mtt_draw.cpp

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   conditions and the following disclaimer.
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#include <mtt/mtt_draw.h>

void DrawGlobal(char key,IplImage*img,t_config*config,t_data*data,t_object**objects,int object_size,t_list*list,t_flag*flags,int laser,bool raw_only)
{
        static bool d_help=true;
        static bool d_occlusionzone=false;
        static bool d_velocity=true;
        static bool d_objects=true;
        static bool d_raw=false;
        static bool d_searcharea=true;
        static bool d_paths=true;
        static bool d_ids=true;
        char help_msg[1024];
        static bool init=true;
        
        static CvFont fontTitle;
        static CvFont fontText;
        
        if(init)
        {
                if(raw_only)
                {
                        d_help=false;
                        d_occlusionzone=false;
                        d_velocity=false;
                        d_objects=false;
                        d_raw=true;
                        d_searcharea=false;
                        d_paths=false;
                        d_ids=false;
                }
                cvInitFont(&fontTitle,CV_FONT_HERSHEY_SIMPLEX ,.6,.6,0.,1,CV_AA);
                cvInitFont(&fontText,CV_FONT_HERSHEY_SIMPLEX,.4,.4,0.,1,CV_AA);
                init=false;
        }
        
        switch(key)
        {
                case 'h':
                case 'H':
                        d_help=!d_help;
                        break;
                case 'z':
                case 'Z':
                        d_occlusionzone=!d_occlusionzone;
                        break;
                case 'v':
                case 'V':
                        d_velocity=!d_velocity;
                        break;
                case 'o':
                case 'O':
                        d_objects=!d_objects;
                        break;
                case 'r':
                case 'R':
                        d_raw=!d_raw;
                        break;
                case 's':
                case 'S':
                        d_searcharea=!d_searcharea;
                        break;
                case 'p':
                case 'P':
                        d_paths=!d_paths;
                        break;
                case 'i':
                case 'I':
                        d_ids=!d_ids;
                        break;
        }
        
        draw_ambient(img,config);               //draw ambient on output image
        
        if(d_occlusionzone)
                draw_oclusion_area(img,objects,object_size,CV_RGB(50,50,155),config);
        
        if(d_raw)
                draw_raw_data(img,data,CV_RGB(0,255,0),config,flags);
        
        if(d_objects)
        {
                draw_objects(img,objects,object_size,CV_RGB(255,0,0),config,flags);
                draw_objects_centers(img,objects,object_size,CV_RGB(0,255,0),config,flags);
        }       
        
        if(d_paths)
        {
                DrawListPaths(img,list,config);
                DrawListCenters(img,list,CV_RGB(255,255,255),config);
        }
        
        if(d_ids)
                DrawListIds(img,list,CV_RGB(0,200,0),config);
        
        if(d_searcharea)
                DrawSearchArea(img,list,config);
        
        if(d_velocity)
                DrawVelocity(img,list,config);
        
        if(d_help)
        {
                //Draw help message
                
                strcpy(help_msg,"Keyboard Shortcuts");
                cvPutText(img,help_msg,cvPoint(10,20),&fontTitle,CV_RGB(255,120,71));
                strcpy(help_msg,"h - this message");
                cvPutText(img,help_msg,cvPoint(10,40),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"z - occlusion zones");
                cvPutText(img,help_msg,cvPoint(10,60),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"v - velocity");
                cvPutText(img,help_msg,cvPoint(10,80),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"o - objects");
                cvPutText(img,help_msg,cvPoint(10,100),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"r - raw data");
                cvPutText(img,help_msg,cvPoint(10,120),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"s - search zones");
                cvPutText(img,help_msg,cvPoint(10,140),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"p - paths");
                cvPutText(img,help_msg,cvPoint(10,160),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"i - ids");
                cvPutText(img,help_msg,cvPoint(10,180),&fontText,CV_RGB(200,200,71));
                strcpy(help_msg,"q - quit");
                cvPutText(img,help_msg,cvPoint(10,200),&fontText,CV_RGB(200,200,71));
        }
}

void DrawListPaths(IplImage*img,t_list*list,t_config*config)
{
        CvPoint A;
        CvPoint B;
        
        while(list!=null)
        {
                if(list->timers.lifetime<config->display_min_lifetime)
                {
                        list=list->next;
                        continue;
                }
                
                if(list->classification.velocity_classification==STATIONARY)
                {
                        list=list->next;
                        continue;
                }
                
                if(list->model==CV)
                {
                        for(unsigned int i=0;i<list->path_cv.number_points-1;i++)
                        {       
                                if(i==list->path_cv.position-1)
                                        continue;
                                //                              
                                A=cvPoint(real2print(list->path_cv.x[i],config),real2print(list->path_cv.y[i],config));
                                B=cvPoint(real2print(list->path_cv.x[i+1],config),real2print(list->path_cv.y[i+1],config));
                                
