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/*
* PeTrack - Software for tracking pedestrians movement in videos
* Copyright (C) 2010-2020 Forschungszentrum Jülich GmbH,
* Maik Boltes, Juliane Adrian, Ricardo Martin Brualla, Arne Graf, Paul Häger, Daniel Hillebrand,
* Deniz Kilic, Paul Lieberenz, Daniel Salden, Tobias Schrödter, Ann Katrin Seemann
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* 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.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
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#include <algorithm>
#include <math.h>
#include <QtWidgets>
#include "petrack.h"
#include "control.h"
#include "view.h"
#include "coordItem.h"
#include "extrCalibration.h"
using namespace::cv;
// in x und y gleichermassen skaliertes koordinatensystem,
// da von einer vorherigen intrinsischen kamerakalibrierung ausgegenagen wird,
// so dass pixel quadratisch
CoordItem::CoordItem(QWidget *wParent,/* QGraphicsScene * scene,*/ QGraphicsItem * parent)
: QGraphicsItem(parent/*, scene*/)
{
mMainWindow = (class Petrack*) wParent;
extCalib = mMainWindow->getExtrCalibration();
mControlWidget = mMainWindow->getControlWidget();
//mScene = scene;
//Set Min and Max
calibPointsMin.x = 50000;
calibPointsMax.x = 0;
calibPointsMin.y = 50000;
calibPointsMax.y = 0;
updateData(); // um zB setFlags(ItemIsMovable) je nach anzeige zu aendern
//setEnabled(false); // all mouse events connot access this item, but it will be seen
//einzig move koennte interessant sein, um grid zu verschieben?!
//setAcceptsHoverEvents(true);
}
// bounding box wird durch linke obere ecke und breite/hoehe angegeben
// wenn an den rand gescrollt wurde im view, dann wird durch das dynamische anpassen
// bei trans und scale zwar zuerst alles neu gezeichnet durch update,
// aber beim verkleinern des scrollbereichs nur der teil von coord neu gezeichnet
QRectF CoordItem::boundingRect() const
{
/* double sc = mControlWidget->getCalibCoordScale()/10;
double tX = mControlWidget->getCalibCoordTransX();
double tY = mControlWidget->getCalibCoordTransY();
double tZ = mControlWidget->getCalibCoordRotate();
double cU = mControlWidget->getCalibCoordUnit();
Point2f p[4];
p[0] = extCalib->getImagePoint(Point3f(tX+cU,tY,tZ));
p[1] = extCalib->getImagePoint(Point3f(tX,tY+cU,tZ));
p[2] = extCalib->getImagePoint(Point3f(tX,tY,tZ+cU));
p[3] = extCalib->getImagePoint(Point3f(0,0,0));
double min_x = 1000, min_y = 1000, max_x = -1000, max_y = -1000;
double x,y;
for(int i=0;i<4;i++)
{
x = p[i].x;
y = p[i].y;
max_x = x > max_x ? x : max_x;
min_x = x < min_x ? x : min_x;
max_y = y > max_y ? y : max_y;
min_y = y < min_y ? y : min_y;
}*/
// bounding box wird in lokalen koordinaten angegeben!!! (+-10 wegen zahl "1")
if (mControlWidget->getCalibCoordShow() /*|| mControlWidget->getCalibExtrCalibPointsShow()*/)
{
//debout << "Items pos: " << this->pos() << " scenePos(): " << this->scenePos() << endl;
if( mControlWidget->getCalibCoordDimension() != 0 ) // 2D view
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{
return QRectF(-110., -110., 220., 220.);
}
else // 3D view
{
//debout << x.x << " " << y.x << " " << z.x << " " << ursprung.x << " " << calibPointsMin.x << " " << calibPointsMax.x << endl;
double min_x = min(min(x.x,y.x),min(z.x,ursprung.x));
double max_x = max(max(x.x,y.x),max(z.x,ursprung.x));
//debout << x.y << " " << y.y << " " << z.y << " " << ursprung.y << " " << calibPointsMin.y << " " << calibPointsMax.y << endl;
double min_y = min(min(x.y,y.y),min(z.y,ursprung.y));
double max_y = max(max(x.y,y.y),max(z.y,ursprung.y));
if( mControlWidget->getCalibExtrCalibPointsShow() )
{
min_x = min(float(min_x),calibPointsMin.x);
max_x = max(float(max_x),calibPointsMax.x);
min_y = min(float(min_y),calibPointsMin.y);
