C++ CoordinatesExtractor2类代码示例

void handleKeypress(unsigned char key, int x, int y)
{
    switch (key)
    {   //Quit program
    case 'q':
    case 27:
    {
		optotrak.stopCollection();
		Sleep(1000);
        exit(0);
    }
    break;
    case 'i':
        infoDrawn=!infoDrawn;
        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[17].p,markers[18].p, markers[1].p,markers[2].p,markers[3].p,interoculardistance );
            headCalibrationDone=1;
            beepOk();
            break;
        }
        // Second calibration, you must look a fixed fixation point
        if ( headCalibrationDone==1  && allVisiblePatch)
        {
            headEyeCoords.init( headEyeCoords.getP1().p,headEyeCoords.getP2().p, markers[1].p, markers[2].p,markers[3].p,interoculardistance );
            headCalibrationDone=2;
            beepOk();
            break;
        }
        if ( headCalibrationDone==2  && allVisiblePatch )
        {   headEyeCoords.init( headEyeCoords.getP1().p,headEyeCoords.getP2().p, markers[1].p, markers[2].p,markers[3].p,interoculardistance );
            beepOk();
            break;
        }
    }
    break;
    // Enter key: press to make the final calibration
    case 13:
    {
        if ( canCalibrate && headCalibrationDone == 2 && allVisiblePatch )
        {
            headEyeCoords.init( headEyeCoords.getP1().p,headEyeCoords.getP2().p, markers[1].p, markers[2].p,markers[3].p,interoculardistance );
            headCalibrationDone=3;
            infoDrawn=false;
            for (int i=0; i<3; i++)
                beepOk();
        }
    }
    break;
    }
}

Vector3d getEyeProjectionPoint()
{
    Eigen::Hyperplane<double,3> focalPlane = Eigen::Hyperplane<double,3>::Through   ( Vector3d(1,0,focalDistance), Vector3d(0,1,focalDistance),Vector3d(0,0,focalDistance) );

    // Projection of view normal on the focal plane
    Vector3d directionOfSight = (headEyeCoords.getRigidStart().getFullTransformation().rotation()*Vector3d(0,0,-1)).normalized();
    Eigen::ParametrizedLine<double,3> lineOfSightRight = Eigen::ParametrizedLine<double,3>::Through( eyeRight , eyeRight+directionOfSight );

    double dist = lineOfSightRight.intersection(focalPlane);

    return (dist*(directionOfSight)+ (eyeRight));
}

Affine3d getPassiveMatrix()
{
    Screen screenPassive;
    screenPassive.setWidthHeight(SCREEN_WIDE_SIZE, SCREEN_WIDE_SIZE*SCREEN_HEIGHT/SCREEN_WIDTH);
    screenPassive.setOffset(alignmentX,alignmentY);
    screenPassive.setFocalDistance(0);
    screenPassive.transform(headEyeCoords.getRigidStart().getFullTransformation()*Translation3d(Vector3d(0,0,focalDistance)));
    VRCamera camPassive;
    camPassive.init(screenPassive);
    camPassive.setDrySimulation(true);
    camPassive.setEye(eyeRight);
    return ( camPassive.getModelViewMatrix()*objectActiveTransformation );
}

