent();
	gp.getChildren().remove(this.vectorTransformNode);
	this.vectorTransformNode.setParent(null);
	}

	// Unregister Variable feature reference listener.
	getAbstractVariableFeatureReferenceListener().setVariableFeatureReference(null);

	super.dispose();
	}

	public RGB convert(Color3f color) {
	int red = Math.round((color.getX() * 255));
	int green = Math.round((color.getY() * 255));
	int blue = Math.round((color.getZ() * 255));
	return new RGB(red, green, blue);
	}

	protected void updateVectorColor(Color3f color) {
	NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
	.getTopologyPresentationRegistry().getPresentationNode(getVector());
	if (nodePresentation != null) {
	nodePresentation.setColor(convert(color));
	}
	}

	protected void updateVectorVisibility(boolean visible) {
	// Sets the visibility of the Vector.
	NodePresentation nodePresentation = org.eclipse.apogy.common.topology.ui.Activator
	.getTopologyPresentationRegistry().getPresentationNode(getVector());
	if (nodePresentation != null) {
	nodePresentation.setVisible(visible);
	}
	}

	protected void updatePointer(AbstractEImage cameraImage, ImageSnapshot imageSnapshot, int x, int y) {
	if (imageSnapshot != null && cameraImage != null) {
	double xRotation = -imageSnapshot.convertToHorizontalAngle(x);
	double yRotation = imageSnapshot.convertToVerticalAngle(y);

	Matrix3d xRot = new Matrix3d();
	xRot.setIdentity();
	xRot.rotX(xRotation);

	Matrix3d yRot = new Matrix3d();
	yRot.setIdentity();
	yRot.rotY(yRotation);

	Matrix3d rotation = new Matrix3d();
	rotation.setIdentity();

	rotation.mul(xRot);
	rotation.mul(yRot);

	// Updates the Vector.
	Vector3d v = new Vector3d(0, 0, 100.0);
	rotation.transform(v);
	double vx = v.x;
	double vy = v.y;
	double vz = v.z;

	this.vector.setCoordinates(ApogyCommonMathFacade.INSTANCE.createTuple3d(vx, vy, vz));

	// Force update of vector.
	this.vector.setLength(100);

	// Updates the absolute pose.
	if (this.vector.getAbsoluteIntersectionPosition() != null) {
	Matrix4d m = new Matrix4d();
	m.setIdentity();
	m.set(new Vector3d(this.vector.getAbsoluteIntersectionPosition()));
	Matrix4x4 pose = ApogyCommonMathFacade.INSTANCE.createMatrix4x4(m);

	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyCorePackage.Literals.POSE_PROVIDER__POSE_TRANSFORM, pose);
	} else {
	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyCorePackage.Literals.POSE_PROVIDER__POSE_TRANSFORM, null);
	}

	// FIXME Forces the vector color to udpate.
	Color3f newColor = getVectorColor();
	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__VECTOR_COLOR, newColor);
	}
	}

	protected RectangularFrustrumFieldOfView resolveFOV(AbstractCamera camera) {
	if (camera == null) {
	return null;
	} else {
	RectangularFrustrumFieldOfView fov = null;
	List<AbstractTopologyBinding> bindings = org.eclipse.apogy.common.topology.bindings.Activator
	.getBindedBindings();
	Iterator<AbstractTopologyBinding> it = bindings.iterator();

	/*
	* Searches the list of topology bindings for the
	* RectangularFrustrumFieldOfViewBinding that binds the camera FOV to a FOV in
	* the topology.
	*/
	while (it.hasNext() && fov == null) {
	AbstractTopologyBinding next = it.next();

	if (next instanceof RectangularFrustrumFieldOfViewBinding) {
	RectangularFrustrumFieldOfViewBinding fovBinding = (RectangularFrustrumFieldOfViewBinding) next;

	// Gets the fov to which the fovBinding is binded.
	if (fovBinding.getFeatureNodeAdapter()
	.getCurrentValue() instanceof RectangularFrustrumFieldOfView) {
	RectangularFrustrumFieldOfView bindedFOV = (RectangularFrustrumFieldOfView) fovBinding
	.getFeatureNodeAdapter().getCurrentValue();

	// If the binded FOV is the one of the camera, we have found the FOV (in the
	// topology) associated with the camera.
	if (bindedFOV == camera.getFieldOfView()) {
	fov = fovBinding.getFov();
	}
	}
	}
	}

	return fov;
	}
	}

	protected TransformNode getVectorTransformNode() {
	if (this.vectorTransformNode == null) {
	Matrix4d m = new Matrix4d();
	m.setIdentity();

