void initVariables()
{
trial.init(parameters);
}
/*** FUNCTIONS FOR TRIAL MODE DRAWING ***/
void advanceTrial()
{
if ( trial.isEmpty() )
{
#ifdef WIN32
for (int i=0; i<3; i++)
{
Beep(220,440);
totalTimer.sleep(20);
}
#endif
exit(0);
}
switch (trialMode)
{
case FIXATIONMODE:
{
#ifdef WIN32
Beep(440,440);
#endif
totalTimer.start();
stimulusTimer.start();
//clearAndWait(2);
trialMode=STIMULUSMODE;
}
break;
case STIMULUSMODE:
{
#ifdef WIN32
Beep(440,440);
#endif
trialMode=PROBEMODE;
totalTimer.start();
stimulusTimer.start();
}
break;
case PROBEMODE:
{
#ifdef WIN32
Beep(880,440);
#endif
resetPointStrip();
responseTimer.start();
totalTimer.start();
trialMode=FIXATIONMODE;
}
}
resetPointStrip();
factors = trial.getNext();
trialNumber++;
responseFile << setw(6) << left <<
trialNumber << "\t" <<
factors["Tilt"] << "\t" <<
factors["Slant"] << "\t" <<
factors["Def"] << "\t" <<
factors["FlowDirection"] << "\t" <<
factors["FlowIncrement"] << "\t" << endl;
double responseTime=responseTimer.getElapsedTimeInMilliSec();
timeFrame=0.0; //this put the stimulus in the center each central time mouse is clicked in
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
factors = trial.getNext();
isStimulusDrawn=false;
drawGLScene();
initProjectionScreen(factors["AbsDepth"]);
isStimulusDrawn=true;
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case 'd':
visibleFingers=!visibleFingers;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
// trialMode++;
// trialMode=trialMode%3;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
case 'f':
case 'F':
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p);
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
fingerCalibrationDone=2;
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
physicalRigidBodyTip = index;
fingerCalibrationDone=3;
fingerDistance = (thumb-index).norm();
visibleInfo=!visibleInfo;
drawTheVoid();
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
}
}
break;
case '2':
{
}
break;
case '8':
{
}
break;
case '4':
{
}
break;
case '6':
{
}
break;
// In genere a me piace attaccare al tasto p una funzione che stampi
// le tue variabili di interesse su standard output ad esempio la lista dei fattori attuali con nome
case 'p':
{
for (map<string,double>::iterator iter = factors.begin(); iter!=factors.end(); ++iter )
{
cout << iter->first << " " << iter->second << endl;
}
}
break;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
{
interoculardistance += 0.5;
headEyeCoords.setInterOcularDistance(interoculardistance);
}
break;
case 'n':
{
interoculardistance -= 0.5;
headEyeCoords.setInterOcularDistance(interoculardistance);
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case 'f':
case 'F':
{
if(condition == 1)
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && fingerCalibrationDone==0 )
{
fingerCalibrationDone=1;
calibration_fingers(fingerCalibrationDone);
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
fingerCalibrationDone=2;
calibration_fingers(fingerCalibrationDone);
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
fingerCalibrationDone=3;
beepOk(0);
visibleInfo=false;
drawGLScene();
// prepare the object
// check where top and bottom surfaces are
whereTop = markers[4].p.transpose();
whereBottom = markers[3].p.transpose();
// what's next distance Z?