void drawInfo()
{
    if ( !infoDrawn )
        return;
    GLText text;
    text.init(SCREEN_WIDTH, SCREEN_HEIGHT,glWhite);
    text.enterTextInputMode();
    string strfactors;
    for ( map<string,double>::iterator iter = factors.begin(); iter!=factors.end(); ++iter)
    {
        text.draw( (iter->first) + "= " + util::stringify<int>( (int )(iter->second)) );
    }
    switch ( headCalibrationDone )
    {
    case 0:
    {
        if ( allVisibleHead )
            text.draw("OK! Press SPACEBAR");
        else
            text.draw("---");
    }
    break;
    case 1:
    case 2:
    {
        text.draw( "EL " + stringify<int>(eyeLeft.x() ) + " " + stringify<int>(eyeLeft.y() ) + " " + stringify<int>(eyeLeft.z()) );
        text.draw( "ER " + stringify<int>(eyeRight.x() ) + " " + stringify<int>(eyeRight.y() ) + " " + stringify<int>(eyeRight.z()) );
        text.draw("EC " + stringify<int>(cyclopeanEye.x())+" " + stringify<int>(cyclopeanEye.y())+" " + stringify<int>(cyclopeanEye.z()));
        text.draw("Dist " + stringify<int>(cyclopeanEye.z()-focalDistance+60.0));
        text.draw(" ");
        text.draw( "PITCH " + stringify<int>(toDegrees(headEyeCoords.getPitch())));
        text.draw( "YAW " + stringify<int>(toDegrees(headEyeCoords.getYaw())));
        text.draw( "ROLL " + stringify<int>(toDegrees(headEyeCoords.getRoll())));
    }
    break;
    }
    text.leaveTextInputMode();
}

void writeContinuosDataFile()
{
    ofstream outputfile;
    outputfile.open("data.dat");

    outputfile << "Yaw: " << toDegrees(headEyeCoords.getYaw()) << endl <<"Pitch: " << toDegrees(headEyeCoords.getPitch()) << endl;
    outputfile << "EyeLeft: " <<  eyeLeft.transpose() << endl;
    outputfile << "EyeRight: " << eyeRight.transpose() << endl << endl;
    outputfile << "Factors:" << endl;
    for (map<string,double>::iterator iter=factors.begin(); iter!=factors.end(); ++iter)
    {
        outputfile << "\t\t" << iter->first << "= " << iter->second << endl;
    }
    outputfile << "Trials done: " << trialNumber << endl;
	if (trialNumber!=0)
		outputfile << "Last response (right=0, left=1): " << response << endl;
    outputfile.clear();
    outputfile.seekp(0,ios::beg);
}

void handleKeypress(unsigned char key, int x, int y)
{   switch (key)
    {   //Quit program
    case 'q':
    case 27:
    {   
		plato_stop();
		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;
        }
        if ( headCalibrationDone==1 && allVisiblePatch )
        {
            headCalibrationDone=3;
            RoveretoMotorFunctions::moveObjectAbsolute( platformCalibration, rodTipHome, 3500);
            beepOk();
        }
    }
    break;
    case 'i':
        infoDraw=!infoDraw;
        break;
    case 'f':
    case 'F':
    {
        if (headCalibrationDone < 3 )
            break;
        // 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;
        }
		// Calibrate the index first
        if ( (fingerCalibrationDone==1) && allVisibleIndex )
        {   
			indexCoords.init(platformIndex, markers.at(7).p, markers.at(8).p, markers.at(9).p );
			rigidStartIndex.setRigidBody(markers.at(7).p-platformIndex,markers.at(8).p-platformIndex,markers.at(9).p-platformIndex);
			fingerCalibrationDone=2;
            beepOk();
            break;
        }
		// Calibrate the thumb then
		if ( (fingerCalibrationDone==2) && allVisibleThumb )
        {   
			rigidStartThumb.setRigidBody(markers.at(11).p-platformThumb,markers.at(12).p-platformThumb,markers.at(13).p-platformThumb);
            thumbCoords.init(platformThumb, markers.at(11).p, markers.at(12).p, markers.at(13).p);
            fingerCalibrationDone=3;
            beepOk();
            break;
        }
        if ( fingerCalibrationDone==3  && allVisibleFingers )
        {
			fingerCalibrationDone=4;
            infoDraw=false;
            paintGL();
            physicalRigidBodyTip = indexCoords.getP1().p;
            trialMode = HANDONSTARTMODE;
            fingerDistance = (indexCoords.getP1().p-thumbCoords.getP1().p).norm();
            moveStimulusObject(visualStimCenter,3500);
            beepTrial();
            trialFrame=0;
            drawingTrialFrame=0;
            globalTimer.start();
			plato_write(PLATO_LEFT_RIGHT_OPEN);

