void calibration_fingers(int phase)
{
switch (phase)
{
case 1:
{
if(allVisibleObject)
{
upperPinMarker=markers[1].p;
upperPin.init(upperPinMarker, markers.at(8).p, markers.at(11).p, markers.at(12).p );
}
} break;
case 2:
{
if(allVisibleObject)
{
lowerPinMarker=markers[2].p;
lowerPin.init(lowerPinMarker, markers.at(8).p, markers.at(11).p, markers.at(12).p );
}
} break;
case 3:
{
indexCoords.init(upperPin.getP1(), markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(lowerPin.getP1(), markers.at(15).p, markers.at(17).p, markers.at(18).p );
} break;
}
}
void initCalibration()
{
// Now wind the input points file while the head calibration isn't done
while ( true )
{ // Here we load the variables needed to keep track of the experiment status
readline(inputStream, trialNumber, headCalibration, trialMode, pointMatrix );
//First phase of calibration (equivalent when spacebar is pressed first time )
if ( (headCalibration== 1) && (headCalibrationDone==0 ))
{ headEyeCoords.init(pointMatrix.col(3),pointMatrix.col(4), pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2),interoculardistance );
headCalibrationDone=headCalibration;
//cerr << headCalibrationDone << endl;
}
// Second phase of calibration (equivalent when space bar is pressed second time )
if ( (headCalibration== 2) && (headCalibrationDone==1 ))
{ headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
headCalibrationDone=headCalibration;
}
// Third and final phase of calibration ( equivalent when spacebar is pressed third time )
if ((headCalibration==3))
{ headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
headCalibrationDone=3;
break; // exit the while cycle
}
// simulates the update of head and eyes positions
if ( headCalibration==headCalibrationDone)
headEyeCoords.update(pointMatrix.col(0),pointMatrix.col(1),pointMatrix.col(2));
}
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'q':
case 27:
{ cleanup();
exit(0);
}
break;
case ' ':
{ // Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisibleHead )
{ headEyeCoords.init(markers.at(17).p,markers.at(18).p, markers.at(1).p,markers.at(2).p,markers.at(3).p,interoculardistance );
headCalibrationDone=1;
beepOk();
}
break;
}
break;
case 13:
whichColor=(bool)(rand()%2);
break;
case 'f':
case 'F':
{ // Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{ platformIndex=markers.at(16).p;
platformThumb=markers.at(15).p;
fingerCalibrationDone=1;
beepOk();
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{ thumbCoords.init(platformThumb, markers.at(11).p, markers.at(12).p, markers.at(13).p);
indexCoords.init(platformIndex, markers.at(7).p, markers.at(8).p, markers.at(9).p );
fingerCalibrationDone=3;
beepOk();
RoveretoMotorFunctions::homeObjectAsynchronous(3500);
break;
}
}
break;
case '+':
{
mirrorAngle+=10;
mirrorPlane = Eigen::Hyperplane<double,3>(Vector3d(sin(toRadians(mirrorAngle)),0,cos(toRadians(mirrorAngle))),focalDistance);
cout << mirrorAngle << endl;
}
break;
case '-':
{
mirrorAngle-=10;
mirrorPlane = Eigen::Hyperplane<double,3>(Vector3d(sin(toRadians(mirrorAngle)),0,cos(toRadians(mirrorAngle))),focalDistance);
cout << mirrorAngle << endl;
}
break;
}
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'q':
case 27:
{ cleanup();
exit(0);
}
break;
case '4':
alignmentX-=0.5;
initProjectionScreen(focalDistance,Affine3d::Identity());
break;
case '6':
alignmentX+=0.5;
initProjectionScreen(focalDistance,Affine3d::Identity());
break;
case '2':
alignmentY+=0.5;
initProjectionScreen(focalDistance,Affine3d::Identity());
break;
case '8':
alignmentY-=0.5;
initProjectionScreen(focalDistance,Affine3d::Identity());
break;
case '+':
scaleZ+=0.01;
break;
case '-':
scaleZ-=0.01;
break;
/* case 'a':
rotZ+=0.5;
break;
case 'z':
rotZ-=0.5;
break;
*/
case ' ':
{
if ( headCalibrationDone==0 && allVisibleHead && allVisibleModel )
{
headEyeCoords.init(markers[17],markers[18], markers[1],markers[2],markers[3],interoculardistance );
modelCoordinates.init(markers[14],markers[10],markers[19],markers[20]);
headCalibrationDone=1;
break;
}
}
break;
}
}
void calibration_head(int phase)
{
switch (phase)
{
case 1:
{
