void UserController::onInit(InitEvent &evt)
{
robotName = "robot_000";
//m_kinect = connectToService("SIGKINECT");
//m_hmd = connectToService("SIGHMD");
parseFile("command.txt");
Mission_complete = false;
//printf("Reslutat %s", rooms[2]);
rooms.clear();
objects.clear();
m_message = 10 ;
cycle = 0;
m_state =20;
srand(time(NULL));
//初期位置の設定
SimObj *my = this->getObj(this->myname());
m_posx = my->x();
m_posy = my->y();
m_posz = my->z();
m_range = 0.1;
m_maxsize = 15;
}
//定期的に呼び出される関数
double RobotController::onAction(ActionEvent &evt)
{
static int iImage = -1;
static int ii = -20;
if(ii < 21){
SimObj *my = getObj(myname());
//変数の宣言
double x;
double y;
double z;
double r;
double thetaDEG;
double thetaRAD;
int depth_C[320*240];
thetaDEG = (ii * 9) - 180;
thetaRAD = DEG2RAD(thetaDEG);
r = CAPTURE_DISTANCE + 15;
//座標と角度を設定
x = r*sin(thetaRAD);
y = my->y();
z = r*cos(thetaRAD);
LOG_MSG(("x : %f", x));
LOG_MSG(("y : %f", y));
LOG_MSG(("z : %f", z));
LOG_MSG(("thetaDEG : %f", thetaDEG));
LOG_MSG(("thetaRAD : %f", thetaRAD));
LOG_MSG(("r : %f", r));
//デバッグ用
double xn;
double yn;
double zn;
xn = my->x();
yn = my->y();
zn = my->z();
LOG_MSG(("xn : %f", xn));
LOG_MSG(("yn : %f", yn));
LOG_MSG(("zn : %f", zn));
my->setPosition(x,y,z);
my->setAxisAndAngle(0.0, 1.0, 0.0, thetaRAD + PI);
xn = my->x();
yn = my->y();
zn = my->z();
LOG_MSG(("xn : %f", xn));
LOG_MSG(("yn : %f", yn));
LOG_MSG(("zn : %f", zn));
if(m_view != NULL) {
// ビット深度24,画像サイズ320X240の画像を取得します
ViewImage *img = m_view->captureView(4, COLORBIT_24, IMAGE_320X240);
if (img != NULL) {
// 画像データを取得します
char *buf = img->getBuffer();
std::string cap_data;
for(int i=0;i<320*240*3;i++){
cap_data += buf[i];
}
char view_fname[256];
sprintf(view_fname, "view%03d.txt", iImage);
FILE *fwV = fopen(view_fname , "w");
for(int i=0;i<320*240*3;i++){
fprintf(fwV, "%03d \n", (unsigned char)buf[i]);
}
fclose(fwV);
//Windows BMP 形式で保存します
char fname[256];
sprintf(fname, "s%03d.bmp", iImage);
img->saveAsWindowsBMP(fname);
//必要なくなったら削除します
delete img;
LOG_MSG(("captureIMG : %d", iImage));
//中央カメラの深度画像を取得します。
ViewImage *img_C1 = m_view->distanceSensor2D(0.0,255.0,4);
ViewImage *img_C2 = m_view->distanceSensor2D(255.0,510.0,4);
ViewImage *img_C3 = m_view->distanceSensor2D(510.0,765.0,4);
ViewImage *img_C4 = m_view->distanceSensor2D(510.0,765.0,4);
//DepthImage *img = distanceSensor2D();
//取得した深度画像の高さと幅取得
int height_C = img_C1->getHeight();
int width_C = img_C1->getWidth();
//視野角取得(高さ方向）
double fov_C = 60.0; //my->FOV();
//焦点距離の計算（pixel単位）
double fl_C = (img_C1->getHeight()/2)/tan(DEG2RAD(fov_C/2));
img_C1->saveAsWindowsBMP("2D_depth_C1.bmp");
img_C2->saveAsWindowsBMP("2D_depth_C2.bmp");
img_C3->saveAsWindowsBMP("2D_depth_C3.bmp");
img_C4->saveAsWindowsBMP("2D_depth_C4.bmp");
printf("saved img_C1,2,3,4 \n");
char *distance_C1 = img_C1->getBuffer();
char *distance_C2 = img_C2->getBuffer();
char *distance_C3 = img_C3->getBuffer();
char *distance_C4 = img_C4->getBuffer();
for(int i=0; i<240; i++){
for(int j=0; j<320; j++){
depth_C[i*320+j] = (unsigned char)distance_C1[i*320+j] + (unsigned char)distance_C2[i*320+j] + (unsigned char)distance_C3[i*320+j] + (unsigned char)distance_C4[i*320+j];
}
}
char depth_fname[256];
sprintf(depth_fname, "depth%03d.txt", iImage++);
FILE *fwC = fopen(depth_fname , "w");
for(int i=0; i<240; i++){
for(int j=0; j<320; j++){
fprintf(fwC, "%04d \n", depth_C[i*320+j]);
}
}
fclose(fwC);
delete img_C1;
delete img_C2;
delete img_C3;
delete img_C4;
}
}
}
if(ii == 21){
LOG_MSG(("capture conpleted"));
}
ii++;
return 1.0;
}