            break;
        }
    }
    break;
    }
}

/**
 * @brief idle
 */
void idle()
{
    double deltaT = (double)TIMER_MS;
    optotrak.updateMarkers(deltaT);
    markers = optotrak.getAllMarkers();
    // Coordinates picker
    allVisiblePlatform = isVisible(markers.at(15).p) && isVisible(markers.at(16).p);
    allVisibleThumb = isVisible(markers.at(11).p) && isVisible(markers.at(12).p) && isVisible(markers.at(13).p);
    allVisibleIndex = isVisible(markers.at(7).p) && isVisible(markers.at(8).p) && isVisible(markers.at(9).p);
    allVisibleFingers = allVisibleThumb && allVisibleIndex;

    allVisiblePatch = isVisible(markers.at(1).p) && isVisible(markers.at(2).p) && isVisible(markers.at(3).p);
    allVisibleHead = allVisiblePatch && isVisible(markers.at(17).p) && isVisible(markers.at(18).p);

    //if ( allVisiblePatch )
    headEyeCoords.update(markers.at(1).p,markers.at(2).p,markers.at(3).p,deltaT);
    // update thumb coordinates
    thumbCoords.update(markers.at(11).p,markers.at(12).p,markers.at(13).p,deltaT);
    // update index coordinates
    indexCoords.update(markers.at(7).p, markers.at(8).p, markers.at(9).p,deltaT);

    // Compute the coordinates of visual thumb
    thumb = thumbCoords.getP1().p;
    index = indexCoords.getP1().p;

    eyeLeft = headEyeCoords.getLeftEye().p;
    eyeRight = headEyeCoords.getRightEye().p;

	rigidCurrentThumb.setRigidBody(markers.at(11).p,markers.at(12).p,markers.at(13).p);
    rigidCurrentIndex.setRigidBody(markers.at(7).p,markers.at(8).p,markers.at(9).p);

    rigidStartThumb.computeTransformation(rigidCurrentThumb);
    rigidStartIndex.computeTransformation(rigidCurrentIndex);

    if (headCalibrationDone==3 && fingerCalibrationDone==4)
    {
		if ( !allVisibleIndex || !allVisibleThumb || !isVisible(markers.at(6).p))
			boost::thread invisibleBeep( beepInvisible);

        Vector2d thumbProjection = cam.computeProjected(thumb);
        thumbProjectedInside = ( thumbProjection.x() >= 0 && thumbProjection.x() <= SCREEN_WIDTH ) && ( thumbProjection.y() >= 0 && thumbProjection.y() <= SCREEN_HEIGHT );

        Vector2d indexProjection = cam.computeProjected(index);
        indexProjectedInside = ( indexProjection.x() >= 0 && indexProjection.x() <= SCREEN_WIDTH ) && ( indexProjection.y() >= 0 && indexProjection.y() <= SCREEN_HEIGHT );

        trialFrame++;
        // Work on fingers coordinates
        double wThumb=0.5, wIndex=0.5;
        Vector3d m = (wThumb*thumb+wIndex*index)/(wThumb+wIndex);
        Vector3d d = thumb-index;

        visualThumb = thumb;
        visualIndex = index;

        double clamp= 2*factors.getCurrent().at("StimulusRadius");
        double gain = 1.0;//in quello di Bob era invece: factors.getCurrent().at("Gain");
        if ( d.norm() > clamp )
        {
            visualThumb = m + 0.5*d.normalized()*(gain*d.blueNorm() - clamp*(gain-1));
            visualIndex = m - 0.5*d.normalized()*(gain*d.blueNorm() - clamp*(gain-1));
        }

        // Check when to advance trial
        double stimRadius = factors.getCurrent().at("StimulusRadius");
        double radiusTolerance = util::str2num<double>(parameters.find("RadiusTolerance"));
        fingNow = fingersInSphericalVolume(thumb,index, visualStimCenter, stimRadius-radiusTolerance, stimRadius+radiusTolerance, selectedFinger );

