static LRESULT CALLBACK _funcToolProcedure(HWND hWnd,UINT message,WPARAM wParam,LPARAM lParam)
{
// static BOOL bCapture=false;
// static POINT Dif;
RECT Rect;
// POINT Point;
INT Child=0;
LPDRAWITEMSTRUCT DIs;
// S_WINSCENA WScena;
CHAR *lpIcone;
// INT OldCol;
INT wID;
INT a,x,y;
PAINTSTRUCT ps;
LPRECT lprc;
INT ColBg;
S_WTOOLBAR * psTb;
HDC hDC;
TOOLINFO ti;
INT SizePlus=GetSystemMetrics(SM_CXFRAME)*2;
INT ilx,ily,slx,sly;
CHAR Buf[10];
INT idx;
LPCREATESTRUCT psCs;
WINDOWPLACEMENT sWp;
psTb=(S_WTOOLBAR *) GetWindowLong(hWnd,GWL_USERDATA);
switch (message)
{
case WM_CREATE:
//if (_s.iToolNow==-1) ehExit("ToolBar Full");
psCs=(LPCREATESTRUCT) lParam;
psTb=psCs->lpCreateParams;
SetWindowLong(hWnd,GWL_USERDATA,(LONG) psTb);
psTb->hWnd=hWnd;
psTb->hWndTT= CreateWindowEx(0, TOOLTIPS_CLASS, (LPSTR) NULL,
TTS_ALWAYSTIP,
CW_USEDEFAULT, CW_USEDEFAULT,
CW_USEDEFAULT, CW_USEDEFAULT,
psTb->hWnd, (HMENU) NULL,
sys.EhWinInstance, NULL);
// Creo la ToolTip
//InitCommonControls();
for (a=0;a<psTb->iElement;a++)
{
psTb->arhButton[a]=CreateWindow("Button","",
WS_CHILD|BS_OWNERDRAW|WS_VISIBLE|
//BS_FLAT|
BS_PUSHLIKE|BS_NOTIFY|
BS_VCENTER,
0,0,10,10,
hWnd,
//GetForegroundWindow(),
(HMENU) a,
sys.EhWinInstance,
NULL);
// Inserisco i Nuovi ToolTip
ti.cbSize = sizeof(TOOLINFO);
ti.uFlags = TTF_IDISHWND|TTF_SUBCLASS;
ti.hwnd = hWnd;
ti.hinst = 0;//sys.EhWinInstance;
ti.uId = (UINT) psTb->arhButton[a];
ti.lpszText = psTb->arsObj[a].lpHmz;
SendMessage(psTb->hWndTT, TTM_ADDTOOL, 0, (LPARAM) (LPTOOLINFO) &ti);
if (!psTb->arsObj[a].bEnable) EnableWindow(psTb->arhButton[a],FALSE);
}
break;
case WM_DESTROY:
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
if (!psTb) break;
for (a=0;a<psTb->iElement;a++) DestroyWindow(psTb->arhButton[a]);
DestroyWindow(psTb->hWndTT);
break;
case WM_MOVE: break;
case WM_SIZE:
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
GetWindowRect(psTb->hWnd,&Rect);
psTb->WinLx=Rect.right-Rect.left;
psTb->WinLy=Rect.bottom-Rect.top;
GetClientRect(psTb->hWnd,&Rect);
psTb->ClientLx=Rect.right-Rect.left;
psTb->ClientLy=Rect.bottom-Rect.top;
_keysMove(psTb); //return 0;
break;
case WM_EXITSIZEMOVE:
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
SetFocus(psTb->hWndOwner);
break;
case WM_SIZING:
//fwSide = wParam;
lprc = (LPRECT) lParam;
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
//dispx(" ->> %d ",GetSystemMetrics(SM_CYEDGE));
switch (wParam)
{
case WMSZ_TOP:
case WMSZ_BOTTOM:
case WMSZ_BOTTOMLEFT:
case WMSZ_BOTTOMRIGHT:
a=lprc->bottom-lprc->top-psTb->KeySy-SizePlus;
y=(a/psTb->KeyLy); if (y<1) y=1;
x=(psTb->iElement/y); if (x<1) x=1;
for (;;)
{
if ((x*y)<psTb->iElement) x++; else break;
}
if ((x*y)>(psTb->iElement-x)) {y=((psTb->iElement+x-1)/x);}
break;
case WMSZ_LEFT:
case WMSZ_RIGHT:
default:
a=lprc->right-lprc->left-(psTb->KeySx<<1)-SizePlus;