max_y = max(float(max_y),calibPointsMax.y);
}
//debout << "Bounding Rect: x: " << min_x << " y: " << min_y << ", width: " << max_x << " height: " << max_y << endl;
//debout << "Bounding Rect: " << mapToScene(min_x,min_y) << ", " << mapToItem(this,max_x-min_x,max_y-min_y) << endl;
//return QRectF(mapToItem( this, min_x, min_y),mapToItem( this,max_x-min_x,max_y-min_y));
//double delta_x = max_x-min_x, delta_y = max_y-min_y;
//return QRectF(-0.5*delta_x,-0.5*delta_y,delta_x, delta_y);
return QRectF(min_x-25, min_y-25, max_x-min_x+50, max_y-min_y+50);
// return QRectF(-mMainWindow->getImageBorderSize(),
// -mMainWindow->getImageBorderSize(),
// mControlWidget->getMainWindow()->getImage()->width()
// + 2*mMainWindow->getImageBorderSize(),
// mControlWidget->getMainWindow()->getImage()->height()
// + 2*mMainWindow->getImageBorderSize());
//return QRectF(-img->width(),-img->height(),img->width()*2,img->height()*2);
}
}
else
{
return QRectF(0., 0., 0., 0.);
}
// sicher ware diese boundingbox, da alles
// return QRectF(xMin, yMin, xMax-xMin, yMax-yMin);
// eigentlich muesste folgende Zeile reichen, aber beim ranzoomen verschwindet dann koord.sys.
// return QRectF(mControlWidget->getCalibCoordTransX()/10.-scale, mControlWidget->getCalibCoordTransY()/10.-scale, 2*scale, 2*scale);
}
// event, of moving mouse while button is pressed
void CoordItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
{
// if coordinate system position is not fixed
if (!mControlWidget->getCalibCoordFix())
{
setCursor(Qt::ClosedHandCursor);
QPointF diff = event->scenePos()-event->lastScenePos(); //screenPos()-buttonDownScreenPos(Qt::RightButton) also interesting
if (event->buttons() == Qt::RightButton) // event->button() doesnt work
{
mControlWidget->setCalibCoordRotate(mControlWidget->getCalibCoordRotate()-(int)(3.*(diff.x()+diff.y()))); //10* nicht noetig, da eh nur relativ
//cout << diff.x()-diff.y() <<endl; //globalPos()
}
else if (event->buttons() == Qt::LeftButton)
{
if( mControlWidget->getCalibCoordDimension() == 0 ) // 3D
{
//debout << "P_cur: " << event->scenePos().x() << "," << event->scenePos().y() << endl;
//debout << "P_last: " << event->lastScenePos().x() << "," << event->lastScenePos().y() << endl;
Point3f p_cur = extCalib->get3DPoint(Point2f(event->scenePos().x(),
event->scenePos().y()),
mControlWidget->getCalibCoord3DTransZ());
Point3f p_last = extCalib->get3DPoint(Point2f(mouse_x/*event->lastScenePos().x()*/,
mouse_y/*event->lastScenePos().y()*/),
mControlWidget->getCalibCoord3DTransZ());
// ToDo:
// Problem: Die Mouse Bewegungen, die erfasst werden sind zu gering, sodass viele Werte als 0 gewertet werden
// und nicht als Bewegung bercksichtigt werden, obwohl man die Maus bewegt. D.h. die Maus bewegt sich
// der Abstand zwischen dem Start und dem End-punkt ist aber sehr gering und wird als 0 gewertet und
// das Kooridnatensystem bewegt sich nicht. Effekt wird noch verstrkt, da das stndig passiert
// Besonders schnelle Mausbewegungen lindern den Effekt
mControlWidget->setCalibCoord3DTransX(coordTrans_x/*mControlWidget->getCalibCoord3DTransX()*/-(mControlWidget->getCalibCoord3DSwapX() ? -1 : 1)*round(p_last.x-p_cur.x));
mControlWidget->setCalibCoord3DTransY(coordTrans_y/*mControlWidget->getCalibCoord3DTransY()*/-(mControlWidget->getCalibCoord3DSwapY() ? -1 : 1)*round(p_last.y-p_cur.y));
// mControlWidget->setCalibExtrTrans1(mControlWidget->getCalibExtrTrans1()+round(p_cur.x-p_last.x));
// mControlWidget->setCalibExtrTrans2(mControlWidget->getCalibExtrTrans2()+round(p_cur.y-p_last.y));
}else
{
mControlWidget->setCalibCoordTransX(mControlWidget->getCalibCoordTransX()+(int)(10.*diff.x()));
mControlWidget->setCalibCoordTransY(mControlWidget->getCalibCoordTransY()+(int)(10.*diff.y()));
}
}
else if (event->buttons() == Qt::MiddleButton)