                                if(A.x > img->width || A.y > img->height || A.x < 0|| A.y < 0 || B.x > img->width || B.y > img->height || B.x < 0|| B.y < 0)
                                {
                                        //line out side image
                                }else
                                        cvLine(img,A,B,CV_RGB(220,150,50),1,8,0);
                        }
                }
                else
                {
                        for(unsigned int i=0;i<list->path_ca.number_points-1;i++)
                        {       
                                if(i==list->path_ca.position)
                                        continue;
                                
                                A=cvPoint(real2print(list->path_ca.x[i],config),real2print(list->path_ca.y[i],config));
                                B=cvPoint(real2print(list->path_ca.x[i+1],config),real2print(list->path_ca.y[i+1],config));
                                
                                if(A.x > img->width || A.y > img->height || A.x < 0|| A.y < 0 || B.x > img->width || B.y > img->height || B.x < 0|| B.y < 0)
                                {
                                        //line out side image
                                }else
                                        cvLine(img,A,B,CV_RGB(220,0,150),1,8,0);
                        }
                }
                list=list->next;
        }
}

void DrawSearchArea(IplImage*img,t_list*list,t_config*config)
{
        CvPoint I;
        double px,py,ellipse_A,ellipse_B,ellipse_angle;
        
        while(list!=null)
        {
                if(list->timers.lifetime<config->display_min_lifetime)
                {
                        list=list->next;
                        continue;
                }
                
                if(list->classification.velocity_classification==STATIONARY)
                {
                        list=list->next;
                        continue;
                }
                
                px=list->position.predicted_x;
                py=list->position.predicted_y;
                
                I=cvPoint(real2print(px,config),real2print(py,config));
                
                ellipse_A=list->search_area.ellipse_A;
                ellipse_B=list->search_area.ellipse_B;
                ellipse_angle=list->search_area.angle;
                
                if(list->timers.occludedtime > 0){}
                //                      cvEllipse(img,I, cvSize(real2print(ellipse_A,config),real2print(ellipse_B,config)),ellipse_angle*180./M_PI,360,0,CV_RGB(150,0,150),1,8,0);
                else
                        cvEllipse(img,I, cvSize(real2print(ellipse_A,config),real2print(ellipse_B,config)),ellipse_angle*180./M_PI,360,0,CV_RGB(50,250,100),1,8,0);
                
                list=list->next;
        }
}

void DrawListCenters(IplImage*img,t_list*list,CvScalar color,t_config*config)
{
        double x,y;
        CvPoint a;
        
        while(list!=null)
        {
                if(list->timers.lifetime<config->display_min_lifetime)
                {
                        list=list->next;
                        continue;
                }
                
                x=list->position.estimated_x;
                y=list->position.estimated_y;
                
                a=cvPoint(real2print(x,config),real2print(y,config));
                
                cvLine(img,a,a,color,4, 8, 0 );
                
                list=list->next;
        }
}

void DrawVelocity(IplImage*img,t_list*list,t_config*config)
{
        double x,y;
        CvPoint a;
        
        while(list!=null)
        {
                if(list->timers.lifetime<config->display_min_lifetime)
                {
                        list=list->next;
                        continue;
                }
                
                if(list->classification.velocity_classification==STATIONARY)
                {
                        list=list->next;
                        continue;
                }
                
                x=list->position.estimated_x;
                y=list->position.estimated_y;
                
                a=cvPoint(real2print(x,config),real2print(y,config));
                double velocity_angle=atan2(list->velocity.velocity_y,list->velocity.velocity_x);
                drawarrow(a.x,a.y,velocity_angle, real2print(list->velocity.velocity_module,config), img, CV_RGB(0,100,255),2, 8, 0);
                
                list=list->next;
        }
}

void DrawListIds(IplImage*img,t_list*list,CvScalar color,t_config*config)
{
        static CvFont font;
        double x,y;
        static bool initialise=true;
        char text[100];
        
        if(initialise)
        {
                cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX,.5,.5,0.,1,8);
                initialise=false;
        }
        
        while(list!=null)
        {
                if(list->timers.lifetime<config->display_min_lifetime)
                {
                        list=list->next;
                        continue;
                }
                
                x=list->position.estimated_x;
                y=list->position.estimated_y;
                
