static void
Draw(void)
{
if (Mode == FLICKER) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
else {
/* don't clear color buffer */
glClear(GL_DEPTH_BUFFER_BIT);
/* update Z buffer only */
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
}
glPushMatrix();
glRotatef(Xrot, 1, 0, 0);
glRotatef(Yrot, 0, 1, 0);
glRotatef(Zrot, 0, 0, 1);
DrawBoxes();
if (Mode == NO_FLICKER) {
/* update color buffer now */
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glDepthFunc(GL_EQUAL);
DrawBoxes();
glDepthFunc(GL_LESS);
}
glPopMatrix();
if (Mode == NO_FLICKER) {
/* "clear" the untouched pixels now.
* Note: if you comment-out this code you'll see something interesting.
*/
GLfloat x = FarClip / NearClip;
GLfloat z = -(FarClip - ViewDist - 1.0);
glDisable(GL_LIGHTING);
glColor4fv(ClearColor);
glBegin(GL_POLYGON);
glVertex3f(-x, -x, z);
glVertex3f( x, -x, z);
glVertex3f( x, x, z);
glVertex3f(-x, x, z);
glEnd();
glEnable(GL_LIGHTING);
}
/* This is where you'd normally do SwapBuffers */
glFinish();
}
void Level::Render()
{
//std::vector<Entity*>::iterator i;
//for (i = m_Entities.begin(); i != m_Entities.end(); ++i)
//{
// (*i)->Render();
//}
DrawBoxes();
}
/**
* Method used to make the repaints behave correctly on all 3 platforms
*/
void DecoratedTree::OnPaint(wxPaintEvent& ev)
{
// wxGetApp().Yield();
ev.Skip();
wxTreeItemId id = GetRootItem();
if (drawOutline) {
lineNumber = 0;
DrawOutline(id);
}
if (drawBoxes) {
lineNumber = 0;
DrawBoxes(id);
}
}
void ShowAll()
{
//double radious =
double rotate = ((rotate_control - 50) * 360 / 80);
double c = sqrt(hookInitialStartX*hookInitialStartX + hookInitialStartZ*hookInitialStartZ);
int delta = hookInitialStartY - ((stringLength - 2));
//update rotate
hook = updatePoint(c*sin(rotate*PI / 180), hookInitialStartY - delta, c*cos(rotate*PI / 180));
glEnable(GL_DEPTH_TEST);
// start of the transformations
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//DrawGround();
DrawCraneGround();
DrawBoxes();
glPushMatrix();
glTranslated(4, 1, 0);
glRotated(rotate, 0, 1, 0);
glTranslated(-4, -1, 0);
DrawCrane();
glPopMatrix();
// pick box when press hold
if (hold)
if (BoxInfocus != -1)
{
boxesData[BoxInfocus*dataLength +3] = hook.x+4;
boxesData[BoxInfocus*dataLength +4] = hook.y+12;
boxesData[BoxInfocus*dataLength +5] = hook.z;
}
else
BoxInfocus = hookIntersects();
if (realese)
{
if (BoxInfocus != -1)
{
boxFalling = BoxInfocus;
BoxInfocus = -1;
}
realese = false;
}
if(boxFalling != -1)
{
if (boxesData[boxFalling*dataLength +4] > 1 && !BoxIntersects())
boxesData[boxFalling*dataLength +4] -= fallSpeed;
else
boxFalling = -1;
}
// draw red point
glColor3d(0, 0, 1);
glPointSize(5);
glBegin(GL_POINTS);
glVertex3d(hook.x + 4, hook.y + 12, hook.z);
glEnd();
}
/**
* Method used to draw the box around the decorations
*
* @param id The node that needs the decoration box(es)
*/
void DecoratedTree::DrawBoxes(wxTreeItemId id)
{
// MessageInterface::ShowMessage("DecoratedTree::DrawBoxes() entered\n");
// Add the new decorations
wxRect bound;
int w, h;
int lft, rt, top, btm;
bool visible;
wxTreeItemIdValue cookie;
wxTreeItemId current = GetFirstChild(id, cookie);
GetSize(&w, &h);
wxClientDC dc(this);
//wxWidgets-2.6.3:deprecated->dc.BeginDrawing();
while (current > (wxTreeItemId)0) {
visible = GetBoundingRect(current, bound, TRUE);
dc.SetPen(wxPen(wxColour(0xaf, 0xaf, 0xaf), 1, wxSOLID));
if ((visible)) { // Draw decorations on visible nodes
for (int i = 0; i < boxCount; ++i) {
//lft = w-20-boxWidth*(i+1);