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{
if( mControlWidget->getCalibCoordDimension() == 0 )
{
mControlWidget->setCalibCoord3DAxeLen(mControlWidget->getCalibCoord3DAxeLen()+(int)(10.*(diff.x()-diff.y())));
}else
{
mControlWidget->setCalibCoordScale(mControlWidget->getCalibCoordScale()+(int)(10.*(diff.x()-diff.y())));
}
}
}
else
{
QGraphicsItem::mouseMoveEvent(event); // drag mach ich selber
}
//mMainWindow->updateSceneRect();
}
void CoordItem::mousePressEvent(QGraphicsSceneMouseEvent *event)
{
if (!mControlWidget->getCalibCoordFix())
{
if (event->button() == Qt::LeftButton)
{
mouse_x = event->scenePos().x();
mouse_y = event->scenePos().y();
coordTrans_x = mControlWidget->getCalibCoord3DTransX();
coordTrans_y = mControlWidget->getCalibCoord3DTransY();
//debout << ">>>>>>>>MousePressEvent: " << mouse_x << ", " << mouse_y << endl;
}
}else
{
QGraphicsItem::mousePressEvent(event);
}
}
// event, of moving mouse
//void CoordItem::hoverMoveEvent(QGraphicsSceneHoverEvent *event)
//{
// QPointF pos = event->scenePos();
// pos.setX(pos.x() + mMainWindow->getImageBorderSize());
// pos.setY(pos.y() + mMainWindow->getImageBorderSize());
// if (pos.x() >=0 && pos.x() <= mMainWindow->getImage()->width() && pos.y() >=0 && pos.y() <= mMainWindow->getImage()->height())
// mMainWindow->setMousePosOnImage(pos);
// if (!mControlWidget->getCalibCoordFix())
// setCursor(Qt::OpenHandCursor);
// else
// setCursor(Qt::CrossCursor);
// QGraphicsItem::hoverMoveEvent(event);
//}
void CoordItem::updateData()
{
if (!mControlWidget->getCalibCoordFix())
setFlag(ItemIsMovable); // noetig, damit mouseEvent leftmousebutton weitergegeben wird, aber drag mach ich selber
else
setFlag(ItemIsMovable, false); // noetig, damit mouseEvent leftmousebutton weitergegeben wird, aber drag mach ich selber
if( mControlWidget->getCalibCoordDimension() == 1 ) // 2D
{
double sc = mControlWidget->getCalibCoordScale()/10.;
double tX = mControlWidget->getCalibCoordTransX()/10.;
double tY = mControlWidget->getCalibCoordTransY()/10.;
double ro = mControlWidget->getCalibCoordRotate()/10.;
// aktualisierung der transformationsmatrix
// matrix wird nur bei aenderungen neu bestimmt
matrix.translate(tX, tY);
matrix.rotate(ro);
matrix.scale(sc/100., sc/100.);
//matrix.shear(tX,tY);
}else // 3D
{
////////////////////////////////////////
// 3D World-Coordinate-System //
////////////////////////////////////////
if( mMainWindow->getImage())
{
//prepareGeometryChange();
// Reset Matrix - No Matrix Transformations for 3D Coordsystem
// aktualisierung der transformationsmatrix
// matrix wird nur bei aenderungen neu bestimmt
matrix.translate(0, 0);
matrix.rotate(0);
matrix.scale(1, 1);
//matrix.shear(tX,tY);
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// double tX3D = mControlWidget->getCalibCoord3DTransX();
// double tY3D = mControlWidget->getCalibCoord3DTransY();
// double tZ3D = mControlWidget->getCalibCoord3DTransZ();
double axeLen = mControlWidget->getCalibCoord3DAxeLen();
int bS = mMainWindow->getImageBorderSize();
// int swapX = 1;//mControlWidget->getCalibCoord3DSwapX() ? -1 : 1;
// int swapY = 1;//mControlWidget->getCalibCoord3DSwapY() ? -1 : 1;
// int swapZ = 1;//mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1;
//debout << "Before isSetExtrCalib..." << endl;
// Coordinate-system origin at (tX,tY,tZ)
if( extCalib->isSetExtrCalib() ){
//debout << "X: swap: " << swapX << " T1: " << mControlWidget->getCalibExtrTrans1() << " tX3D: " << tX3D << endl;
//debout << "Y: swap: " << swapY << " T2: " << mControlWidget->getCalibExtrTrans2() << " tY3D: " << tY3D << endl;
//debout << "Z: swap: " << swapZ << " T3: " << mControlWidget->getCalibExtrTrans3() << " tZ3D: " << tZ3D << endl;
ursprung = extCalib->getImagePoint(Point3f(0,0,0));
