void ObjHero::actionWalk(Node* target, Point des){
Point destination = getPointInMap(des);
assert(rootObj);
rootObj->stopAllActions();
setState(EobjState::E_WALK);
if((destination.x < rootObj->getPosition().x && dir == EDIR_FORWARD) || (destination.x > rootObj->getPosition().x && dir == EDIR_BACKWARD)){
turnAround();
}
Animation* walk = createAnimateWithFileNames("HeroRun%d.png", 11);
walk->setDelayPerUnit(0.1);
auto action = Animate::create(walk);
float distance = sqrtf((destination.x - rootObj->getPositionX()) * (destination.x - rootObj->getPositionX()) +
(destination.y - rootObj->getPositionY()) * (destination.y - rootObj->getPositionY()));
float dur = distance / speed;
setDesPoin(des);
auto moveTo = MoveTo::create(dur, destination);
rootObj->runAction(RepeatForever::create(action));
rootObj->runAction(CCSequence::create(moveTo, CallFunc::create( CC_CALLBACK_0(ObjHero::actionStand,this)), NULL));
//target->runAction(Follow::create(rootObj));
}
void lifeObj::moveAway(Rect rect){
Point pt = getrootObj()->getPosition();
Point ot = Point(rect.origin.x + rect.size.width / 2.0f, rect.origin.y + rect.size.height / 2.0f);
Rect selfRec = getShadowRect();
// Point pt = selfRec.origin;
// float lx = rect.size.width / 2 + selfRec.size.width / 2;
// float ly = rect.size.height / 2 + selfRec.size.width / 2;
//
// float dx = selfRec.origin.x - rect.origin.x;
// //dx = dx < 0 ? -dx : dx;
// float dy = selfRec.origin.y - rect.origin.y;
// //dy = dy < 0 ? -dy : dy;
//
// Point des = Point(dx - absf rect.origin.x - selfRec.origin.x)
//
// Point selfLeftB = Point(selfRec.origin.x - selfRec.size.width / 2, selfRec.origin.y - selfRec.size.height / 2);
if (pt.x > rect.origin.x) {
pt.x = rect.origin.x + rect.size.width + selfRec.size.width / 2.0f;
} else if(pt.x < rect.origin.x){
pt.x = rect.origin.x - rect.size.width - selfRec.size.width / 2.0f;
}
if (pt.y > rect.origin.y) {
pt.y = rect.origin.y + rect.size.height + selfRec.size.height / 2.0f;
} else if(pt.y < rect.origin.y){
pt.y = rect.origin.y - rect.size.height - selfRec.size.height / 2.0f;
}
Point des = getPointInMap(pt);
this->getrootObj()->setPosition(des);
//CCLOG("%f %f",pt.x, pt.y);
//CCLOG("%f %f",rect.origin.x, rect.origin.y);
}
void ObjHero::actionRusn(){
if(getState() == EobjState::E_RUSH) return;
assert(rootObj);
rootObj->stopAllActions();
setState(EobjState::E_RUSH);
int flag = 1;
if(dir == EDIR_FORWARD) flag = 1;
else flag = -1;
int distance = 60;
Point p = ccpAdd(rootObj->getPosition(), ccp(distance * flag, 0));
Animation* rush = createAnimateWithFileNames("HeroAttackT%d.png", 3);
rush->setDelayPerUnit(0.1);
auto actionRush = Animate::create(rush);
rootObj->runAction(actionRush);
MoveTo* moveTo = MoveTo::create(0.3, getPointInMap(p));
rootObj->runAction(CCSequence::create(moveTo, CallFunc::create( CC_CALLBACK_0(ObjHero::actionStand,this)), NULL));
attackEffect();
}
void LCBattleScene::ccTouchesEnded(CCSet *pTouches, CCEvent *pEvent) {
if(!moved){
CCTouch* touch = dynamic_cast<CCTouch*>(*pTouches->begin());
CCPoint position = NodeHelper::getPositionToELFDesigner(hero->getrootObj(), touch->getLocation());
//sendPosition(position);
hero->actionWalk(getPointInMap(position));
return;
}
if (mPath.size() < 1) {
