FSFrame::FSFrame(FSPoint p)
{
frame=NULL;
//size will be reset
size = FSMakeSize(FRAME_WIDTH, FRAME_WIDTH, 0.0f);
position = p;
}
CvPoint CSVision::convertFSPointToCvPoint(FSPoint fsPoint)
{
CvSize cvImageSize = cvSize(
FSController::config->CAM_IMAGE_WIDTH,
FSController::config->CAM_IMAGE_HEIGHT);
FSSize fsImageSize = FSMakeSize(
FSController::config->FRAME_WIDTH,
FSController::config->FRAME_WIDTH*(FSController::config->CAM_IMAGE_HEIGHT/FSController::config->CAM_IMAGE_WIDTH), 0.0f);
CvPoint origin;
origin.x = cvImageSize.width/2.0f;
origin.y = cvImageSize.height*FSController::config->ORIGIN_Y;
CvPoint cvPoint;
cvPoint.x = fsPoint.x*cvImageSize.width/fsImageSize.width;
cvPoint.y = -fsPoint.y*cvImageSize.height/fsImageSize.height;
//translate
cvPoint.x += origin.x;
cvPoint.y += origin.y;
return cvPoint;
}
void FSFrame::setFrame(IplImage* frame)
{
if(frame == NULL){
this->frame = NULL;
return;
}
//cout << frame->width << " " << frame->height << " " << endl;
size = FSMakeSize((FSFloat)frame->width/(FSFloat)frame->width*size.width, (FSFloat)frame->height/(FSFloat)frame->width*size.width, 0.0f);
//cout << __PRETTY_FUNCTION__ << size.width << " " << size.height << " " << endl;
//position.x = -(size.width)/2.0;
cvReleaseImage(&(this->frame));//remove old frame befor setting new one
this->frame = frame;
}
FSPoint FSVision::convertCvPointToFSPoint(CvPoint cvPoint)
{
CvSize cvImageSize = cvSize(CAM_IMAGE_WIDTH, CAM_IMAGE_HEIGHT);
FSSize fsImageSize = FSMakeSize(FRAME_WIDTH, FRAME_WIDTH*(CAM_IMAGE_HEIGHT/CAM_IMAGE_WIDTH), 0.0f);
//here we define the origin of the cvImage, we place it in the middle of the frame and in the corner of the two perpendiculair planes
CvPoint origin;
origin.x = cvImageSize.width/2.0f;
origin.y = cvImageSize.height*ORIGIN_Y;
FSPoint fsPoint;
//translate
cvPoint.x -= origin.x;
cvPoint.y -= origin.y;
//scale
fsPoint.x = cvPoint.x*fsImageSize.width/cvImageSize.width;
fsPoint.y = -cvPoint.y*fsImageSize.height/cvImageSize.height;
fsPoint.z = 0.0f;
return fsPoint;
}
FSFrame::FSFrame()
{
frame=NULL;
size = FSMakeSize(14.0f, 14.0f, 0.0f);
position = FSMakePoint(0.0f, 0.0f, 0.0f);
}