tLane LaneDetector::DetectLanes(Mat &inputImage, Logger &logger) { DebugImage = Mat::zeros(200, 300, CV_8UC3); Mat binaryImage = MakeBinary(inputImage); // Mat kernel = getStructuringElement(CV_SHAPE_ELLIPSE, Size(5, 5)); // morphologyEx(workingImage, workingImage, MORPH_CLOSE, kernel); if (reseted) { ExtractBorder(inputImage); CrossingDetector leftBot("left_bot.bmp", Point(28, 24), &IsLeft, 0.6); CrossingDetector leftTop("left_top.bmp", Point(25, 39), &IsLeft, 0.55); BaseLaneLine *left = new InitLine(0, cvRound(binaryImage.cols / 2.0) - 20, border, CLOCKWISE, leftBot, leftTop, laneLogger); CrossingDetector rightBot("right_bot.bmp", Point(13, 12), &IsRight, 0.55); CrossingDetector rightTop("right_top.bmp", Point(9, 25), &IsRight, 0.55); BaseLaneLine *right = new InitLine(cvRound(binaryImage.cols / 2.0) - 20 + 1, binaryImage.cols - 1, border, COUNTER_CLOCKWISE, rightBot, rightTop, laneLogger); leftLine = Ptr<BaseLaneLine>(left); rightLine = Ptr<BaseLaneLine>(right); reseted = false; tLane result = GenerateNormalizedLaneStruct(binaryImage); return result; } leftLine->Log("Left:"); leftLine = leftLine->UpdateLaneLine(binaryImage, *rightLine); leftLine->Log("------"); rightLine->Log("Right:"); rightLine = rightLine->UpdateLaneLine(binaryImage, *leftLine); rightLine->Log("------"); #ifndef NDEBUG cvtColor(binaryImage, DebugImage, CV_GRAY2RGB); leftLine->Draw(DebugImage); rightLine->Draw(DebugImage); line(DebugImage, Point2f(DebugImage.cols / 2.0f - (15 + 8 + 47), 0), Point2f(DebugImage.cols / 2.0f - (15 + 8 + 47), 199), CV_RGB(0, 0, 255)); line(DebugImage, Point2f(DebugImage.cols / 2.0f + (15 + 8), 0), Point2f(DebugImage.cols / 2.0f + (15 + 8), 199), CV_RGB(0, 0, 255)); #endif tLane result = GenerateNormalizedLaneStruct(binaryImage); return result; }
bool NRectangle::draw(NGenericPixelMatrix *matrix, NPixelBox geometry, DrawOpt op) { if(!pixelBoxInLcd(geometry)) return false; NPoint rightTop(geometry.base().x() + geometry.width(), geometry.base().y()); NPoint rightBottom(geometry.base().x() + geometry.width(), geometry.base().y() + geometry.height()); NPoint leftBottom(geometry.base().x(), geometry.base().y() + geometry.height()); NLine::draw(matrix, geometry.base(), rightTop, op); NLine::draw(matrix, rightTop.setY(rightTop.y() + 1), rightBottom, op); NLine::draw(matrix, rightBottom.setX(rightBottom.x() - 1), leftBottom, op); NLine::draw(matrix, leftBottom.setY(leftBottom.y()-1), geometry.base().setY(geometry.base().y()+1), op); return true; }
void Draw::DrawBox(const fRect &rect, float rotation, const cColorRGBA &color, Texture *texture, Shader *shader) { VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6); fSize screenSize(LE_DrawManager.GetVirtualScreenSize()); fRect rectInProj = rect / screenSize; fPoint rightTop(rect.width, 0.0f); fPoint rightBottom(rect.width, rect.height); fPoint leftBottom(0.0f, rect.height); fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation); rightBottom = rotmat * rightBottom / screenSize; rightBottom += rectInProj.xy(); rightTop = rotmat * rightTop / screenSize; rightTop += rectInProj.xy(); leftBottom = rotmat * leftBottom / screenSize; leftBottom += rectInProj.xy(); buffer[0].SetPosition(fVector3(rectInProj.xy(), 