QImage VisionDisplayModule::makeOverlay(Camera::Type which)
{
QImage lineImage(320, 240, QImage::Format_ARGB32);
lineImage.fill(qRgba(0, 0, 0, 0));
QPainter painter(&lineImage);
painter.setPen(QColor(246, 15, 15));
const messages::VisionField *visField = visMod.vision_field.getMessage(true).get();
const messages::VisionBall *visBall = visMod.vision_ball.getMessage(true).get();
if (which == Camera::TOP) {
std::cout << "there are " << visField->visual_line_size() << " lines in the image\n";
for (int i = 0; i < visField->visual_line_size(); i++) {
painter.drawLine(visField->visual_line(i).start_x(),
visField->visual_line(i).start_y(),
visField->visual_line(i).end_x(),
visField->visual_line(i).end_y());
}
painter.setPen(Qt::magenta);
for (int i = 0; i < visField->visual_corner_size(); i++) {
painter.drawLine(visField->visual_corner(i).x() - 5,
visField->visual_corner(i).y() - 5,
visField->visual_corner(i).x() + 5,
visField->visual_corner(i).y() + 5);
painter.drawLine(visField->visual_corner(i).x() + 5,
visField->visual_corner(i).y() - 5,
visField->visual_corner(i).x() - 5,
visField->visual_corner(i).y() + 5);
}
if (visBall->intopcam()) {
int ball_x = visBall->x();
int ball_y = visBall->y();
int ball_radius = visBall->radius();
painter.setPen(QPen(QColor(0,0,255,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255,0,0,80),Qt::SolidPattern));
painter.drawEllipse(ball_x,ball_y,2*ball_radius,2*ball_radius);
}
const messages::VisualGoalPost yglp = visField->goal_post_l();
const messages::VisualGoalPost ygrp = visField->goal_post_r();
// Now we are to draw the goal posts
painter.setPen(QColor(0,0,0,200));
painter.setBrush(QBrush(QColor(255,255,0,80), Qt::SolidPattern));
if (ygrp.visual_detection().certainty() == 2)
painter.setPen(QColor(0,0,255,200));
if (ygrp.visual_detection().on() && ygrp.visual_detection().intopcam()) {
QPoint r_points[4] = {
QPoint(ygrp.left_top().x(), ygrp.left_top().y()),
QPoint(ygrp.right_top().x(), ygrp.right_top().y()),
QPoint(ygrp.right_bot().x(), ygrp.right_bot().y()),
QPoint(ygrp.left_bot().x(), ygrp.left_bot().y())
};
painter.drawConvexPolygon(r_points, 4);
}
if (yglp.visual_detection().on() && yglp.visual_detection().intopcam()) {
painter.setPen(QColor(255,0,0,200));
QPoint l_points[4] = {
QPoint(yglp.left_top().x(), yglp.left_top().y()),
QPoint(yglp.right_top().x(), yglp.right_top().y()),
QPoint(yglp.right_bot().x(), yglp.right_bot().y()),
QPoint(yglp.left_bot().x(), yglp.left_bot().y())
};
painter.drawConvexPolygon(l_points, 4);
}
}
else { // this is to draw in the bottom camera
if (!visBall->intopcam()) {
int ball_x = visBall->x();
int ball_y = visBall->y();
int ball_radius = visBall->radius();
painter.setPen(QPen(QColor(0,0,255,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255,0,0,80),Qt::SolidPattern));
painter.drawEllipse(ball_x,ball_y,2*ball_radius,2*ball_radius);
}
const messages::VisualGoalPost yglp = visField->goal_post_l();
const messages::VisualGoalPost ygrp = visField->goal_post_r();
// Now we are to draw the goal posts
painter.setPen(QColor(0,0,0,200));
painter.setBrush(QBrush(QColor(255,255,0,80), Qt::SolidPattern));
if (ygrp.visual_detection().certainty() == 2)
painter.setPen(QColor(0,0,255,200));
if (ygrp.visual_detection().on() && !ygrp.visual_detection().intopcam()) {
QPoint r_points[4] = {
QPoint(ygrp.left_top().x(), ygrp.left_top().y()),
QPoint(ygrp.right_top().x(), ygrp.right_top().y()),
QPoint(ygrp.right_bot().x(), ygrp.right_bot().y()),
QPoint(ygrp.left_bot().x(), ygrp.left_bot().y())
};
painter.drawConvexPolygon(r_points, 4);
}
if (yglp.visual_detection().on() && !yglp.visual_detection().intopcam()) {
painter.setPen(QColor(255,0,0,200));
QPoint l_points[4] = {
QPoint(yglp.left_top().x(), yglp.left_top().y()),