headEyeCoords.init(markers[3].p-Vector3d(70,0,0),markers[3].p, markers[10].p,markers[11].p,markers[12].p,interoculardistance );
} break;
case 2:
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[10].p, markers[11].p,markers[12].p,interoculardistance );
} break;
}
}
void initVariables()
{
totalTimer.start();
interoculardistance = str2num<double>(parameters.find("IOD"));
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
useCircularMask = util::str2num<int>( parameters.find("CircularMask")) == 1 ;
circularMaskRadius = util::str2num<int>(parameters.find("CircularMaskRadius"));
if (useCircularMask)
glEnable(GL_STENCIL_TEST);
else
glDisable(GL_STENCIL_TEST);
fixationDurationInSeconds = util::str2num<double>(parameters.find("AdaptationDurationInSeconds"));
// Imposta stimolo e drawer
redDotsPlane.setNpoints(util::str2num<int>(parameters.find("NumStimulusPoints")));
redDotsPlane.setDimensions(
util::str2num<int>(parameters.find("StimulusEdgeLength")),
util::str2num<int>(parameters.find("StimulusEdgeLength")),0.1);
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane,glRed);
resetPointStrip();
stimulusDurationInMilliSeconds = util::str2num<double>(parameters.find("StimulusDuration"));
initialAdaptationTimeInSeconds = util::str2num<double>(parameters.find("InitialAdaptationTime"));
initialAdaptationFlowIncrement = util::str2num<double>(parameters.find("InitialAdaptationFlowIncrement"));
stimMotion=SINUSOIDAL_MOTION;
trialMode = INITIALADAPTATION;
headEyeCoords.init(Vector3d(interoculardistance/2,0,0),Vector3d(interoculardistance/2,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
}
void initVariables()
{
interoculardistance = str2num<double>(parameters.find("IOD"));
stimulusEmiCycles= atoi(parameters.find("StimulusEmiCycles").c_str());
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
if ( atoi(parameters.find("DrawOccluder").c_str()) ==1 )
{
redDotsPlane.setNpoints(500); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(200,200,0.1);
}
else
{
redDotsPlane.setNpoints(75); //XXX controllare densita di distribuzione dei punti
redDotsPlane.setDimensions(50,50,0.1);
}
//redDotsPlane.setSlantTilt( factors["Slant"], (int) factors["Tilt"] );
redDotsPlane.compute();
stimDrawer.setStimulus(&redDotsPlane);
stimDrawer.initList(&redDotsPlane);
/** Bound check things **/
signsX.push_back(false);
signsX.push_back(false);
signsY.push_back(false);
signsY.push_back(false);
headEyeCoords.init(Vector3d(-32.5,0,0),Vector3d(32.5,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
model.load("../data/objmodels/occluder.obj");
}
/*** GRASP ***/
void calibration_fingers(int phase)
{
switch (phase)
{
case 1:
{
index_marker = markers.at(indexcal).p;
thumb_marker = markers.at(thumbcal).p;
}
case 2:
{
indexCoords.init(index_marker, markers.at(ind1).p, markers.at(ind2).p, markers.at(ind3).p);
thumbCoords.init(thumb_marker, markers.at(thu1).p, markers.at(thu2).p, markers.at(thu3).p);
} break;
}
}
void calibration_fingers(int phase)
{
switch (phase)
{
case 1:
{
platformIndex=markers[1].p;
platformThumb=markers[2].p;
}
break;
case 2:
{
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p );
}
break;
}
}
void recordHeadEyeRelativePositions()
{ bool allVisible=false;
for (int i=0; i<10; i++)
{ optotrak.updateMarkers();
markers=optotrak.getAllMarkers();
allVisible= isVisible(markers[17].p) && isVisible(markers[18].p) && isVisible(markers[1].p) && isVisible(markers[2].p) && isVisible(markers[3].p) ;
cerr << "Move the head such that all markers are visible: Trial num " << i << endl;
cin.ignore( std::numeric_limits <std::streamsize> ::max(), '\n' );
cerr << allVisible << endl;
cerr << markers[17].p.transpose() << " " << markers[18].p.transpose() << endl;
if ( allVisible )
{ headEyeCoords.init(markers[17].p,markers[18].p,
markers[1].p,markers[2].p,markers[3].p,interoculardistance);
break;
}
}
}
void initVariables()
{
totalTimer.start();
interoculardistance = str2num<double>(parameters.find("IOD"));
trial.init(parameters);
factors = trial.getNext(); // Initialize the factors in order to start from trial 1
// Imposta stimolo e drawer
redDotsPlane.setNpoints(75);
