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Commit 44f51ee6 authored by d.kilic's avatar d.kilic
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Merge branch '380-delete-dead-code-in-coorditem' into 'master' 

Resolve "Delete dead code in CoordItem"

Closes #380

See merge request !270
parents 66fa3823 8b5fae1e
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1 merge request!270Resolve "Delete dead code in CoordItem"
Pipeline #95846 passed
Stage: build_environment
Stage: pre-build-checks
Stage: build
Stage: test
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src/coordItem.cpp
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− 356
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...@@ -20,9 +20,7 @@ ...@@ -20,9 +20,7 @@
#include "control.h" #include "control.h"
#include "extrCalibration.h" #include "extrCalibration.h"
#include "logger.h"
#include "petrack.h" #include "petrack.h"
#include "view.h"
#include <QtWidgets> #include <QtWidgets>
#include <cmath> #include <cmath>
...@@ -215,8 +213,8 @@ void CoordItem::updateData() ...@@ -215,8 +213,8 @@ void CoordItem::updateData()
matrix.scale(1, 1); matrix.scale(1, 1);
setTransform(matrix); setTransform(matrix);
double axeLen = mControlWidget->getCalibCoord3DAxeLen(); const double axeLen = mControlWidget->getCalibCoord3DAxeLen();
int bS = mMainWindow->getImageBorderSize(); const int bS = mMainWindow->getImageBorderSize();
// Coordinate-system origin at (tX,tY,tZ) // Coordinate-system origin at (tX,tY,tZ)
if(extCalib->isSetExtrCalib()) if(extCalib->isSetExtrCalib())
...@@ -269,8 +267,6 @@ void CoordItem::updateData() ...@@ -269,8 +267,6 @@ void CoordItem::updateData()
void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*option*/, QWidget * /*widget*/) void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*option*/, QWidget * /*widget*/)
{ {
bool debug = false;
//////////////////////////////// ////////////////////////////////
// Drawing Calibration Points // // Drawing Calibration Points //
//////////////////////////////// ////////////////////////////////
...@@ -318,39 +314,10 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -318,39 +314,10 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
painter->setBrush(Qt::black); painter->setBrush(Qt::black);
painter->drawText(QPointF(p2.x + 10, p2.y + font.pixelSize()), QObject::tr("%1").arg((i + 1))); painter->drawText(QPointF(p2.x + 10, p2.y + font.pixelSize()), QObject::tr("%1").arg((i + 1)));
if(p2.x < calibPointsMin.x) calibPointsMin.x = std::min({calibPointsMin.x, p2.x, p3.x});
{ calibPointsMin.y = std::min({calibPointsMin.y, p2.y, p3.y});
calibPointsMin.x = p2.x; calibPointsMax.x = std::max({calibPointsMax.x, p2.x, p3.x});
} calibPointsMax.y = std::max({calibPointsMax.y, p2.y, p3.y});
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;
}
} }
} }
} }
...@@ -369,63 +336,32 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -369,63 +336,32 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
painter->setPen(QPen(QBrush(Qt::blue), 0)); painter->setPen(QPen(QBrush(Qt::blue), 0));
static QPointF points[3];
// Koordinatenachsen // Koordinatenachsen
points[0].setX(-10.); painter->drawLine(QPoint{-10, 0}, QPoint{100, 0});
points[0].setY(0.); painter->drawLine(QPoint{0, 10}, QPoint{0, -100});
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 // Ticks