return;
}
RecognitionResult result = test->recognize(mPath);
CCLog("%s %lf",result.name.c_str(), result.score);
if(strcmp(result.name.c_str(), "V") == 0){
hero->actionJump();
}else if(strcmp(result.name.c_str(), "LeftToRightLine") == 0){
hero->actionRusn(forward);
}else if(strcmp(result.name.c_str(), "RightToLeftLine") == 0){
hero->actionRusn(backward);
}
mPath.clear();
}
void Kinect_Plugin::Main()
{
std::cout << "Starting KINECTplugin" << std::endl;
XnStatus nRetVal = XN_STATUS_OK;
xn::EnumerationErrors errors;
KNI_DEV->getInstance().Initialize();
Human::getInstance().Initialize("../data/Kinect/Skeleton");
//Gui::getInstance();
//Tab *pluginTab;
//Video *polo;
//pluginTab = new Tab("Kinect_Plugin");
//polo=new Video(10,10,640,480,"polo", pluginTab);
nRetVal = KNI_DEV->getInstance().openDeviceFromXml(SAMPLE_XML_PATH, errors);
if (nRetVal == XN_STATUS_NO_NODE_PRESENT)
{
XnChar strError[1024];
errors.ToString(strError, 1024);
printf("%s\n", strError);
}
else if (nRetVal != XN_STATUS_OK)
{
printf("Open failed: %s\n", xnGetStatusString(nRetVal));
}else
std::cout << "KINECTplugin started" << std::endl;
nRetVal = KNI_DEV->getInstance().g_Context.FindExistingNode(XN_NODE_TYPE_IMAGE, *KNI_DEV->getInstance().getImageGenerator());
nRetVal = KNI_DEV->getInstance().g_Context.FindExistingNode(XN_NODE_TYPE_DEPTH, *KNI_DEV->getInstance().getDepthGenerator());
KNI_DEV->getInstance().getDepthGenerator()->GetAlternativeViewPointCap().SetViewPoint(*KNI_DEV->getInstance().getImageGenerator());
nRetVal = KNI_DEV->getInstance().g_Context.FindExistingNode(XN_NODE_TYPE_USER, *KNI_DEV->getInstance().getUserGenerator());
//
nRetVal = KNI_DEV->getInstance().g_Context.FindExistingNode(XN_NODE_TYPE_GESTURE, *KNI_DEV->getInstance().getGestureGenerator());
nRetVal = KNI_DEV->getInstance().g_Context.FindExistingNode(XN_NODE_TYPE_HANDS, *KNI_DEV->getInstance().getHandsGenerator());
//
//KNI_DEV->getInstance().g_Scene.GetMetaData(KNI_DEV->getInstance().g_SceneMD );
XnCallbackHandle hUserCallbacks, hCalibrationStart, hCalibrationComplete, hPoseDetected;
if (!KNI_DEV->getInstance().g_User.IsCapabilitySupported(XN_CAPABILITY_SKELETON))
{
printf("Supplied user generator doesn't support skeleton\n");
}
nRetVal = KNI_DEV->getInstance().g_User.RegisterUserCallbacks(User_NewUser, User_LostUser, NULL, hUserCallbacks);
nRetVal = KNI_DEV->getInstance().g_User.GetSkeletonCap().RegisterToCalibrationStart(UserCalibration_CalibrationStart, NULL, hCalibrationStart);
nRetVal = KNI_DEV->getInstance().g_User.GetSkeletonCap().RegisterToCalibrationComplete(UserCalibration_CalibrationComplete, NULL, hCalibrationComplete);
nRetVal = KNI_DEV->getInstance().g_User.GetPoseDetectionCap().RegisterToPoseDetected(UserPose_PoseDetected, NULL, hPoseDetected);
KNI_DEV->getInstance().g_User.GetSkeletonCap().GetCalibrationPose(g_strPose);
KNI_DEV->getInstance().g_User.GetSkeletonCap().SetSkeletonProfile(XN_SKEL_PROFILE_ALL);
// Create the Session Manager
KNI_DEV->getInstance().pSessionGenerator = new XnVSessionManager();
nRetVal = ((XnVSessionManager*)KNI_DEV->getInstance().pSessionGenerator)->Initialize(&KNI_DEV->getInstance().g_Context, "Wave", "RaiseHand");
if (nRetVal != XN_STATUS_OK)
{
