/**
Draw the robot position in the original image sequence.
Need to know the entire camera calibration (and more) for this...
**/
QImage showRobotTrackUndistorted( IplImage* img, ///< original avi image
const RobotTracker* tracker, ///< robot tracker
int flip ///< flip output coords?
)
{
// Convert from IplImage to QImage...
const QSize imgSize( img->width,img->height );
QImage qimage = QImage( imgSize, QImage::Format_RGB888 );
CvMat mtxWrapper;
cvInitMatHeader( &mtxWrapper,
img->height,
img->width,
CV_8UC3,
qimage.bits() );
cvConvertImage( img, &mtxWrapper, flip );
// Now draw on top of the QImage...
QPainter painter(&qimage);
painter.setRenderHint(QPainter::Antialiasing, true);
QPen penRed( QColor(255,0,0) );
QPen penBlue( QColor(0,0,255) );
QPen penRedGreen( QColor(255,255,0) );
CvPoint2D32f offset = *tracker->GetOffsetParams();
const CameraCalibration* cal = tracker->GetCalibration();
// Draw the path taken so far (but each point needs to be converted from plane, to image co-ordinates)
const TrackHistory& history = tracker->GetHistory();
if ( history.size() > 1 )
{
CvPoint2D32f pos = history[0].GetPosition();
pos.x += offset.x;
pos.y += offset.y;
CvPoint2D32f oldPosf = cal->PlaneToImage( pos );
if ( flip )
{
oldPosf.y = img->height - oldPosf.y;
}
CvPoint oldPos = cvPoint( ( int )oldPosf.x, ( int )oldPosf.y );
for ( unsigned int i = 1; i < history.size(); ++i )
{
double tdiff = fabs( history[i].t() - history[i - 1].t() );
if ( tdiff > 2000.0 / 3.0 )
{
pos = history[i].GetPosition();
pos.x += offset.x;
pos.y += offset.y;
oldPosf = cal->PlaneToImage( pos );
if ( flip )
{
oldPosf.y = img->height - oldPosf.y;
}
oldPos = cvPoint( ( int )oldPosf.x, ( int )oldPosf.y );
}
else
{
pos = history[i].GetPosition();
pos.x += offset.x;
pos.y += offset.y;
CvPoint2D32f newPosf = cal->PlaneToImage( pos );
if ( flip )
{
newPosf.y = img->height - newPosf.y;
}
CvPoint newPos = cvPoint( ( int )newPosf.x, ( int )newPosf.y );
//CvScalar colour;
//float err = expf( -powf( (1.f-history[i].GetError())/0.5f, 4) );
//float col = 255*err;
//colour = CV_RGB( 255,0,0 ); //cvScalar( col, col, 255 );
// if ( err > 0.35f )
// {
// colour = cvScalar(0,255,0);
// }
// else
// {
// colour = cvScalar(0,0,255);
// }
//cvLine( img, oldPos, newPos, colour, 1, CV_AA );
penRed.setWidth( 2 );
painter.setPen( penRed );
painter.drawLine( oldPos.x, oldPos.y, newPos.x, newPos.y );
oldPos = newPos;
}
}
}
return qimage;
}
bool SingleVarStats::OperateModelGraphic(CMdlGraphicWnd &Wnd, CMdlGraphic &Grf)
{
const COLORREF White = COLORREF(RGB(255,255,255));
const COLORREF Black = COLORREF(RGB(0,0,0));
const COLORREF Blue = COLORREF(RGB(0,0,255));
const COLORREF Cyan = COLORREF(RGB(0,255,255));
const COLORREF Red = COLORREF(RGB(255,0,0));
const COLORREF Green = COLORREF(RGB(0,255,0));
switch (Wnd.m_eTask)
{
case MGT_Create:
