void FLIRTDemo::mousePressedGL(int button, int x, int y){
if(button & Qt::LeftButton){
GLdouble worldX, worldY, worldZ;
m_rendererWidget->unprojectCoordinates(x, y, &worldX, &worldY, &worldZ);
if(!m_points.size()) return;
double minDistance = 10e16;
unsigned int minIndex = 0;
Point2D clickedPoint(worldX, worldY);
for(unsigned int i = 0; i < m_points.size(); i ++){
Point2D difference = clickedPoint - m_points[i]->getPosition();
double distance = hypot(difference.x, difference.y);
if(distance < minDistance){
minDistance = distance;
minIndex = i;
}
}
if(minDistance < 0.2){
m_currentPoint = m_points[minIndex];
m_supportRenderer->setLaserPoints(&m_currentPoint->getSupport());
m_supportRenderer->setColor(m_colors[minIndex]);
m_polarRenderer->setColor(m_colors[minIndex]);
} else {
m_currentPoint = NULL;
}
}
drawDescriptor();
}
bool AgentDetector::updateModule()
{
LockGuard lg(m);
bool isRefreshed = client.getDepthAndPlayers(depth,players);
client.getRgb(rgb);
bool tracked;
if (handleMultiplePlayers)
tracked=client.getJoints(joints);
else
tracked=client.getJoints(joint, EFAA_KINECT_CLOSEST_PLAYER);
//cout<<"Tracking value = "<<tracked<<endl;
if (tracked)
{
if (handleMultiplePlayers)
client.getSkeletonImage(joints,skeletonImage);
else
{
client.getSkeletonImage(joint,skeletonImage);
joints.clear();
joints.push_back(joint);
}
}
client.getPlayersImage(players,playersImage);
client.getDepthImage(depth,depthToDisplay);
if (depthPort.getOutputCount()>0)
{
depthPort.prepare()=depthToDisplay;
depthPort.write();
}
if (imagePort.getOutputCount()>0)
{
imagePort.prepare()=rgb;
imagePort.write();
}
if (playersPort.getOutputCount()>0)
{
playersPort.prepare()=playersImage;
playersPort.write();
}
if (skeletonPort.getOutputCount()>0)
{
skeletonPort.prepare()=skeletonImage;
skeletonPort.write();
}
if (showImages)
{
cvConvertScale((IplImage*)depthToDisplay.getIplImage(),depthTmp,1.0/255);
cvCvtColor((IplImage*)rgb.getIplImage(),rgbTmp,CV_BGR2RGB);
string mode=showMode;
string submode;
while (!mode.empty())
{
if (showImageParser(mode,submode))
{
if (submode=="rgb")
cvShowImage("rgb",rgbTmp);
else if (submode=="depth")
cvShowImage("depth",depthTmp);
else if (submode=="skeleton")
cvShowImage("skeleton",(IplImage*)skeletonImage.getIplImage());
else if (submode=="players")
cvShowImage("players",(IplImage*)playersImage.getIplImage());
else
yError("unrecognized show mode!");
}
}
cvWaitKey(1);
}
//Send the players information to the OPC
//Allow click calibration
if (!checkCalibration())
{
if (AgentDetector::clicked==clicked_left)
{
AgentDetector::clicked=idle;
//Get the clicked point coordinate in Kinect space
Vector clickedPoint(3);
cout<<"Processing a click on ("<<AgentDetector::clickX<<" "<<AgentDetector::clickY<<") --> ";
client.get3DPoint((int)AgentDetector::clickX,(int)AgentDetector::clickY,clickedPoint);
cout<<clickedPoint.toString(3,3)<<endl;
Bottle bCond;
Bottle bObject;
Bottle bRTObject;
bObject.addString(EFAA_OPC_ENTITY_TAG);
bObject.addString("==");
bObject.addString(EFAA_OPC_ENTITY_OBJECT);
bRTObject.addString(EFAA_OPC_ENTITY_TAG);
bRTObject.addString("==");
bRTObject.addString(EFAA_OPC_ENTITY_RTOBJECT);
Bottle bPresent;
bPresent.addString(EFAA_OPC_OBJECT_PRESENT_TAG);
bPresent.addString("==");
bPresent.addDouble(1.0);
bCond.addList()=bObject;
bCond.addString("&&");
bCond.addList()=bPresent;
bCond.addString("||");