x3D = Point3f(axeLen,0,0);
y3D = Point3f(0,axeLen,0);
z3D = Point3f(0,0,axeLen);
// Tests if the origin-point of the coordinate-system is outside the image
if( extCalib->isOutsideImage(ursprung) )
{
//debout << "Ursprung: " << ursprung.x << ", " <<ursprung.y << endl;
return;
}
//debout << "Test" << endl;
// x3D.x += swapX;
// y3D.y += swapY;
// z3D.z += swapZ;
x3D.x++;
y3D.y++;
z3D.z++;
// Kuerzt die Koordinaten-Achsen, falls sie aus dem angezeigten Bild raus laufen wuerden
do{
x3D.x--;
x = extCalib->getImagePoint(x3D);
//if( ursprungOutside ){ break; }
//debout << x.x << ", " << x.y << endl;
// tests if the coord system axis are inside the view or outside, if outside short them till they are inside the image
}while( x.x < -bS || x.x > mMainWindow->getImage()->width()-bS || x.y < -bS || x.y > mMainWindow->getImage()->height()-bS );
do{
y3D.y--;
y = extCalib->getImagePoint(y3D);
//if( ursprungOutside ){ break; }
//debout << y.x << ", " << y.y << endl;
}while( y.x < -bS || y.x > mMainWindow->getImage()->width()-bS || y.y < -bS || y.y > mMainWindow->getImage()->height()-bS );
do{
z3D.z--;
z = extCalib->getImagePoint(z3D);
//if( ursprungOutside ){ break; }
//debout << z.x << ", " << z.y << endl;
}while( z.x < -bS || z.x > mMainWindow->getImage()->width()-bS || z.y < -bS || z.y > mMainWindow->getImage()->height()-bS );
}
}
//}
prepareGeometryChange();
}
if (!mMainWindow->isLoading()){
mMainWindow->updateImage();
}
}
void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem */*option*/, QWidget */*widget*/)
if( debug ) debout << "**************** CoordItem:paint() aufgerufen" << std::endl;
if( debug ) debout << "show coord: " << mControlWidget->getCalibCoordShow() << std::endl;
////////////////////////////////
// Drawing Calibration Points //
////////////////////////////////
if( mControlWidget->getCalibExtrCalibPointsShow() && mControlWidget->getCalibCoordDimension() == 0 )
{
if( extCalib->isSetExtrCalib() )
{
QFont font;
font.setBold(mControlWidget->trackNumberBold->checkState() == Qt::Checked);
font.setPixelSize(mControlWidget->trackNumberSize->value());
painter->setFont(font);
for(size_t i=0; i< extCalib->get2DList().size(); i++)
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{
painter->setPen(Qt::red);
painter->setBrush(Qt::NoBrush);
// Original 2D-Pixel-Points
Point2f p2 = extCalib->get2DList().at(i);
painter->drawEllipse(p2.x-8,p2.y-8,16,16);
// general configuration
painter->setPen(Qt::blue);
painter->setBrush(Qt::blue);
// Projected 3D-Points
Point3f p3d = extCalib->get3DList().at(i);
p3d.x -= mControlWidget->getCalibCoord3DTransX();
p3d.y -= mControlWidget->getCalibCoord3DTransY();
p3d.z -= mControlWidget->getCalibCoord3DTransZ();
p3d.x *= (mControlWidget->getCalibCoord3DSwapX() ? -1 : 1);
p3d.y *= (mControlWidget->getCalibCoord3DSwapY() ? -1 : 1);
p3d.z *= (mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1);
Point2f p3 = extCalib->getImagePoint(p3d);
//QPointF axis = mMainWindow->getImageItem()->getCmPerPixel(p3.x,p3.y,p3d.z);
painter->drawEllipse(p3.x-4,p3.y-4,8,8);
// Connecting-line Pixel-3D-Points
painter->drawLine(QPointF(p2.x,p2.y),QPointF(p3.x,p3.y));
// Show point number
painter->setPen(Qt::black);
painter->setBrush(Qt::black);
painter->drawText(QPointF(p2.x+10,p2.y+font.pixelSize()), QObject::tr("%1").arg((i+1)));
//painter->setPen(Qt::blue);
//painter->setBrush(Qt::blue);
// min/max of calibration points for bounding box
// if( i == 0)
// {
// calibPointsMin.x = p2.x;
// calibPointsMin.y = p2.y;
// calibPointsMax.x = p2.x;
// calibPointsMax.y = p2.y;
// }
if( p2.x < calibPointsMin.x ) calibPointsMin.x = p2.x;
if( p2.x > calibPointsMax.x ) calibPointsMax.x = p2.x;
if( p3.x < calibPointsMin.x ) calibPointsMin.x = p3.x;
if( p3.x > calibPointsMax.x ) calibPointsMax.x = p3.x;