0.0f)); buffer[0].SetColor(color); buffer[0].SetTexcoord(fVector2(0.0f, 0.0f)); buffer[1].SetPosition(fVector3(leftBottom, 0.0f)); buffer[1].SetColor(color); buffer[1].SetTexcoord(fVector2(0.0f, 1.0f)); buffer[2].SetPosition(fVector3(rightTop, 0.0f)); buffer[2].SetColor(color); buffer[2].SetTexcoord(fVector2(1.0f, 0.0f)); buffer[3].SetPosition(fVector3(leftBottom, 0.0f)); buffer[3].SetColor(color); buffer[3].SetTexcoord(fVector2(0.0f, 1.0f)); buffer[4].SetPosition(fVector3(rightBottom, 0.0f)); buffer[4].SetColor(color); buffer[4].SetTexcoord(fVector2(1.0f, 1.0f)); buffer[5].SetPosition(fVector3(rightTop, 0.0f)); buffer[5].SetColor(color); buffer[5].SetTexcoord(fVector2(1.0f, 0.0f)); if(shader == NULL) { if(texture) { DrawCommand::BindTexture(0, texture); } else { DrawCommand::BindTexture(0, RenderContext::GetSingleton().GetDefaultTexture(RenderContext::DefaultTextureTypeWhite)); } } LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST, shader); }
void UiEditorPanel::drawFrame() { CCSize size = CCSize(1000, 800); CCPoint leftBottom(0, 0); CCPoint leftTop(0, size.height); CCPoint rightBottom(size.width, 0); CCPoint rightTop(size.width, size.height); CCDrawNode *drawNode = CCDrawNode::create(); addChild(drawNode); drawNode->drawSegment(leftBottom, rightBottom, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1)); drawNode->drawSegment(rightBottom, rightTop, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1)); drawNode->drawSegment(rightTop, leftTop, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1)); drawNode->drawSegment(leftTop, leftBottom, 0.5f, ccc4f(0.5f, 0.5f, 0.5f, 1)); auto winSize = CCDirector::sharedDirector()->getWinSize(); auto offset = ccp((winSize.width - size.width) * 0.5f, (winSize.height - size.height) * 0.5f); drawNode->setPosition(offset); }
void Sprite::Draw(const iRect &frame, const iRect &rect, float rotation) { if (_texture) DrawCommand::BindTexture(0, _texture); fSize texSize(_texture->GetSize()); fSize screenSize(LE_DrawManager.GetVirtualScreenSize()); VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6); fRect frameInProj = frame / texSize; fRect rectInProj = rect / screenSize; fPoint rightTop(float(rect.width), 0.0f); fPoint rightBottom(float(rect.width), float(rect.height)); fPoint leftBottom(0.0f, float(rect.height)); fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation); rightBottom = rotmat * rightBottom / screenSize; rightBottom += rectInProj.xy(); rightTop = rotmat * rightTop / screenSize; rightTop += rectInProj.xy(); leftBottom = rotmat * leftBottom / screenSize; leftBottom += rectInProj.xy(); buffer[0].SetPosition(rectInProj.xy()); buffer[0].SetColor(0xffffffff); buffer[0].SetTexcoord(fVector2(frameInProj.x, frameInProj.y)); buffer[1].SetPosition(leftBottom); buffer[1].SetColor(0xffffffff); buffer[1].SetTexcoord(fVector2(frameInProj.x, frameInProj.y+frameInProj.height)); buffer[2].SetPosition(rightTop); buffer[2].SetColor(0xffffffff); buffer[2].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y)); buffer[3].SetPosition(leftBottom); buffer[3].SetColor(0xffffffff); buffer[3].SetTexcoord(fVector2(frameInProj.x, frameInProj.y + frameInProj.height)); buffer[4].SetPosition(rightBottom); buffer[4].SetColor(0xffffffff); buffer[4].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y + frameInProj.height)); buffer[5].SetPosition(rightTop); buffer[5].SetColor(0xffffffff); buffer[5].SetTexcoord(fVector2(frameInProj.x + frameInProj.width, frameInProj.y)); LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST); }
