void
pickRects(int button, int state, int x, int y)
{
GLuint selectBuf[BUFSIZE];
GLint hits;
GLint viewport[4];
if (button != GLUT_LEFT_BUTTON || state != GLUT_DOWN)
return;
glGetIntegerv(GL_VIEWPORT, viewport);
glSelectBuffer(BUFSIZE, selectBuf);
(void) glRenderMode(GL_SELECT);
glInitNames();
glPushName((GLuint) ~0);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
/* create 5x5 pixel picking region near cursor location */
gluPickMatrix((GLdouble) x, (GLdouble) (viewport[3] - y),
5.0, 5.0, viewport);
glOrtho(0.0, 8.0, 0.0, 8.0, -0.5, 2.5);
drawRects(GL_SELECT);
glPopMatrix();
glFlush();
hits = glRenderMode(GL_RENDER);
processHits(hits, selectBuf);
}
void
display(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawRects(GL_RENDER);
glutSwapBuffers();
}
void pickRects(AUX_EVENTREC *event)
{
GLuint selectBuf[BUFSIZE];
GLint hits;
GLint viewport[4];
int x, y;
x = event->data[AUX_MOUSEX];
y = event->data[AUX_MOUSEY];
glGetIntegerv (GL_VIEWPORT, viewport);
glSelectBuffer (BUFSIZE, selectBuf);
(void) glRenderMode (GL_SELECT);
glInitNames();
glPushName(-1);
glMatrixMode (GL_PROJECTION);
glPushMatrix ();
glLoadIdentity ();
/* create 5x5 pixel picking region near cursor location */
gluPickMatrix ((GLdouble) x, (GLdouble) (viewport[3] - y),
5.0, 5.0, viewport);
glOrtho (0.0, 8.0, 0.0, 8.0, -0.5, 2.5);
drawRects (GL_SELECT);
glPopMatrix ();
glFlush ();
hits = glRenderMode (GL_RENDER);
processHits (hits, selectBuf);
}
int main() {
const int ballsCount = 20;
const int rectsCount = 2;
const int SLEEP_TIME = 1;
/* initialize system objects */
Ball ballsArr[ballsCount];
srand(time(NULL));
Rect rects[rectsCount];
rects[0].X = 10;
rects[0].Y = 5;
rects[0].Width = 25;
rects[0].Height = 10;
rects[1].X = 50;
rects[1].Y = 5;
rects[1].Width = 15;
rects[1].Height = 5;
initAll(ballsCount, ballsArr, rectsCount, rects);
/* infinite loop engine */
while(1) {
clearScreen();
drawRects(2, rects);
updateBalls(ballsCount, ballsArr, rectsCount, rects);
drawBalls(ballsCount, ballsArr);
tSleep(SLEEP_TIME);
}
return EXIT_SUCCESS;
}
void QPdfEngine::drawTiledPixmap (const QRectF &rectangle, const QPixmap &pixmap, const QPointF &point)
{
Q_D(QPdfEngine);
bool bitmap = (pixmap.depth() == 1);
QBrush b = d->brush;
QPointF bo = d->brushOrigin;
bool hp = d->hasPen;
d->hasPen = false;
bool hb = d->hasBrush;
d->hasBrush = true;
d->brush = QBrush(pixmap);
if (bitmap)
// #### fix bitmap case where we have a brush pen
d->brush.setColor(d->pen.color());
d->brushOrigin = -point;
*d->currentPage << "q\n";
setBrush();
drawRects(&rectangle, 1);
*d->currentPage << "Q\n";
d->hasPen = hp;
d->hasBrush = hb;
d->brush = b;
d->brushOrigin = bo;
}
bool Sample_13_6::sendMessage(int message, int mode, int x, int y)
{
GLuint selectBuf[BUFSIZE];
GLint hits;
GLint viewport[4];
switch (message) {
case SDL_BUTTON_LEFT:
/* sets up selection mode, name stack,
* and projection matrix for picking. Then the
* objects are drawn.