Wnd.m_pWnd->SetWindowPos(NULL, 0, 0, 200, 200, SWP_NOMOVE | SWP_NOZORDER);
break;
case MGT_Size:
Wnd.m_pWnd->Invalidate();
break;
case MGT_Move:
break;
case MGT_EraseBkgnd:
Wnd.m_bReturn = 0;
break;
case MGT_Paint:
Wnd.m_pPaintDC->FillSolidRect(Wnd.m_ClientRect, Black);
Wnd.m_pPaintDC->SetTextColor(Green);
CPen penWhite(PS_SOLID, 0, White);
CPen penGreen(PS_SOLID, 0, Green);
CPen penRed(PS_SOLID, 0, Red);
CBrush brushRed(Red);
int nTextSize = Wnd.m_TextSize.y;
int nBorderSpace = nTextSize;
int nTextSpace = 4;
int nAxesSpace = 4;
#if (_MSC_VER >= 1400)
int nTopSpace = nBorderSpace + nTextSize;
int nAxesLeft = nBorderSpace + nTextSize + nTextSpace + nAxesSpace;
#else
int nTopSpace = nBorderSpace + nTextSize + nAxesSpace;
int nAxesLeft = nBorderSpace + nAxesSpace;
#endif
int nCheckSize = nAxesSpace - 1;
int minSpace = 10;
//Draw axes:
int nAxesTop = nTopSpace,
nAxesBottom = Wnd.m_ClientRect.bottom - (nBorderSpace + 2 * nTextSize + nTextSpace + nAxesSpace),
nAxesRight = Wnd.m_ClientRect.right - (nBorderSpace);
if (nAxesBottom - nAxesTop <= 0 || nAxesRight - nAxesLeft <= 0)
break;
POINT axes[] = {
{nAxesLeft, nAxesTop},
{nAxesLeft, nAxesBottom},
{nAxesRight, nAxesBottom} };
CPen* oldPen = Wnd.m_pPaintDC->SelectObject(&penGreen);
Wnd.m_pPaintDC->Polyline(axes, 3);
int nArrowSize = 3;
POINT ArrowTop[] = {
{nAxesLeft, nAxesTop - nArrowSize},
{nAxesLeft - nArrowSize, nAxesTop},
{nAxesLeft + nArrowSize, nAxesTop},
{nAxesLeft, nAxesTop - nArrowSize} };
POINT ArrowSide[] = {
{nAxesRight + nArrowSize, nAxesBottom},
{nAxesRight, nAxesBottom - nArrowSize},
{nAxesRight, nAxesBottom + nArrowSize},
{nAxesRight + nArrowSize, nAxesBottom} };
Wnd.m_pPaintDC->Polygon(ArrowTop, 4);
Wnd.m_pPaintDC->Polygon(ArrowSide, 4);
//Draw blocks, and % values above blocks.
float blockWidth = (float)(nAxesRight - nAxesLeft) / (lHistoCount + 2);
int MaxCount = 0;
for (int i = 0; i < lHistoCount + 2; i++)
if (pHistoBucketCounts[i] > MaxCount) MaxCount = pHistoBucketCounts[i];
int FullScale = (int)(MaxCount * 1.1);
if (FullScale < 1) FullScale = 1; //Avoid divide by zero errors.
int nAxesHeight = nAxesBottom - nAxesTop;
if (MaxCount > 0)
{
Wnd.m_pPaintDC->SelectObject(&penRed);
CBrush* oldBrush = Wnd.m_pPaintDC->SelectObject(&brushRed);
Wnd.m_pPaintDC->SetTextAlign(TA_BOTTOM | TA_CENTER);
for (int i = 0; i < lHistoCount + 2; i++)
{
if (i == 1) {
Wnd.m_pPaintDC->SelectObject(&penWhite);
Wnd.m_pPaintDC->SelectObject(oldBrush);
}
if (i == lHistoCount + 1) {
Wnd.m_pPaintDC->SelectObject(&penRed);
Wnd.m_pPaintDC->SelectObject(&brushRed);
}
Wnd.m_pPaintDC->Rectangle(
nAxesLeft + (int)(i*blockWidth), nAxesBottom - (nAxesHeight * pHistoBucketCounts[i]) / FullScale,
nAxesLeft + (int)((i+1)*blockWidth), nAxesBottom);
if (lRecordsSinceHistoReset > 0)
{
double d = 100.0 * pHistoBucketCounts[i] / lRecordsSinceHistoReset;