if( p2.y < calibPointsMin.y ) calibPointsMin.y = p2.y;
if( p2.y > calibPointsMax.y ) calibPointsMax.y = p2.y;
if( p3.y < calibPointsMin.y ) calibPointsMin.y = p3.y;
if( p3.y > calibPointsMax.y ) calibPointsMax.y = p3.y;
}
}
}
if (mControlWidget->getCalibCoordShow())
{
// general configuration
painter->setPen(Qt::blue);
painter->setBrush(QBrush(Qt::blue,Qt::SolidPattern));
if ( mControlWidget->getCalibCoordDimension() == 1 ) // 2D
{
//////////////////////////
// 2D Coordinate-System //
//////////////////////////
painter->setPen(QPen(QBrush(Qt::blue),0));
// double sc = mControlWidget->getCalibCoordScale();
// double tX = mControlWidget->getCalibCoordTransX();
// double tY = mControlWidget->getCalibCoordTransY();
// double tZ = mControlWidget->getCalibCoordRotate();
// double cU = mControlWidget->getCalibCoordUnit();
static QPointF points[3];
// //eigentliche BoundingBox: painter->drawRect(QRectF(mControlWidget->getCalibCoordTransX()/10.-scale, mControlWidget->getCalibCoordTransY()/10.-scale, 2*scale, 2*scale));
// matrix.translate(mControlWidget->getCalibCoordTransX()/10., mControlWidget->getCalibCoordTransY()/10.);
// matrix.rotate((mControlWidget->getCalibCoordRotate())/10.);
// mit folgender zeile wuerde nur der painter bewegt, nicht aber das koord des items!!!
// painter->setWorldMatrix(matrix, true); // true sagt, dass relativ und nicht absolut (also zusaetzlichj zur uebergeordneten matrizen)
// Koordinatenachsen
points[0].setX(-10.); points[0].setY(0.);
points[1].setX(100.); points[1].setY(0.);
painter->drawLine(points[0], points[1]);
//debout << "1. Points[0]: " << points[0].x() << " " << points[0].y() << endl;
//debout << "1. Points[1]: " << points[1].x() << " " << points[1].y() << endl;
points[0].setX(0.); points[0].setY(10.);
points[1].setX(0.); points[1].setY(-100.);
painter->drawLine(points[0], points[1]);
//debout << "2. Points[0]: " << points[0].x() << " " << points[0].y() << endl;
//debout << "2. Points[1]: " << points[1].x() << " " << points[1].y() << endl;
// Ticks
for (int i=1; i<11; i++) // i=10 zeichnen sieht ungewoehnlich aus, laeest sich aber besser mit messen
{
points[0].setX(2.); points[0].setY(-i*10.);
points[1].setX(-2.); points[1].setY(-i*10.);
painter->drawLine(points[0], points[1]);
points[0].setX(i*10.); points[0].setY(2.);
points[1].setX(i*10.); points[1].setY(-2.);
painter->drawLine(points[0], points[1]);
}
// Beschriftung
points[0].setX(97.); points[0].setY(12.);
painter->drawText(points[0], QObject::tr("1"));
points[0].setX(-8.); points[0].setY(-97.);
painter->drawText(points[0], QObject::tr("1"));
// Pfeilspitzen
painter->setPen(Qt::NoPen);
painter->setBrush(Qt::blue);
points[0].setX(100.);points[0].setY(0.);
points[1].setX(95.); points[1].setY(2.);
points[2].setX(95.); points[2].setY(-2.);
painter->drawPolygon(points, 3);
points[0].setX(0.); points[0].setY(-100.);
points[1].setX(2.); points[1].setY(-95.);
points[2].setX(-2.); points[2].setY(-95.);
painter->drawPolygon(points, 3);
/*
// // Koordinatenachsen
// painter->setPen(Qt::blue);
// points[0].setX(-.1*scale); points[0].setY(0.);
// points[1].setX(scale); points[1].setY(0.);
// painter->drawLine(points[0], points[1]);
// points[0].setX(0.); points[0].setY(.1*scale);
// points[1].setX(0.); points[1].setY(-scale);
// painter->drawLine(points[0], points[1]);
// // Ticks
// for (int i=1; i<10; i++)
// {
// points[0].setX(0.02*scale); points[0].setY(-i*scale/10.);
// points[1].setX(-0.02*scale); points[1].setY(-i*scale/10.);
// painter->drawLine(points[0], points[1]);
// points[0].setX(i*scale/10.); points[0].setY(0.02*scale);
// points[1].setX(i*scale/10.); points[1].setY(-0.02*scale);
// painter->drawLine(points[0], points[1]);
// }
// // Beschriftung
// points[0].setX(0.97*scale); points[0].setY(0.12*scale);