absDepth = trial.getCurrent()["AbsDepth"];
// bring screen at Z
initProjectionScreen(absDepth);
// bring object at Z, with size 2 cm
Vector3d moveBack(0.0,whereTop.y()-50.0,absDepth);
moveObjectAbsolute(moveBack, whereBottom, 5000);
break;
}
} else
beepOk(1);
}
break;
case '0':
{
if(condition == 0)
{
experimentBegun = true;
whereTop = markers[4].p.transpose();
visibleInfo=false;
initTrial();
}
else
beepOk(1);
}
break;
case 13:
{
if(condition == 1 && trialNumber == 0)
{
experimentBegun = true;
initTrial();
}
}
break;
}
}
void update(int value)
{
// Conta i cicli di presentazione dello stimolo
if ( (sumOutside > str2num<int>(parameters.find("StimulusCycles")) ) && (trialMode == STIMULUSMODE) )
{
sumOutside=0;
trialMode++;
trialMode=trialMode%4;
}
if (conditionInside && (sumOutside*2 > str2num<int>(parameters.find("FixationCycles"))) && (trialMode ==FIXATIONMODE ) )
{
sumOutside=0;
trialMode++;
trialMode=trialMode%4;
stimulusDuration.start();
}
if ( trialMode == STIMULUSMODE )
stimulusFrames++;
if ( trialMode == FIXATIONMODE )
stimulusFrames=0;
Screen screenPassive;
screenPassive.setWidthHeight(SCREEN_WIDE_SIZE, SCREEN_WIDE_SIZE*SCREEN_HEIGHT/SCREEN_WIDTH);
screenPassive.setOffset(alignmentX,alignmentY);
screenPassive.setFocalDistance(0);
screenPassive.transform(headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(center));
camPassive.init(screenPassive);
camPassive.setDrySimulation(true);
camPassive.setEye(eyeRight);
objectPassiveTransformation = ( camPassive.getModelViewMatrix()*objectActiveTransformation );
// Coordinates picker
markers = optotrak.getAllPoints();
if ( isVisible(markers[1]) && isVisible(markers[2]) && isVisible(markers[3]) )
headEyeCoords.update(markers[1],markers[2],markers[3]);
Affine3d active = headEyeCoords.getRigidStart().getFullTransformation();
eulerAngles.init( headEyeCoords.getRigidStart().getFullTransformation().rotation() );
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
cyclopeanEye = (eyeLeft+eyeRight)/2.0;
// Projection of view normal on the focal plane
Vector3d directionOfSight = (active.rotation()*Vector3d(0,0,-1)).normalized();
Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );
Eigen::ParametrizedLine<double,3> lineOfSightLeft = Eigen::ParametrizedLine<double,3>::Through( eyeLeft, eyeLeft+directionOfSight );
double lineOfSightRightDistanceToFocalPlane = lineOfSightRight.intersection(focalPlane);
double lineOfSightLeftDistanceToFocalPlane = lineOfSightLeft.intersection(focalPlane);
//double lenghtOnZ = (active*(center-eyeCalibration )+eyeRight).z();
projPointEyeRight = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
projPointEyeLeft= lineOfSightLeftDistanceToFocalPlane * (directionOfSight) + (eyeLeft);
// second projection the fixation point computed with z non constant but perfectly parallel to projPointEyeRight
lineOfSightRightDistanceToFocalPlane= (( active.rotation()*(center)) - eyeRight).norm();
Vector3d secondProjection = lineOfSightRightDistanceToFocalPlane *(directionOfSight)+ (eyeRight);
if ( !zOnFocalPlane )
projPointEyeRight=secondProjection ;
// Compute the translation to move the eye in order to avoid shear components
Vector3d posAlongLineOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation())*(eyeRight -eyeCalibration);
switch ( (int)factors["Translation"] )
{
case -1:
case -2:
translationFactor.setZero();
if ( trialMode == STIMULUSMODE )
projPointEyeRight=center;
break;
case 0:
translationFactor.setZero();
break;
case 1:
translationFactor = factors["TranslationConstant"]*Vector3d(posAlongLineOfSight.z(),0,0);
break;
case 2:
translationFactor = factors["TranslationConstant"]*Vector3d(0,posAlongLineOfSight.z(),0);
break;
}
if ( passiveMode )
initProjectionScreen(0,headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance)));
else
initProjectionScreen(focalDistance,Affine3d::Identity());
checkBounds();
/**** Save to file part ****/
// Markers file save the used markers and time-depending experimental variable to a file
// (Make sure that in passive experiment the list of variables has the same order)
markersFile << trialNumber << " " << headCalibrationDone << " " << trialMode << " " ;
