void Controller::process_request(){
if(this->_property_manager->_flag_requests[PropertyManager::R_FLOOR_AREA]){
if(this->_aux_points->size() > 2){
Floor *floor = new Floor();
floor->set_area(this->_aux_points);
this->add_floor(floor);
this->_gui->update_floor_manager();
}
this->_property_manager->_flag_requests[PropertyManager::R_FLOOR_AREA] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_FLOOR_POINTS]){
double a,b,c,d;
//if(this->_kinect->get_floor_plane(&a,&b,&c,&d)){
// printf("%f, %f, %f, %f\n",a,b,c,d);
// this->_floor->set_plane(a,b,c,d);
// this->_property_manager->_flag_processed[PropertyManager::P_FLOOR_PLANE] = true;
// //cv::destroyWindow("Add Floor");
//}
//else{
if(this->_aux_points->size() > 2){
std::vector<cv::Point3f*> points3d;
XnPoint3D *points_in = (XnPoint3D*)malloc(sizeof(XnPoint3D) * _aux_points->size());
XnPoint3D *points_out = (XnPoint3D*)malloc(sizeof(XnPoint3D) * _aux_points->size());
UINT16* ptr_16u = (UINT16*)this->_mat_depth16UC1.data;
for(int i = 0 ; i < _aux_points->size() ; ++i){
points_in[i].X = _aux_points->at(i)->x;
points_in[i].Y = _aux_points->at(i)->y;
points_in[i].Z = ptr_16u[((int)points_in[i].Y) * XN_VGA_X_RES + ((int)points_in[i].X)];
}
if(! this->_kinect->convert_to_realworld(_aux_points->size(),points_in,points_out)){
this->_property_manager->_flag_processed[PropertyManager::P_FLOOR_PLANE] = false;
}
else{
for(int i = 0 ; i < _aux_points->size() ; ++i){
points3d.push_back(new cv::Point3f(points_out[i].X,points_out[i].Y,points_out[i].Z));
}
ToolBoxPCL::calc_plane_from_points(&points3d,&a,&b,&c,&d,1);
this->_floor->set_plane(a,b,c,d);
this->_gui->update_floor_manager();
this->_property_manager->_flag_processed[PropertyManager::P_FLOOR_PLANE] = true;
}
}
else{
this->_property_manager->_flag_processed[PropertyManager::P_FLOOR_PLANE] = false;
}
//}
this->_property_manager->_flag_requests[PropertyManager::R_FLOOR_POINTS] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_MIRROR_AREA]){
if(this->_aux_points->size() > 2){
Mirror *mirror = new Mirror();
mirror->set_area(this->_aux_points);
this->add_mirror(mirror);
this->_gui->update_mirror_manager();
//this->_gui->point_selection(3);
}
this->_property_manager->_flag_requests[PropertyManager::R_MIRROR_AREA] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_MIRROR_POINTS]){
if(this->_aux_points->size() > 2){
Mirror *mirror = this->_mirrors[this->_mirrors.size()-1];
std::vector<cv::Point3f*> points3d;
XnPoint3D *points_in = (XnPoint3D*)malloc(sizeof(XnPoint3D) * this->_aux_points->size());
XnPoint3D *points_out = (XnPoint3D*)malloc(sizeof(XnPoint3D) * this->_aux_points->size());
UINT16* ptr_16u = (UINT16*)this->_mat_depth16UC1.data;
for(int i = 0 ; i < this->_aux_points->size() ; ++i){
if(ptr_16u[this->_aux_points->at(i)->y * XN_VGA_X_RES + this->_aux_points->at(i)->x] > 1){
points_in[i].X = this->_aux_points->at(i)->x;
points_in[i].Y = this->_aux_points->at(i)->y;
points_in[i].Z = ptr_16u[((int)points_in[i].Y) * XN_VGA_X_RES + ((int)points_in[i].X)];
}
}
if(! this->_kinect->convert_to_realworld(this->_aux_points->size(),points_in,points_out)){
this->_property_manager->_flag_processed[PropertyManager::P_MIRROR] = false;
}
else{
for(int i = 0 ; i < this->_aux_points->size() ; ++i){
points3d.push_back(new cv::Point3f(points_out[i].X,points_out[i].Y,points_out[i].Z));
}
double a,b,c,d;
if(ToolBoxPCL::calc_plane_from_points(&points3d,&a,&b,&c,&d,1)){
mirror->set_plane(a,b,c,d);
//this->add_mirror(mirror);
this->_property_manager->_flag_processed[PropertyManager::P_MIRROR] = true;
this->_gui->update_mirror_manager();
}
else{
this->_property_manager->_flag_processed[PropertyManager::P_MIRROR] = false;
}
}
}
else{
this->_property_manager->_flag_processed[PropertyManager::P_MIRROR] = false;
}
}
if(this->_property_manager->_flag_requests[PropertyManager::R_SAVE]){
this->save_to_file("..\\data\\config","arena");
this->_property_manager->_flag_requests[PropertyManager::R_SAVE] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_LOAD]){
this->load_from_file("..\\data\\config\\arena.xml");
this->_gui->update_mirror_manager();
this->_property_manager->_flag_processed[PropertyManager::P_MIRROR] = true;
this->_property_manager->_flag_processed[PropertyManager::P_FLOOR_PLANE] = true;
this->_property_manager->_flag_requests[PropertyManager::R_LOAD] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_CAPTURE]){
this->_model_frames_depth.clear();
this->_model_frames_color.clear();
this->_model_cloud.clear();
this->_model_n_points = 0;
this->_property_manager->_flag_processed[PropertyManager::P_CAPTURE] = true;
this->_property_manager->_flag_requests[PropertyManager::R_CAPTURE] = false;
}
if(this->_property_manager->_flag_requests[PropertyManager::R_SAVE_PCL]){
if(this->_property_manager->_flag_update[PropertyManager::U_PCL]){
pcl::PointCloud<pcl::PointXYZRGB> cloud;
if(this->_property_manager->_flag_processed[PropertyManager::P_CAPTURE_SHOW]){
//Model Point Cloud
cloud = this->_model_cloud;
}
else{
//Current Point Cloud
cloud = this->_pcl_cloud;
}
if(this->_property_manager->_save_pcl_mode == 1){
ToolBoxPCL::write_to_pcd_file(cloud,this->_property_manager->_file_name);
} else
if(this->_property_manager->_save_pcl_mode == 2){
ToolBoxPCL::write_to_ply_file(cloud,this->_property_manager->_file_name);
}else
if(this->_property_manager->_save_pcl_mode == 3){
ToolBoxPCL::write_to_obj_file(cloud,this->_property_manager->_file_name);
}
this->_property_manager->_flag_requests[PropertyManager::R_SAVE_PCL] = false;
}
}
this->_property_manager->_flag_requests[PropertyManager::R_REQUEST] = false;
}