for(int i = 1; i < 11; i++) // i=10 zeichnen sieht ungewoehnlich aus, laeest sich aber besser mit messen for(int i = 1; i < 11; i++) // i=10 zeichnen sieht ungewoehnlich aus, laeest sich aber besser mit messen
{ {
points[0].setX(2.); painter->drawLine(QPoint{2, -i * 10}, QPoint{-2, -i * 10});
points[0].setY(-i * 10.); painter->drawLine(QPoint{i * 10, 2}, QPoint{i * 10, -2});
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 // Beschriftung
points[0].setX(97.); painter->drawText(QPoint{97, 12}, QObject::tr("1"));
points[0].setY(12.); painter->drawText(QPoint{-8, -97}, QObject::tr("1"));
painter->drawText(points[0], QObject::tr("1"));
points[0].setX(-8.);
points[0].setY(-97.);
painter->drawText(points[0], QObject::tr("1"));
// Pfeilspitzen // Pfeilspitzen
painter->setPen(Qt::NoPen); painter->setPen(Qt::NoPen);
painter->setBrush(Qt::blue); painter->setBrush(Qt::blue);
points[0].setX(100.); QPolygon arrowTipX;
points[0].setY(0.); arrowTipX << QPoint(100, 0) << QPoint(95, 2) << QPoint(95, -2);
points[1].setX(95.); painter->drawPolygon(arrowTipX);
points[1].setY(2.);
points[2].setX(95.); QPolygon arrowTipY;
points[2].setY(-2.); arrowTipY << QPoint(0, -100) << QPoint(2, -95) << QPoint(-2, -95);
painter->drawPolygon(points, 3); painter->drawPolygon(arrowTipY);
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 else
{ {
...@@ -435,111 +371,11 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -435,111 +371,11 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
if(extCalib->isSetExtrCalib()) if(extCalib->isSetExtrCalib())
{ {
QPointF points[4]; auto getImgPoint = [this](const cv::Point3f &realPoint)
cv::Point2f p[4];
QString coordinaten;
/////////////////////////////////////////////////////
// Draw a cube (Quader) near coord system //
/////////////////////////////////////////////////////
bool drawCube = false;
if(drawCube)
{ {
painter->setPen(Qt::green); const auto imgPoint = extCalib->getImagePoint(realPoint);
// Boden return QPointF(imgPoint.x, imgPoint.y);
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);
}
////////////////////////////// //////////////////////////////
...@@ -547,13 +383,9 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -547,13 +383,9 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
////////////////////////////// //////////////////////////////
painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth)); painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth));
p[0] = extCalib->getImagePoint(cv::Point3f(0, 0, 0)); painter->drawLine(getImgPoint({0, 0, 0}), getImgPoint(x3D));
p[1] = extCalib->getImagePoint(cv::Point3f(x3D.x, x3D.y, x3D.z)); painter->drawLine(getImgPoint({0, 0, 0}), getImgPoint(y3D));
painter->drawLine(QPointF(p[0].x, p[0].y), QPointF(p[1].x, p[1].y)); painter->drawLine(getImgPoint({0, 0, 0}), getImgPoint(z3D));
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 // // Drawing the X,Y,Z - Symbols //
...@@ -562,12 +394,13 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -562,12 +394,13 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
painter->setPen(QPen(QBrush(Qt::black), coordLineWidth)); painter->setPen(QPen(QBrush(Qt::black), coordLineWidth));
painter->setFont(QFont("Arial", 15)); painter->setFont(QFont("Arial", 15));
p[0] = extCalib->getImagePoint(cv::Point3f(x3D.x + 10, x3D.y, x3D.z)); const QPointF labelOffset{-5, 5};