redDotsPlane.setDimensions(50,50,0.1);
redDotsPlane.compute();
stimDrawer.initList(&redDotsPlane,glRed);
// Imposta striscia del fixation e drawer
stripPlane.setNpoints(N_STRIP_POINTS);
stripPlane.setDimensions(STRIP_WIDTH,STRIP_HEIGHT,0.01);
stripPlane.compute();
stripDrawer.initList(&stripPlane,glRed);
stimMotion=SINUSOIDAL_MOTION;
headEyeCoords.init(Vector3d(-32.5,0,0),Vector3d(32.5,0,0), Vector3d(0,0,0),Vector3d(0,10,0),Vector3d(0,0,10),interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
//factors = trial.getNext();
trial.next();
isStimulusDrawn=false;
drawGLScene();
initProjectionScreen(trial.getCurrent()["AbsDepth"]);
isStimulusDrawn=true;
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
trialMode++;
trialMode=trialMode%3;
}
break;
case 't':
{
if (trial.isEmpty())
exit(0);
trial.next();
break;
}
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[1].p, markers[2].p,markers[3].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case '5':
{
if(dz/2>10)
zedge -= .25;
else
zedge = zedge;
}
break;
case '8':
{
zedge += .25;
}
break;
case '4':
{
xedge -= .25;
}
break;
case '6':
{
xedge += .25;
}
break;
case 'a':
{
theta -= M_PI/2.0;
}
break;
case 's':
{
theta += M_PI/2.0;
}
break;
case '0':
{
advanceTrial();
}
break;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
factors = trial.getNext();
isStimulusDrawn=false;
drawGLScene();
initProjectionScreen(factors["AbsDepth"]);
isStimulusDrawn=true;
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case 'd':
visibleFingers=!visibleFingers;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
// trialMode++;
// trialMode=trialMode%3;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
case 'f':
case 'F':
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p);
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
fingerCalibrationDone=2;
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
physicalRigidBodyTip = index;
fingerCalibrationDone=3;
fingerDistance = (thumb-index).norm();
visibleInfo=!visibleInfo;
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
}
}
break;
case '2':
{
}
break;
case '8':
{
}
break;
case '4':
{
}
break;
case '6':
{
}
break;
// In genere a me piace attaccare al tasto p una funzione che stampi
// le tue variabili di interesse su standard output ad esempio la lista dei fattori attuali con nome
case 'p':
{
for (map<string,double>::iterator iter = factors.begin(); iter!=factors.end(); ++iter )
{
cout << iter->first << " " << iter->second << endl;
}
}
break;
}
}
/**
* @brief keyPressEvent
* @param key
* @param x
* @param y
*/
void keyPressEvent(unsigned char key, int x, int y)
{
switch (key)
{ //Quit program
case 'q':
case 27:
{
exit(0);
break;
}
case 'i':
{
infoDraw=!infoDraw;
break;
}
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisibleHead && trialMode==PRECALIBRATION_MODE)
{
headEyeCoords.init(markers.at(17).p,markers.at(18).p, markers.at(1).p,markers.at(2).p,markers.at(3).p,interocularDistance );
headCalibrationDone=1;
beepOk();
break;
}
// Second calibration the user must be in the red circle
if ( headCalibrationDone==1 && allVisiblePatch && trialMode==PRECALIBRATION_MODE)
{
headEyeCoords.init(headEyeCoords.getLeftEye(),headEyeCoords.getRightEye(), markers.at(1).p,markers.at(2).p,markers.at(3).p,interocularDistance );
headCalibrationDone=2;
beepOk();
break;
}
break;
}
case 13:
{
// Third calibration the user must look toward the green/red circle and be in the correct z position, then the experiment starts
if ( readyToStart && allVisiblePatch )
{
headEyeCoords.init(headEyeCoords.getLeftEye(),headEyeCoords.getRightEye(), markers.at(1).p,markers.at(2).p,markers.at(3).p,interocularDistance );
eyeCalibration = headEyeCoords.getRightEye();
headCalibrationDone=3;
trialMode=BLACK_MODE;
beepOk();
trialTimer.start();
break;
}
}
case '4':
{
if (trialMode==RESPONSE_MODE)
{
advanceTrial(4);
}
break;
}
case '6':
{
if (trialMode==RESPONSE_MODE)
{
advanceTrial(6);
}
break;
}
}
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case '.':
{
trial[round].next();
initTrial();
}
break;
case 'n':
interoculardistance -= 0.5;