// painter->drawText(points[0], QObject::tr("1"));
// points[0].setX(-0.08*scale); points[0].setY(-0.97*scale);
// painter->drawText(points[0], QObject::tr("1"));
// // Pfeilspitzen
// painter->setPen(Qt::NoPen);
// painter->setBrush(Qt::blue);
// points[0].setX(scale); points[0].setY(0.);
// points[1].setX(0.95*scale); points[1].setY(0.02*scale);
// points[2].setX(0.95*scale); points[2].setY(-0.02*scale);
// painter->drawPolygon(points, 3);
// points[0].setX(0.); points[0].setY(-scale);
// points[1].setX(0.02*scale); points[1].setY(-0.95*scale);
// points[2].setX(-0.02*scale); points[2].setY(-0.95*scale);
// painter->drawPolygon(points, 3);
*/
}else
{
double tX3D = mControlWidget->getCalibCoord3DTransX();
double tY3D = mControlWidget->getCalibCoord3DTransY();
double tZ3D = mControlWidget->getCalibCoord3DTransZ();
double axeLen = mControlWidget->getCalibCoord3DAxeLen();
// int swapX = mControlWidget->getCalibCoord3DSwapX() ? -1 : 1;
// int swapY = mControlWidget->getCalibCoord3DSwapY() ? -1 : 1;
// int swapZ = mControlWidget->getCalibCoord3DSwapZ() ? -1 : 1;
qreal coordLineWidth = 2.0;
if( extCalib->isSetExtrCalib() ){
QPointF points[4];
Point2f p[4];
char coordinaten[50];
/////////////////////////////////////////////////////
// Draw a cube (Quader) near coord system //
/////////////////////////////////////////////////////
bool drawCube = false;
if( drawCube ){
painter->setPen(Qt::green);
// Boden
p[0] = extCalib->getImagePoint(Point3f(100,100,0));
p[1] = extCalib->getImagePoint(Point3f(200,100,0));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,100,0));
p[1] = extCalib->getImagePoint(Point3f(200,200,0));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,200,0));
p[1] = extCalib->getImagePoint(Point3f(100,200,0));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(100,200,0));
p[1] = extCalib->getImagePoint(Point3f(100,100,0));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
// Seiten
p[0] = extCalib->getImagePoint(Point3f(100,100,0));
p[1] = extCalib->getImagePoint(Point3f(100,100,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,100,0));
p[1] = extCalib->getImagePoint(Point3f(200,100,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(100,200,0));
p[1] = extCalib->getImagePoint(Point3f(100,200,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,200,0));
p[1] = extCalib->getImagePoint(Point3f(200,200,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
// Oben
p[0] = extCalib->getImagePoint(Point3f(100,100,100));
p[1] = extCalib->getImagePoint(Point3f(200,100,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,100,100));
p[1] = extCalib->getImagePoint(Point3f(200,200,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(200,200,100));
p[1] = extCalib->getImagePoint(Point3f(100,200,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
p[0] = extCalib->getImagePoint(Point3f(100,200,100));
p[1] = extCalib->getImagePoint(Point3f(100,100,100));
painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
}
/////////////////////////////////////////////////////
// Draw the bounding rect //
/////////////////////////////////////////////////////
bool drawBoundingRect = false;
if( drawBoundingRect )
{
QRectF boundingBox = boundingRect();
double min_x = boundingBox.x(), max_x = min_x+boundingBox.width();
double min_y = boundingBox.y(), max_y = min_y+boundingBox.height();
painter->setPen(Qt::cyan);
painter->drawLine(QPointF(min_x, min_y), QPointF(min_x, max_y));
painter->drawLine(QPointF(min_x, max_y), QPointF(max_x, max_y));
painter->drawLine(QPointF(max_x, max_y), QPointF(max_x, min_y));
painter->drawLine(QPointF(max_x, min_y), QPointF(min_x, min_y));
}
/////////////////////////////////////////////////////
// Draw a rect around the whole coordinate system //
/////////////////////////////////////////////////////