QPoint(yglp.right_top().x(), yglp.right_top().y()),
QPoint(yglp.right_bot().x(), yglp.right_bot().y()),
QPoint(yglp.left_bot().x(), yglp.left_bot().y())
};
painter.drawConvexPolygon(l_points, 4);
}
}
return lineImage;
}
QImage VisionDisplayModule::makeOverlay(Camera::Type which)
{
QImage lineImage(320, 240, QImage::Format_ARGB32);
lineImage.fill(qRgba(0, 0, 0, 0));
QPainter painter(&lineImage);
painter.setPen(QColor(246, 15, 15));
const messages::VisionField *visField = visMod.vision_field.getMessage(true).get();
const messages::VisionBall *visBall = visMod.vision_ball.getMessage(true).get();
const messages::VisionRobot *visRobots = visMod.vision_robot.getMessage(true).get();
if (which == Camera::TOP) {
for (int i = 0; i < visField->visual_line_size(); i++) {
painter.drawLine(visField->visual_line(i).start_x(),
visField->visual_line(i).start_y(),
visField->visual_line(i).end_x(),
visField->visual_line(i).end_y());
}
painter.setPen(Qt::magenta);
for (int i = 0; i < visField->visual_corner_size(); i++) {
switch(visField->visual_corner(i).corner_type()) {
case messages::VisualCorner::INNER_L: painter.setPen(Qt::green);
break;
case messages::VisualCorner::OUTER_L: painter.setPen(Qt::blue);
break;
case messages::VisualCorner::T: painter.setPen(Qt::black);
break;
case messages::VisualCorner::CIRCLE: painter.setPen(Qt::magenta);
break;
}
painter.drawLine(visField->visual_corner(i).x() - 5,
visField->visual_corner(i).y() - 5,
visField->visual_corner(i).x() + 5,
visField->visual_corner(i).y() + 5);
painter.drawLine(visField->visual_corner(i).x() + 5,
visField->visual_corner(i).y() - 5,
visField->visual_corner(i).x() - 5,
visField->visual_corner(i).y() + 5);
}
if (visBall->intopcam()) {
int ball_x = visBall->x();
int ball_y = visBall->y();
int ball_radius = visBall->radius();
painter.setPen(QPen(QColor(0,0,255,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255,0,0,80),Qt::SolidPattern));
painter.drawEllipse(ball_x,ball_y,2*ball_radius,2*ball_radius);
}
const messages::Robot red1 = visRobots->red1();
const messages::Robot navy1 = visRobots->navy1();
const messages::Robot red2 = visRobots->red2();
const messages::Robot navy2 = visRobots->navy2();
painter.setPen(QColor(0,0,0));
painter.setBrush(QBrush(QColor(0, 0, 255, 0), Qt::SolidPattern));
painter.setPen(QPen(QColor(255,0,0,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255,0,0,80), Qt::SolidPattern));
if (red1.on()) {
QPoint r_points[4] = {
QPoint(red1.x(), red1.y()),
QPoint(red1.x()+red1.width(), red1.y()),
QPoint(red1.x()+red1.width(), red1.y()+red1.height()),
QPoint(red1.x(), red1.y()+red1.height())
};
painter.drawConvexPolygon(r_points, 4);
if (red2.on()) {
QPoint r_points[4] = {
QPoint(red2.x(), red2.y()),
QPoint(red2.x()+red2.width(), red2.y()),
QPoint(red2.x()+red2.width(), red2.y()+red2.height()),
QPoint(red2.x(), red2.y()+red2.height())
};
painter.drawConvexPolygon(r_points, 4);
}
}
painter.setPen(QPen(QColor(0,0,255,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255, 0, 0, 0), Qt::SolidPattern));
painter.setBrush(QBrush(QColor(0,0,255,80), Qt::SolidPattern));
if (navy1.on()) {
QPoint r_points[4] = {
QPoint(navy1.x(), navy1.y()),
QPoint(navy1.x()+navy1.width(), navy1.y()),
QPoint(navy1.x()+navy1.width(), navy1.y()+navy1.height()),
QPoint(navy1.x(), navy1.y()+navy1.height())
};
painter.drawConvexPolygon(r_points, 4);
if (navy2.on()) {
QPoint r_points[4] = {
QPoint(navy2.x(), navy2.y()),
QPoint(navy2.x()+navy2.width(), navy2.y()),
QPoint(navy2.x()+navy2.width(), navy2.y()+navy2.height()),
QPoint(navy2.x(), navy2.y()+navy2.height())
};
painter.drawConvexPolygon(r_points, 4);
}
}
const messages::VisualGoalPost yglp = visField->goal_post_l();
const messages::VisualGoalPost ygrp = visField->goal_post_r();