                //              sprintf(text,"%d %d",list->id,list->timers.occludedtime);
                //              sprintf(text,"%d %c",list->id,list->model==CV?'V':'A');
                sprintf(text,"%d",list->id);
                if(list->classification.velocity_classification==STATIONARY)
                        cvPutText(img,text, cvPoint(real2print(x,config),real2print(y,config)),&font,color);
                else
                        cvPutText(img,text, cvPoint(real2print(x,config),real2print(y,config)),&font,CV_RGB(255,0,0));
                
                list=list->next;
        }
}

void draw_objects_centers(IplImage*img,t_object**objects,int size,CvScalar color,t_config*config)
{
        CvPoint a;
        int i;
        
        double x,y;
        
        for(i=0;i<size;i++)
        {                       
                x=objects[i]->cx;
                y=objects[i]->cy;
                
                a=cvPoint(real2print(x,config),real2print(y,config));
                
                if(objects[i]->object_found==true)
                        cvLine(img,a,a,color,4, 8, 0 );
                else
                        cvLine(img,a,a,CV_RGB(253,0,0),4, 8, 0 );
        }
}

void draw_objects_ids(IplImage*img,t_object**objects,int size,CvScalar color,t_config*config)
{
        static CvFont font;
        double x,y;
        static bool initialise=true;
        char text[100];
        int i;
        
        if(initialise)
        {
                cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX,.5,.5,0.,1,8);
                initialise=false;
        }
        
        for(i=0;i<size;i++)
        {
                x=objects[i]->cx;
                y=objects[i]->cy;
                
                sprintf(text,"%d",objects[i]->id);
                cvPutText(img,text, cvPoint(real2print(x,config),real2print(y,config)),&font,color);
        }
}

void draw_objects(IplImage*img,t_object**objects,int size,CvScalar color,t_config*config)
{
        CvPoint a,b;
        int i,e;
        
        for(i=0;i<size;i++)
        {       
                for(e=0;e<objects[i]->n_lines;e++)
                {
                        a=cvPoint(real2print(objects[i]->line[e]->xi,config),real2print(objects[i]->line[e]->yi,config));
                        b=cvPoint(real2print(objects[i]->line[e]->xf,config),real2print(objects[i]->line[e]->yf,config));
                        
                        if(objects[i]->object_found==true)
                                cvLine(img,a,b,color,2, 8, 0 );
                        else
                                cvLine(img,a,b,CV_RGB(253,156,64),2, 8, 0 );
                }
        }
}

void draw_end_lines(IplImage*img,t_cluster**clusters,int size,t_data*data,t_config*config)
{
        CvPoint O,I;
        int i;
        
        O=cvPoint(config->w/2,config->h/2);
        
        for(i=0;i<size;i++)
        {
                I=cvPoint(real2print(data->x[clusters[i]->stp],config),real2print(data->y[clusters[i]->stp],config));
                cvLine(img,O,I,CV_RGB(255,0,0),1, 8, 0 );
                
                I=cvPoint(real2print(data->x[clusters[i]->enp-1],config),real2print(data->y[clusters[i]->enp-1],config));
                cvLine(img,O,I,CV_RGB(0,0,255),1, 8, 0 );
        }
}

void draw_clusters_npoints(IplImage*img,t_cluster**clusters,int size,t_data*data,t_config*config)
{
        static char text[512];
        static CvFont font;
        static int initialise=true;
        
        if(initialise)
        {
                cvInitFont(&font,CV_FONT_HERSHEY_SIMPLEX,.5,.5,0.,1,8);
                initialise=false;
        }
        