		// SubjectName\tFingerDist\tTrialNumber\tTrialFrame\tTotTime\tVisualStimX\tVisualStimY\tVisualStimZ\tfStimulusRadius\tfDistances\tfGain\tEyeLeftXraw\tEyeLeftYraw\tEyeLeftZraw\tEyeRightXraw\tEyeRightYraw\tEyeRightZraw\tWristXraw\tWristYraw\tWristZraw\tThumbXraw\tThumbYraw\tThumbZraw\tIndexXraw\tIndexYraw\tIndexZraw\tVisualThumbXraw\tVisualThumbYraw\tVisualThumbZraw\tVisualIndexXraw\tVisualIndexYraw\tVisualIndexZraw\tIsDrawing\tIsThumbProjected\tIsIndexProjected
        if (!isSaving)
			return;
		RowVector3d junk(9999,9999,9999);
        markersFile << fixed << setprecision(3) <<
                    parameters.find("SubjectName") << "\t" <<
                    fingerDistance << "\t" <<
                    totalTrialNumber << "\t" <<
                    trialFrame << "\t" <<
                    globalTimer.getElapsedTimeInMilliSec() << "\t" <<
                    visualStimCenter.x() << "\t" <<
                    visualStimCenter.y() << "\t" <<
                    visualStimCenter.z() << "\t" <<
                    factors.getCurrent().at("StimulusRadius") << "\t" <<
                    factors.getCurrent().at("Distances") << "\t" <<
                    factors.getCurrent().at("Gain") << "\t" <<
					factors.getCurrent().at("DisappearRadius") << "\t" << 
                    ( isVisible(eyeLeft) ? eyeLeft.transpose() : junk ) << "\t" <<
                    ( isVisible(eyeRight) ? eyeRight.transpose() : junk ) << "\t" <<
                    ( isVisible(markers.at(6).p) ? markers.at(6).p.transpose() : junk ) << "\t" <<
                    ( isVisible(thumb) ? thumb.transpose() : junk ) << "\t" <<
                    ( isVisible(index) ? index.transpose() : junk ) << "\t" <<
                    ( isVisible(visualThumb) ? visualThumb.transpose() : junk ) << "\t" <<
                    ( isVisible(visualIndex) ? visualIndex.transpose() : junk ) << "\t" <<
                    isDrawing << "\t" <<
                    thumbProjectedInside << "\t" <<
                    indexProjectedInside << "\t" <<
					fingNow <<
                    endl;

//.........这里部分代码省略.........

/**
 * @brief drawInfo
 */
void drawInfo()
{   if ( infoDraw )
    {   glDisable(GL_COLOR_MATERIAL);
        glDisable(GL_BLEND);
        glDisable(GL_LIGHTING);
        GLText text;
        if ( gameMode )
            text.init(SCREEN_WIDTH,SCREEN_HEIGHT,glWhite,GLUT_BITMAP_HELVETICA_18);
        else
            text.init(640,480,glWhite,GLUT_BITMAP_HELVETICA_12);
        text.enterTextInputMode();
        text.draw("Marker5= " + stringify<Eigen::Matrix<double,1,3> >(markers.at(5).p.transpose()) );
        switch ( headCalibrationDone )
        {
        case 0:
        {   if ( allVisibleHead )
                text.draw("==== Head Calibration OK ==== Press Spacebar to continue");
            else
                text.draw("Be visible with the head and glasses");
        }
        break;
        case 1:
        case 2:
        {   if ( allVisiblePatch )
                text.draw("Cyclopean(x,y,z)= " + stringify<int>((eyeRight.x()+eyeLeft.x())/2)+", "+ stringify<int>((eyeRight.y()+eyeLeft.y())/2)+", "+ stringify<int>((eyeRight.z()+eyeLeft.z())/2)+", " );
            else
                text.draw("Be visible with the patch");
        }
        break;
        case 3:  // When the head calibration is done then calibrate the fingers
        {   switch ( fingerCalibrationDone )
            {
            case 0:
                text.draw("Press F to record platform markers");
                break;
            case 1:
                text.draw("Move INDEX on platform markers to record ghost finger tips, then press F");
                break;
			case 2:
                text.draw("Move THUMB on platform markers to record ghost finger tips, then press F");
                break;
			case 3:
                text.draw("Move BOTH INDEX AND THUMB to rigidbody tip, then press F");
				break;
            }
        }
        break;
        }
        if ( headCalibrationDone==3 && fingerCalibrationDone==4 )
        {   text.draw("Trial mode " + stringify<int>(trialMode ));
            text.draw("ThumbProjectedInside " + stringify<int>(thumbProjectedInside));
            text.draw("DrawingTrialFrame= " + stringify<int>(drawingTrialFrame));
            text.draw("TrialFrame= " + stringify<int>(trialFrame));
            text.draw("IsDrawing?= " + stringify<int>(isDrawing));
            text.draw("VisualRod= " + stringify<Eigen::Matrix<double,1,3> >(visualStimCenter.transpose()) );
            text.draw("Index= " + stringify< Eigen::Matrix<double,1,3> >(indexCoords.getP1().p ));
            text.draw("Thumb= " + stringify< Eigen::Matrix<double,1,3> >(thumbCoords.getP1().p ));
            text.draw("GlobTime= " + stringify<int>(globalTimer.getElapsedTimeInMilliSec()));
            text.draw("TrialTimer= " + stringify<int>(trialTimer.getElapsedTimeInMilliSec()));
			text.draw("FingersTime= " + stringify<int>(fingersTimer.getElapsedTimeInMilliSec()));
        }
        //text.draw("Gain=" + stringify<double>(factors.getCurrent().at("Gain")));
        text.leaveTextInputMode();
    }
}