x=(a/psTb->KeyLx); if (x<1) x=1;
y=(psTb->iElement/x); if (y<1) y=1;
for (;;)
{
if ((x*y)<psTb->iElement) y++; else break;
}
break;
}
if ((y*x)>psTb->iElement)
{
if (x==1) y=psTb->iElement;
if (y==1) x=psTb->iElement;
}
GiveToolRect(psTb,x,y,lprc);
return TRUE;
case WM_MEASUREITEM:
//MIs=(LPMEASUREITEMSTRUCT) lParam;
//MIs->itemWidth=24;
//MIs->itemHeight=24;
return TRUE;
case WM_DRAWITEM:
// DRAWITEMSTRUCT
{
RECT rc;
RECTD rcd;
HDC dc;
DIs=(LPDRAWITEMSTRUCT) lParam;
dc=DIs->hDC;
// dispx("%d- %d",DIs->CtlID,DIs->itemState&ODS_CHECKED);
// WinDirectDC(DIs->hDC,&WScena,NULL);
// OldCol=ModeColor(TRUE);
idx=DIs->CtlID%psTb->iElement;
lpIcone=psTb->arsObj[idx].lpIcone;
switch(psTb->arsObj[idx].iType)
{
case O_TBCOLORRADIO:
rectCopy(rc,DIs->rcItem); rc.right--; rc.bottom--;
dcBoxp(dc,&rc,sys.ColorBackGround);
//boxp(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,sys.ColorBackGround,SET);
if (strlen(lpIcone)==6)
{
Buf[2]=0;
memcpy(Buf,lpIcone,2); ColBg=xtoi(Buf);
memcpy(Buf,lpIcone+2,2); ColBg+=(xtoi(Buf)<<8);
memcpy(Buf,lpIcone+4,2); ColBg+=(xtoi(Buf)<<16);
}
rc.left+=2; rc.top+=2; rc.right--; rc.bottom--;
dcBoxp(dc,&rc,ColBg);
//boxp(DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3,ColBg,SET);
if (*lpIcone=='*')
{
dcBoxp(dc,rectFill(&rc,DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3),sys.arsColor[15]);
//boxp(DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3,sys.arsColor[15],SET);
dcLine(dc,DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3,0);
dcLine(dc,DIs->rcItem.right-3,DIs->rcItem.top+2,DIs->rcItem.left+2,DIs->rcItem.bottom-3,0);
}
if ((DIs->itemState&ODS_SELECTED)||psTb->arsObj[DIs->CtlID].fChecked)
{
//box(DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3,15,XOR);
dcBoxp(dc,rectFill(&rc,DIs->rcItem.left+2,DIs->rcItem.top+2,DIs->rcItem.right-3,DIs->rcItem.bottom-3),sys.arsColor[15]);
//box3d(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,1);
//box3d(DIs->rcItem.left+1,DIs->rcItem.top+1,DIs->rcItem.right-2,DIs->rcItem.bottom-2,4);
}
else
{
//box3d(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,0);
}
break;
default:
if (DIs->itemState&ODS_SELECTED) ColBg=ColorLum(sys.ColorBackGround,-4); else ColBg=sys.ColorBackGround;
if (psTb->arsObj[DIs->CtlID].fChecked)
{ INT a,b;
INT Len=DIs->rcItem.right-DIs->rcItem.left+1;
for (a=0,b=0;a<Len;a++,b+=4)
{
// X:100:A:(len-1)
//boxp(DIs->rcItem.left+a,DIs->rcItem.top,DIs->rcItem.left+a,DIs->rcItem.bottom,ColorFusion(RGB(0,80,200),RGB(0,200,255),a*100/(Len-1)),SET);
dcBoxp(dc,rectFill(&rc,DIs->rcItem.left+a,DIs->rcItem.top,DIs->rcItem.left+a,DIs->rcItem.bottom),ColorFusion(RGB(0,80,200),RGB(0,200,255),a*100/(Len-1)));
}
/*
ColBg=ColorLum(sys.ColorBackGround,-20);
boxp(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.left,DIs->rcItem.bottom,ColBg,SET);