bCond.addList()=bRTObject;
bCond.addString("&&");
bCond.addList()=bPresent;
opc->checkout();
opc->isVerbose=true;
list<Entity*> presentObjects=opc->Entities(bCond);
opc->isVerbose=false;
Object *o=nullptr;
if (presentObjects.size()==1) {
o=dynamic_cast<Object*>(presentObjects.front());
} else {
for(auto& presentObject : presentObjects) {
if(presentObject->name() == "target") {
o=dynamic_cast<Object*>(presentObject);
break;
}
}
}
if(o) {
Bottle botRPH, botRPHRep;
botRPH.addString("add");
botRPH.addString("kinect");
Bottle &cooKinect=botRPH.addList();
cooKinect.addDouble(clickedPoint[0]);
cooKinect.addDouble(clickedPoint[1]);
cooKinect.addDouble(clickedPoint[2]);
Bottle &cooiCub=botRPH.addList();
cooiCub.addDouble(o->m_ego_position[0]);
cooiCub.addDouble(o->m_ego_position[1]);
cooiCub.addDouble(o->m_ego_position[2]);
rfh.write(botRPH,botRPHRep);
cout<<"Sent to RFH: "<<botRPH.toString().c_str()<<endl;
cout<<"Got from RFH: "<<botRPHRep.toString().c_str()<<endl;
pointsCnt++;
} else {
yWarning("There should be 1 and only 1 object on the table");
yWarning("If there is more than one object, the object you want");
yWarning("to calibrate must be called \"target\"");
}
}
else if (AgentDetector::clicked==clicked_right)
{
AgentDetector::clicked=idle;
if (pointsCnt>=3)
{
Bottle calibBottle,calibReply;
calibBottle.addString("cal");
calibBottle.addString("kinect");
rfh.write(calibBottle,calibReply);
cout<<"Calibrated ! "<<calibReply.toString().c_str()<<endl;
calibBottle.clear();
calibBottle.addString("save");
rfh.write(calibBottle,calibReply);
cout<<"Saved to file ! "<<calibReply.toString().c_str()<<endl;
checkCalibration();
}
else
yWarning("Unable to calibrate with less than 3 points pairs collected");
}
}
if (isRefreshed)
{
// yInfo() << " refreshed";
//////////////////////////////////////////////////////////////////
//Clear the previous agents
//for(map<int, Agent*>::iterator pA=identities.begin(); pA!=identities.end() ; pA++)
//{
// pA->second->m_present = 0.0;
//}
//partner->m_present = 0.0;
// check if last apparition was more than dThreshlodDisaparition ago
if (tracked)
{
//Go through all skeletons
for(deque<Player>::iterator p=joints.begin(); p!=joints.end(); p++)
{
//check if this skeletton is really tracked
bool reallyTracked = false;
for(map<string,Joint>::iterator jnt = p->skeleton.begin() ; jnt != p->skeleton.end() ; jnt++)
{
if (jnt->second.x != 0 && jnt->second.y != 0 && jnt->second.z != 0)
{
reallyTracked = true; break;
}
}
if (reallyTracked)
{
dSince = (clock() - dTimingLastApparition) / (double) CLOCKS_PER_SEC;
//yInfo() << " is REALLY tracked";
string playerName = partner_default_name;
//If the skeleton is tracked we dont identify
if (identities.find(p->ID) != identities.end())
{
playerName = identities[p->ID];
}
else
{
//Check if we should learn this face
if (currentTrainingFace != "")
{
setIdentity(*p,currentTrainingFace);
currentTrainingFace = "";
}
//if (useFaceRecognition)
playerName = getIdentity(*p);
}
//We interact with OPC only if the calibration is done
if (isCalibrated)
{
//main bottle to be streamed with loc of all agent body part
Bottle& bAgentLoc = agentLocOutPort.prepare();
bAgentLoc.clear();
//Retrieve this player in OPC or create if does not exist
opc->checkout();
partner = opc->addOrRetrieveEntity<Agent>(partner_default_name);
partner->m_present = 1.0;
// reset the timing.