painter->drawText(QPointF(p[0].x - 5, p[0].y + 5), QString("X")); const QPointF xLabelPos = getImgPoint(x3D + cv::Point3f(10, 0, 0)) + labelOffset;
p[0] = extCalib->getImagePoint(cv::Point3f(y3D.x, y3D.y + 10, y3D.z)); const QPointF yLabelPos = getImgPoint(y3D + cv::Point3f(0, 10, 0)) + labelOffset;
painter->drawText(QPointF(p[0].x - 5, p[0].y + 5), QString("Y")); const QPointF zLabelPos = getImgPoint(z3D + cv::Point3f(0, 0, 10)) + labelOffset;
p[0] = extCalib->getImagePoint(cv::Point3f(z3D.x, z3D.y, z3D.z + 10)); painter->drawText(xLabelPos, QString("X"));
painter->drawText(QPointF(p[0].x - 5, p[0].y + 5), QString("Z")); painter->drawText(yLabelPos, QString("Y"));
painter->drawText(zLabelPos, QString("Z"));
////////////////////////////// //////////////////////////////
// Drawing the tick-markers // // Drawing the tick-markers //
...@@ -582,193 +415,88 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti ...@@ -582,193 +415,88 @@ void CoordItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*opti
// Solange Achsen-Ende noch nicht erreicht: Markierung zeichnen // Solange Achsen-Ende noch nicht erreicht: Markierung zeichnen
if(i + tickLength < x3D.x) if(i + tickLength < x3D.x)
{ {
p[0] = extCalib->getImagePoint(cv::Point3f(i, -tickLength, 0)); painter->drawLine(
p[1] = extCalib->getImagePoint(cv::Point3f(i, tickLength, 0)); getImgPoint(cv::Point3f(i, -tickLength, 0)), getImgPoint(cv::Point3f(i, tickLength, 0)));
painter->drawLine(QPointF(p[0].x, p[0].y), QPointF(p[1].x, p[1].y)); painter->drawLine(
p[0] = extCalib->getImagePoint(cv::Point3f(i, 0, -tickLength)); getImgPoint(cv::Point3f(i, 0, -tickLength)), getImgPoint(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) if(i + tickLength < y3D.y)
{ {
p[0] = extCalib->getImagePoint(cv::Point3f(-tickLength, i, 0)); painter->drawLine(
p[1] = extCalib->getImagePoint(cv::Point3f(tickLength, i, 0)); getImgPoint(cv::Point3f(-tickLength, i, 0)), getImgPoint(cv::Point3f(tickLength, i, 0)));
painter->drawLine(QPointF(p[0].x, p[0].y), QPointF(p[1].x, p[1].y)); painter->drawLine(
p[0] = extCalib->getImagePoint(cv::Point3f(0, i, -tickLength)); getImgPoint(cv::Point3f(0, i, -tickLength)), getImgPoint(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) if(i + tickLength < z3D.z)
{ {
p[0] = extCalib->getImagePoint(cv::Point3f(-tickLength, 0, i)); painter->drawLine(
p[1] = extCalib->getImagePoint(cv::Point3f(tickLength, 0, i)); getImgPoint(cv::Point3f(-tickLength, 0, i)), getImgPoint(cv::Point3f(tickLength, 0, i)));
painter->drawLine(QPointF(p[0].x, p[0].y), QPointF(p[1].x, p[1].y)); painter->drawLine(
p[0] = extCalib->getImagePoint(cv::Point3f(0, -tickLength, i)); getImgPoint(cv::Point3f(0, -tickLength, i)), getImgPoint(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); QFont font("Arial", tickLength * 0.5);
painter->setFont(font); 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 // // Drawing the peaks at the end of the axis //
////////////////////////////////////////////// //////////////////////////////////////////////
int peakSize = AXIS_MARKERS_LENGTH; constexpr int peakSize = AXIS_MARKERS_LENGTH;
painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth));
painter->setBrush(Qt::NoBrush); // don't fill polygons
/////// ///////
// X // // X //
/////// ///////