*/
if (mode==SDL_PRESSED) {
glGetIntegerv(GL_VIEWPORT, viewport);
glSelectBuffer(BUFSIZE, selectBuf);
(void) glRenderMode(GL_SELECT);
glInitNames();
glPushName(0);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
/* create 5x5 pixel picking region near cursor location */
gluPickMatrix((GLdouble) x, (GLdouble) (viewport[3] - y),
5.0, 5.0, viewport);
glOrtho(0.0, 8.0, 0.0, 8.0, -0.5, 2.5);
drawRects(GL_SELECT);
glPopMatrix();
hits = glRenderMode(GL_RENDER);
processHits(hits, selectBuf);
}
break;
default:
return false;
break;
}
return true;
}
/*!
\overload
The default implementation converts the first \a rectCount
rectangles in the buffer \a rects to a QRectF and calls the
floating point version of this function.
*/
void QPaintEngine::drawRects(const QRect *rects, int rectCount)
{
struct RectF {
qreal x;
qreal y;
qreal w;
qreal h;
};
Q_ASSERT(sizeof(RectF) == sizeof(QRectF));
RectF fr[256];
while (rectCount) {
int i = 0;
while (i < rectCount && i < 256) {
fr[i].x = rects[i].x();
fr[i].y = rects[i].y();
fr[i].w = rects[i].width();
fr[i].h = rects[i].height();
++i;
}
drawRects((QRectF *)(void *)fr, i);
rects += i;
rectCount -= i;
}
}
void show(void)
{
if(!existImage || !existPoints){
return;
}
const auto& encoding = sensor_msgs::image_encodings::BGR8;
cv_bridge::CvImagePtr cv_image = cv_bridge::toCvCopy(image_msg, encoding);
IplImage frame = cv_image->image;
cv::Mat matImage = cv::cvarrToMat(&frame);//(&frame, false);
/* DRAW RECTANGLES of detected objects */
#if 0
for(std::size_t i=0; i<cars.size();i++) {
if(cars[i].y > matImage.rows*.3) { //temporal way to avoid drawing detections in the sky
cvRectangle( &frame,
cvPoint(cars[i].x, cars[i].y),
cvPoint(cars[i].x+cars[i].width, cars[i].y+cars[i].height),
_colors[0], 3, 8,0 );
}
}
for(std::size_t i=0; i<peds.size();i++) {
if(peds[i].y > matImage.rows*.3) {
cvRectangle( &frame,
cvPoint(peds[i].x, peds[i].y),
cvPoint(peds[i].x+peds[i].width, peds[i].y+peds[i].height),
_colors[1], 3, 8,0 );
}
}
#else
drawRects(&frame,
car_fused_objects.obj,
cvScalar(255.0, 255.0, 0,0),
matImage.rows*.10);
drawRects(&frame,
pedestrian_fused_objects.obj,
cvScalar(0.0, 255.0, 0,0),
matImage.rows*.10);
#endif
/* PUT DISTANCE text on image */
putDistance(&frame,
car_fused_objects.obj,
matImage.rows*.10,
car_fused_objects.type.c_str());
putDistance(&frame,
pedestrian_fused_objects.obj,
matImage.rows*.10,
pedestrian_fused_objects.type.c_str());
/* DRAW POINTS of lidar scanning */
int w = matImage.size().width;
int h = matImage.size().height;
int n = w * h;
float min_d = 1<<16, max_d = -1;
// int min_i = 1<<8, max_i = -1;
for(int i=0; i<n; i++){
int di = points_msg->distance[i];
max_d = di > max_d ? di : max_d;
min_d = di < min_d ? di : min_d;
// int it = points_msg->intensity[i];
// max_i = it > max_i ? it : max_i;
// min_i = it < min_i ? it : min_i;
}
float wid_d = max_d - min_d;
for(int y=0; y<h; y++){
for(int x=0; x<w; x++){
int j = y * w + x;
double distance = points_msg->distance[j];
if(distance == 0){
continue;
}
int colorid= wid_d ? ( (distance - min_d) * 255 / wid_d ) : 128;
cv::Vec3b color=colormap.at<cv::Vec3b>(colorid);
int g = color[1];
int b = color[2];
int r = color[0];
cvRectangle(&frame, cvPoint(x, y), cvPoint(x+1, y+1), CV_RGB(r, g, b));
}
}
if (cvGetWindowHandle(window_name) != NULL) // Guard not to write destroyed window by using close button on the window
{
cvShowImage(window_name, &frame);
cvWaitKey(2);