dTimingLastApparition = clock();
if (identities.find(p->ID) == identities.end())
{
cout<<"Assigning name "<<playerName<<" to skeleton "<<p->ID<<endl;
//Agent* specificAgent = opc->addEntity<Agent>(playerName);
Agent* specificAgent = opc->addOrRetrieveEntity<Agent>(playerName);
if(specificAgent == nullptr) {
yError() << "SHIT specificAgent";
} else {
identities[p->ID] = specificAgent->name();
specificAgent->m_present = 1.0;
yInfo() << " specific agent is commited";
opc->commit(specificAgent);
yInfo() << " specific agent is commited done";
}
}
// Relation r(partner->name(),"named",playerName);
// opc->addRelation(r,1.0);
// cout<<"Commiting : "<<r.toString()<<endl;
yarp::os::Bottle &skeleton = outputSkeletonPort.prepare();
skeleton.clear();
//Convert the skeleton into efaaHelpers body. We loose orientation in the process...
for(map<string,Joint>::iterator jnt = p->skeleton.begin() ; jnt != p->skeleton.end() ; jnt++)
{
Bottle bBodyPartLoc;
Vector kPosition(4);
kPosition[0] = jnt->second.x;
kPosition[1] = jnt->second.y;
kPosition[2] = jnt->second.z;
kPosition[3] = 1;
Vector icubPos = kinect2icub * kPosition;
Vector irPos = icubPos.subVector(0,2);
if (isMounted)
{
irPos = transform2IR(irPos);
Bottle jntBtl;
jntBtl.clear();
jntBtl.addString(jnt->first);
jntBtl.addDouble(jnt->second.x);
jntBtl.addDouble(jnt->second.y);
jntBtl.addDouble(jnt->second.z);
skeleton.addList() = jntBtl;
}
if (jnt->first == EFAA_OPC_BODY_PART_TYPE_HEAD)
{
partner->m_ego_position = irPos;
}
partner->m_body.m_parts[jnt->first] = irPos;
bBodyPartLoc.addString(jnt->first);
bBodyPartLoc.addString(irPos.toString());
bAgentLoc.addList() = bBodyPartLoc;
}
agentLocOutPort.write();
opc->commit(partner);
// cout << skeleton.toString()<< endl;
outputSkeletonPort.write();
//opc->commit(agent);
}
// cout<<'1'<<endl;
}
}
}
else
{
if (dSince > dThresholdDisparition)
{
opc->checkout();
partner = opc->addOrRetrieveEntity<Agent>(partner_default_name);
partner->m_present = 0.0;
opc->commit(partner);
}
else
{
//yInfo() << " clock is: " << clock() << "\t last apparition: " << dTimingLastApparition << "\t dSince: " << dSince;
//yInfo() << " agent dissapeared but not for too long.";
}
}
}
return true;
}
void SkyMap::mousePressEvent( QMouseEvent *e ) {
KStars* kstars = KStars::Instance();
if ( ( e->modifiers() & Qt::ControlModifier ) && (e->button() == Qt::LeftButton) ) {
ZoomRect.moveCenter( e->pos() );
setZoomMouseCursor();
update(); //refresh without redrawing skymap
return;
}
// if button is down and cursor is not moved set the move cursor after 500 ms
QTimer::singleShot(500, this, SLOT (setMouseMoveCursor()));
// break if point is unusable
if ( projector()->unusablePoint( e->pos() ) )
return;
if ( !midMouseButtonDown && e->button() == Qt::MidButton ) {
y0 = 0.5*height() - e->y(); //record y pixel coordinate for middle-button zooming
midMouseButtonDown = true;
}
if ( !mouseButtonDown ) {
if ( e->button() == Qt::LeftButton ) {
mouseButtonDown = true;
}
//determine RA, Dec of mouse pointer
m_MousePoint = projector()->fromScreen( e->pos(), data->lst(), data->geo()->lat() );
setClickedPoint( &m_MousePoint );
//Find object nearest to clickedPoint()
double maxrad = 1000.0/Options::zoomFactor();
SkyObject* obj = data->skyComposite()->objectNearest( clickedPoint(), maxrad );
setClickedObject( obj );
if( obj )
setClickedPoint( obj );
switch( e->button() ) {
case Qt::LeftButton:
if( kstars ) {
QString name;
if( clickedObject() )
name = clickedObject()->translatedLongName();
else
name = i18n( "Empty sky" );
kstars->statusBar()->changeItem(name, 0 );
}
break;
case Qt::RightButton:
if( rulerMode ) {
// Compute angular distance.