printf("Session Manager couldn't initialize: %s\n", xnGetStatusString(nRetVal));
delete KNI_DEV->getInstance().pSessionGenerator;
}else
printf("Session Manager initialized: %s\n", xnGetStatusString(nRetVal));
nRetVal = KNI_DEV->getInstance().g_Context.StartGeneratingAll();
KNI_DEV->getInstance().pSessionGenerator->RegisterSession(NULL, &SessionStart, &SessionEnd, &SessionProgress);
KNI_DEV->getInstance().wc.RegisterWave(NULL, OnWaveCB);
KNI_DEV->getInstance().wc.RegisterPointUpdate(NULL, OnPointUpdate);
KNI_DEV->getInstance().pSessionGenerator->AddListener(&KNI_DEV->getInstance().wc);
XnUserID aUsers[MAX_NUM_USERS];
XnUInt16 nUsers;
XnSkeletonJointTransformation Joint[24];
printf("Starting to run\n");
if(g_bNeedPose)
{
printf("Assume calibration pose\n");
}
XnUInt32 epochTime = 0;
IplImage* imgDepth16u=cvCreateImage(cvSize(640,480),IPL_DEPTH_16U,1);
IplImage* imgRGB8u=cvCreateImage(cvSize(1280,1024),IPL_DEPTH_8U,3);
IplImage* depthinfo=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,1);
IplImage* imageinfo=cvCreateImage(cvSize(1280,1024),IPL_DEPTH_8U,3);
IplImage* sceneinfo=cvCreateImage(cvSize(640,480),IPL_DEPTH_8U,3);
XnUInt32 total_frames=0;
//string action = "payAttention";
for(;;)
{
KNI_DEV->getInstance().readFrame();
KNI_DEV->getInstance().g_Context.WaitAnyUpdateAll();
((XnVSessionManager*)KNI_DEV->getInstance().pSessionGenerator)->Update(&KNI_DEV->getInstance().g_Context);
memcpy(imgDepth16u->imageData, KNI_DEV->getInstance().getDepthMetaData()->Data(),640*480*2);
cvConvertScale(imgDepth16u,depthinfo,255/4096.0,0);
memcpy(imgRGB8u->imageData,KNI_DEV->getInstance().getImageMetaData()->Data(),1280*1024*3);
cvCvtColor(imgRGB8u,imageinfo,CV_RGB2BGR);
sharedMemory->getInstance().kinectInfo->set_depth(depthinfo);
sharedMemory->getInstance().kinectInfo->set_RGB(imageinfo);
if(sharedMemory->getInstance().getAction()=="computePoint")
{
cout<<"Starting: "<< sharedMemory->getInstance().getAction() << " STATE in Kinect"<<endl;
do
{
usleep(5000);
} while(sharedMemory->getInstance().getObjectPositionX()==0 || sharedMemory->getInstance().getObjectPositionY()==0);
std::cout << "voy a calcular usando " << sharedMemory->getInstance().getObjectPositionX() << " " << sharedMemory->getInstance().getObjectPositionY() << " " << std::endl;
double x,y,z;
getdephtmm(sharedMemory->getInstance().getObjectPositionX(), sharedMemory->getInstance().getObjectPositionY(),x, y,z);
sharedMemory->getInstance().setRealObjectPositionX(x);
sharedMemory->getInstance().setRealObjectPositionY(y);
sharedMemory->getInstance().setRealObjectPositionZ(z);
std::cout << "ya calcule el punto y obtuve " << sharedMemory->getInstance().getRealObjectPositionX() << " " << sharedMemory->getInstance().getRealObjectPositionY() << " " << sharedMemory->getInstance().getRealObjectPositionZ() << std::endl;
sharedMemory->getInstance().setObjectPositionX(0);
sharedMemory->getInstance().setObjectPositionY(0);
sharedMemory->getInstance().setAction("graspObject");
//si da un valor atípico
//TODO revisar, si el objeto si esta en esta coordenadas, esto s epodría ciclar
//if(sharedMemory->getInstance().getRealObjectPositionX()>750 || sharedMemory->getInstance().getRealObjectPositionZ()<200)
//{
//sharedMemory->getInstance().setAction("recognizeObject");