int perc = d - (int)d < 0.5 ? (int) d : (int) d + 1;
CString percent; percent.Format("%i%%", perc);
Wnd.m_pPaintDC->TextOut(nAxesLeft + (int)((i + 0.5)*blockWidth), nAxesBottom - (nAxesHeight * pHistoBucketCounts[i]) / FullScale - 1, percent);
}
}
Wnd.m_pPaintDC->SelectObject(&penWhite);
Wnd.m_pPaintDC->SelectObject(oldBrush);
}
//Draw checks and axis values:
double offset = 0, scale = 1;
if (TagCnvFamily[nTagCnvUsed].Valid())
{
offset = TagCnvFamily[nTagCnvUsed].Offset();
scale = TagCnvFamily[nTagCnvUsed].Scale();
}
Wnd.m_pPaintDC->SetTextAlign(TA_TOP | TA_CENTER);
Wnd.m_pPaintDC->SelectObject(&penGreen);
int lastLabel = 0;
for (int i = 1; i < lHistoCount + 2; i++)
{
POINT Checkline[] = {
{nAxesLeft + (int)(i * blockWidth), nAxesBottom},
{nAxesLeft + (int)(i * blockWidth), nAxesBottom + nCheckSize}};
Wnd.m_pPaintDC->Polyline(Checkline, 2);
CString value;
if (pHistoBucketBorders[i] < 100) //Because the %.2g formatting doesn't work like it should
value.Format("%.2g", pHistoBucketBorders[i] * scale + offset);
else if (pHistoBucketBorders[i] < 1E4)
value.Format("%.0f", pHistoBucketBorders[i] * scale + offset);
else
value.Format("%.1e", pHistoBucketBorders[i] * scale + offset);
if (nAxesLeft + (int)(i * blockWidth) - lastLabel > Wnd.m_pPaintDC->GetTextExtent(value).cx / 2 + minSpace)
{
Wnd.m_pPaintDC->TextOut(nAxesLeft + (int)(i * blockWidth), nAxesBottom + nAxesSpace, value);
lastLabel = nAxesLeft + (int)(i * blockWidth) + Wnd.m_pPaintDC->GetTextExtent(value).cx / 2;
}
}
Wnd.m_pPaintDC->TextOut(nAxesLeft + (int)((0.5) * blockWidth), nAxesBottom + nAxesSpace + nTextSize, "UR");
Wnd.m_pPaintDC->TextOut(nAxesLeft + (int)((lHistoCount + 1.5) * blockWidth), nAxesBottom + nAxesSpace + nTextSize, "OR");
//Draw labels:
CString xLabel, yLabel;
if (TagCnvFamily[nTagCnvUsed].Valid() && strcmp(TagCnvFamily[nTagCnvUsed].Name(), "") != 0)
xLabel.Format("Value (%s)", TagCnvFamily[nTagCnvUsed].Name());
else
xLabel.Format("Value");
yLabel.Format("Count");
Wnd.m_pPaintDC->SetTextAlign(TA_BOTTOM | TA_CENTER);
Wnd.m_pPaintDC->TextOut((nAxesLeft + nAxesRight) / 2, Wnd.m_ClientRect.bottom - nBorderSpace, xLabel);
#if (_MSC_VER >= 1400)
int oldMode = Wnd.m_pPaintDC->SetGraphicsMode(GM_ADVANCED);
XFORM rotation = {
0, -1,
1, 0,
0, 0};
XFORM identity = {
1, 0,
0, 1,
0, 0};
BOOL setTransformResult = Wnd.m_pPaintDC->SetWorldTransform(&rotation);
Wnd.m_pPaintDC->SetTextAlign(TA_TOP | TA_CENTER);
Wnd.m_pPaintDC->TextOut(-(nAxesTop + nAxesBottom) / 2, nBorderSpace, yLabel);
Wnd.m_pPaintDC->SelectObject(oldPen);
Wnd.m_pPaintDC->SetWorldTransform(&identity);
Wnd.m_pPaintDC->SetGraphicsMode(oldMode);
#else
Wnd.m_pPaintDC->SetTextAlign(TA_TOP | TA_LEFT);
Wnd.m_pPaintDC->TextOut(nAxesLeft, nBorderSpace, yLabel);
#endif
}
return true;
}
//-----------------------------------------------------------------------------
//!