}
}
void CProgressBar::paintEvent(QPaintEvent *e)
{
QPainter painter(this);
drawBackground(&painter);
drawRects(&painter);
}
void display(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawRects(GL_RENDER);
glFlush();
}
void Sample_13_6::draw()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
drawRects(GL_RENDER);
}
static void show()
{
if(!exist_image || !exist_scan){
return;
}
IplImage* image_view = cvCreateImage(cvGetSize(&image), image.depth, image.nChannels);
cvCopy(&image, image_view);
float min_d, max_d;
min_d = max_d = scan_image.distance.at(0);
for(int i = 1; i < IMAGE_WIDTH * IMAGE_HEIGHT; i++){
float di = scan_image.distance.at(i);
max_d = di > max_d ? di : max_d;
min_d = di < min_d ? di : min_d;
}
float wid_d = max_d - min_d;
/*
* Plot depth points on an image
*/
CvPoint pt;
int height, width;
for(int i = 0; i < (int)scan_image.distance.size(); i++) {
height = (int)(i % IMAGE_HEIGHT);
width = (int)(i / IMAGE_HEIGHT);
if(scan_image.distance.at(i) != 0.0) {
pt.x = width;
pt.y = height;
int colorid= wid_d ? ( (scan_image.distance.at(i) - min_d) * 255 / wid_d ) : 128;
cv::Vec3b color=colormap.at<cv::Vec3b>(colorid);
int g = color[1];
int b = color[2];
int r = color[0];
cvCircle(image_view, pt, 2, CV_RGB (r, g, b), CV_FILLED, 8, 0);
}
}
drawRects(image_view,
car_fused_objects.obj,
cvScalar(255.0, 255.0, 0,0),
(image_view->height)*.3);
drawRects(image_view,
pedestrian_fused_objects.obj,
cvScalar(0.0, 255.0, 0,0),
(image_view->height)*.3);
/* PUT DISTANCE text on image */
putDistance(image_view,
car_fused_objects.obj,
(image_view->height)*.3,
car_fused_objects.type.c_str());
putDistance(image_view,
pedestrian_fused_objects.obj,
(image_view->height)*.3,
pedestrian_fused_objects.type.c_str());
/*
* Show image
*/
cvShowImage(window_name, image_view);
cvWaitKey(2);
cvReleaseImage(&image_view);
}
int Detector::batchDetect(const string &src_image_folder, const string &dst_image_folder)
{
if (access(src_image_folder.c_str(), 0) == -1)
{
return 0;
}
if (access(dst_image_folder.c_str(), 0) == -1)
{
_mkdir(dst_image_folder.c_str());
}
const int MAX_DETECTION = 500;
CB_RectT rects[MAX_DETECTION];
_chdir(src_image_folder.c_str());
CFileFind file_finder;
bool is_working = file_finder.FindFile();
int count = 0;
while (is_working)
{
is_working = file_finder.FindNextFile();
string file_name = file_finder.GetFileName();
string file_path = file_finder.GetFilePath();
if (file_name == "." || file_name == ".."|| file_name == "Thumbs.db")
{
continue;
}
printf("%s\n", file_path.c_str());
Mat image = imread(file_path, CV_LOAD_IMAGE_GRAYSCALE);
if (image.data == NULL)
{
continue;
}
double ratio = 1.0;
if (param.resize_w > 0 && param.resize_h > 0)
{
int w = param.resize_w;
int h = image.rows * w / image.cols;
ratio = (double)image.cols / w;
Size size(w, h);
resize(image, image, size);
}
param.hot_rect.top *= (image.rows / 100);
param.hot_rect.bottom *= (image.rows / 100);
param.hot_rect.left *= (image.cols / 100);
param.hot_rect.right = (image.cols / 100);
int subwin_count;
int num = detect(image, MAX_DETECTION, rects, subwin_count);
Mat dst_image = imread(file_path, CV_LOAD_IMAGE_COLOR);
file_path = dst_image_folder + "\\" + file_name;
drawRects(dst_image, num, rects, Scalar(0, 255, 0), 3, ratio);
num = merger.merge(num, rects);
drawRects(dst_image, num, rects, Scalar(0, 0, 255), 7, ratio);
imwrite(file_path, dst_image);
count++;
}
return 1;
}