//}
//else{
//sharedMemory->getInstance().setAction(cambiar_estado("punto_calculado", "si"));
//}
}
if(sharedMemory->getInstance().getAction()=="payAttention")
{
if (firstTime){
t_ini = clock();
firstTime=false;
Human::getInstance().gesture_detected=false;
}
cout<<"Starting: "<<sharedMemory->getInstance().getAction() << " STATE in Kinect"<<endl;
if(Human::getInstance().gesture_detected)
{
cout << "**GESTURE DETECTED in payAttention" << endl;
sharedMemory->getInstance().setGestureDepthPosition(Human::getInstance().gesture[2]);
sharedMemory->getInstance().startDownToRotations=false;
if (sharedMemory->getInstance().getTestRunning()=="Emergency"){
sharedMemory->getInstance().sintetizer.set_Phrase("Emergency Situation Detected");
//saving image of victim
cv::imwrite("../data/EmergencyReport/imgPeersonHurt.png" ,cv::Mat( sharedMemory->getInstance().kinectInfo->get_RGB()));
cv::Mat mapa;
mapa= cv::imread("../data/map.png");
//saving victim on map
cv::Scalar color= cv::Scalar(0,0,255);
std::cout << "sharedMemory->getInstance().getRobotPosition().get_X()=" << sharedMemory->getInstance().getRobotPosition().get_X() <<std::endl;
std::cout << "sharedMemory->getInstance().getRobotPosition().get_Y()=" << sharedMemory->getInstance().getRobotPosition().get_Y() <<std::endl;
std::cout << "PIXEL_X=" << (sharedMemory->getInstance().getRobotPosition().get_X()/50)+ORIGIN_X << std::endl;
std::cout << "PIXEL_Y=" << (sharedMemory->getInstance().getRobotPosition().get_Y()/50)+ORIGIN_Y << std::endl;
cv::circle(mapa, cv::Point((sharedMemory->getInstance().getRobotPosition().get_X()/50)+ORIGIN_X,(sharedMemory->getInstance().getRobotPosition().get_Y()/50)+ORIGIN_Y), 7, color, 10, 8, 0);
cv::imwrite("../data/EmergencyReport/locationPeersonHurt.png",mapa);
Location temp=getPointInMap(sharedMemory->getInstance().getRobotPosition());
sharedMemory->getInstance().lastObjective->setObjectivePosition(temp);
//sharedMemory->getInstance().setStringDestination("bedroom1");
//sharedMemory->getInstance().setAction("navigateCloseTo");
sharedMemory->getInstance().setAction("navigateToPoint");
}else{
sharedMemory->getInstance().sintetizer.set_Phrase("I have seen a guest requesting");
sharedMemory->getInstance().startDownToRotations=false;
Location temp=getPointInMap(sharedMemory->getInstance().getRobotPosition());
sharedMemory->getInstance().lastObjective->setObjectivePosition(temp);
sharedMemory->getInstance().setAction("navigateToPoint");
}
firstTime=true;
}else{
t_fin = clock();
//cout << "**NO Gesture in payAttention" << endl;
//supone que la diferencia la da en segundos
//std::cout << "TIME " << t_ini << " " << t_fin << std::endl;
//nanosegundosf
firstTime = false;
if ((t_fin/1000000)-(t_ini/1000000)>30){
cout << "**Time OVER" << endl;
firstTime=true;
sharedMemory->getInstance().setAction("turn");
}
}
//cout << "gesture NO detected" << endl;
//sleep(1);
}
if(sharedMemory->getInstance().getAction()=="Find_person")
{
cout<<"Starting: "<< sharedMemory->getInstance().getAction() << " STATE in Kinect"<<endl;
KNI_DEV->getInstance().g_User.GetUserPixels(2, KNI_DEV->getInstance().g_SceneMD);
const XnLabel* pLabels = KNI_DEV->getInstance().g_SceneMD.Data();
//TODO Error?
