AgentDetector.h

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/*
 * Copyright (C) 2015 WYSIWYD Consortium, European Commission FP7 Project ICT-612139
 * Authors: Stéphane Lallée
 * email:   stephane.lallee@gmail.com
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * icub-client/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/

#include <ctime>
#include <string>
#include <map>

#include <yarp/os/RFModule.h>
#include <yarp/math/Math.h>
#include <kinectWrapper/kinectWrapper_client.h>
#include "icubclient/clients/opcClient.h"
#include "icubclient/knowledge/agent.h"

using namespace std;
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::math;
using namespace kinectWrapper;
using namespace icubclient;

typedef enum {
    idle,
    clicked_left,
    clicked_right } clickType;

class AgentDetector: public RFModule
{
protected:
    //Kinect Related
    KinectWrapperClient     client;             
    ImageOf<PixelRgb>       rgb;
    ImageOf<PixelMono16>    depth;              
    ImageOf<PixelFloat>     depthToDisplay;     
    ImageOf<PixelBgr>       playersImage;       
    ImageOf<PixelBgr>       skeletonImage;      
    IplImage*               depthTmp;
    IplImage*               rgbTmp;
    
    yarp::os::BufferedPort<Bottle>                                     outputSkeletonPort;  
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelFloat> > depthPort;           
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > imagePort;             
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelBgr> > playersPort;           
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelBgr> > skeletonPort;          
    yarp::os::BufferedPort<Bottle>                                   agentLocOutPort;       

    double          period;
    bool            showImages;
    string          showMode;                   
    bool            handleMultiplePlayers;      
    Player          joint;
    deque<Player>   joints;
    Matrix          players;
    string          partner_default_name;       

    //OPC/RFH related
    OPCClient*  opc;                            
    Port        rfh;                            
    Port        rpc;                            
    bool        isMounted;                      
    bool        isCalibrated;                   
    Matrix      kinect2icub;                    
    Matrix      icub2ir;
    
    int                 pointsCnt;              
    static clickType    clicked;                
    static float        clickX, clickY;         

    //Agent Identity related
    Agent*              partner;                
    map<int, string>    identities;
    map<string, Vector> skeletonPatterns;       
    double              dSince;                 

    unsigned long       dTimingLastApparition;  
    double              dThresholdDisparition;  

    Mutex m;
    
    bool showImageParser(string &mode, string &submode);

public:

    bool configure(ResourceFinder &rf);

    bool checkCalibration();

    bool close();

    bool respond(const Bottle& cmd, Bottle& reply);

    double getPeriod();

    bool updateModule();

    void setIdentity(Player p, string name);

    string getIdentity(Player p);

    Vector transform2IR(Vector v);

    Vector getSkeletonPattern(Player p);

    static void click_callback(int event, int x, int y, int flags, void* param)
    {
        (void) flags; // to prevent unused variable warning
        (void) param; // to prevent unused variable warning

        switch (event)
        {
        case CV_EVENT_LBUTTONDOWN:
            yInfo()<<"Got a left-click.";
            AgentDetector::clickX=(float)x;
            AgentDetector::clickY=(float)y;
            AgentDetector::clicked=clicked_left;
            break;
        case CV_EVENT_RBUTTONDOWN:
            yInfo()<<"Got a right-click.";
            AgentDetector::clicked=clicked_right;
            break;
        }
    }
};