for (a=0,b=0;a<7;a++,b+=16)
{
box(DIs->rcItem.left+a,DIs->rcItem.top+a,DIs->rcItem.right-a,DIs->rcItem.bottom-a,
ColorFusion(ColorLum(sys.ColorBackGround,70),ColBg,b),SET);
}
*/
}
else
//boxp(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,ColBg,SET);
dcBoxp(dc,rectFill(&rc,DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1),ColBg);
if (ico_info(&ilx,&ily,lpIcone)<0) break; //{ilx=1;ily=1;}
slx=(psTb->KeyLx-ilx)>>1; sly=(psTb->KeyLy-ily)>>1;
if ((DIs->itemState&ODS_SELECTED)||psTb->arsObj[idx].fChecked)
{
//ico_disp(DIs->rcItem.left+1+slx,DIs->rcItem.top+1+sly,lpIcone);
dcIcone(dc,DIs->rcItem.left+1+slx,DIs->rcItem.top+1+sly,lpIcone);
// box3d(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,1);
// box3d(DIs->rcItem.left+1,DIs->rcItem.top+1,DIs->rcItem.right-2,DIs->rcItem.bottom-2,4);
}
else
{
S_ICONE_EFFECT sEfx;
sEfx.enType=IEFX_GRAYSCALE;
if (DIs->itemState&ODS_DISABLED) //ico_disp3D(DIs->rcItem.left+slx,DIs->rcItem.top+sly,sys.ColorBackGround,lpIcone);
//dcIconeEx(dc,DIs->rcItem.left+slx,DIs->rcItem.top+sly,lpIcone,&sEfx);
dcIconeGray(dc,DIs->rcItem.left+slx,DIs->rcItem.top+sly,lpIcone,sys.Color3DShadow,0);
else
//ico_disp(DIs->rcItem.left+slx,DIs->rcItem.top+sly,lpIcone);
dcIcone(dc,DIs->rcItem.left+slx,DIs->rcItem.top+sly,lpIcone);
dcBox(dc,rectFillD(&rcd,DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1),rgba(0,0,0,255),1.0);
//box3d(DIs->rcItem.left,DIs->rcItem.top,DIs->rcItem.right-1,DIs->rcItem.bottom-1,0);
}
break;
}
//AVANTISSIMO:
// ModeColor(OldCol);
//WinDirectDC(NULL,&WScena,NULL);
}
break;
case WM_LBUTTONDOWN:
psTb->bCapture=true;
sWp.length=sizeof(sWp);
GetWindowPlacement(hWnd,&sWp);
//GetWindowRect(hWnd,&psTb->rcShot); // Posizione attuale
rectCopy(psTb->rcShot,sWp.rcNormalPosition);
GetCursorPos(&psTb->ptStart);
SetCapture(hWnd);
// Dif.x=Point.x-Rect.left;
// Dif.y=Point.y-Rect.top;
//return TRUE;
break;
case WM_LBUTTONUP:
if (psTb->bCapture) ReleaseCapture();
psTb->bCapture=false;
break;
//return TRUE;
//break;
case WM_RBUTTONDOWN:
case WM_RBUTTONUP:
case WM_LBUTTONDBLCLK:
case WM_ACTIVATEAPP:
break;
case WM_MOUSEMOVE:
if (psTb->bCapture)
{
POINT ptNow;
POINT ptDelta;
GetCursorPos(&ptNow);
ptDelta.x=ptNow.x-psTb->ptStart.x;
ptDelta.y=ptNow.y-psTb->ptStart.y;
// printf("%d,%d" CRLF,ptDelta.x,ptDelta.y);
MoveWindow(hWnd,psTb->rcShot.left+ptDelta.x,psTb->rcShot.top+ptDelta.y,psTb->WinLx,psTb->WinLy,TRUE);
}
break;
case WM_NCHITTEST:
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
break;
// Messaggio di cambio cursore
//case WM_SETCURSOR: break;
// Intercettazione degli oggetti Windows
//case WM_COMMAND: break;
case WM_COMMAND:
wID = LOWORD(wParam);
if (HIWORD(wParam)==BN_CLICKED)
{
// if ((Tb=GiveMeTb(hWnd))==NULL) break;
LKeySelect(psTb,wID);
_objEvent(psTb,wID);
