void Triangulation::calculateLocalBackground() {
// local calc BG
//Calculation and testing background
qDebug() << "start calc bg";
vector < Mat > pics1;
vector < Mat > pics2;
for (int i = 1; i <= 4; i++) {
Mat grey1, grey2;
string s = QString::number(i).toUtf8().constData();
Mat img1 = imread("image1150330fish" + s + ".jpg");
Mat img2 = imread("image2150330fish" + s + ".jpg");
cvtColor(img1, grey1, CV_BGR2GRAY);
cvtColor(img2, grey2, CV_BGR2GRAY);
pics1.push_back(grey1);
pics2.push_back(grey2);
}
qDebug() << "added imgs";
Q_ASSERT(pics1.size() == pics2.size());
int w = 1600;
int h = 1200;
Mat bg1(h, w, CV_8UC1);
Mat bg2(h, w, CV_8UC1);
qDebug() << "bg1.cols: " << bg1.cols;
qDebug() << "bg1.rows: " << bg1.rows;
qDebug() << "pics1[0].cols: " << pics1[0].cols;
qDebug() << "pics1[0].rows: " << pics1[0].rows;
for (int i = 0; i < h; i++) { //rows
for (int j = 0; j < w; j++) { //cols
long long int s1 = 1; //0
long long int s2 = 1; //0
QVector < int > m1;
QVector < int > m2;
for (int k = 0; k < pics1.size(); k++) {
s1 *= pics1[k].at<uchar>(i, j);
s2 *= pics2[k].at<uchar>(i, j);
m1.push_back(pics1[k].at<uchar>(i, j));
m2.push_back(pics2[k].at<uchar>(i, j));
//qDebug() << "pics1[k].at<uchar>(i, j): " << pics1[k].at<uchar>(i, j);
}
qSort(m1);
qSort(m2);
bg1.at<uchar>(i, j) = m1[m1.size() / 2];
bg2.at<uchar>(i, j) = m2[m2.size() / 2];
}
}
background->setImages(bg1, bg2);
isBackgroundCalculated = true;
qDebug() << "calced";
}
void Triangulation::calculateBackground() {
//Calculation and testing background
if (stereoImages.size() <= 0) {
return;
}
qDebug() << "start calc bg";
vector < Mat > pics1;
vector < Mat > pics2;
for (int i = 0; i < stereoImages.size(); i++) {
Mat grey1, grey2;
cvtColor(stereoImages[i]->getLeft(), grey1, CV_BGR2GRAY);
cvtColor(stereoImages[i]->getRight(), grey2, CV_BGR2GRAY);
pics1.push_back(grey1);
pics2.push_back(grey2);
qDebug() << i;
}
qDebug() << "added imgs";
Q_ASSERT(pics1.size() == pics2.size());
int w = pics1[0].cols;
int h = pics1[0].rows;
Mat bg1(h, w, CV_8UC1);
Mat bg2(h, w, CV_8UC1);
qDebug() << "bg1.cols: " << bg1.cols;
qDebug() << "bg1.rows: " << bg1.rows;
qDebug() << "pics1[0].cols: " << pics1[0].cols;
qDebug() << "pics1[0].rows: " << pics1[0].rows;
for (int i = 0; i < h; i++) { //rows
for (int j = 0; j < w; j++) { //cols
long long int s1 = 1; //0
long long int s2 = 1; //0
QVector < int > m1;
QVector < int > m2;
for (int k = 0; k < pics1.size(); k++) {
s1 *= pics1[k].at<uchar>(i, j);
s2 *= pics2[k].at<uchar>(i, j);
m1.push_back(pics1[k].at<uchar>(i, j));
m2.push_back(pics2[k].at<uchar>(i, j));
//qDebug() << "pics1[k].at<uchar>(i, j): " << pics1[k].at<uchar>(i, j);
}
qSort(m1);
qSort(m2);
bg1.at<uchar>(i, j) = m1[m1.size() / 2];
bg2.at<uchar>(i, j) = m2[m2.size() / 2];
}
}
qDebug() << "calced";
background->setImages(bg1, bg2);
}
void ScopePanel::drawPanelContents() {
if (scopeMode == SCOPE_MODE_Y) {
bgPanel.setFillColor(ThemeMgr::mgr.currentTheme->scopeBackground, ThemeMgr::mgr.currentTheme->scopeBackground * 2.0);
