void SurfaceSet::paintGL(int ns, bool allNodes, bool connect, bool glyphsVisible){
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST); //TODO: centralize that shit somewhere...
qDebug() << "cs: " << cs << "surfs: " << surfs << "clear_depth: " << clear_depth;
surfs.at(cs)->paintGL();
if (clear_depth) {
glClear(GL_DEPTH_BUFFER_BIT);
}
if (connect) paintConnectivity(threshold);
glDisable(GL_LIGHTING);
if (glyphsVisible) paintBufferedNodes(ns);
//glClear(GL_DEPTH_BUFFER_BIT);
paintROI();
glEnable(GL_LIGHTING);
}
cv::Mat clsTracking2D::getProcessedImage()
{
if(isVideo)
usleep(VIDEOFRAME_SLEEP);
if(!initializedProcess){
initializeProcessing();
}
if(resolutionChanged()){
WARNMSG(("Lost camera frame... wrong resolution."));
usleep(500);
return rawImage; // returns the previous frame... very dangerous in real-time systems.!
}
cv::Rect roi( cameraResolutions["roiX"], cameraResolutions["roiY"], cameraResolutions["roiW"], cameraResolutions["roiH"]);
rawMatROI = rawImage(roi);
rawImageROIval = rawMatROI;
rawImageROI = &rawImageROIval;
rawImageIval = rawImage;
rawImageI = &rawImageIval;
// cvRectangle(rawImageI, cvPoint( paramsInt["roiX"], paramsInt["roiY"]),cvPoint( paramsInt["roiX"]+ paramsInt["roiW"], paramsInt["roiY"]+ paramsInt["roiH"]), CV_RGB(0,0,255), 1, 40, 0);
frameCount++;
//process background subtraction:
switch(paramsInt["bg"] )
{
case BG_BGCodeBookModel:
INFOMSG(("calcCodeBook"));
calcCodeBook(rawImageROI,foregroundImage,debugFrame);
break;
case BG_COLORSUBTRACTION:
INFOMSG(("calcBGsubtraction"));
calcBGsubtraction(rawImageROI,foregroundImage);
break;
case BG_SEG:
INFOMSG(("calcBgSegmentation"));
calcBgSegmentation(rawImageROI,foregroundImage);
break;
default:
DEBUGMSG(("no bg model found"));
}
cvCopy(rawImageI,paintedFrame);
paintROI(paintedFrame);
if(readyForParticles && startTracking)
{
pParticles.processManyParticles(foregroundImage);
if(paramsInt["showTraces"] == 1)
pParticles.drawManyParticles(paintedFrame);
}
if(paramsInt["showProcessed"] == 1)
rawImage = foregroundImage;
else
rawImage = paintedFrame;
if(paramsInt["frameRate"] > 0 )
{
double timeElapsed = fpsTimer.getElapsedTime();
double timeToSleep = ((1000.0/(double)paramsInt["frameRate"])-timeElapsed)*1000;
if(timeToSleep > 0)
{
usleep(timeToSleep);
}
fpsTimer.reset();
fpsTimer.start();
}
while(paramsInt["frameRate"] == 0)
{
usleep(3000);
}
return rawImage;
}