SetFocus(psTb->hWndOwner);
}
break;
case WM_PAINT:
hDC=BeginPaint(hWnd,&ps);
/*
if ((Tb=GiveMeTb(hWnd))==NULL) break;
// WinDirectDC(hDC,&WScena,NULL);
if (psTb->ClientLy>psTb->ClientLx)
{
box3d(0,0,psTb->ClientLx,1,0);
box3d(0,2,psTb->ClientLx,3,0);
box3d(0,psTb->ClientLy-2,psTb->ClientLx,psTb->ClientLy-1,0);
box3d(0,psTb->ClientLy-4,psTb->ClientLx,psTb->ClientLy-3,0);
}
else
{
box3d(0,0,1,psTb->ClientLy,0);
box3d(2,0,3,psTb->ClientLy,0);
box3d(psTb->ClientLx-2,0,psTb->ClientLx-1,psTb->ClientLy-1,0);
box3d(psTb->ClientLx-4,0,psTb->ClientLx-3,psTb->ClientLy-1,0);
//box3d(2,0,3,psTb->ClientLy,0);
}
WinDirectDC(NULL,&WScena,NULL);
*/
EndPaint(hWnd,&ps);
break;
//case WM_SETFOCUS: IsFocus=TRUE; break;
//case WM_KILLFOCUS: IsFocus=FALSE; break;
} // switch message
return(DefWindowProc(hWnd, message, wParam, lParam));
}
void CRulerBar::DrawFace(CDC& dc)
{
int nPageWidth = XTwipsToRuler(PrintWidth());
int nPageEdge = XTwipsToRuler(PrintWidth() + m_rectMargin.right);
dc.SaveDC();
dc.SelectObject(&penBtnShadow);
dc.MoveTo(0,0);
dc.LineTo(nPageEdge - 1, 0);
dc.LineTo(nPageEdge - 1, HEIGHT - 2);
dc.LineTo(nPageWidth - 1, HEIGHT - 2);
dc.LineTo(nPageWidth - 1, 1);
dc.LineTo(nPageWidth, 1);
dc.LineTo(nPageWidth, HEIGHT -2);
dc.SelectObject(&penBtnHighLight);
dc.MoveTo(nPageWidth, HEIGHT - 1);
dc.LineTo(nPageEdge, HEIGHT -1);
dc.MoveTo(nPageWidth + 1, HEIGHT - 3);
dc.LineTo(nPageWidth + 1, 1);
dc.LineTo(nPageEdge - 1, 1);
dc.SelectObject(&penWindow);
dc.MoveTo(0, HEIGHT - 1);
dc.LineTo(nPageWidth, HEIGHT -1);
dc.SelectObject(&penBtnFace);
dc.MoveTo(1, HEIGHT - 2);
dc.LineTo(nPageWidth - 1, HEIGHT - 2);
dc.SelectObject(&penWindowFrame);
dc.MoveTo(0, HEIGHT - 2);
dc.LineTo(0, 1);
dc.LineTo(nPageWidth - 1, 1);
dc.FillRect(CRect(1, 2, nPageWidth - 1, HEIGHT-2), &brushWindow);
dc.FillRect(CRect(nPageWidth + 2, 2, nPageEdge - 1, HEIGHT-2), &brushBtnFace);
CRect rcClient;
GetClientRect(&rcClient);
ClientToRuler(rcClient);
rcClient.top = HEIGHT;
rcClient.bottom = HEIGHT + 2;
dc.FillRect(rcClient, &brushBtnFace);
CRect rectFill(rcClient.left, HEIGHT+4, rcClient.right, HEIGHT+9);
dc.FillRect(rectFill, &brushWindow);
if (m_bDraw3DExt) // draws the 3D extension into the view
{
dc.SelectObject(&penBtnShadow);
dc.MoveTo(rcClient.left, HEIGHT+8);
dc.LineTo(rcClient.left, HEIGHT+2);
dc.LineTo(rcClient.right-1, HEIGHT+2);
dc.SelectObject(&penWindowFrame);
dc.MoveTo(rcClient.left+1, HEIGHT+8);
dc.LineTo(rcClient.left+1, HEIGHT+3);
dc.LineTo(rcClient.right-2, HEIGHT+3);
dc.SelectObject(&penBtnHighLight);
dc.MoveTo(rcClient.right-1, HEIGHT+2);
dc.LineTo(rcClient.right-1, HEIGHT+8);
dc.SelectObject(&penBtnFace);
dc.MoveTo(rcClient.right-2, HEIGHT+3);
dc.LineTo(rcClient.right-2, HEIGHT+8);
}
else
{
dc.SelectObject(&penBtnShadow);
dc.MoveTo(rcClient.left, HEIGHT+2);