cvSet(sceneinfo, cvScalar(0,0,0));
for (XnUInt y = 0; y < KNI_DEV->getInstance().g_DepthMD.YRes(); ++y)
for (XnUInt x = 0; x < KNI_DEV->getInstance().g_DepthMD.XRes(); ++x, ++pLabels)
{
if(*pLabels)
{
CV_IMAGE_ELEM(sceneinfo, uchar, y, (x*3)+0)=255;
CV_IMAGE_ELEM(sceneinfo, uchar, y, (x*3)+1)=255;
CV_IMAGE_ELEM(sceneinfo, uchar, y, (x*3)+2)=255;
}
// if(*pLabels==2)
// {
// CV_IMAGE_ELEM(sceneinfo, uchar, y, (x*3)+1)=255;
// }
// if(*pLabels==3)
// {
// CV_IMAGE_ELEM(sceneinfo, uchar, y, (x*3)+2)=255;
// }
}
// sharedMemory->getInstance().kinectInfo->set_user(sceneinfo);
// cvShowImage("polo" ,sceneinfo);
// cvWaitKey(100);
}
if(sharedMemory->getInstance().getAction()=="transformKinectToMapPoint")
{
cout<<"Starting: "<< sharedMemory->getInstance().getAction() << " STATE in Kinect"<<endl;
//supone que es en mm
float robotx=sharedMemory->getInstance().getRobotPosition().get_X();
float roboty=sharedMemory->getInstance().getRobotPosition().get_Y();
float robotth=sharedMemory->getInstance().getRobotPosition().get_Angle() * DEG_TO_RAD;
float humanx=Human::getInstance().gesture[2]; //con respecto a robot es X y con respecto a kinect Z
float humany=Human::getInstance().gesture[0]*-1; //con respecto a robot Y y con respecto a kinect X
float X=robotx+((humanx)*cos(robotth)-(humany)*sin(robotth));
float Y=roboty+((humanx)*sin(robotth)+(humany)*cos(robotth));
//TODO Guardarlo en memoria compartida
}
if(sharedMemory->getInstance().getAction()=="follow")
{
cout<<"Starting: "<< sharedMemory->getInstance().getAction() << " STATE in Kinect"<<endl;
nUsers=MAX_NUM_USERS;
KNI_DEV->getInstance().g_User.GetUsers(aUsers, nUsers);
int numTracked=0;
int userToPrint=-1;
XnPoint3D pt;
for(XnUInt16 i=0; i<nUsers; i++)
{
skeletonJoint Torso;
if(KNI_DEV->getInstance().g_User.GetSkeletonCap().IsTracking(aUsers[i])==FALSE)
{
Human::getInstance().tracking=-1;
continue;
}
else
{
//patrick
// g_UserGenerator.GetSkeletonCap().SetSmoothing(.1);
std::map<std::string, skeletonJoint>::iterator iter;
for(iter=Human::getInstance().Skeleton[i].begin(); iter !=Human::getInstance().Skeleton[i].end(); ++iter)
{
KNI_DEV->getInstance().g_User.GetSkeletonCap().GetSkeletonJoint(aUsers[i], (XnSkeletonJoint) iter->second.Get_ID() ,Joint[iter->second.Get_ID()]);
iter->second.Set_pos(Joint[iter->second.Get_ID()].position.position.X, Joint[iter->second.Get_ID()].position.position.Y, (Joint[iter->second.Get_ID()].position.position.Z));
rotate(Joint[iter->second.Get_ID()].orientation.orientation.elements);
iter->second.heading=heading;
iter->second.attitude=attitude;
iter->second.bank=bank;
// std::cout << heading << attitude << bank << std::endl;
if ( iter->second.Get_name()=="TORSO" ) Torso=iter->second;
{
if(Torso.Get_x() < -500 || Torso.Get_x()> 500)
{
Human::getInstance().tracking=-1;
}
else
{
Human::getInstance().tracking=i;
}
}
}
}
}
}
}
return;
}