bool paintRectCoordArea = false;
if( paintRectCoordArea )
{
int min_x = min(min(x.x,y.x),min(z.x,ursprung.x));
int max_x = max(max(x.x,y.x),max(z.x,ursprung.x));
int min_y = min(min(x.y,y.y),min(z.y,ursprung.y));
int max_y = max(max(x.y,y.y),max(z.y,ursprung.y));
painter->setFont(QFont("Arial", 20));
painter->setPen(Qt::green);
painter->drawLine(QPointF(min_x, min_y), QPointF(min_x, max_y));
painter->drawLine(QPointF(min_x, max_y), QPointF(max_x, max_y));
painter->drawLine(QPointF(max_x, max_y), QPointF(max_x, min_y));
painter->drawLine(QPointF(max_x, min_y), QPointF(min_x, min_y));
sprintf (coordinaten, "(%d, %d)", min_x, min_y);
painter->drawText(QPoint(min_x-45, min_y-10), QString(coordinaten));
sprintf (coordinaten, "%d", max_y-min_y);
painter->drawText(QPoint(min_x+10,min_y+(max_y-min_y)/2.0), QString(coordinaten));
sprintf (coordinaten, "%d", max_x-min_x);
painter->drawText(QPoint(min_x+(max_x-min_x)/2.0,min_y+30), QString(coordinaten));
}
//////////////////////////////
// Drawing the X,Y,Z - Axis //
//////////////////////////////
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
p[0] = extCalib->getImagePoint(Point3f(0,0,0));
p[1] = extCalib->getImagePoint(Point3f(x3D.x,x3D.y,x3D.z));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[1] = extCalib->getImagePoint(Point3f(y3D.x,y3D.y,y3D.z));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[1] = extCalib->getImagePoint(Point3f(z3D.x,z3D.y,z3D.z));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
// painter->drawLine(QPointF(ursprung.x,ursprung.y),QPointF(x.x,x.y));
// painter->drawLine(QPointF(ursprung.x,ursprung.y),QPointF(y.x,y.y));
// painter->drawLine(QPointF(ursprung.x,ursprung.y),QPointF(z.x,z.y));
/////////////////////////////////
// Drawing the X,Y,Z - Symbols //
/////////////////////////////////
painter->setPen(QPen(QBrush(Qt::black),coordLineWidth));
painter->setFont(QFont("Arial", 15 ));
p[0] = extCalib->getImagePoint(Point3f(x3D.x+10, x3D.y, x3D.z));
painter->drawText(QPointF(p[0].x-5,p[0].y+5), QString("X"));
p[0] = extCalib->getImagePoint(Point3f(y3D.x, y3D.y+10, y3D.z));
painter->drawText(QPointF(p[0].x-5,p[0].y+5), QString("Y"));
p[0] = extCalib->getImagePoint(Point3f(z3D.x, z3D.y, z3D.z+10));
painter->drawText(QPointF(p[0].x-5,p[0].y+5), QString("Z"));
if( debug ) debout << "Ursprungskoordinaten: " << ursprung.x << ", " << ursprung.y << std::endl;
if( debug ) debout << "Bildsize: " << mMainWindow->getImage()->width() << "x" << mMainWindow->getImage()->height() << std::endl;
if( debug ) sprintf (coordinaten, "(%f %f %f)", tX3D, tY3D, tZ3D);
717
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//painter->drawText(QPoint(ursprung.x+25,ursprung.y),QString(coordinaten));
//////////////////////////////
// Drawing the tick-markers //
//////////////////////////////
int tickLength = AXIS_MARKERS_LENGTH;
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
// Start bei 100cm bis Achsen-Laenge-Pfeilspitzenlaenge alle 100cm
for(int i=100;i<axeLen-tickLength;i+=100)
{
// Solange Achsen-Ende noch nicht erreicht: Markierung zeichnen
if( i+tickLength < x3D.x )
{
p[0] = extCalib->getImagePoint(Point3f(i,-tickLength,0));
p[1] = extCalib->getImagePoint(Point3f(i, tickLength,0));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[0] = extCalib->getImagePoint(Point3f(i,0,-tickLength));
p[1] = extCalib->getImagePoint(Point3f(i,0, tickLength));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[0] = extCalib->getImagePoint(Point3f(i,0,0));
}
if( i+tickLength < y3D.y )
{
p[0] = extCalib->getImagePoint(Point3f(-tickLength,i,0));
p[1] = extCalib->getImagePoint(Point3f( tickLength,i,0));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[0] = extCalib->getImagePoint(Point3f(0,i,-tickLength));
