coordItem.cpp

/*
 * 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/>.
 */

#include <cmath>
#include <QtWidgets>

#include "petrack.h"
#include "control.h"
#include "view.h"
#include "coordItem.h"
#include "extrCalibration.h"

// 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();

    //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
}

/**
 * @brief Bounding box of drawn to area.
 *
 * This bounding box is used to determine if this Item needs to be redrawn or not.
 * See the official Qt Docs for QGraphicsItem
 *
 * @return (updated) bounding rect of this item
 */
QRectF CoordItem::boundingRect() const
{
    // bounding box wird in lokalen koordinaten angegeben!!! (+-10 wegen zahl "1")
    if (mControlWidget->getCalibCoordShow())
    {
        if( mControlWidget->getCalibCoordDimension() != 0 ) // 2D view
        {
            return QRectF(-110., -110., 220., 220.);
        }
        else // 3D view
        {
            double min_x = std::min(std::min(x.x,y.x),std::min(z.x,ursprung.x));
            double max_x = std::max(std::max(x.x,y.x),std::max(z.x,ursprung.x));

            double min_y = std::min(std::min(x.y,y.y),std::min(z.y,ursprung.y));
            double max_y = std::max(std::max(x.y,y.y),std::max(z.y,ursprung.y));

            if( mControlWidget->getCalibExtrCalibPointsShow() )
            {
                min_x = std::min(float(min_x),calibPointsMin.x);
                max_x = std::max(float(max_x),calibPointsMax.x);

                min_y = std::min(float(min_y),calibPointsMin.y);
                max_y = std::max(float(max_y),calibPointsMax.y);
            }
            return QRectF(min_x-25, min_y-25, max_x-min_x+50, max_y-min_y+50);
        }
    }
    else
    {
        return QRectF(0., 0., 0., 0.);
    }
}

// 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
        }
        else if (event->buttons() == Qt::LeftButton)
        {
            if( mControlWidget->getCalibCoordDimension() == 0 ) // 3D
            {
                cv::Point3f p_cur = extCalib->get3DPoint(cv::Point2f(event->scenePos().x(),
                                                             event->scenePos().y()),
                                                     mControlWidget->getCalibCoord3DTransZ());
                cv::Point3f p_last = extCalib->get3DPoint(cv::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->getCalibCoord3DSwapX() ? -1 : 1)*round(p_last.x-p_cur.x));
                mControlWidget->setCalibCoord3DTransY(coordTrans_y-(mControlWidget->getCalibCoord3DSwapY() ? -1 : 1)*round(p_last.y-p_cur.y));

            }else
            {
                mControlWidget->setCalibCoordTransX(mControlWidget->getCalibCoordTransX()+(int)(10.*diff.x()));
                mControlWidget->setCalibCoordTransY(mControlWidget->getCalibCoordTransY()+(int)(10.*diff.y()));
            }
        }
        else if (event->buttons() == Qt::MiddleButton)
        {
            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
    }
}

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();
        }
    }else
    {
        QGraphicsItem::mousePressEvent(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
        QTransform matrix;
        // matrix wird nur bei aenderungen neu bestimmt
        matrix.translate(tX, tY);
        matrix.rotate(ro);
        matrix.scale(sc/100., sc/100.);
        //matrix.shear(tX,tY);
        setTransform(matrix);

    }else // 3D
    {
        ////////////////////////////////////////
        //     3D World-Coordinate-System     //
        ////////////////////////////////////////
        if( mMainWindow->getImage())
        {

        // Reset Matrix - No Matrix Transformations for 3D Coordsystem
        // aktualisierung der transformationsmatrix
        QTransform matrix;
        // matrix wird nur bei aenderungen neu bestimmt
        matrix.translate(0, 0);
        matrix.rotate(0);
        matrix.scale(1, 1);
        setTransform(matrix);

        double axeLen = mControlWidget->getCalibCoord3DAxeLen();
        int bS = mMainWindow->getImageBorderSize();

        // Coordinate-system origin at (tX,tY,tZ)
        if( extCalib->isSetExtrCalib() ){

            ursprung = extCalib->getImagePoint(cv::Point3f(0,0,0));

            x3D = cv::Point3f(axeLen,0,0);
            y3D = cv::Point3f(0,axeLen,0);
            z3D = cv::Point3f(0,0,axeLen);