	Vector3d position = new Vector3d(0, 0, 0.01);
	m.set(position);

	// DEBUG
	Date date = new Date();

	this.vectorTransformNode = ApogyCommonTopologyFacade.INSTANCE.createTransformNode(m);
	this.vectorTransformNode.setNodeId("VECTOR_" + getName() + "_" + date.getTime());
	this.vectorTransformNode.setDescription("PointerCamera Vector Transform");
	this.vectorTransformNode.getChildren().add(getVector());
	}
	return this.vectorTransformNode;
	}

	protected org.eclipse.apogy.common.topology.addons.primitives.PickVector getVector() {
	if (this.vector == null) {
	// Creates a vector of length 100 along the Z axis.
	this.vector = ApogyCommonTopologyAddonsPrimitivesFactory.eINSTANCE.createPickVector();
	this.vector.getNodeTypesInIntersection()
	.add(ApogyCommonGeometryData3DPackage.eINSTANCE.getCartesianCoordinatesMesh());
	this.vector.getNodeTypesInIntersection().add(ApogyCommonTopologyPackage.eINSTANCE.getContentNode());
	this.vector.setNodeId("PICKVECTOR_" + getName());
	this.vector.setDescription("Pick Vector used by Pointer Camera Tool.");

	this.vector.setCoordinates(ApogyCommonMathFacade.INSTANCE.createTuple3d(0, 0, 1.0));
	this.vector.setLength(100.0);

	// Exclude RectangularFrustrumFieldOfView from selected objects.
	this.vector.getNodeTypesToExcludeFromIntersection()
	.add(ApogyAddonsSensorsFOVPackage.Literals.RECTANGULAR_FRUSTRUM_FIELD_OF_VIEW);
	this.vector.getNodeTypesToExcludeFromIntersection()
	.add(ApogyCommonTopologyAddonsPrimitivesPackage.Literals.PICK_VECTOR);

	// Adds all types of node to the list of possible intersections.
	this.vector.getNodeTypesInIntersection().add(ApogyCommonTopologyPackage.Literals.NODE);

	// Updates the Vector color.
	Color3f newColor = getVectorColor();
	ApogyCommonTransactionFacade.INSTANCE.basicSet(PointerCameraToolCustomImpl.this,
	ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__VECTOR_COLOR, newColor);
	}

	return this.vector;
	}

	protected RectangularFrustrumFieldOfView resolveFOV() {
	RectangularFrustrumFieldOfView fov = null;

	if (getCameraToolList() != null) {
	CameraViewConfiguration cameraViewConfiguration = getCameraToolList().getCameraViewConfiguration();
	if (cameraViewConfiguration != null) {
	AbstractCamera abstractCamera = cameraViewConfiguration.getCamera();
	if (abstractCamera != null) {
	fov = abstractCamera.getFieldOfView();
	}
	}
	}

	return fov;
	}

	protected AbstractVariableFeatureReferenceListener getAbstractVariableFeatureReferenceListener() {
	if (this.abstractVariableFeatureReferenceListener == null) {
	this.abstractVariableFeatureReferenceListener = new AbstractVariableFeatureReferenceListener(
	getCameraToolList().getCameraViewConfiguration()) {
	@Override
	protected void instanceChanged(EObject oldInstance, EObject newInstance) {

	// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
	// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
	// resolveFOV());
	setFov(resolveFOV());
	}

	@Override
	protected void contextChanged(Context oldContext, Context newContext) {
	// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
	// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
	// resolveFOV());
	setFov(resolveFOV());
	}

	@Override
	protected void typeApiAdapterChanged(TypeApiAdapter oldTypeApiAdapter,
	TypeApiAdapter newTypeApiAdapter) {
	// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
	// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
	// resolveFOV());
	setFov(resolveFOV());
	}

	@Override
	protected void variableChanged(Variable oldVariable, Variable newVariable) {
	// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
	// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
	// resolveFOV());
	setFov(resolveFOV());
	}

	@Override
	protected void listRootNodeChanged() {
	// ApogyCommonEmfTransactionFacade.INSTANCE.basicSet(PointerCameraToolImpl.this,
	// ApogyAddonsSensorsImagingCameraPackage.Literals.POINTER_CAMERA_TOOL__FOV,
	// resolveFOV());
	setFov(resolveFOV());
	}
	};
	}
	return this.abstractVariableFeatureReferenceListener;
	}

	} // PointerCameraToolImpl