void idle()
{
if (trialNumber >= maxTotalTrials )
exit(0);
double elapsedFrameTime = totalTimer.getTimeIntervalInMilliSec();
optotrak.updateMarkers(elapsedFrameTime);
markers = optotrak.getAllMarkers();
headEyeCoords.update(markers[1],markers[2],markers[3],TIMER_MS);
allVisiblePatch = markers[1].isVisible() && markers[2].isVisible()
&& markers[3].isVisible();
allVisibleHead = markers[17].isVisible() && markers[18].isVisible() && allVisibleHead;
eyeLeft = headEyeCoords.getLeftEye().p;
eyeRight = headEyeCoords.getRightEye().p;
cyclopeanEye = (eyeLeft+eyeRight)/2.0;
projPointEyeRight = getEyeProjectionPoint();
checkBounds(nOscillationsFixation,
eyeRight.x(),
trialMode,
headCalibrationDone,
minOscTime,
maxOscTime,
maxXOscillation,
translationTimer,
beepOk,
tweeter,
woofer,tweeter);
if ( trialMode == STIMULUSMODE )
deltaT+=TIMER_MS;
else
deltaT=0;
if (headCalibrationDone == 3 && trialMode != PROBEMODE )
{
// Questo rende conto del fatto che lo stimolo appare solo quando l'occhio è quasi in centro
int actualTrialMode = trialMode;
if ( trialMode == STIMULUSMODE && ( eyeRight.x()) > centerTolerance )
actualTrialMode=FIXATIONMODE;
markersFile << fixed << trialNumber << " " << actualTrialMode << " " ;
markersFile << fixed << setprecision(3) << eyeRight.transpose() << " " << eyeLeft.transpose() << " " << toDegrees(headEyeCoords.getPitch()) << " " << toDegrees(headEyeCoords.getYaw()) << " " << toDegrees(headEyeCoords.getRoll()) << " " ;
markersFile << fixed << setprecision(0)<<
factors["OmegaY"] << " " <<
factors["Binocular"] << " " <<
factors["Tilt"] << " " <<
factors["Slant"] << " " <<
totalTimer.getElapsedTimeInMilliSec() << endl;
//objectPassiveTransformation.setIdentity();
if ( actualTrialMode == STIMULUSMODE )
{
objectPassiveTransformation = getPassiveMatrix();
matrixFile << setw(6) << left <<
trialNumber << " " ;
for ( int i=0; i<3; i++)
matrixFile << objectPassiveTransformation.matrix().row(i) << " " ;
matrixFile << endl;
}
if ( actualTrialMode == STIMULUSMODE )
{
vector< Vector3d> projPoints = stimDrawer.projectStimulusPoints(objectActiveTransformation,headEyeCoords.getRigidStart().getFullTransformation(),cam,focalDistance,screen,Vector3d(0,0,0),false,false);
MatrixXd a1toa6 = stimDrawer.computeOpticFlow(projPoints, focalDistance, elapsedFrameTime/1000);
flowsFile << trialNumber << " " << a1toa6.transpose() << endl;
}
}
writeContinuosDataFile();
}