            // Tests if the origin-point of the coordinate-system is outside the image
            if( extCalib->isOutsideImage(ursprung) )
            {
                return;
            }
            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);
                // 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);
            }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);
            }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*/)
{
    bool debug = false;


    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++)
            {
                painter->setPen(Qt::red);
                painter->setBrush(Qt::NoBrush);
                // Original 2D-Pixel-Points
                cv::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
                cv::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);

                cv::Point2f p3 = extCalib->getImagePoint(p3d);

                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)));

                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));

            static QPointF points[3];

            // Koordinatenachsen
            points[0].setX(-10.); points[0].setY(0.);
            points[1].setX(100.);     points[1].setY(0.);
            painter->drawLine(points[0], points[1]);

            points[0].setX(0.); points[0].setY(10.);
            points[1].setX(0.); points[1].setY(-100.);
            painter->drawLine(points[0], points[1]);

            // 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);
        }else
        {
            double tX3D = mControlWidget->getCalibCoord3DTransX();
            double tY3D = mControlWidget->getCalibCoord3DTransY();
            double tZ3D = mControlWidget->getCalibCoord3DTransZ();
            double axeLen = mControlWidget->getCalibCoord3DAxeLen();

            qreal coordLineWidth = 2.0;


            if( extCalib->isSetExtrCalib() ){

            QPointF points[4];
            cv::Point2f p[4];
            QString coordinaten;

            /////////////////////////////////////////////////////
            // Draw a cube (Quader) near coord system          //
            /////////////////////////////////////////////////////

            bool drawCube = false;

            if( drawCube ){
                painter->setPen(Qt::green);
                // Boden
                p[0] = extCalib->getImagePoint(cv::Point3f(100,100,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(200,100,0));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,100,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(200,200,0));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,200,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(100,200,0));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(100,200,0));
                p[1] = extCalib->getImagePoint(cv::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(cv::Point3f(100,100,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(100,100,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,100,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(200,100,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(100,200,0));
                p[1] = extCalib->getImagePoint(cv::Point3f(100,200,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,200,0));
                p[1] = extCalib->getImagePoint(cv::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(cv::Point3f(100,100,100));
                p[1] = extCalib->getImagePoint(cv::Point3f(200,100,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,100,100));
                p[1] = extCalib->getImagePoint(cv::Point3f(200,200,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(200,200,100));
                p[1] = extCalib->getImagePoint(cv::Point3f(100,200,100));
                painter->drawLine(QPointF(p[0].x,p[0].y), QPointF(p[1].x, p[1].y));
                p[0] = extCalib->getImagePoint(cv::Point3f(100,200,100));
                p[1] = extCalib->getImagePoint(cv::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 = std::min(std::min(x.x,y.x),std::min(z.x,ursprung.x));
                int max_x = std::max(std::max(x.x,y.x),std::max(z.x,ursprung.x));

                int min_y = std::min(std::min(x.y,y.y),std::min(z.y,ursprung.y));
                int max_y = std::max(std::max(x.y,y.y),std::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));

                coordinaten = QString::asprintf("(%d, %d)", min_x, min_y);
                painter->drawText(QPoint(min_x-45, min_y-10), coordinaten);

                coordinaten = QString::asprintf("%d", max_y - min_y);
                painter->drawText(QPoint(min_x+10,min_y+(max_y-min_y)/2.0), coordinaten);

                coordinaten = QString::asprintf("%d", max_x - min_x);
                painter->drawText(QPoint(min_x+(max_x-min_x)/2.0,min_y+30), coordinaten);
            }


            //////////////////////////////
            // Drawing the X,Y,Z - Axis //
            //////////////////////////////

            painter->setPen(QPen(QBrush(Qt::blue),coordLineWidth));
            p[0] = extCalib->getImagePoint(cv::Point3f(0,0,0));
            p[1] = extCalib->getImagePoint(cv::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(cv::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(cv::Point3f(z3D.x,z3D.y,z3D.z));
            painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));

            /////////////////////////////////
            // Drawing the X,Y,Z - Symbols //
            /////////////////////////////////

            painter->setPen(QPen(QBrush(Qt::black),coordLineWidth));
            painter->setFont(QFont("Arial", 15 ));

            p[0] = extCalib->getImagePoint(cv::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(cv::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(cv::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 ) coordinaten = QString::asprintf("(%f  %f %f)", tX3D, tY3D, tZ3D);