        CvPoint I;
        int i;
        
        for(i=0;i<size;i++)
        {
                I=cvPoint(real2print(data->x[clusters[i]->stp],config),real2print(data->y[clusters[i]->stp],config));
                
                sprintf(text,"NP %d",clusters[i]->n_points);
                cvPutText(img,text,I,&font,CV_RGB(50,255,0));
        }
}

void draw_ambient(IplImage*img,t_config*config,enum_background_style style,int laser)
{
        
        static CvPoint curve[4];
        static CvScalar ColorLaser,ColorBackground,ColorForeground;
        
        static bool init=true;
        
        if(init)
        {
                if(laser==2)
                {
                        //                      curve[0]=cvPoint(config->w/2,config->h);
                        //                      curve[1]=cvPoint(config->w/2,config->h/2);
                        //                      curve[2]=cvPoint(config->w,config->h/2);
                        //                      curve[3]=cvPoint(config->w,config->h);
                        curve[0]=cvPoint(0,config->h);
                        curve[1]=cvPoint(config->w/2,config->h/2);
                        curve[2]=cvPoint(config->w,config->h);
                        curve[3]=cvPoint(config->w,config->h);
                }else if(laser==3)
                {
                        curve[0]=cvPoint(0,config->h/2);
                        curve[1]=cvPoint(config->w/2,config->h/2);
                        curve[2]=cvPoint(config->w/2,config->h);        
                        curve[3]=cvPoint(0,config->h);
                }else
                {
                        curve[0]=cvPoint(0,config->h);
                        curve[1]=cvPoint(config->w/2,config->h/2);
                        curve[2]=cvPoint(config->w,config->h);
                        curve[3]=cvPoint(config->w,config->h);
                }
                
                switch(style)
                {
                        case STYLE_DARK:
                                ColorLaser=CV_RGB(50,255,0);
                                ColorBackground=CV_RGB(0,0,0);
                                ColorForeground=CV_RGB(50,50,50);
                                break;
                                
                        case STYLE_LIGHT:
                                ColorLaser=CV_RGB(50,255,0);
                                ColorBackground=CV_RGB(255,255,255);
                                ColorForeground=CV_RGB(100,100,100);
                                break;
                                
                        default:
                                ColorLaser=CV_RGB(50,255,0);
                                ColorBackground=CV_RGB(0,0,0);
                                ColorForeground=CV_RGB(50,50,50);
                                break;
                }
                
                init=false;
        }
        
        
        
        cvSet( img, ColorForeground,NULL );     //clear image
        cvCircle(img, cvPoint(config->w/2,config->h/2),real2print(config->out_clip,config), ColorBackground,CV_FILLED );        //outter cliping
        cvCircle(img, cvPoint(config->w/2,config->h/2),real2print(config->in_clip,config), ColorForeground,CV_FILLED ); //inner cliping
        cvFillConvexPoly(img,curve,4,ColorForeground,8,0);
        
        //      cvCircle(img, cvPoint(config->w/2,config->h/2), 2, ColorLaser, CV_FILLED );     //laser position
}

void draw_midle_circle(IplImage*img,t_config*config)
{
        cvCircle(img, cvPoint(config->w/2,config->h/2),real2print(config->in_clip,config), CV_RGB(50,50,50),CV_FILLED );        //inner cliping
}

void draw_clusters_centers(IplImage*img,t_cluster**clusters,int size,t_config*config)
{
        int i;
        CvPoint a;
        double x,y,r,t;
        
        for(i=0;i<size;i++)
        {
                r=clusters[i]->rmin;
                t=clusters[i]->tm;
                
                x=config->maxr+r*cos(t);
                y=config->maxr-r*sin(t);
                
                a=cvPoint(real2print(x,config),real2print(y,config));
                cvLine(img,a,a,CV_RGB(0,255,0),6,8,0);
        }
}


void draw_oclusion_area(IplImage*img,t_object**list,int size,CvScalar color,t_config*config)
{
        CvPoint O=cvPoint(config->w/2,config->h/2),line[4];
        double theta_i,theta_f;
        
        for(int i=0;i<size;i++)
        {
                for(int e=0;e<list[i]->n_lines;e++)
                {
                        line[0].x=real2print(list[i]->line[e]->xi,config);
                        line[0].y=real2print(list[i]->line[e]->yi,config);
                        theta_i=atan2(-(line[0].y-O.y),(line[0].x-O.x));
                        
                        line[1].x=real2print(list[i]->line[e]->xf,config);
                        line[1].y=real2print(list[i]->line[e]->yf,config);
                        theta_f=atan2(-(line[1].y-O.y),(line[1].x-O.x));
                        
