void mouseHandler(int event, int x, int y, int flags, void *param) {
switch (event) {
case CV_EVENT_LBUTTONDOWN:
initPoint = cvRect(cvRound(multiCamera.GetFrameWidth() / 2 - 10), cvRound(multiCamera.GetFrameHeight() / 2 - 10), 20, 20);
if (x > initPoint.x && x < initPoint.x + initPoint.width && y > initPoint.y && y < initPoint.y + initPoint.height) {
javaStartInterface.SetStart(true);
}
break;
case CV_EVENT_RBUTTONDOWN:
trackerDetector.lostTracking();
javaStartInterface.SetStart(false);
break;
}
}
void evalTransform(mtOutput& output, const mtInput& input) const{
input.updateMultiCameraExtrinsics(mpMultiCamera_);
mpMultiCamera_->transformFeature(outputCamID_,input.CfP(ID_),input.dep(ID_),output.c(),output.d());
if(input.CfP(ID_).trackWarping_ && input.CfP(ID_).com_warp_nor()){
const int& camID = input.CfP(ID_).camID_;
const QPD qDC = input.qCM(outputCamID_)*input.qCM(camID).inverted(); // TODO: avoid double computation
const V3D CrCD = input.qCM(camID).rotate(V3D(input.MrMC(outputCamID_)-input.MrMC(camID)));
const V3D CrCP = input.dep(ID_).getDistance()*input.CfP(ID_).get_nor().getVec();
const V3D DrDP = qDC.rotate(V3D(CrCP-CrCD));
const double d_out = DrDP.norm();
const LWF::NormalVectorElement nor_out(DrDP);
const Eigen::Matrix<double,2,3> J_nor_DrDP = nor_out.getM().transpose()/d_out;
const Eigen::Matrix<double,3,3> J_DrDP_CrCP = MPD(qDC).matrix();
const Eigen::Matrix<double,3,2> J_CrCP_nor = input.dep(ID_).getDistance()*input.CfP(ID_).get_nor().getM();
output.c().set_warp_nor(J_nor_DrDP*J_DrDP_CrCP*J_CrCP_nor*input.CfP(ID_).get_warp_nor());
}
}
void evalTransform(mtOutput& output, const mtInput& input) const{
input.updateMultiCameraExtrinsics(mpMultiCamera_);
mpMultiCamera_->transformFeature(outputCamID_,input.CfP(ID_),input.dep(ID_),output.c(),output.d());
}
void mainWrapper() {
(void) ftime(&tbi);
(void) ftime(&tbf);
// ESSE � O MILAGRE
timestamp = ctime(&tbi.time);
printf("%.19s.%hu %s", timestamp, tbi.millitm, ×tamp[20]);
multiCamera.setup(javaStartInterface.GetIndexCAM());
cvNamedWindow(winName, CV_WINDOW_AUTOSIZE);
cvSetMouseCallback(winName, mouseHandler, NULL);
ofp = fopen("log.txt", "w");
fprintf(ofp, "timestamp\tfps\tLeftGazeX\tLeftGazeY\tRightGazeX\tRightGazeY\tLeftBlink\tRightBlink\t\n");
int freio = 0;
for (;;) {
nFrames++;
double t = (double) cvGetTickCount();
if (multiCamera.queryFrame() == 0)
continue;
CvPoint startPoint = cvPoint(cvRound(multiCamera.GetFrameWidth() / 2), cvRound(multiCamera.GetFrameHeight() / 2));
if (javaStartInterface.IsStart()) {
//double t = (double)cvGetTickCount();
trackerDetector.execute(multiCamera.GetFrame());
//t = (double)cvGetTickCount() - t;
//printf( "%g\n", t/((double)cvGetTickFrequency()*1000.) );
//printf( "%d\n", FaceHeuristics::GazeLeftX );
cvCircle(multiCamera.GetFrame(), startPoint, 10, CV_RGB(255, 255, 255), 0);
fprintf(ofp, "%g\t%g\t%d\t%d\t%d\t%d\t%d\t%d\t\n", t / ((double) cvGetTickFrequency()*1000.), getFPS(), getLeftGazeX(), getLeftGazeY(), getRightGazeX(), getRightGazeY(), getLeftBlink(), getRightBlink());
} else {
cvCircle(multiCamera.GetFrame(), startPoint, 10, CV_RGB(255, 255, 255), -1);
}
if ((cvWaitKey(10) & 255) == 27)
freio = 1; //break; //Test for Escape-key press
if (javaStartInterface.IsStop())
freio = 1; //break;
if (javaStartInterface.GetScreenWidth() > 0)
cvMoveWindow(winName, cvRound(javaStartInterface.GetScreenWidth() / 2 - multiCamera.GetFrameWidth() / 2), cvRound(javaStartInterface.GetScreenHeight() / 2 - multiCamera.GetFrameHeight() / 2));
//cvSmooth( multiCamera.GetFrame() , BiFrame , CV_BILATERAL, 5, 5, sigma, sigma);
cvShowImage(winName, multiCamera.GetFrame());
t = (double) cvGetTickCount() - t;
loopTime = t / ((double) cvGetTickFrequency()*1000.);
somaLoopTime += loopTime;
if (somaLoopTime > 1000) {
fps = nFrames;
//printf( "%g\n", getFPS() );
nFrames = 0;
somaLoopTime = 0;
}
if (freio) {
//break;
}
}
fclose(ofp);
cvDestroyWindow(winName);
exit(0);
}