slotEndRulerMode();
} else {
// Show popup menu
if( clickedObject() ) {
clickedObject()->showPopupMenu( pmenu, QCursor::pos() );
} else {
pmenu->createEmptyMenu( clickedPoint() );
pmenu->popup( QCursor::pos() );
}
}
break;
default: ;
}
}
}
void SkyMap::mouseMoveEvent( QMouseEvent *e ) {
if ( Options::useHoverLabel() ) {
//Start a single-shot timer to monitor whether we are currently hovering.
//The idea is that whenever a moveEvent occurs, the timer is reset. It
//will only timeout if there are no move events for HOVER_INTERVAL ms
m_HoverTimer.start( HOVER_INTERVAL );
QToolTip::hideText();
}
//Are we defining a ZoomRect?
if ( ZoomRect.center().x() > 0 && ZoomRect.center().y() > 0 ) {
//cancel operation if the user let go of CTRL
if ( !( e->modifiers() & Qt::ControlModifier ) ) {
ZoomRect = QRect(); //invalidate ZoomRect
update();
} else {
//Resize the rectangle so that it passes through the cursor position
QPoint pcenter = ZoomRect.center();
int dx = abs(e->x() - pcenter.x());
int dy = abs(e->y() - pcenter.y());
if ( dx == 0 || float(dy)/float(dx) > float(height())/float(width()) ) {
//Size rect by height
ZoomRect.setHeight( 2*dy );
ZoomRect.setWidth( 2*dy*width()/height() );
} else {
//Size rect by height
ZoomRect.setWidth( 2*dx );
ZoomRect.setHeight( 2*dx*height()/width() );
}
ZoomRect.moveCenter( pcenter ); //reset center
update();
return;
}
}
if ( projector()->unusablePoint( e->pos() ) ) return; // break if point is unusable
//determine RA, Dec of mouse pointer
m_MousePoint = projector()->fromScreen( e->pos(), data->lst(), data->geo()->lat() );
double dyPix = 0.5*height() - e->y();
if ( midMouseButtonDown ) { //zoom according to y-offset
float yoff = dyPix - y0;
if (yoff > 10 ) {
y0 = dyPix;
slotZoomIn();
}
if (yoff < -10 ) {
y0 = dyPix;
slotZoomOut();
}
}
if ( mouseButtonDown ) {
// set the mouseMoveCursor and set slewing=true, if they are not set yet
if( !mouseMoveCursor )
setMouseMoveCursor();
if( !slewing ) {
slewing = true;
stopTracking(); //toggle tracking off
}
//Update focus such that the sky coords at mouse cursor remain approximately constant
if ( Options::useAltAz() ) {
m_MousePoint.EquatorialToHorizontal( data->lst(), data->geo()->lat() );
clickedPoint()->EquatorialToHorizontal( data->lst(), data->geo()->lat() );
dms dAz = m_MousePoint.az() - clickedPoint()->az();
dms dAlt = m_MousePoint.alt() - clickedPoint()->alt();
focus()->setAz( focus()->az().Degrees() - dAz.Degrees() ); //move focus in opposite direction
focus()->setAz( focus()->az().reduce() );
focus()->setAlt(
KSUtils::clamp( focus()->alt().Degrees() - dAlt.Degrees() , -90.0 , 90.0 ) );