markersFile <<markers[1].transpose() << " " << markers[2].transpose() << " " << markers[3].transpose() << " " << markers[17].transpose() << " " << markers[18].transpose() << " " ;
markersFile << factors["Tilt"] << " " <<
factors["Slant"] << " " <<
factors["Translation"] << " " <<
factors["Onset"] << " " <<
factors["TranslationConstant"] <<
endl;
ofstream outputfile;
outputfile.open("data.dat");
outputfile << "Subject Name: " << parameters.find("SubjectName") << endl;
outputfile << "Passive matrix:" << endl << objectPassiveTransformation.matrix() << endl;
outputfile << "Yaw: " << toDegrees(eulerAngles.getYaw()) << endl <<"Pitch: " << toDegrees(eulerAngles.getPitch()) << endl;
outputfile << "EyeLeft: " << headEyeCoords.getLeftEye().transpose() << endl;
outputfile << "EyeRight: " << headEyeCoords.getRightEye().transpose() << endl << endl;
outputfile << "Slant: " << instantPlaneSlant << endl;
outputfile << "(Width,Height) [px]: " << getPlaneDimensions().transpose() << " " << endl;
outputfile << "Factors:" << endl;
for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter)
{
outputfile << "\t\t" << iter->first << "= " << iter->second << endl;
}
outputfile << "Trial remaining: " << trial.getRemainingTrials()+1 << endl;
outputfile << "Last response: " << probeAngle << endl;
// Here we save plane projected width and height
// now rewind the file
outputfile.clear();
outputfile.seekp(0,ios::beg);
// Write down frame by frame the trajectories and angles of eyes and head
if ( trialMode == STIMULUSMODE && headCalibrationDone > 2 )
{
trajFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " <<
eyeRight.transpose() << endl;
anglesFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " <<
toDegrees(eulerAngles.getPitch()) << " " <<
toDegrees(eulerAngles.getRoll()) << " " <<
toDegrees(eulerAngles.getYaw()) << " " <<
instantPlaneSlant << endl;
matrixFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " ;
for (int i=0; i<3; i++)
matrixFile << objectPassiveTransformation.matrix().row(i) << " " ;
matrixFile << endl;
// Write the 13 special extremal points on stimFile
stimFile << setw(6) << left <<
trialNumber << " " <<
stimulusFrames << " " ;
double winx=0,winy=0,winz=0;
for (PointsRandIterator iRand = redDotsPlane.specialPointsRand.begin(); iRand!=redDotsPlane.specialPointsRand.end(); ++iRand)
{ Point3D *p=(*iRand);
Vector3d v = objectActiveTransformation*Vector3d( p->x, p->y, p->z);
gluProject(v.x(),v.y(),v.z(), (&cam)->getModelViewMatrix().data(), (&cam)->getProjectiveMatrix().data(), (&cam)->getViewport().data(), &winx,&winy,&winz);
stimFile << winx << " " << winy << " " << winz << " ";
}
stimFile << endl;
}
glutPostRedisplay();
glutTimerFunc(TIMER_MS, update, 0);
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
//factors = trial.getNext();
// trial.next();
drawGLScene();
// initProjectionScreen(trial.getCurrent()["AbsDepth"]);
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'l':
exits=!exits;
break;
case 'm':
{
interoculardistance += 0.5;
headEyeCoords.setInterOcularDistance(interoculardistance);
}
break;
case 'n':
{
interoculardistance -= 0.5;
headEyeCoords.setInterOcularDistance(interoculardistance);
}
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
trialMode++;
trialMode=trialMode%3;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case 'f':
case 'F':
{
// Interpolate the fingertip (fourth virtual marker)
if ( fingerCalibrationDone==2 && allVisibleObject && allVisibleFingers )
{
fingerCalibrationDone=3;
calibration_fingers(fingerCalibrationDone);
beepOk(3);
break;
}
// Start the experiment
if ( fingerCalibrationDone==3 && allVisibleFingers )
{
fingerCalibrationDone=4;
beepOk(0);
visibleInfo=false;
drawGLScene(); // this is needed otherwise the next motor command freezes the screen
// check where the object is
object_reset_position = markers[3].p.transpose();
// calculate where the object has to go
Vector3d object_position(0.0,object_reset_position.y(),-550.0);
// move the object to position from where it is
moveObjectAbsolute(object_position, object_reset_position, 5000);
trial.next();
initTrial();
break;
}
}
break;
case 't':
{
advanceTrial();
}
break;
}
}
// INITTRIAL TO CHECK (MOSTLY FOR FINGERS-RELATED EVENTS)
void initTrial()
{
// if the current is not an empty trial...