void idle()
{
    if (trialNumber >= maxTotalTrials )
        exit(0);
	double elapsedFrameTime = totalTimer.getTimeIntervalInMilliSec();
    optotrak.updateMarkers(elapsedFrameTime);
    markers = optotrak.getAllMarkers();
    headEyeCoords.update(markers[1],markers[2],markers[3],TIMER_MS);

    allVisiblePatch =  markers[1].isVisible() && markers[2].isVisible()
                       && markers[3].isVisible();
    allVisibleHead = markers[17].isVisible() && markers[18].isVisible() && allVisibleHead;

    eyeLeft = headEyeCoords.getLeftEye().p;
    eyeRight = headEyeCoords.getRightEye().p;
    cyclopeanEye = (eyeLeft+eyeRight)/2.0;

    projPointEyeRight = getEyeProjectionPoint();

    checkBounds(nOscillationsFixation,
                eyeRight.x(),
                trialMode,
                headCalibrationDone,
                minOscTime,
                maxOscTime,
                maxXOscillation,
                translationTimer,
                beepOk,
                tweeter,
                woofer,tweeter);

    if ( trialMode == STIMULUSMODE )
        deltaT+=TIMER_MS;
    else
        deltaT=0;

    if (headCalibrationDone == 3 && trialMode != PROBEMODE )
    {
        // Questo rende conto del fatto che lo stimolo appare solo quando l'occhio è quasi in centro
		int actualTrialMode = trialMode;
		if ( trialMode == STIMULUSMODE && ( eyeRight.x()) > centerTolerance )
			actualTrialMode=FIXATIONMODE;

	markersFile << fixed <<   trialNumber << " " << actualTrialMode << " " ;
        markersFile << fixed << setprecision(3) << eyeRight.transpose() << " " << eyeLeft.transpose() << " " << toDegrees(headEyeCoords.getPitch()) << " " << toDegrees(headEyeCoords.getYaw()) << " " << toDegrees(headEyeCoords.getRoll()) << " " ;
        markersFile <<	fixed << setprecision(0)<<
                    factors["OmegaY"] << " " <<
                    factors["Binocular"] << " " <<
                    factors["Tilt"] << " " <<
                    factors["Slant"] << " " <<
                    totalTimer.getElapsedTimeInMilliSec() << endl;

