void TempFigure::show(SDL_Rect* otherCamera) {
if (marker == INACTIVE)
return;
else if (marker == REMOVE) {
bool animationDone = true;
marker = INACTIVE;
if (animationDone) {
if (Mix_PlayChannel(-1, scratch.getMix_Chunk(), 0) < 0) {
printf("Mix_PlayChannel: %s\n", Mix_GetError());
throw SoundException();
}
}
}
else if (marker == ACTIVE) {
if (numClips > 0) {
if (v.x < 0) {
status = LEFT;
animationFrame += AFVALUE;
}
else if (v.x > 0) {
status = RIGHT;
animationFrame += AFVALUE;
}
else
animationFrame = 0;
if (animationFrame >= numClips)
animationFrame = 0;
if (leader) {
if (status == LEFT)
applySurface((int) p.x - camera->x, (int) p.y - camera->y,
*image, screen, &cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - camera->x, (int) p.y - camera->y,
*image, screen, &cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(camera);
}
else {
if (status == LEFT)
applySurface((int) p.x - otherCamera->x,
(int) p.y - otherCamera->y, *image, screen,
&cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - otherCamera->x,
(int) p.y - otherCamera->y, *image, screen,
&cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(otherCamera);
}
}
}
else
throw InvalidMarkerException();
}
void PlayerFigure::show(SDL_Rect* otherCamera) {
if (numClips > 0) {
if (v.x < 0) {
status = LEFT;
animationFrame += AFVALUE;
}
else if (v.x > 0) {
status = RIGHT;
animationFrame += AFVALUE;
}
if (v.x == 0 || animationFrame >= numClips)
animationFrame = 0;
if (status == LEFT)
applySurface(static_cast<int>(p.x) - camera->x,
static_cast<int>(p.y) - camera->y, *image, screen,
&cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface(static_cast<int>(p.x) - camera->x,
static_cast<int>(p.y) - camera->y, *image, screen,
&cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(camera);
cursor.show();
}
if (grabstate) {
//TODO signal thread to perform A* algorithm
SDL_CondSignal(canTest);
}
}
void PlayerFigure::show(SDL_Rect* otherCamera) {
if (numClips > 0) {
if (v.x < 0) {
status = LEFT;
animationFrame += AFVALUE;
}
else if (v.x > 0) {
status = RIGHT;
animationFrame += AFVALUE;
}
if (v.x == 0 || animationFrame >= numClips)
animationFrame = 0;
if (status == LEFT)
applySurface(static_cast<int>(p.x) - camera->x,
static_cast<int>(p.y) - camera->y, *image, screen,
&cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface(static_cast<int>(p.x) - camera->x,
static_cast<int>(p.y) - camera->y, *image, screen,
&cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(camera);
cursor.show();
}
}
Figure::Marker CircFigure::show(SDL_Rect* otherCamera) {
if (numClips > 0) {
if (v.x < 0) {
status = LEFT;
animationFrame += AFVALUE;
}
else if (v.x > 0) {
status = RIGHT;
animationFrame += AFVALUE;
}
else
animationFrame = 0;
if (animationFrame >= numClips)
animationFrame = 0;
if (leader) {
if (status == LEFT)
applySurface((int) p.x - r - camera->x, (int) p.y - r - camera->y,
*image, screen, &cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - r - camera->x, (int) p.y - r - camera->y,
*image, screen, &cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(camera);
}
else {
if (status == LEFT)
applySurface((int) p.x - r - otherCamera->x,
(int) p.y - r - otherCamera->y, *image, screen,
&cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - r - otherCamera->x,
(int) p.y - r - otherCamera->y, *image, screen,
&cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(otherCamera);
}
}
return marker;
}
void
UiSettings::loadSettings()
{
QSettings s( "CS224", "snow" );
windowPosition() = s.value( "windowPosition", QPoint(0,0) ).toPoint();
windowSize() = s.value( "windowSize", QSize(1000,800) ).toSize();
fillNumParticles() = s.value( "fillNumParticles", 512*128 ).toInt();
fillResolution() = s.value( "fillResolution", 0.05f ).toFloat();
fillDensity() = s.value( "fillDensity", 150.f ).toFloat();
exportDensity() = s.value("exportDensity", false).toBool();
exportVelocity() = s.value("exportVelocity", false).toBool();
exportFPS() = s.value("exportFPS", 24).toInt();
maxTime() = s.value("maxTime", 3).toFloat();
gridPosition() = vec3( s.value("gridPositionX", 0.f).toFloat(),
s.value("gridPositionY", 0.f).toFloat(),
s.value("gridPositionZ", 0.f).toFloat() );
gridDimensions() = glm::ivec3( s.value("gridDimensionX", 128).toInt(),
s.value("gridDimensionY", 128).toInt(),
s.value("gridDimensionZ", 128).toInt() );
gridResolution() = s.value( "gridResolution", 0.05f ).toFloat();
timeStep() = s.value( "timeStep", 1e-5 ).toFloat();
implicit() = s.value( "implicit", true ).toBool();
materialPreset() = s.value( "materialPreset", MAT_DEFAULT).toInt();
showContainers() = s.value( "showContainers", true ).toBool();