if(!trial.isEmpty())
{
if(condition == 0)
beepOk(0);
if(condition == 1)
endTrial = false;
// these variables are reset
showStimuli = false;
h_stimulus = 1;
fingersOccluded = 0;
framesOccluded=0;
frameN = 0;
// random seed
//srand(rand() % 100);
// pick 0 or 1 at random and assign it to first_interval
first_interval = rand() % 2;
// pick the complementary (0 or 1) and assign it to second_interval
second_interval = 1 - first_interval;
#ifdef SIMULATION
//srand(5);
testJND = str2num<double>(parameters.find("JND"));
double JND = mathcommon::gaussRand(0,testJND);
// set the parameters to build the stimulus:
// HEIGHT
//--- standard
stimulus_height[0] = 55.0;
//--- comparison
stimulus_height[1] = trial.getCurrent()["ConstantStimuli"] + JND;
// EGOCENTRIC DISTANCE
absDepth = trial.getCurrent()["AbsDepth"];
#else
// set the parameters to build the stimulus:
// HEIGHT
//--- standard
stimulus_height[0] = 55.0;
//--- comparison
stimulus_height[1] = trial.getCurrent()["ConstantStimuli"];
// EGOCENTRIC DISTANCE
absDepth = trial.getCurrent()["AbsDepth"];
#endif
// build the stimuli
buildStandard(stimulus_noise, absDepth);
buildComparison(stimulus_height[1], stimulus_noise, absDepth);
#ifndef SIMULATION
// roll on
drawGLScene();
initProjectionScreen(absDepth);
if(condition == 1)
{
// generate random speed between 3500 and 5000
randSpeed = rand() % 1501 + 3500;
// move bottom surface up to topY - stimulus_height[first_interval]
Vector3d moveHeight(0.0,whereTop.y()-stimulus_height[first_interval],absDepth);
moveObjectAbsolute(moveHeight, whereBottom, randSpeed);
beepOk(0);
}
if(condition == 0)
{
// show the stimuli
showStimuli = true;
}
timer.start();
#else
advanceTrial();
#endif
} else
{
if(condition == 1)
responseFile.close();
summaryFile.close();
cleanup();
exit(0);
}
}
// Questa funzione e' quella che in background fa tutti i conti matematici, quindi qui devi inserire
// 1) Scrittura su file continua delle coordinate che vuoi salvare
// 2) Estrazione delle coordinate a partire dai corpi rigidi precedentemente definiti vedi ad esempio
// come e' fatto per eyeLeft e eyeRight oppure per thumb ed index
void idle()
{
optotrak->updateMarkers();
/*cerr << trial.getCurrent()["AbsDepth"] << "\t" <<
trial.getCurrent()["ObjHeight"] << "\t" <<
trial.getCurrent()["HapticFB"] << endl;
*/
//cerr << parameters.find("fObjHeight",1) << endl;
markers = optotrak->getAllMarkers();
// Coordinates picker
allVisiblePlatform = isVisible(markers[1].p);
allVisibleIndex = isVisible(markers[13].p) && isVisible(markers[14].p) && isVisible(markers[16].p);
allVisibleThumb = isVisible(markers[15].p) && isVisible(markers[17].p) && isVisible(markers[18].p);
allVisibleFingers = allVisibleIndex && allVisibleThumb;
allVisiblePatch = isVisible(markers[5].p) && isVisible(markers[6].p) && isVisible(markers[7].p);
allVisibleHead = allVisiblePatch && isVisible(markers[1].p);
mirrorAlignment = asin(
abs((markers[6].p.z()-markers[7].p.z()))/
sqrt(
pow(markers[6].p.x()-markers[7].p.x(), 2) +
pow(markers[6].p.z()-markers[7].p.z(), 2)
)
)*180/M_PI;
if ( allVisiblePatch )
headEyeCoords.update(markers[5].p,markers[6].p,markers[7].p);
if ( allVisibleFingers )
{
indexCoords.update(markers[13].p, markers[14].p, markers[16].p );
thumbCoords.update(markers[15].p, markers[17].p, markers[18].p );
fingersOccluded = 0;
}
if (fingerCalibrationDone==3 )
{
// check for finger occlusion
if ( !allVisibleFingers )