// Now we are to draw the goal posts
painter.setPen(QColor(0,0,0,200));
painter.setBrush(QBrush(QColor(255,255,0,80), Qt::SolidPattern));
if (ygrp.visual_detection().certainty() == 2)
painter.setPen(QColor(0,0,255,200));
if (ygrp.visual_detection().on() && ygrp.visual_detection().intopcam()) {
QPoint r_points[4] = {
QPoint(ygrp.left_top().x(), ygrp.left_top().y()),
QPoint(ygrp.right_top().x(), ygrp.right_top().y()),
QPoint(ygrp.right_bot().x(), ygrp.right_bot().y()),
QPoint(ygrp.left_bot().x(), ygrp.left_bot().y())
};
painter.drawConvexPolygon(r_points, 4);
}
if (yglp.visual_detection().on() && yglp.visual_detection().intopcam()) {
painter.setPen(QColor(255,0,0,200));
QPoint l_points[4] = {
QPoint(yglp.left_top().x(), yglp.left_top().y()),
QPoint(yglp.right_top().x(), yglp.right_top().y()),
QPoint(yglp.right_bot().x(), yglp.right_bot().y()),
QPoint(yglp.left_bot().x(), yglp.left_bot().y())
};
painter.drawConvexPolygon(l_points, 4);
}
painter.setPen(Qt::red);
if (visField->visual_cross().distance() > 0) {
painter.drawLine(visField->visual_cross().x() + 10,
visField->visual_cross().y() + 10,
visField->visual_cross().x(),
visField->visual_cross().y());
painter.drawLine(visField->visual_cross().x(),
visField->visual_cross().y() + 10,
visField->visual_cross().x() + 10,
visField->visual_cross().y());
}
}
else { // this is to draw in the bottom camera
for (int i = 0; i < visField->bottom_line_size(); i++) {
painter.drawLine(visField->bottom_line(i).start_x(),
visField->bottom_line(i).start_y(),
visField->bottom_line(i).end_x(),
visField->bottom_line(i).end_y());
}
painter.setPen(Qt::magenta);
for (int i = 0; i < visField->bottom_corner_size(); i++) {
switch(visField->bottom_corner(i).corner_type()) {
case messages::VisualCorner::INNER_L: painter.setPen(Qt::red);
break;
case messages::VisualCorner::OUTER_L: painter.setPen(Qt::blue);
break;
case messages::VisualCorner::T: painter.setPen(Qt::black);
break;
case messages::VisualCorner::CIRCLE: painter.setPen(Qt::magenta);
break;
}
painter.drawLine(visField->bottom_corner(i).x() - 5,
visField->bottom_corner(i).y() - 5,
visField->bottom_corner(i).x() + 5,
visField->bottom_corner(i).y() + 5);
painter.drawLine(visField->bottom_corner(i).x() + 5,
visField->bottom_corner(i).y() - 5,
visField->bottom_corner(i).x() - 5,
visField->bottom_corner(i).y() + 5);
}
if (!visBall->intopcam()) {
int ball_x = visBall->x();
int ball_y = visBall->y();
int ball_radius = visBall->radius();
painter.setPen(QPen(QColor(0,0,255,200), 1, Qt::SolidLine, Qt::FlatCap));
painter.setBrush(QBrush(QColor(255,0,0,80),Qt::SolidPattern));
painter.drawEllipse(ball_x,ball_y,2*ball_radius,2*ball_radius);
}
const messages::VisualGoalPost yglp = visField->goal_post_l();
const messages::VisualGoalPost ygrp = visField->goal_post_r();
// Now we are to draw the goal posts
painter.setPen(QColor(0,0,0,200));
painter.setBrush(QBrush(QColor(255,255,0,80), Qt::SolidPattern));
if (ygrp.visual_detection().certainty() == 2)
painter.setPen(QColor(0,0,255,200));
if (ygrp.visual_detection().on() && !ygrp.visual_detection().intopcam()) {
QPoint r_points[4] = {
QPoint(ygrp.left_top().x(), ygrp.left_top().y()),
QPoint(ygrp.right_top().x(), ygrp.right_top().y()),
QPoint(ygrp.right_bot().x(), ygrp.right_bot().y()),
QPoint(ygrp.left_bot().x(), ygrp.left_bot().y())
};
painter.drawConvexPolygon(r_points, 4);
}
if (yglp.visual_detection().on() && !yglp.visual_detection().intopcam()) {
painter.setPen(QColor(255,0,0,200));
QPoint l_points[4] = {
QPoint(yglp.left_top().x(), yglp.left_top().y()),
QPoint(yglp.right_top().x(), yglp.right_top().y()),
QPoint(yglp.right_bot().x(), yglp.right_bot().y()),
QPoint(yglp.left_bot().x(), yglp.left_bot().y())
};
painter.drawConvexPolygon(l_points, 4);
}
}
return lineImage;
}
