bool _Bullseye::getCircleCenter(vDouble3* pCenter)
{
NULL_F(pCenter);
NULL_F(m_pStream);
//Use num instead of m_numCircle to avoid multi-thread inconsistancy
int num = m_numCircle;
if(num==0)return false;
int i;
vDouble3* pMarker = &m_pCircle[0];
vDouble3* pCompare;
int camCenter = (m_pStream->m_width+m_pStream->m_height)/2;
//Find the closest point
for(i=1; i<num; i++)
{
pCompare = &m_pCircle[i];
if(abs(pCompare->m_x + pCompare->m_y - camCenter) < abs(pMarker->m_x + pMarker->m_y - camCenter))
{
pMarker = pCompare;
}
}
pCenter->m_x = pMarker->m_x;
pCenter->m_y = pMarker->m_y;
pCenter->m_z = pMarker->m_z;
return true;
}
bool _Automaton::transit(string* pNextStateName)
{
NULL_F(pNextStateName);
int iNext = getStateIdx(pNextStateName);
CHECK_F(iNext<0);
m_iState = iNext;
return true;
}
bool _ROITracker::link(void)
{
NULL_F(m_pKiss);
Kiss* pK = (Kiss*)m_pKiss;
//link instance
string iName = "";
F_ERROR_F(pK->v("_Stream",&iName));
m_pStream = (_StreamBase*)(pK->root()->getChildInstByName(&iName));
//TODO: link variables to Automaton
return true;
}
bool HM_follow::draw(Frame* pFrame, vInt4* pTextPos)
{
NULL_F(pFrame);
Mat* pMat = pFrame->getCMat();
putText(*pMat,
"HM: rpmL=" + i2str(m_pHM->m_motorPwmL) + ", rpmR="
+ i2str(m_pHM->m_motorPwmR),
cv::Point(pTextPos->m_x, pTextPos->m_y), FONT_HERSHEY_SIMPLEX, 0.5,
Scalar(0, 255, 0), 1);
pTextPos->m_y += pTextPos->m_w;
CHECK_T(m_pTarget==NULL);
circle(*pMat, Point(m_pTarget->m_bbox.midX(), m_pTarget->m_bbox.midY()), 10,
Scalar(0, 0, 255), 2);
return true;
}
bool RC_visualFollow::draw(void)
{
CHECK_F(!this->ActionBase::draw());
Window* pWin = (Window*)this->m_pWindow;
Mat* pMat = pWin->getFrame()->getCMat();
NULL_F(m_pROITracker);
Rect2d roi;
// draw the tracked object
if (m_bSelect)
{
roi = getMouseROI(m_ROI);
if (roi.height > 0 || roi.width > 0)
{
rectangle(*pMat, roi, Scalar(0, 255, 0), 2);
}
}
else if (m_pROITracker->m_bTracking)
{
roi = m_pROITracker->m_ROI;
if (roi.height > 0 || roi.width > 0)
{
rectangle(*pMat, roi, Scalar(0, 0, 255), 2);
}
}
if (m_ROImode == MODE_ASSIST)
{
m_pUIassist->draw();
}
else if (m_ROImode == MODE_DRAWRECT)
{
m_pUIdrawRect->draw();
}
circle(*pMat, Point(m_roll.m_targetPos, m_pitch.m_targetPos), 50,
Scalar(0, 255, 0), 2);
return true;
}
bool _Universe::draw(Frame* pFrame, vInt4* pTextPos)
{
NULL_F(pFrame);
Mat* pMat = pFrame->getCMat();
putText(*pMat, "Universe FPS: " + i2str(getFrameRate()),
cv::Point(pTextPos->m_x, pTextPos->m_y), FONT_HERSHEY_SIMPLEX, 0.5,
Scalar(0, 255, 0), 1);
pTextPos->m_y += pTextPos->m_w;
OBJECT* pObj;
Scalar color;
double thickness;
for (int i = 0; i < m_nObj; i++)
{
pObj = &m_pObj[i];
if (pObj->m_frameID <= 0)continue;
color = Scalar(0, 255, 0);
thickness = 1;
Rect bbox;
bbox.x = pObj->m_bbox.m_x;
bbox.y = pObj->m_bbox.m_y;
bbox.width = pObj->m_bbox.m_z - pObj->m_bbox.m_x;
bbox.height = pObj->m_bbox.m_w - pObj->m_bbox.m_y;
rectangle(*pMat, bbox, color, thickness);
if(pObj->m_iClass >= m_nObjClass)continue;
putText(*pMat, m_pObjClass[pObj->m_iClass].m_name,
Point(bbox.x + bbox.width / 2, bbox.y + bbox.height / 2),
FONT_HERSHEY_SIMPLEX, 0.8, color, thickness);
}
return true;
}
bool _Universe::link(void)
{
NULL_F(m_pKiss);
return true;
}