                        line[3].x=config->maxr+1*config->maxr*cos(theta_i);     //real value in (mm)
                        line[3].y=config->maxr-1*config->maxr*sin(theta_i);     //real value in (mm)
                        
                        line[2].x=config->maxr+1*config->maxr*cos(theta_f);     //real value in (mm)
                        line[2].y=config->maxr-1*config->maxr*sin(theta_f);     //real value in (mm)
                        
                        for(int f=2;f<4;f++)
                        {
                                line[f].x=real2print(line[f].x,config);
                                line[f].y=real2print(line[f].y,config);
                        }
                        
                        cvFillConvexPoly(img,line,4,color,8,0);
                }
        }
}

void draw_clusters_area(IplImage*img,t_cluster**clusters,int size,t_config*config,t_data*data)
{
        int i,e;
        CvPoint a,b;
        static CvPoint O;
        
        CvPoint line[]={a,b,O};
        
        static bool initialise=true;
        
        if(initialise)
        {
                O=cvPoint(config->w/2,config->h/2);
                initialise=false;
        }
        
        for(i=0;i<size;i++)
                for(e=clusters[i]->stp;e<clusters[i]->enp;e++)
                {
                        a=cvPoint(real2print(data->x[e],config),real2print(data->y[e],config));
                        b=cvPoint(real2print(data->x[e+1],config),real2print(data->y[e+1],config));
                        
                        line[0]=O,line[1]=a;line[2]=b;
                        cvFillConvexPoly(img,line,3,CV_RGB(232,197,76),8,0);            
                }       
}

void draw_clusters(IplImage*img,t_cluster**clusters,int size,t_data*data,t_config*config)
{
        int i,e;
        CvPoint a;
        double R,G,B;
        
        R=255;
        G=255;
        B=255;
        
        for(e=0;e<size;e++)     //number of clusters
        {/*
        R=rand()%150+100;
        G=rand()%100+150;
        B=rand()%256;*/
        
        for(i=clusters[e]->stp;i<=clusters[e]->enp;i++)
        {
                a=cvPoint(real2print(data->x[i],config),real2print(data->y[i],config));
                cvLine(img,a,a,CV_RGB(R,G,B),2, 8, 0 );                 
        }
        
        //              cvShowImage("Laser range image",img);
        //              cvWaitKey(0);
        }
}

void draw_raw_data(IplImage*img,t_data*data,CvScalar color,t_config*config)
{
        int i;
        CvPoint a;
        for(i=0;i<data->n_points;i++)
        {
                a=cvPoint(real2print(data->x[i],config),real2print(data->y[i],config));
                if(data->flag[i]==false)
                {
                        //                      if(data->occlusion_data==false)
                        cvLine(img,a,a,color,2,8,0);
                }else
                        cvLine(img,a,a,CV_RGB(255,220,0),2,8,0);
                
                //      cvShowImage("Laser range image",img);
                //      cvWaitKey(2);
        }
        
}

void draw_raw_data_acc(IplImage*img,t_data_acc*data_acc,CvScalar color,t_config*config)
{
        int i,e;
        CvPoint a;
        for(i=0;i<data_acc->n_scans;i++)
                for(e=0;e<data_acc->data[i]->n_points;e++)
                {
                        a=cvPoint(real2print(data_acc->data[i]->x[e],config),real2print(data_acc->data[i]->y[e],config));
                        cvLine(img,a,a,color,2,8,0);
                }
}

void drawarrow(int x0, int y0, double o, double lenght, IplImage *dst, CvScalar color, int thickness, int line_type, int shift)
{
        int x1,y1;
        x1 = x0 + lenght*cos(o);
        y1 = y0 + lenght*sin(o);
        
        CvPoint pt1 = cvPoint(x1 - lenght/3*cos(o+M_PI/4), y1 - lenght/3*sin(o+M_PI/4));
        CvPoint pt2 = cvPoint(x1 - lenght/3*cos(o-M_PI/4), y1 - lenght/3*sin(o-M_PI/4));
        
        cvLine( dst, cvPoint(x0,y0),cvPoint(x1,y1), color,thickness, line_type, shift);
        
        cvLine( dst, cvPoint(x1,y1),pt1, color,thickness, line_type, shift);
        cvLine( dst, cvPoint(x1,y1),pt2, color,thickness, line_type, shift);
}