//rt = w-20-boxWidth*i;
lft = w-offset-boxWidth*(i+1);
rt = w-offset-boxWidth*i;
top = bound.y;
btm = bound.y + rowHeight;
dc.DrawLine(lft, top, lft, btm);
dc.DrawLine(rt, top, rt, btm);
dc.DrawLine(lft, top, rt, top);
dc.DrawLine(lft, btm, rt, btm);
if (!boxData.empty())
{
//MessageInterface::ShowMessage("Box not empty\n");
// Should be DrawText, but the wx build for Dev-C++ has a
// bug with that method
//dc.DrawRotatedText("Ready", lft+2, top, 0);
int boxDataNumber = i+lineNumber*boxCount;
//MessageInterface::ShowMessage("Box data number %d\n", boxDataNumber);
if (boxDataNumber < (int)boxData.size())
{
if (boxData[boxDataNumber])
{
dc.DrawRotatedText(boxData[i+lineNumber*boxCount]->c_str(),
lft+2, top, 0);
//MessageInterface::ShowMessage
//("Drew text\nline number=%d\nboxcount=%d\ni=%d\n", lineNumber, boxCount, i);
}
}
}
}
}
if (GetChildrenCount(current) > 0) {
++lineNumber;
DrawBoxes(current);
--lineNumber;
}
current = GetNextChild(id, cookie);
++lineNumber;
}
//MessageInterface::ShowMessage("end drawing\n");
//wxWidgets-2.6.3:deprecated->dc.EndDrawing();
}
static void Test(void) {
DrawFont();
DrawLines();
DrawRectangles();
DrawBoxes();
}
void main(int argc, char *argv[])
{
ParseCommandLine (argc, argv);
StereoPosData out_data, out_data_dominant;
YARPImageOf<YarpPixelMono> out_image;
YARPImageOf<YarpPixelMono> out_image_dominant;
YARPImageOf<YarpPixelMono> old_image;
out_image.Resize (Size, Size);
out_image_dominant.Resize (Size, Size);
old_image.Resize (Size, Size);
memset (old_image.GetRawBuffer(), 0, Size * Size);
// register names.
for (int i = 0; i < NUMBEROFCHANNELS; i++)
{
channels[i].Register (portnames[i]);
}
out_saliency.Register (out_saliency_name);
out.Register (out_pos_data_name);
out_dominant.Register (out_pos_data_name_dominant);
FiveBoxesInARow boxes[NUMBEROFCHANNELS];
for (i = 0; i < NUMBEROFCHANNELS; i++)
{
memset (boxes+i, 0, sizeof(FiveBoxesInARow));
boxes[i].box1.valid = false;
boxes[i].box2.valid = false;
boxes[i].box3.valid = false;
boxes[i].box4.valid = false;
boxes[i].box5.valid = false;
}
// compute saliency scale factor.
int scalefactor = 0;
for (i = 0; i < NUMBEROFCHANNELS; i++)
scalefactor += relative_weight[i];
scalefactor = 255 / scalefactor;
if (scalefactor == 0)
scalefactor = 1;
YARPTime::DelayInSeconds(1.0);
while (1)
{
// read all the valid boxes and try to fuse them...
for (int i = 0; i < NUMBEROFCHANNELS; i++)
{
if (channels[i].Read(0))
{
boxes[i] = channels[i].Content();
}
}
out_image.Zero ();
out_image_dominant.Zero ();
// add channel boxes (5) to out_image.
for (i = 0; i < NUMBEROFCHANNELS; i++)
DrawBoxes (boxes[i], out_image, relative_weight[i], scalefactor);
for (i = 0; i < NUMBEROFCHANNELS; i++)
{
if (source_retina[i] == RETINA_DOMINANT)
{
DrawBoxes (boxes[i], out_image_dominant, relative_weight[i], scalefactor);
}
}
//TmpFilter (old_image, out_image);
int xx = 0, yy = 0;
int xx_dom = 0, yy_dom = 0;
bool valid = FindCentroid (out_image, &xx, &yy);
FindCentroid (out_image_dominant, &xx_dom, &yy_dom);
out_data.valid = valid;
out_data.xl = xx;
out_data.yl = yy;
out_data.xr = xx;
out_data.yr = yy;
out_data_dominant.valid = true;
out_data_dominant.xl = xx_dom;
out_data_dominant.yl = yy_dom;
out_data_dominant.xr = xx_dom;
out_data_dominant.yr = yy_dom;
YARPGenericImage& outImg = out_saliency.Content(); // Lasts until next Write()
outImg.PeerCopy(out_image);
out_saliency.Write();
out.Content() = out_data;
out.Write();
out_dominant.Content() = out_data_dominant;
out_dominant.Write();
delay(30);
}
}