bgPanel.calcTransform(transform);
bgPanel.draw();
glLineWidth(1.0);
glEnable(GL_LINE_SMOOTH);
glLoadMatrixf(transform.to_ptr());
glColor3f(ThemeMgr::mgr.currentTheme->scopeLine.r * 0.35, ThemeMgr::mgr.currentTheme->scopeLine.g * 0.35,
ThemeMgr::mgr.currentTheme->scopeLine.b * 0.35);
glBegin (GL_LINES);
glVertex2f(-1.0, 0.0);
glVertex2f(1.0, 0.0);
glEnd();
} else if (scopeMode == SCOPE_MODE_2Y) {
bgPanelStereo[0].setFillColor(ThemeMgr::mgr.currentTheme->scopeBackground, ThemeMgr::mgr.currentTheme->scopeBackground * 2.0);
bgPanelStereo[1].setFillColor(ThemeMgr::mgr.currentTheme->scopeBackground, ThemeMgr::mgr.currentTheme->scopeBackground * 2.0);
bgPanelStereo[0].calcTransform(transform);
bgPanelStereo[0].draw();
bgPanelStereo[1].calcTransform(transform);
bgPanelStereo[1].draw();
glLineWidth(1.0);
glLoadMatrixf(transform.to_ptr());
glColor3f(ThemeMgr::mgr.currentTheme->scopeLine.r, ThemeMgr::mgr.currentTheme->scopeLine.g, ThemeMgr::mgr.currentTheme->scopeLine.b);
glEnable(GL_LINE_SMOOTH);
glBegin (GL_LINES);
glVertex2f(-1.0, 0.0);
glVertex2f(1.0, 0.0);
glColor3f(ThemeMgr::mgr.currentTheme->scopeLine.r * 0.35, ThemeMgr::mgr.currentTheme->scopeLine.g * 0.35,
ThemeMgr::mgr.currentTheme->scopeLine.b * 0.35);
glVertex2f(-1.0, 0.5);
glVertex2f(1.0, 0.5);
glVertex2f(-1.0, -0.5);
glVertex2f(1.0, -0.5);
glEnd();
} else if (scopeMode == SCOPE_MODE_XY) {
RGBA4f bg1(ThemeMgr::mgr.currentTheme->scopeBackground), bg2(ThemeMgr::mgr.currentTheme->scopeBackground * 2.0);
bg1.a = 0.05f;
bg2.a = 0.05f;
bgPanel.setFillColor(bg1, bg2);
bgPanel.calcTransform(transform);
bgPanel.draw();
glLineWidth(1.0);
glEnable(GL_POINT_SMOOTH);
glPointSize(1.0);
glLoadMatrixf(transform.to_ptr());
glColor3f(ThemeMgr::mgr.currentTheme->scopeLine.r * 0.15, ThemeMgr::mgr.currentTheme->scopeLine.g * 0.15,
ThemeMgr::mgr.currentTheme->scopeLine.b * 0.15);
}
if (points.size()) {
glEnable (GL_BLEND);
glEnable (GL_LINE_SMOOTH);
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST);
if (scopeMode == SCOPE_MODE_XY) {
glBlendFunc(GL_ONE, GL_ONE);
} else {
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
}
glColor4f(ThemeMgr::mgr.currentTheme->scopeLine.r, ThemeMgr::mgr.currentTheme->scopeLine.g, ThemeMgr::mgr.currentTheme->scopeLine.b, 1.0);
glEnableClientState (GL_VERTEX_ARRAY);
glVertexPointer(2, GL_FLOAT, 0, &points[0]);
glLineWidth(1.5);
if (scopeMode == SCOPE_MODE_Y) {
glLoadMatrixf(bgPanel.transform.to_ptr());
glDrawArrays(GL_LINE_STRIP, 0, points.size() / 2);
} else if (scopeMode == SCOPE_MODE_2Y) {
glLoadMatrixf(bgPanelStereo[0].transform.to_ptr());
glDrawArrays(GL_LINE_STRIP, 0, points.size() / 4);
glLoadMatrixf(bgPanelStereo[1].transform.to_ptr());
glDrawArrays(GL_LINE_STRIP, points.size() / 4, points.size() / 4);
} else if (scopeMode == SCOPE_MODE_XY) {
glLoadMatrixf(bgPanel.transform.to_ptr());
glDrawArrays(GL_POINTS, 0, points.size() / 2);
}
glLineWidth(1.0);
glDisableClientState(GL_VERTEX_ARRAY);
glDisable(GL_BLEND);
}
}