dc.LineTo(rcClient.right, HEIGHT+2);
dc.SelectObject(&penWindowFrame);
dc.MoveTo(rcClient.left, HEIGHT+3);
dc.LineTo(rcClient.right, HEIGHT+3);
}
dc.RestoreDC(-1);
}
void showImg(uchar * img, ushort largeur, ushort hauteur)
{ Gft * fnt = &nfont ;
uchar * rotate_data=img ;
ulong cptx, cpty, startx, starty ;
int cpt ;//draw_pal = 0, cpt ;
int decalagex, size_draw_x ;
int decalagey, size_draw_y ;
//int start_drax_x,start_drax_y, color ;
int scrool_speed = 8 ;
ulong scrool_time=0, speed_time=0, zoom_time=0 ;
int zoom = 1 ;
int nzoom = 2 ;
char buffer[512] ;
int draw_pal=0 ;
startx = (320-largeur)>>1 ;
starty = (240-hauteur)>>1 ;
decalagex=0 ;
decalagey=0 ;
size_draw_x = largeur ;
size_draw_y = hauteur ;
if(hauteur>240) { starty=0 ; size_draw_y = 240 ; }
if(largeur>320) { startx=0 ; size_draw_x = 320 ; }
loading=0 ;
if(rotate_data)
do {
refreshKey() ;
if(startx||starty) clrScr() ;
if(!zoom) // zoom 1/2
{
for(cptx=decalagex*nzoom;cptx<decalagex*nzoom+size_draw_x;cptx+=nzoom)
for(cpty=decalagey*nzoom;cpty<decalagey*nzoom+size_draw_y;cpty+=nzoom)
{ //*(screen[nflip] + (startx+(cptx/nzoom)-decalagex)*240 + (239-(starty+(cpty/nzoom)-decalagey))) = get_color_buffer(cptx, cpty, hauteur, rotate_data) ;
} ;
}
else
{
if(zoom==1)
{ for(cptx=decalagex;cptx<decalagex+size_draw_x;cptx++)
for(cpty=decalagey;cpty<decalagey+size_draw_y;cpty++)
{ *(screen[nflip] + (startx+cptx-decalagex)*240 + (239-(starty+cpty-decalagey))) = get_color_buffer(cptx, cpty, hauteur, rotate_data) ;
} ;
} else {
for(cptx=decalagex;cptx<decalagex+(size_draw_x/zoom);cptx++)
for(cpty=decalagey;cpty<decalagey+(size_draw_y/zoom);cpty++)
{ rectFill(startx+(cptx-decalagex)*zoom,starty+(cpty-decalagey)*zoom,zoom,zoom,get_color_buffer(cptx, cpty, hauteur, rotate_data)) ;
} ;
}
}
if(!keyPush(kSelect))
{
if(keyPush(kRight)) // right
{
if(zoom) { for(cpt=0;cpt<scrool_speed;cpt++) if(decalagex+(size_draw_x/zoom)<largeur) decalagex++ ; }
else { if(!startx) for(cpt=0;cpt<scrool_speed;cpt++) if(decalagex < largeur/2-320) decalagex++ ;
//if((size_draw_x+decalagex)*nzoom>largeur*nzoom) decalagex -= ((decalagex+size_draw_x)*nzoom-(largeur*nzoom)) ;
}
scrool_time = GpTickCountGet() ;
}
if(keyPush(kLeft)) // left
{
for(cpt=0;cpt<scrool_speed;cpt++) if(decalagex) decalagex-- ;
scrool_time = GpTickCountGet() ;
}
if(keyPush(kDown)) // down
{
if(zoom) { for(cpt=0;cpt<scrool_speed;cpt++) if(decalagey+(size_draw_y/zoom)<hauteur) decalagey++ ; }
else { if(!starty) for(cpt=0;cpt<scrool_speed;cpt++) if(decalagey < hauteur/2-240) decalagey++ ;
//if((startx+size_draw_y+decalagey)*nzoom>hauteur*nzoom) decalagey -= ((startx+decalagey+size_draw_y)*nzoom-(hauteur*nzoom)) ;
}
scrool_time = GpTickCountGet() ;
}
if(keyPush(kUp)) // up
{
for(cpt=0;cpt<scrool_speed;cpt++) if(decalagey) decalagey-- ;
scrool_time = GpTickCountGet() ;