        //objectPassiveTransformation.setIdentity();
		if ( actualTrialMode == STIMULUSMODE )
		{
        objectPassiveTransformation = getPassiveMatrix();
        matrixFile << setw(6) << left <<
                   trialNumber << " "  ;
        for ( int i=0; i<3; i++)
            matrixFile << objectPassiveTransformation.matrix().row(i) << " " ;
        matrixFile << endl;
		}

		if ( actualTrialMode == STIMULUSMODE )
		{
				vector< Vector3d> projPoints = stimDrawer.projectStimulusPoints(objectActiveTransformation,headEyeCoords.getRigidStart().getFullTransformation(),cam,focalDistance,screen,Vector3d(0,0,0),false,false);

				MatrixXd a1toa6 = stimDrawer.computeOpticFlow(projPoints, focalDistance, elapsedFrameTime/1000);
				flowsFile << trialNumber << " " << a1toa6.transpose() << endl;
		}
		}

    writeContinuosDataFile();

}

void handleKeypress(unsigned char key, int x, int y)
{   switch (key)
    {   //Quit program
    case 'q':
    case 27:
    {   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(18).p-Vector3d(ChinRestWidth,0,0),markers.at(18).p, markers.at(1).p,markers.at(2).p,markers.at(3).p,interoculardistance );
            headCalibrationDone=1;
            beepOk();
            break;
        }
        if ( headCalibrationDone==1 && allVisiblePatch )
        {
            headCalibrationDone=3;
            beepOk();
        }
    }
    break;

    case 'i':
        infoDraw=!infoDraw;
        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=2;
            // XXX sposto l'oggetto a home per permettere le dita di calibrarsi
            // TriesteMotorFunctions::homeObject(3500); //// XXX commentato: A TS no servi
            beepOk();
            break;
        }
        if ( fingerCalibrationDone==2  && allVisibleFingers )
        {   infoDraw=false;
            drawGLScene();
            physicalRigidBodyTip = indexCoords.getP1().p;
            fingerCalibrationDone=3;

            switch ( block.at("Phase") )
            {
            case 0:
            {
                cerr << "Key 721 case 0" << endl;
                factors = trial.getNext();
                deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
                initStimulus(factors.at("StimulusHeight"),deltaXRods,factors.at("RelDepth"));
                // moveMonitorAbsolute(factors.at("Distances"),homeFocalDistance,SCREENSPEED);
                initProjectionScreen(factors.at("Distances"));
                visualRodCenter = Vector3d(0,0,factors.at("Distances"));
                hapticRodCenter = rodAway;	// keep it away
                // moveRod(rodAway,RODSPEED);
                cerr << "Key 730 case 0" << endl;
            }
            beepOk();
            break;
            case 2:
            {   factors = trial.getNext();
                deltaXRods = mathcommon::unifRand(str2num<double>(parameters.find("DeltaXMin")),str2num<double>(parameters.find("DeltaXMax")));
                initStimulus(factors.at("StimulusHeight"),deltaXRods,factors.at("RelDepth"));
                // moveMonitorAbsolute(factors.at("Distances"),homeFocalDistance,SCREENSPEED);
                initProjectionScreen(factors.at("Distances"));
                visualRodCenter = Vector3d(0,0,factors.at("Distances"));
                hapticRodCenter = rodAway;	// keep it away
                // moveRod(rodAway,RODSPEED);
            }
            break;
            case 1:
            {
                cerr << "Key 735 case 1" << endl;
                double zadaptmin = str2num<double>(parameters.find("AdaptZMin"));
                double zadaptmax = str2num<double>(parameters.find("AdaptZMax"));

                if (str2num<int>(parameters.find("AdaptMoveMonitor"))==1)
                    visualRodCenter = Vector3d(0,0,mathcommon::unifRand(zadaptmin,zadaptmax));
                else
                    visualRodCenter = Vector3d(0,0,(zadaptmax+zadaptmin)/2);

                if ( str2num<int>(parameters.find("AdaptHapticFeedback"))==1 )
                    hapticRodCenter = visualRodCenter - Vector3d(0,0,adaptOffsets.at(block1TrialNumber));
                else
                    hapticRodCenter = rodAway;

                initProjectionScreen( visualRodCenter.z() );
//.........这里部分代码省略.........