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
cleanup();
exit(0);
}
break;
case 'd':
{
fingersShown = !fingersShown;
}
break;
case 'f':
case 'F':
{
if(calib == 1){
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
//centercal = markers[4].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p );
fingerCalibrationDone=2;
trial[round].next();
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
beepOk(0);
fingerCalibrationDone=3;
platformPos = markers[4].p.transpose();
visibleInfo=!visibleInfo;
initTrial();
break;
}
}else
{
beepOk(0);
fingerCalibrationDone=3;
platformPos = markers[4].p.transpose();
visibleInfo=!visibleInfo;
trial[round].next();
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case ' ':
{
advanceTrial();
}
break;
case '5':
{
theta -= M_PI/2.0;
}
break;
case '8':
{
theta += M_PI/2.0;
}
break;
case '0':
{
half = !half;
}
}
}
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'o':
orthographicMode=!orthographicMode;
cam.setOrthoGraphicProjection(orthographicMode);
break;
case 'z':
zOnFocalPlane=!zOnFocalPlane;
break;
case 'p':
passiveMode=!passiveMode;
break;
case 'q':
case 27:
{ cleanup();
exit(0);
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisibleHead )
{
headEyeCoords.init(markers[17],markers[18], markers[1],markers[2],markers[3],interoculardistance );
headCalibrationDone=1;
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[1], markers[2],markers[3],interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
headCalibrationDone=2;
break;
}
if ( headCalibrationDone==2 )
{ headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[1], markers[2],markers[3],interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2)
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[1], markers[2],markers[3],interoculardistance );
eyeCalibration=headEyeCoords.getRightEye();
headCalibrationDone=3;
}
}
break;
case '2':
{
probeAngle=270;
keyPressed();
}
break;
case '8':
{
probeAngle=90;
keyPressed();
}
break;
case '4':
{
probeAngle=180;
keyPressed();
}
break;
case '6':
{
probeAngle=0;
keyPressed();
}
break;
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{ switch (key)
{ //Quit program
case 'x':
// Facendo cosi si cancella lo stimolo durante il movimento (SINCRONO) del monitor.
// Si imposta il isStimulusDrawn a FALSE e si riaggiorna la schermata con una drawGLScene()
// infine si muove il monitor, la chiamata blocca il programma per x secondi, si
// simula lo spostamento dello schermo di proiezione ed infine si reimposta isStimulusDrawn a TRUE
// cosi' la prossima chiamata di drawStimulus() lo disegna correttamente a schermo. Provare per credere...
//factors = trial.getNext();
// trial.next();
drawGLScene();
// initProjectionScreen(trial.getCurrent()["AbsDepth"]);
break;
case 'i':
visibleInfo=!visibleInfo;
break;
case 'm':
interoculardistance += 0.5;
break;
case 'n':
interoculardistance -= 0.5;
break;
case '+':
{
// Il trucco per avanzare alla modalita' trial successiva: incrementi di uno e poi tieni il resto della
// divisione per due, in questo caso ad esempio sara' sempre:
// 0,1,0,1,0,1
// se metti il resto della divisione per 3 invece la variabile trialMode sar'
// 0,1,2,0,1,2
// ogni ciclo della variabile trialMode normalmente e' un trial (1)
// puoi anche definire una funzione void advanceTrial() che si occupa di andare al trial successivo,
// deve contenere una chiamata alla BalanceFactor::getNext() cosi' passi alla nuova lista di fattori
// Ad esempio
trialMode++;
trialMode=trialMode%4;
}
break;
case 'Q':
case 'q':
case 27: //corrisponde al tasto ESC
{
// Ricorda quando chiami una funzione exit() di chiamare prima cleanup cosi
// spegni l'Optotrak ed i markers (altrimenti loro restano accesi e li rovini)
cleanup();
exit(0);
}
break;
case 'd':
{
fingersShown = !fingersShown;
}
break;
case ' ':
{
// Here we record the head shape - coordinates of eyes and markers, but centered in (0,0,0)
if ( headCalibrationDone==0 && allVisiblePatch )
{
headEyeCoords.init(markers[1].p-Vector3d(230,0,0),markers[1].p, markers[5].p,markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=1;
beepOk(0);
break;
}