{
fingersOccluded=1;
num_lost_frames += 1;
}
// advance frame number
frameN++;
// check that we're at the start
// if so, keep resetting timer
if(((-500) < index.y()) && (index.y() < (-315)) && ((-500) < thumb.y()) && (thumb.y() < (-315)))
{
handAtStart = true;
timer.start();
} else // we've moved from the start, begin counting
{
handAtStart = false;
}
// if we're in the reaching area
if(!handAtStart && ((-315) <= index.y()) && (index.y() < 200) && ((-315) <= thumb.y()) && (thumb.y() < 100))
{
started=true; // we've started
}else{
started=started;
}
// find y_dist and z_dist
y_dist = (abs(index.y() - (-25)) + abs(thumb.y() - (-25)));
z_dist = (abs(index.z() - (trial.getCurrent()["AbsDepth"])) + abs(thumb.z() - (trial.getCurrent()["AbsDepth"])));
within_time_limit = (timer.getElapsedTimeInMilliSec() <= str2num<double>(parameters.find("TimeLimit")));
if(!reachedObject && (stimPosn==LEFT) && started) {
x_dist = (abs(index.x() - (-26)) + abs(thumb.x() - (-26)));
if ( (x_dist <= 25) && (y_dist <= 70) && (z_dist <= 25) && within_time_limit) {
reachedObject = true;
TGA_frame = frameN;
}
}else if(!reachedObject && (stimPosn==RIGHT) && started) {
x_dist = (abs(index.x() - (74)) + abs(thumb.x() - (74)));
if ( (x_dist <= 25) && (y_dist <= 70) && (z_dist <= 25) && within_time_limit) {
reachedObject = true;
TGA_frame = frameN;
}
}
}
if(headCalibration)
{
eyeLeft = headEyeCoords.getLeftEye();
eyeRight = headEyeCoords.getRightEye();
} else {
eyeRight = Vector3d(interoculardistance/2,0,0);
eyeLeft = -eyeRight;
}
index = indexCoords.getP1();
thumb = thumbCoords.getP1();
// Write to trialFile
if (fingerCalibrationDone==3 )
{
trialFile << fixed <<
parameters.find("SubjectName") << "\t" << //subjName
trialNumber << "\t" << //trialN
timer.getElapsedTimeInMilliSec() << "\t" << //time
frameN << "\t" << //frameN
index.transpose() << "\t" << //indexXraw, indexYraw, indexZraw
thumb.transpose() << "\t" << //thumbXraw, thumbYraw, thumbZraw
//eyeRight.transpose() << "\t" << //eyeRXraw, eyeRYraw, eyeRZraw
//eyeLeft.transpose() << "\t" << //eyeLXraw, eyeLYraw, eyeLZraw
fingersOccluded << "\t" << //fingersOccluded
attempt << "\t" <<
reachedObject << "\t" <<
num_lost_frames
;
trialFile << endl;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
//factors = trial.getNext();
// trial.next();
drawGLScene();
// initProjectionScreen(trial.getCurrent()["AbsDepth"]);
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
trialMode++;
trialMode=trialMode%4;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case 'd':
{
fingersShown = !fingersShown;
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
case 'f':
case 'F':
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
//centercal = markers[4].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p );
fingerCalibrationDone=2;
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
beepOk(0);
fingerCalibrationDone=3;
visibleInfo=!visibleInfo;
factors = trial.getNext();
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case '5':
{
alignmentY -= .5;
}
break;
case '8':
{
alignmentY += .5;
}
break;
case '4':
{
alignmentX -= .5;
}
break;
case '6':
{
alignmentX += .5;
}
break;
case '1':
{
stim_translation_z -= 1;
}
break;
case '3':
{
stim_translation_z += 1;
}
break;
case 's':
{
advanceTrial();
}
break;
case '0':
{
training=!training;
}
break;
case 'c':
{
pulsingColors=!pulsingColors;
}
break;
case 'l':
{