p[1] = extCalib->getImagePoint(Point3f(0,i, tickLength));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
}
if( i+tickLength < z3D.z )
{
p[0] = extCalib->getImagePoint(Point3f(-tickLength,0,i));
p[1] = extCalib->getImagePoint(Point3f( tickLength,0,i));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
p[0] = extCalib->getImagePoint(Point3f(0,-tickLength,i));
p[1] = extCalib->getImagePoint(Point3f(0, tickLength,i));
painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
}
}
QFont font("Arial", tickLength*0.5 );
painter->setFont(font);
painter->setPen(Qt::green);
painter->setBrush(Qt::green);
painter->setFont(QFont("Arial", 20));
if( debug ) sprintf (coordinaten, "(%.2f, %.2f)", ursprung.x,ursprung.y);
if( debug ) painter->drawText(QPoint(ursprung.x-100,ursprung.y),QString(coordinaten));
//////////////////////////////////////////////
// Drawing the peaks at the end of the axis //
//////////////////////////////////////////////
int peakSize = AXIS_MARKERS_LENGTH;
///////
// X //
///////
p[0] = extCalib->getImagePoint(Point3f(x3D.x,0,0));
p[1] = extCalib->getImagePoint(Point3f(x3D.x-peakSize,-peakSize,0));
p[2] = extCalib->getImagePoint(Point3f(x3D.x-peakSize, peakSize,0));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
p[0] = extCalib->getImagePoint(Point3f(x3D.x,0,0));
p[1] = extCalib->getImagePoint(Point3f(x3D.x-peakSize,0,-peakSize));
p[2] = extCalib->getImagePoint(Point3f(x3D.x-peakSize,0, peakSize));
p[3] = extCalib->getImagePoint(Point3f(x3D.x+peakSize,0,0));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
if( debug ) sprintf (coordinaten, "(%.2f, %.2f)", p[1].x,p[1].y);
if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),QString(coordinaten));
if( debug ) sprintf(coordinaten, "X");
if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),QString(coordinaten));
///////
// Y //
///////
p[0] = extCalib->getImagePoint(Point3f(0,y3D.y,0));
p[1] = extCalib->getImagePoint(Point3f(-peakSize,y3D.y-peakSize,0));
p[2] = extCalib->getImagePoint(Point3f( peakSize,y3D.y-peakSize,0));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
p[0] = extCalib->getImagePoint(Point3f(0,y3D.y,0));
p[1] = extCalib->getImagePoint(Point3f(0,y3D.y-peakSize,-peakSize));
p[2] = extCalib->getImagePoint(Point3f(0,y3D.y-peakSize, peakSize));
p[3] = extCalib->getImagePoint(Point3f(0,y3D.y+peakSize,0));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
if( debug ) sprintf (coordinaten, "(%.2f, %.2f)", p[1].x,p[1].y);
if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),QString(coordinaten));
if( debug ) sprintf(coordinaten, "Y");
if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),QString(coordinaten));
///////
// Z //
///////
p[0] = extCalib->getImagePoint(Point3f(0,0,z3D.z));
p[1] = extCalib->getImagePoint(Point3f(0,-peakSize,z3D.z-peakSize));
p[2] = extCalib->getImagePoint(Point3f(0, peakSize,z3D.z-peakSize));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
p[0] = extCalib->getImagePoint(Point3f(0,0,z3D.z));
p[1] = extCalib->getImagePoint(Point3f(-peakSize,0,z3D.z-peakSize));
p[2] = extCalib->getImagePoint(Point3f( peakSize,0,z3D.z-peakSize));
p[3] = extCalib->getImagePoint(Point3f(0,0,z3D.z+peakSize));
points[0] = QPointF(p[0].x,p[0].y);
points[1] = QPointF(p[1].x,p[1].y);
points[2] = QPointF(p[2].x,p[2].y);
painter->setPen(Qt::green);
// painter->drawPolygon(points,3,Qt::WindingFill);
painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
painter->drawLine(points[0],points[1]);
painter->drawLine(points[0],points[2]);
painter->drawLine(points[2],points[1]);
if( debug ) sprintf (coordinaten, "(%.2f, %.2f)", p[1].x,p[1].y);
if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),QString(coordinaten));
if( debug ) sprintf(coordinaten, "Z");
if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),QString(coordinaten));
}
}
}
}