//-----------------------------------------------------------------------------
void tTideGraph::paintEvent( QPaintEvent* pEvent )
{
tTideCurrentGraphBase::paintEvent( pEvent );
int w = contentsRect().width();
int h = contentsRect().height();
QPainter p( this );
p.setRenderHint( QPainter::Antialiasing, true );
p.setClipRect( contentsRect() );
QRect r( QPoint(0,0), contentsRect().size() );
// lets translate the painter so we can work with a 0,0 origin
p.save();
p.translate( contentsRect().topLeft() );
//###### 1) Paint background and the daylight area
if(m_SunRiseX <= m_SunSetX)
{
// left night
p.fillRect( 0, 0, m_SunRiseX, h, palette().dark() );
// day
p.fillRect( m_SunRiseX, 0, m_SunSetX - m_SunRiseX, h, palette().light() );
// right night
p.fillRect( m_SunSetX, 0, w - m_SunSetX, h, palette().dark() );
}
else if(m_SunRiseX > m_SunSetX)
{
// left day
p.fillRect( 0, 0, m_SunSetX, h, palette().light() );
// night
p.fillRect( m_SunSetX, 0, m_SunRiseX - m_SunSetX, h, palette().dark() );
// right day
p.fillRect( m_SunRiseX, 0, w - m_SunRiseX, h, palette().light() );
}
//###### 2) Add legend backgrounds
QColor c = palette().text().color();
c.setAlpha( 127 );
p.fillRect( 0, h - BOTTOM_MARGIN_HEIGHT, w, BOTTOM_MARGIN_HEIGHT, QBrush( c ) );
p.fillRect( 0, 0, LEFT_MARGIN_WIDTH, h, palette().base() );
// we have finished doing work with a 0,0 origin
p.restore();
//###### 3) Left depth legend and grid lines
p.rotate(-90);
p.setRenderHint( QPainter::Antialiasing, false );
c.setAlpha( 63 );
QPen pen( QBrush( c ), 0 );
qreal rangeDiv = GetRangeDivision( tConvert::Instance()->ToUser(UNITS_DEPTH, m_HeightUnits, static_cast<float>(m_GraphConfig.m_DeltaY)) );
float stepSize = tConvert::Instance()->UserToBase( UNITS_DEPTH, static_cast<float>(rangeDiv) );
stepSize = tConvert::Instance()->BaseToSpecifiedUnits(UNITS_DEPTH, m_HeightUnits, stepSize);
for( qreal pxY = 0, strY = 0; pxY <= m_GraphConfig.m_MaxY; pxY += stepSize, strY += rangeDiv )
{
p.setPen( palette().text().color() );
p.drawText(RotatedTextELeftMargin(0, pxY, 40), Qt::AlignCenter, QString("%1").arg(strY) );
p.setPen( pen );
p.drawLine(RotatedGraphToPixel(0, pxY), RotatedGraphToPixel(1, pxY));
}
for( qreal pxY = 0, strY = 0; pxY >= m_GraphConfig.m_MinY; pxY -= stepSize, strY += rangeDiv )
{
p.setPen( palette().text().color() );
p.drawText(RotatedTextELeftMargin(0, pxY, 40), Qt::AlignCenter, QString("%1").arg(strY) );
p.setPen( pen );
p.drawLine(RotatedGraphToPixel(0, pxY), RotatedGraphToPixel(1, pxY));
}
p.rotate(90);
p.drawLine( QPointF( GraphToPixel(0.25, 0).x(), 0 ), QPointF( GraphToPixel(0.25, 0).x(), h ) );
p.drawLine( QPointF( GraphToPixel(0.5, 0).x(), 0 ), QPointF( GraphToPixel(0.5, 0).x(), h ) );
p.drawLine( QPointF( GraphToPixel(0.75, 0).x(), 0 ), QPointF( GraphToPixel(0.75, 0).x(), h ) );
p.setRenderHint( QPainter::Antialiasing, true );
//###### 4) Graph and fill the tides spline
QPainterPath path;
path.moveTo( GraphToPixel(0, 0) );
for( int i = 0; i < m_TideHeights.size(); ++i )
{
// source data is in 10 minute intervals => 1/144 of a day
path.lineTo( GraphToPixel( m_TideHeights.at(i).x(), m_TideHeights.at(i).y() ) );
}
// Close the path
path.lineTo( GraphToPixel(1, 0) );
path.lineTo( GraphToPixel(0, 0) );
//###### 5) Fill graph path
QLinearGradient gradient(0,0,0,h);
QColor endColor = palette().highlight().color();
endColor.setAlpha( 191 );
QColor midColor = palette().highlight().color().lighter( 130 );
midColor.setAlpha( 191 );
gradient.setColorAt(0.0, endColor);
gradient.setColorAt(0.1, endColor);
gradient.setColorAt(0.5, midColor);
gradient.setColorAt(0.9, endColor);
gradient.setColorAt(1.0, endColor);
p.fillPath(path, gradient);
p.save();