cout << left_height << "\t" << right_height << endl;
}
break;
case 'v':
{
stim_vanish_when_reached=!stim_vanish_when_reached;
}
break;
case 'w':
{
BG_WHITE=(BG_WHITE+1)%2;
}
}
}
void initVariables()
{
trial.init(parameters);
interoculardistance = str2num<double>(parameters.find("IOD"));
}
void idle()
{
updateTheMarkers();
// Visibility check
allVisiblePlatform = isVisible(markers[1].p) && isVisible(markers[2].p);
allVisibleIndex = isVisible(markers[13].p) && isVisible(markers[14].p) && isVisible(markers[16].p);
allVisibleThumb = isVisible(markers[15].p) && isVisible(markers[17].p) && isVisible(markers[18].p);
allVisibleFingers = allVisibleIndex && allVisibleThumb;
allVisibleObject = isVisible(markers[8].p) && isVisible(markers[11].p) && isVisible(markers[12].p);
allVisiblePatch = isVisible(markers[10].p) && isVisible(markers[11].p) && isVisible(markers[12].p);
allVisibleHead = allVisiblePatch && isVisible(markers[9].p);
// mirror alignment check
mirrorAlignment = asin(
abs((markers[6].p.z()-markers[7].p.z()))/
sqrt(
pow(markers[6].p.x()-markers[7].p.x(), 2) +
pow(markers[6].p.z()-markers[7].p.z(), 2)
)
)*180/M_PI;
// screen Y alignment check
screenAlignmentY = asin(
abs((markers[19].p.y()-markers[21].p.y()))/
sqrt(
pow(markers[19].p.x()-markers[21].p.x(), 2) +
pow(markers[19].p.y()-markers[21].p.y(), 2)
)
)*180/M_PI;
// screen Z alignment check
screenAlignmentZ = asin(
abs(markers[19].p.z()-markers[20].p.z())/
sqrt(
pow(markers[19].p.x()-markers[20].p.x(), 2) +
pow(markers[19].p.z()-markers[20].p.z(), 2)
)
)*180/M_PI*
abs(markers[19].p.x()-markers[20].p.x())/
(markers[19].p.x()-markers[20].p.x());
// eye coordinates
eyeRight = Vector3d(interoculardistance/2,0,0);
eyeLeft = Vector3d(-interoculardistance/2,0,0);
// fingers coordinates, fingersOccluded and framesOccluded
if ( allVisibleFingers )
{
indexCoords.update(markers[13].p, markers[14].p, markers[16].p );
thumbCoords.update(markers[15].p, markers[17].p, markers[18].p );
}
// Record the calibration platform's position and home position
if ( isVisible(markers[1].p) && allVisibleObject && fingerCalibrationDone==0 )
{
fingerCalibrationDone=1;
calibration_fingers(fingerCalibrationDone);
}
// Record the calibration platform's position and home position
if ( isVisible(markers[2].p) && allVisibleObject && fingerCalibrationDone==1 )
{
fingerCalibrationDone=2;
calibration_fingers(fingerCalibrationDone);
beepOk(2);
}
if ( allVisibleObject && fingerCalibrationDone==2 )
{
upperPin.update(markers[8].p, markers[11].p, markers[12].p );
lowerPin.update(markers[8].p, markers[11].p, markers[12].p );
}
#ifndef SIMULATION
// index coordinates
if(allVisibleIndex)
ind = indexCoords.getP1();
// thumb coordinates
if(allVisibleThumb)
thu = thumbCoords.getP1();
#endif
// what the program checks online during the grasp
if (fingerCalibrationDone==4 )
{
// frames counting
frameN++;
// fingersOccluded
if ( allVisibleFingers )
fingersOccluded = 0;
else
{
fingersOccluded=1;
}
if(timer.getElapsedTimeInMilliSec() > 1500)
iGrasped = true;
if(isHandHome && !iGrasped)
{
timer.start();
frames_at_start++;
}
if(iGrasped)
frames_post_grasp++;
// middle point between index and thumb (center of grasp)
grip_position = (ind + thu)/2;
// euclidean distance to home
dist_to_home = sqrt( pow((grip_position.x() - home_position.x()),2) + pow((grip_position.y() - home_position.y()),2) + pow((grip_position.z() - home_position.z()),2) );
// is the hand at start?