}
} else {
if(keyUp(kDown)) // down, zoom -
{
if(zoom>1)
{
short old, _new, dif, cpt ;
old = (size_draw_x/zoom) ;
_new = (size_draw_x/(zoom-1)) ;
dif = (_new-old)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagex) decalagex-- ;
old = (size_draw_y/zoom) ;
_new = (size_draw_y/(zoom-1)) ;
dif = (_new-old)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagey) decalagey-- ;
zoom-- ;
startx = (320-largeur*zoom)>>1 ;
starty = (240-hauteur*zoom)>>1 ;
size_draw_y = hauteur*zoom ;
size_draw_x = largeur*zoom ;
if(hauteur*zoom>240) { starty=0 ; size_draw_y = 240 ; }
if(largeur*zoom>320) { startx=0 ; size_draw_x = 320 ; }
if(size_draw_x/zoom+decalagex>largeur) decalagex -= (decalagex+size_draw_x/zoom)-largeur ;
if(decalagey+size_draw_y/zoom>hauteur) decalagey -= (decalagey+size_draw_y/zoom)-hauteur ;
} /*else if(zoom==1)
{
short cpt ;
for(cpt=0;cpt<size_draw_x/2;cpt++)
if(decalagex) decalagex-- ;
for(cpt=0;cpt<size_draw_y/2;cpt++)
if(decalagey) decalagey-- ;
zoom=0 ;
startx = (320-largeur/2)>>1 ;
starty = (240-hauteur/2)>>1 ;
size_draw_y = hauteur ;
size_draw_x = largeur ;
if(hauteur/2>240) { starty=0 ; size_draw_y = 240*2 ; }
if(largeur/2>320) { startx=0 ; size_draw_x = 320*2 ; }
if(size_draw_x*2+decalagex>largeur*2) decalagex -= (decalagex+size_draw_x*2)-largeur*2 ;
if(decalagey+size_draw_y*2>hauteur*2) decalagey -= (decalagey+size_draw_y*2)-hauteur*2 ;
if(decalagey > hauteur/2-240) decalagey = hauteur/2-240 ;
if(decalagex > largeur/2-320) decalagex = largeur/2-320 ;
}*/
zoom_time = GpTickCountGet() ;
}
if(keyUp(kUp)) // up, zoom +
{
if(zoom < 20)
{
short old, _new, dif, cpt ;
if(zoom)
{
old = (size_draw_x/zoom) ;
_new = (size_draw_x/(zoom+1)) ;
dif = (old-_new)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagex+(size_draw_x/zoom)<largeur) decalagex++ ;
old = (size_draw_y/zoom) ;
_new = (size_draw_y/(zoom+1)) ;
dif = (old-_new)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagey+(size_draw_y/zoom)<hauteur) decalagey++ ;
}
else
{
size_draw_y/=2 ;
size_draw_x/=2 ;
old = (size_draw_x*2) ;
_new = (size_draw_x/2) ;
dif = (old-_new)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagex+(size_draw_x*2)<largeur) decalagex++ ;
old = (size_draw_y*2) ;
_new = (size_draw_y/2) ;
dif = (old-_new)/2 ;
for(cpt=0;cpt<dif;cpt++)
if(decalagey+(size_draw_y*2)<hauteur) decalagey++ ;
}
zoom++ ;
startx = (320-largeur*zoom)>>1 ;
starty = (240-hauteur*zoom)>>1 ;
size_draw_y = hauteur*zoom ;
size_draw_x = largeur*zoom ;
if(hauteur*zoom>240) { starty=0 ; size_draw_y = 240 ; }
if(largeur*zoom>320) { startx=0 ; size_draw_x = 320 ; }
}
zoom_time = GpTickCountGet() ;
}
}
/* Callback function to handle ROS depth messages
*
* PARAMETERS:
* - msg: ROS message that contains the depth image its metadata
*
*
* RETURN --
*/
void Depth_processing::depthCb(const sensor_msgs::ImageConstPtr& msg)