            //////////////////////////////
            // 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(cv::Point3f(i,-tickLength,0));
                    p[1] = extCalib->getImagePoint(cv::Point3f(i, tickLength,0));
                    painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
                    p[0] = extCalib->getImagePoint(cv::Point3f(i,0,-tickLength));
                    p[1] = extCalib->getImagePoint(cv::Point3f(i,0, tickLength));
                    painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
                    p[0] = extCalib->getImagePoint(cv::Point3f(i,0,0));
                }
                if( i+tickLength < y3D.y )
                {
                    p[0] = extCalib->getImagePoint(cv::Point3f(-tickLength,i,0));
                    p[1] = extCalib->getImagePoint(cv::Point3f( tickLength,i,0));
                    painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
                    p[0] = extCalib->getImagePoint(cv::Point3f(0,i,-tickLength));
                    p[1] = extCalib->getImagePoint(cv::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(cv::Point3f(-tickLength,0,i));
                    p[1] = extCalib->getImagePoint(cv::Point3f( tickLength,0,i));
                    painter->drawLine(QPointF(p[0].x,p[0].y),QPointF(p[1].x,p[1].y));
                    p[0] = extCalib->getImagePoint(cv::Point3f(0,-tickLength,i));
                    p[1] = extCalib->getImagePoint(cv::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 ) coordinaten = QString::asprintf("(%.2f, %.2f)", ursprung.x,ursprung.y);
            if( debug ) painter->drawText(QPoint(ursprung.x-100,ursprung.y),coordinaten);

            //////////////////////////////////////////////
            // Drawing the peaks at the end of the axis //
            //////////////////////////////////////////////            

            int peakSize = AXIS_MARKERS_LENGTH;

            ///////
            // X //
            ///////

            p[0] = extCalib->getImagePoint(cv::Point3f(x3D.x,0,0));
            p[1] = extCalib->getImagePoint(cv::Point3f(x3D.x-peakSize,-peakSize,0));
            p[2] = extCalib->getImagePoint(cv::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->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(cv::Point3f(x3D.x,0,0));
            p[1] = extCalib->getImagePoint(cv::Point3f(x3D.x-peakSize,0,-peakSize));
            p[2] = extCalib->getImagePoint(cv::Point3f(x3D.x-peakSize,0, peakSize));
            p[3] = extCalib->getImagePoint(cv::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->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 ) coordinaten = QString::asprintf("(% .2f, % .2f)", p[1].x,p[1].y);
            if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),coordinaten);

            if( debug ) coordinaten = QString::fromLatin1("X");
            if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),coordinaten);

            ///////
            // Y //
            ///////

            p[0] = extCalib->getImagePoint(cv::Point3f(0,y3D.y,0));
            p[1] = extCalib->getImagePoint(cv::Point3f(-peakSize,y3D.y-peakSize,0));
            p[2] = extCalib->getImagePoint(cv::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->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(cv::Point3f(0,y3D.y,0));
            p[1] = extCalib->getImagePoint(cv::Point3f(0,y3D.y-peakSize,-peakSize));
            p[2] = extCalib->getImagePoint(cv::Point3f(0,y3D.y-peakSize, peakSize));
            p[3] = extCalib->getImagePoint(cv::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->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 ) coordinaten = QString::asprintf("(%.2f, %.2f)", p[1].x,p[1].y);
            if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),coordinaten);

            if( debug ) coordinaten = QString::fromLatin1("Y");
            if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),coordinaten);

            ///////
            // Z //
            ///////

            p[0] = extCalib->getImagePoint(cv::Point3f(0,0,z3D.z));
            p[1] = extCalib->getImagePoint(cv::Point3f(0,-peakSize,z3D.z-peakSize));
            p[2] = extCalib->getImagePoint(cv::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->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(cv::Point3f(0,0,z3D.z));
            p[1] = extCalib->getImagePoint(cv::Point3f(-peakSize,0,z3D.z-peakSize));
            p[2] = extCalib->getImagePoint(cv::Point3f( peakSize,0,z3D.z-peakSize));
            p[3] = extCalib->getImagePoint(cv::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->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 ) coordinaten = QString::asprintf("(%.2f, %.2f)", p[1].x,p[1].y);
            if( debug ) painter->drawText(QPoint(p[3].x,p[3].y),coordinaten);

            if( debug ) coordinaten =  QString::fromLatin1("Z");
            if( debug ) painter->drawText(QPoint(p[1].x,p[1].y),coordinaten);

            }
        }

    }
}