p[0] = extCalib->getImagePoint(cv::Point3f(x3D.x, 0, 0)); /* clang-format off */
p[1] = extCalib->getImagePoint(cv::Point3f(x3D.x - peakSize, -peakSize, 0)); QPolygonF arrowTipX1;
p[2] = extCalib->getImagePoint(cv::Point3f(x3D.x - peakSize, peakSize, 0)); arrowTipX1 << getImgPoint({x3D.x, 0, 0})
points[0] = QPointF(p[0].x, p[0].y); << getImgPoint({x3D.x - peakSize, -peakSize, 0})
points[1] = QPointF(p[1].x, p[1].y); << getImgPoint({x3D.x - peakSize, peakSize, 0});
points[2] = QPointF(p[2].x, p[2].y); QPolygonF arrowTipX2;
painter->setPen(Qt::green); arrowTipX2 << getImgPoint({x3D.x, 0, 0})
painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth)); << getImgPoint({x3D.x - peakSize, 0, -peakSize})
painter->drawLine(points[0], points[1]); << getImgPoint({x3D.x - peakSize, 0, peakSize});
painter->drawLine(points[0], points[2]); /* clang-format on */
painter->drawLine(points[2], points[1]); painter->drawPolygon(arrowTipX1);
p[0] = extCalib->getImagePoint(cv::Point3f(x3D.x, 0, 0)); painter->drawPolygon(arrowTipX2);
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 // // Y //
/////// ///////
p[0] = extCalib->getImagePoint(cv::Point3f(0, y3D.y, 0)); /* clang-format off */
p[1] = extCalib->getImagePoint(cv::Point3f(-peakSize, y3D.y - peakSize, 0)); QPolygonF arrowTipY1;
p[2] = extCalib->getImagePoint(cv::Point3f(peakSize, y3D.y - peakSize, 0)); arrowTipY1 << getImgPoint({0, y3D.y, 0})
points[0] = QPointF(p[0].x, p[0].y); << getImgPoint({-peakSize, y3D.y - peakSize, 0})
points[1] = QPointF(p[1].x, p[1].y); << getImgPoint({peakSize, y3D.y - peakSize, 0});
points[2] = QPointF(p[2].x, p[2].y); QPolygonF arrowTipY2;
painter->setPen(Qt::green); arrowTipY2 << getImgPoint({0, y3D.y, 0})
painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth)); << getImgPoint({0, y3D.y - peakSize, -peakSize})
painter->drawLine(points[0], points[1]); << getImgPoint({0, y3D.y - peakSize, peakSize});
painter->drawLine(points[0], points[2]); /* clang-format on */
painter->drawLine(points[2], points[1]); painter->drawPolygon(arrowTipY1);
p[0] = extCalib->getImagePoint(cv::Point3f(0, y3D.y, 0)); painter->drawPolygon(arrowTipY2);
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 // // Z //
/////// ///////
p[0] = extCalib->getImagePoint(cv::Point3f(0, 0, z3D.z)); /* clang-format off */
p[1] = extCalib->getImagePoint(cv::Point3f(0, -peakSize, z3D.z - peakSize)); QPolygonF arrowTipZ1;
p[2] = extCalib->getImagePoint(cv::Point3f(0, peakSize, z3D.z - peakSize)); arrowTipZ1 << getImgPoint({0, 0, z3D.z})
points[0] = QPointF(p[0].x, p[0].y); << getImgPoint({0, -peakSize, z3D.z - peakSize})
points[1] = QPointF(p[1].x, p[1].y); << getImgPoint({0, peakSize, z3D.z - peakSize});
points[2] = QPointF(p[2].x, p[2].y); QPolygonF arrowTipZ2;
painter->setPen(Qt::green); arrowTipZ2 << getImgPoint({0, 0, z3D.z})
painter->setPen(QPen(QBrush(Qt::blue), coordLineWidth)); << getImgPoint({-peakSize, 0, z3D.z - peakSize})
painter->drawLine(points[0], points[1]); << getImgPoint({peakSize, 0, z3D.z - peakSize});
painter->drawLine(points[0], points[2]); /* clang-format on */
painter->drawLine(points[2], points[1]); painter->drawPolygon(arrowTipZ1);
p[0] = extCalib->getImagePoint(cv::Point3f(0, 0, z3D.z)); painter->drawPolygon(arrowTipZ2);
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);
}
} }
} }
} }
......
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