void FineControlGUI::keydown(unsigned char key, int x, int y) {
if (key == 27) {
exit(0);
} else if (key >= '0' && key <= '3') {
toggleStream(key - '0', true);
} else if (key >= '4' && key <= '7') {
toggleStream(key - '4', false);
} else if (key == 'q') {
videoScreens[0]->zoom(ZOOM_IN);
} else if (key == 'a') {
videoScreens[0]->zoom(ZOOM_OUT);
} else if (key == 'e') {
videoScreens[1]->zoom(ZOOM_IN);
} else if (key == 'd') {
videoScreens[1]->zoom(ZOOM_OUT);
}
}
void NavigationGUI::keydown(unsigned char key, int x, int y) {
if (key == 27) {
exit(0);
} else if (key >= '0' && key <= '7') {
toggleStream(key - '0');
} /*else if (key == 'q') {
printGPSPath();
} else if(key == ' ') {
#ifdef DEBUG
GPSAddRandPos();
#endif
}*/ else if (key == '\t') {
displayOverlay = !displayOverlay;
} else if (key == 'w') {
videoScreen->zoom(ZOOM_IN);
} else if (key == 's') {
videoScreen->zoom(ZOOM_OUT);
} else if (key == 'a') {
displayTilt = !displayTilt;
} else if (key == 'j') {
snapShot = true;
ROS_INFO("snapshot");
}
}
void toggleAudioState(int )
{
toggleStream(g_Audio, XN_NODE_TYPE_AUDIO, &g_bIsAudioOn);
}
void toggleIRState(int )
{
toggleStream(g_IR, XN_NODE_TYPE_IR, &g_bIsIROn);
}
void toggleImageState(int )
{
toggleStream(g_Image, XN_NODE_TYPE_IMAGE, &g_bIsImageOn);
}
void toggleDepthState(int )
{
toggleStream(g_Depth, XN_NODE_TYPE_DEPTH, &g_bIsDepthOn);
}