if( dist_to_home < 50.0 )
isHandHome = true;
else
isHandHome = false;
// euclidean distance to target
dist_to_target = sqrt( pow((grip_position.x() - 0.0),2) + pow((grip_position.y() - 0.0),2) + pow((grip_position.z() - trial.getCurrent()["AbsDepth"]),2) );
if(!isHandHome && !allVisibleFingers && !iGrasped)
framesOccluded++;
// Write to responseFile
markersFile << fixed <<
parameters.find("SubjectName") << "\t" <<
interoculardistance << "\t" <<
trialNumber << "\t" <<
timer.getElapsedTimeInMilliSec() << "\t" << //time
frameN << "\t" << //frameN
ind.transpose() << "\t" << //indexXraw, indexYraw, indexZraw
thu.transpose() << "\t" << //thumbXraw, thumbYraw, thumbZraw
eyeRight.transpose() << "\t" << //eyeRXraw, eyeRYraw, eyeRZraw
eyeLeft.transpose() << "\t" << //eyeLXraw, eyeLYraw, eyeLZraw
fingersOccluded << "\t" << //fingersOccluded
framesOccluded << "\t" << //framesOccluded
trial.getCurrent()["AbsDepth"] << "\t" <<
trial.getCurrent()["RelDepthObj"] << "\t" <<
frameToGrasp <<
endl;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{
switch (key)
{
#ifdef SIMULATION
case '0':
{
good_trial = 1;
advanceTrial();
} break;
case '1':
allVisibleFingers = !allVisibleFingers;
break;
case '2':
{
trial.reinsert(trial.getCurrent());
good_trial = 0;
advanceTrial();
} break;
#endif
case 'i': // show info
visibleInfo=!visibleInfo;
break;
case 'm': // increase IOD
interoculardistance += 0.5;
break;
case 'n': // decrease IOD
interoculardistance -= 0.5;
break;
case 27: // press escape to quit
{
cleanup(); // clean the optotrak buffer
exit(0);
} break;
// fingers calibration
case 'f':
case 'F':
{
// Interpolate the fingertip (fourth virtual marker)
if ( fingerCalibrationDone==2 && allVisibleObject && allVisibleFingers )
{
fingerCalibrationDone=3;
calibration_fingers(fingerCalibrationDone);
beepOk(3);
break;
}
// Start the experiment
if ( fingerCalibrationDone==3 && allVisibleFingers )
{
fingerCalibrationDone=4;
beepOk(0);
home_position = ind;
visibleInfo=false;
drawGLScene(); // this is needed otherwise the next motor command freezes the screen
// check where the object is
object_reset_position = markers[3].p.transpose();
// calculate where the object has to go
Vector3d object_position(0.0,object_reset_position.y(),-550.0);
// move the object to position from where it is
moveObjectAbsolute(object_position, object_reset_position, 5000);
trial.next();
initTrial();
}
} break;
case ' ': // confirm that you grasped
{
if(allVisibleFingers)
{
iGrasped = true;
isStimulusDrawn = false;
}
} break;
}
}