focus()->HorizontalToEquatorial( data->lst(), data->geo()->lat() );
} else {
dms dRA = m_MousePoint.ra() - clickedPoint()->ra();
dms dDec = m_MousePoint.dec() - clickedPoint()->dec();
focus()->setRA( focus()->ra().Hours() - dRA.Hours() ); //move focus in opposite direction
focus()->setRA( focus()->ra().reduce() );
focus()->setDec(
KSUtils::clamp( focus()->dec().Degrees() - dDec.Degrees() , -90.0 , 90.0 ) );
focus()->EquatorialToHorizontal( data->lst(), data->geo()->lat() );
}
showFocusCoords();
//redetermine RA, Dec of mouse pointer, using new focus
m_MousePoint = projector()->fromScreen( e->pos(), data->lst(), data->geo()->lat() );
setClickedPoint( &m_MousePoint );
forceUpdate(); // must be new computed
} else { //mouse button not down
emit mousePointChanged( &m_MousePoint );
}
}
void CCheckerCtrl::OnLButtonDown(UINT nFlags, CPoint point)
{
// TODO: Add your message handler code here and/or call default
SetFocus();
DWORD dwPos = GetMessagePos();
CPoint clickedPoint((int)(short)LOWORD(dwPos), (int)(short)HIWORD(dwPos));
ScreenToClient(&clickedPoint);
{
CRect cRect;
GetWindowRect(&cRect);
ScreenToClient(&cRect);
UINT nY = UINT(((float)clickedPoint.y / (float(cRect.Height())/float(m_nBlocksPerColumn)))+.3);
UINT nX = UINT(((float)clickedPoint.x / (float(cRect.Width())/float(m_nBlocksPerRow)))+.3);
UINT nIndex = nY * m_nBlocksPerRow + nX + m_nyPos * m_nBlocksPerRow;
if(nIndex < m_nNumberofBlocks && nX < m_nBlocksPerRow)
{
CString strNumber;
// strNumber.Format("%d", nIndex + m_nStartIndex+1);
strNumber = (m_crText.GetAt(nIndex + m_nStartIndex));
if (strNumber.GetLength())
{
SetCapture();
CreateSafeTooltipRect(clickedPoint.x, clickedPoint.y, strNumber);
GetParent()->PostMessage(9876,(WPARAM)(nIndex+m_nStartIndex+1), 0);
CClientDC dc(this);
CBrush brush;
brush.CreateSolidBrush(GetSysColor(COLOR_INFOBK));
dc.Rectangle(tooltipRect);
tooltipRect.left++;
tooltipRect.top++;
tooltipRect.bottom--;
tooltipRect.right--;
dc.FillRect(tooltipRect, &brush);
CFont font;
LOGFONT logFont;
strcpy(logFont.lfFaceName, "Verdana");
logFont.lfHeight = -MulDiv(12, GetDeviceCaps(dc.m_hDC, LOGPIXELSY), 72);
logFont.lfWidth = 0;
logFont.lfEscapement = 0;
logFont.lfItalic = FALSE;
logFont.lfStrikeOut = FALSE;
logFont.lfUnderline = FALSE;
logFont.lfWeight = FW_BOLD;
font.CreateFontIndirect(&logFont);
dc.SelectObject(font);
dc.SetTextColor(GetSysColor(COLOR_INFOTEXT));
dc.SetBkColor(GetSysColor(COLOR_INFOBK));
dc.DrawText(strNumber, tooltipRect, DT_VCENTER | DT_CENTER | DT_SINGLELINE);
tooltipRect.left--;
tooltipRect.top--;
tooltipRect.bottom++;
tooltipRect.right++;
m_bShouldUpdated = TRUE;
}
}
}
CWnd::OnLButtonDown(nFlags, point);
}