{
Mat cur_depth;
Mat temp_depth;
int morph_elem = 0;
int morph_size = 2;
int morph_operator = 0;
cv_bridge::CvImagePtr cv_ptr_depth;
try
{
cv_ptr_depth = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_32FC1);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cur_depth = (cv_ptr_depth->image);
//Converting depth values to 0-255
depthToGray(cur_depth, cur_depth, min_depth, max_depth);
if (dFrameCounter == -1)
{
ref_depth = cur_depth.clone();
dFrameCounter++;
}
//Depth preprocessing
Mat element = getStructuringElement( morph_elem, Size( 2*morph_size + 1, 2*morph_size+1 ), Point( morph_size, morph_size ) );
Mat depth_dif;
morphologyEx(cur_depth, cur_depth, 3, element);
//Filling areas in the depth image that have no value because
//of sensor noise or surface reflectivity
rectFill(cur_depth, 0.3, 2);
upVerticalFill(cur_depth, 0.3, true);
/* Frame difference
*
*
temp_depth = cur_depth.clone();
medianBlur(temp_depth, temp_depth, 15);
frameDif(temp_depth, ref_depth, dif_depth, 255*0.07);
morphologyEx(dif_depth, dif_depth, 2, element);
ref_depth = temp_depth.clone();
*/
//Display
if(display)
{
imshow("cur_depth", cur_depth);
moveWindow("cur_depth", 0, 0);
/*
*
//blob detection
detectBlobs(dif_depth, depth_rects, 15);
//display
Mat temp = dif_depth.clone();
for(Rect rect: depth_rects)
rectangle(temp, rect, 255, 1);
depth_rects.clear();
imshow("dif_depth", temp);
moveWindow("dif_depth", 0, 550);
*/
}
/* Depth backgound estimation
*
*
//~ int kernel_size = 3;
//~ int scale = ;
//~ int delta = 0;
//~ int ddepth = CV_16S;
//~
//~ Laplacian( cur_depth, cur_depth, ddepth, kernel_size, scale, delta, BORDER_DEFAULT );
//~
//~ convertScaleAbs( cur_depth, cur_depth );
Mat detected_edges;
Mat whatever;
whatever.create( cur_depth.size(), cur_depth.type() );
int lowThreshold = 500;
int ratio = 3;
int kernel_size = 5;
blur( cur_depth, cur_depth, Size(3,3) );
Canny( cur_depth, cur_depth, lowThreshold, lowThreshold*ratio, kernel_size );
whatever = Scalar::all(0);
//~ cur_depth.copyTo( whatever, detected_edges);
imshow("whatever", cur_depth);
moveWindow("whatever", 0, 550);
Mat back_depth;
estimateBackground(cur_depth, back_depth, depth_storage, 100, 0.025);
Mat back_dif = cur_depth.clone();
estimateForeground(cur_depth, back_depth, back_dif);
//~ adaptiveThreshold(back_dif, back_dif, 255, ADAPTIVE_THRESH_GAUSSIAN_C, THRESH_BINARY, 15, -5);
//~ medianBlur(back_dif, back_dif, 3);
vector< Rect_<int> > back_dif_rects;
detectBlobs(back_dif, back_dif_rects, 3);
imshow("back_dif", back_dif);
moveWindow("back_dif", 645, 550);
*/
waitKey(1);
//Converting chroma values to meters
grayToDepth(cur_depth, cur_depth, max_depth);
//Publish corrected depth image
cv_ptr_depth->image = cur_depth;
depth_pub.publish(cv_ptr_depth->toImageMsg());
}