// Second calibration, you must look a fixed fixation point
if ( headCalibrationDone==1 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=2;
break;
}
}
break;
case 'f':
case 'F':
{
// Here we record the finger tip physical markers
if ( allVisiblePlatform && (fingerCalibrationDone==0) )
{
//platformFingers=markers[1].p;
platformIndex=markers[1].p;
platformThumb=markers[2].p;
//centercal = markers[4].p;
fingerCalibrationDone=1;
beepOk(0);
break;
}
if ( (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(13).p, markers.at(14).p, markers.at(16).p );
thumbCoords.init(platformThumb, markers.at(15).p, markers.at(17).p, markers.at(18).p );
fingerCalibrationDone=2;
beepOk(0);
break;
}
if ( fingerCalibrationDone==2 && allVisibleFingers )
{
beepOk(0);
fingerCalibrationDone=3;
visibleInfo=!visibleInfo;
trial.next();
initTrial();
break;
}
}
break;
// Enter key: press to make the final calibration
case 13:
{
if ( headCalibrationDone == 2 && allVisiblePatch )
{
headEyeCoords.init( headEyeCoords.getP1(),headEyeCoords.getP2(), markers[5].p, markers[6].p,markers[7].p,interoculardistance );
headCalibrationDone=3;
visibleInfo=false;
}
}
break;
case '5':
{
theta += 1;
}
break;
case '8':
{
theta -= 1;
}
break;
case 's':
{
advanceTrial();
}
break;
case '0':
{
training=!training;
}
break;
case 'c':
{
pulsingColors=!pulsingColors;
}
break;
case 'l': //L
{
//hapticLarger=!hapticLarger;
}
}
}
// Funzione di callback per gestire pressioni dei tasti
void handleKeypress(unsigned char key, int x, int y)
{
switch (key)
{
case 'x':
{
}
break;
case 'i':
{
visibleInfo=!visibleInfo;
}
break;
case 't':
{
training = !training;
}
break;
case '*':
{
}
break;
case 'q':
{
}
break;
case 27: //ESC
{
exit(0);
}
break;
case 'f':
{
if (!objectsForward)
{
beepOk(2);
objectsForward = true;
RoveretoMotorFunctions::moveObjectAbsolute(mountDisplayPosn, motorHomePosn, 3000);
break;
}
if ( objectsForward && (startPosCalibration==0) && (fingerCalibrationDone==0) && allVisiblePlatform)
{
platformIndex=markers[16].p;
platformThumb=markers[15].p;
fingerCalibrationDone=1;
beepOk(2);
break;
}
if ( (startPosCalibration==0) && (fingerCalibrationDone==1) && allVisibleFingers )
{
indexCoords.init(platformIndex, markers.at(19).p, markers.at(23).p, markers.at(24).p );
thumbCoords.init(platformThumb, markers.at(20).p, markers.at(21).p, markers.at(22).p );
fingerCalibrationDone=2;
beepOk(2);
break;
}
if ( (startPosCalibration==0) && (fingerCalibrationDone==2) && allVisibleFingers)
{
startPos_front = index.z()-20;
startPos_right = index.x()+20;
startPos_top = index.y()+20;
startPos_rear = thumb.z()+20;
startPos_left = thumb.x()-20;
startPos_bottom = thumb.y()-20;
startPosCalibration=1;
beepOk(2);
break;
}
if ( (startPosCalibration==1) && (fingerCalibrationDone==2))
{
startPosCalibration = 2;
beepOk(2);
RoveretoMotorFunctions::moveObjectAbsolute(showTopMidBoard,motorHomePosn,4000);
break;
}
if ( (startPosCalibration==2) && (fingerCalibrationDone==2) )
{
objL_X = markers[10].p.x();
objL_Y = markers[10].p.y();
objL_Z = markers[10].p.z();
startPosCalibration=3;
beepOk(2);
break;
}
if ( (startPosCalibration==3) && (fingerCalibrationDone==2) )
{
objR_X = markers[10].p.x();
objR_Y = markers[10].p.y();
objR_Z = markers[10].p.z();
startPosCalibration=4;
beepOk(2);
break;
}
if ( (startPosCalibration==4) && (fingerCalibrationDone==2) && allVisibleFingers)
{
fingerCalibrationDone=3;
visibleInfo=false;
training=false;
factors = trial.getNext();
initTrial();
break;
}
}
break;
case 's':
{
advanceTrial();
}
break;
case '0':
{
}
break;
case 'e':
{
cout << "Hand at start: " << handAtStart << endl;
cout << "Started: " << started << endl;
cout << "Reached Object: " << reachedObject << endl;
}
break;
case 'j':
{
cout << "Distance to Object: sqrt(" << x_dist << "^2 + " << y_dist << "^2 + " << z_dist << "^2) = " << grip_distanceToTarget << endl;
cout << "Start Pos Corner: " << startPos_right << "\t" << startPos_top << "\t" << startPos_front << endl;
}
break;
case '5': //down
{
}
break;
case '8': //up
{
}
break;
case '4': //left
{
}
break;
case '6': //right
{
}
break;
case '1': //left 2
{
}
break;
case '3': //right 2
{
}
break;
}
}