QPen penGraph( palette().base().color() );
penGraph.setWidth(2);
p.setPen(penGraph);
p.drawPath(path);
p.restore();
//###### 6) Draw over with text
p.setPen( palette().base().color() );
qSort(m_TideExtremes);
for( int i = 0; i < m_TideExtremes.size(); ++i )
{
// Convert time into decimal
qreal timePos = GetTimeF( m_TideExtremes.at(i).first );
// Draw on height (and compensate for user units)
float convertedHeight = tConvert::Instance()->ToUser(UNITS_DEPTH, m_HeightUnits, static_cast<float>(m_TideExtremes.at(i).second) );
QString unitsString = tConvert::Instance()->GetUnitsString( UNITS_DEPTH );
QString heightString = QString("%1 ").arg(convertedHeight, 2, 'f', qAbs(convertedHeight) > 1 ? 1 : 2) + unitsString;
QString timeString = m_TideExtremes.at(i).first.toString( tSystemSettings::Instance()->TimeFormatString() );
QRect boundRectHeight = TextBoundingRect( timePos, 0, fontMetrics().width( heightString ), eBottomMarginHeight );
QRect boundRectTime = TextBoundingRect( timePos, 0, fontMetrics().width( timeString ), eBottomMarginTime );
QPen curPen = p.pen();
if( i < m_TideExtremes.size() - 1 )
{
if( m_TideExtremes[i].second < m_TideExtremes[i+1].second )
{
p.setPen(Qt::red);
}
}
else
{
if( m_TideExtremes[i].second < m_TideExtremes[i-1].second )
{
p.setPen(Qt::red);
}
}
p.drawText( boundRectHeight, Qt::AlignCenter, heightString );
p.drawText( boundRectTime, Qt::AlignCenter, timeString );
p.setPen(curPen);
// Draw on time
// Draw triangle
}
//####### 7) Draw on the sun times
//(SUN)
p.setPen( palette().text().color() );
if(m_SunRiseTime.isValid())
{
QString riseString = tr("Sunrise") + " " + m_SunRiseTime.toString( tSystemSettings::Instance()->TimeFormatString() );
QRect boundSunRise = TextBoundingRect( GetTimeF( m_SunRiseTime ), m_GraphConfig.m_MinY, fontMetrics().width( riseString ), eSunTime);
p.drawText(boundSunRise, Qt::AlignCenter, riseString );
}
if(m_SunSetTime.isValid())
{
QString sunsetString = tr("Sunset") + " " + m_SunSetTime.toString( tSystemSettings::Instance()->TimeFormatString() );
QRect boundSunSet = TextBoundingRect( GetTimeF( m_SunSetTime ), m_GraphConfig.m_MinY, fontMetrics().width( sunsetString ), eSunTime);
p.drawText(boundSunSet, Qt::AlignCenter, sunsetString );
}
//####### 8) Draw the time and height for the present time
tDateTime currentDateTime = tDateTime::currentDateTime(); //QDateTime does not know time zone / local time offset.
if( m_UseUTCTime )
{
currentDateTime = currentDateTime.toUTC();
}
if(m_ActiveDate.date() == currentDateTime.date())
{
qreal currentTime = GetTimeF( currentDateTime.time() );
qreal height = GetHeightAtTime( currentTime );
float convertedHeight = tConvert::Instance()->ToUser(UNITS_DEPTH, m_HeightUnits, static_cast<float>(height) );
QString unitsString = tConvert::Instance()->GetUnitsString( UNITS_DEPTH );
QString heightString = QString("%1 ").arg(convertedHeight, 2, 'f', qAbs(convertedHeight) > 1 ? 1 : 2) + unitsString;
QString timeString = currentDateTime.time().toString( tSystemSettings::Instance()->TimeFormatString() );
QRect boundCurrentHeight = TextBoundingRect( currentTime, 0, fontMetrics().width( heightString ), eCurrentHeight );
QRect boundCurrentTime = TextBoundingRect( currentTime, 0, fontMetrics().width( timeString ), eCurrentTime );
p.setPen( palette().text().color() );
p.drawText( boundCurrentHeight, Qt::AlignCenter, heightString );
p.drawText( boundCurrentTime, Qt::AlignCenter, timeString );
QPen penRed(Qt::red);
p.setPen(penRed);
p.setRenderHint( QPainter::Antialiasing, false );
p.drawLine( GraphToPixel(currentTime, m_GraphConfig.m_MinY).toPoint(),
GraphToPixel(currentTime, m_GraphConfig.m_MaxY).toPoint() - QPoint(0,1) );
}
}