showContainersMode() = s.value( "showContainersMode", WIREFRAME ).toInt();
showColliders() = s.value( "showColliders", true ).toBool();
showCollidersMode() = s.value( "showCollidersMode", SOLID ).toInt();
showGrid() = s.value( "showGrid", false ).toBool();
showGridMode() = s.value( "showGridMode", MIN_FACE_CELLS ).toInt();
showGridData() = s.value( "showGridData", false ).toBool();
showGridDataMode() = s.value( "showGridDataMode", NODE_DENSITY ).toInt();
showParticles() = s.value( "showParticles", true ).toBool();
showParticlesMode() = s.value( "showParticlesMode", PARTICLE_MASS ).toInt();
selectionColor() = glm::vec4( 0.302f, 0.773f, 0.839f, 1.f );
}
void ParticleFilter::showTopNParticles(int count)
{
m_img->copyTo(m_outIMG);
if (count > m_num_particles)
count = m_num_particles;
else if (count == 0)
showParticles();
int x = 0;
int y = 0;
for (int i = 0; i < count; ++i)
{
x = m_particles[i]->x();
y = m_particles[i]->y();
int x_end = x + m_particle_width;
int y_end = y + m_particle_height;
rectangle(m_outIMG, cvPoint(x, y), cvPoint(x_end, y_end), cvScalar(130, 0, 0), 1);
}
}
void
UiSettings::saveSettings()
{
QSettings s( "CS224", "snow" );
s.setValue( "windowPosition", windowPosition() );
s.setValue( "windowSize", windowSize() );
s.setValue( "fillNumParticles", fillNumParticles() );
s.setValue( "fillResolution", fillResolution() );
s.setValue( "fillDensity", fillDensity() );
s.setValue("exportDensity", exportDensity());
s.setValue("exportVelocity",exportVelocity());
s.setValue( "exportFPS", exportFPS());
s.setValue( "maxTime", maxTime());
s.setValue( "gridPositionX", gridPosition().x );
s.setValue( "gridPositionY", gridPosition().y );
s.setValue( "gridPositionZ", gridPosition().z );
s.setValue( "gridDimensionX", gridDimensions().x );
s.setValue( "gridDimensionY", gridDimensions().y );
s.setValue( "gridDimensionZ", gridDimensions().z );
s.setValue( "gridResolution", gridResolution() );
s.setValue( "timeStep", timeStep() );
s.setValue( "implicit", implicit() );
s.setValue("materialPreset", materialPreset());
s.setValue( "showContainers", showContainers() );
s.setValue( "showContainersMode", showContainersMode() );
s.setValue( "showColliders", showColliders() );
s.setValue( "showCollidersMode", showCollidersMode() );
s.setValue( "showGrid", showGrid() );
s.setValue( "showGridMode", showGridMode() );
s.setValue( "showGridData", showGridData() );
s.setValue( "showGridDataMode", showGridDataMode() );
s.setValue( "showParticles", showParticles() );
s.setValue( "showParticlesMode", showParticlesMode() );
}
void imageProcessing(IplImage* img)
{
// Create temporary images
CvSize sz = cvGetSize(img);
IplImage* hsv_image = cvCreateImage(sz,8,3);
IplImage* hsv_mask = cvCreateImage(sz,8,1);
// HSV Conversion and Thresholding
cvCvtColor(img,hsv_image,CV_BGR2HSV);
cvInRangeS(hsv_image,hsv_min,hsv_max, hsv_mask);
// Init
if((height != sz.height) | (width != sz.width))
{
height = sz.height;
width = sz.width;
initParticles();
}
// Filter
particleFilter(hsv_mask);
// Compute variance
std::pair<double,double> V = particlesVariance();
//ROS_INFO("Variances: Vx = %f, Vy = %f",V.first,V.second);
if((V.first < Var_min) & (V.second < Var_min))
{
robotDetected = true;
}
// Draw particles
showParticles(hsv_mask);
// Show result
//cvNamedWindow("Search",1); cvShowImage("Search",hsv_mask);
cvWaitKey(10);
}
Figure::Marker Figure::show(SDL_Rect* otherCamera) {
if (marker == INACTIVE)
return marker;
else if (marker == REMOVE) {
bool animationDone = false;
marker = INACTIVE;
if (animationDone) {
//TODO: Add animation and sound for this
//do a special animation if needed for however many frames
}
return marker;
}
else if (marker == ACTIVE) {
if (numClips > 0) {
if (v.x < 0) {
status = LEFT;
animationFrame += AFVALUE;
}
else if (v.x > 0) {
status = RIGHT;
animationFrame += AFVALUE;
}
else
animationFrame = 0;
if (animationFrame >= numClips)
animationFrame = 0;
if (leader) {
if (status == LEFT)
applySurface((int) p.x - camera->x, (int) p.y - camera->y,
*image, screen, &cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - camera->x, (int) p.y - camera->y,
*image, screen, &cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(camera);
}
else {
if (status == LEFT)
applySurface((int) p.x - otherCamera->x,
(int) p.y - otherCamera->y, *image, screen,
&cl[static_cast<int>(animationFrame)]);
else if (status == RIGHT)
applySurface((int) p.x - otherCamera->x,
(int) p.y - otherCamera->y, *image, screen,
&cr[static_cast<int>(animationFrame)]);
if (particleEffects)
showParticles(otherCamera);
}
}
return marker;
}
else
throw InvalidMarkerException();
}
