void TrackingBruteForce::writeToDebugImage(CameraObject &cameraCurr)
{
if(!cameraCurr.hasImage("debugImage"))
cameraCurr.addImage("debugImage", cameraCurr.getImage("rawImage").clone());
cv::Mat debugImage = cameraCurr.getImage("debugImage");
std::string text = "";
int fontFace = cv::FONT_HERSHEY_PLAIN;
double fontScale = 1;
int thickness = 1;
for(std::vector<Object>::iterator object = cameraCurr.getPotentialObjects().begin(); object != cameraCurr.getPotentialObjects().end(); object++) {
cv::Point2d pos = object->centerOfMass;
text = "lifespan: " + std::to_string(object->lifeSpan);
putText(debugImage, text, pos, fontFace, fontScale, cv::Scalar(0,0,255), thickness, 8);
cv::rectangle(debugImage, object->boundingBox, cv::Scalar(0,0,255), 2);
cv::circle(debugImage, object->centerOfMass, 10, cv::Scalar(0,0,100), -1);
}
for(std::vector<Object>::iterator object = cameraCurr.getObjects().begin(); object != cameraCurr.getObjects().end(); object++) {
cv::Point2d pos = object->centerOfMass;
text = "id: "+std::to_string(object->id);
if(object->lost) {
text += ", LOST lifespan: " + std::to_string(object->lifeSpan);
cv::rectangle(debugImage, object->boundingBox, cv::Scalar(255,0,0), 2);
cv::circle(debugImage, object->centerOfMass, 10, cv::Scalar(100,0,0), -1);
putText(debugImage, text, pos, fontFace, fontScale, cv::Scalar(255, 0, 0), thickness, 8);
} else {
cv::rectangle(debugImage, object->boundingBox, cv::Scalar(0,255,0), 2);
cv::circle(debugImage, object->centerOfMass, 10, cv::Scalar(0,100,0), -1);
putText(debugImage, text, pos, fontFace, fontScale, cv::Scalar(0, 255, 0), thickness, 8);
}
cv::line(debugImage, object->centerOfMass, object->centerOfMass+object->velocity*10, cv::Scalar(0,255,0), 3);
cv::line(debugImage, object->centerOfMass, object->centerOfMass+object->velocityPrediction*10, cv::Scalar(255,0,0), 2);
cv::circle(debugImage, object->positionPrediction, 6, cv::Scalar(255,0,0), 2);
}
}