void Draw::DrawBox(const fRect &rect, float rotation, const cColorRGBA &leftTopColor, const cColorRGBA &rightTopColor, const cColorRGBA &leftBottomColor, const cColorRGBA &rightBottomColor) { VertexDraw2D *buffer = LE_DrawManager.GetVertexBuffer2D(6); fSize screenSize(LE_DrawManager.GetVirtualScreenSize()); fRect rectInProj = rect / screenSize; fPoint rightTop(rect.width, 0.0f); fPoint rightBottom(rect.width, rect.height); fPoint leftBottom(0.0f, rect.height); fMatrix4x4 rotmat = fMatrix4x4::RotationZ(rotation); rightBottom = rotmat * rightBottom / screenSize; rightBottom += rectInProj.xy(); rightTop = rotmat * rightTop / screenSize; rightTop += rectInProj.xy(); leftBottom = rotmat * leftBottom / screenSize; leftBottom += rectInProj.xy(); buffer[0].SetPosition(fVector3(rectInProj.xy(), 0.0f)); buffer[0].SetColor(leftTopColor); buffer[0].SetTexcoord(fVector2(0.0f, 0.0f)); buffer[1].SetPosition(fVector3(leftBottom, 0.0f)); buffer[1].SetColor(leftBottomColor); buffer[1].SetTexcoord(fVector2(0.0f, 1.0f)); buffer[2].SetPosition(fVector3(rightTop, 0.0f)); buffer[2].SetColor(rightTopColor); buffer[2].SetTexcoord(fVector2(1.0f, 0.0f)); buffer[3].SetPosition(fVector3(leftBottom, 0.0f)); buffer[3].SetColor(leftBottomColor); buffer[3].SetTexcoord(fVector2(0.0f, 1.0f)); buffer[4].SetPosition(fVector3(rightBottom, 0.0f)); buffer[4].SetColor(rightBottomColor); buffer[4].SetTexcoord(fVector2(1.0f, 1.0f)); buffer[5].SetPosition(fVector3(rightTop, 0.0f)); buffer[5].SetColor(rightTopColor); buffer[5].SetTexcoord(fVector2(1.0f, 0.0f)); DrawCommand::BindTexture(0, 0); LE_DrawManager.Draw2DFlush(GraphicsFlag::PT_TRIANGLELIST); }
void LivingRoom::draw(Renderer *renderer, const Mat4 &transform, uint32_t flags) { //画线,用于测试像素坐标和格子坐标的转换 Vec2 point = Vec2(GRIDMAP_ORIGIN_VERTEX_X, GRIDMAP_ORIGIN_VERTEX_Y); float slopeRightTop = 1.0 / std::sqrt(3.0); float slopeLeftTop = -1.0 / std::sqrt(3.0); int unitX = GRID_WIDTH_X / 2; int unitY = GRID_WIDTH_Y / 2; glLineWidth(1.0f); for (int i = 0; i < 19; ++i) { Vec2 leftBottom(0, (0 - point.x) * slopeRightTop + point.y); Vec2 rightTop(1080, (1080 - point.x) * slopeRightTop + point.y); DrawPrimitives::drawLine(leftBottom, rightTop); Vec2 leftTop(0, (0 - point.x) * slopeLeftTop + point.y); Vec2 rightBottom(1080, (1080 - point.x) * slopeLeftTop + point.y); DrawPrimitives::drawLine(leftTop, rightBottom); point.y -= unitY * 2; } }
Point3D BodyRegion::getPosition(Region region) { Point3D ret = m_center; switch (region) { case LeftTop: ret = leftTop(); break; case Top: ret = top(); break; case RightTop: ret = rightTop(); break; case Left: ret = left(); break; case Center: ret = center(); break; case Right: ret = right(); break; case LeftBottom: ret = leftBottom(); break; case Bottom: ret = bottom(); break; case RightBottom: ret = rightBottom(); break; default: break; } return ret; }
void NaoHeadControl::ScanAwayFromBall() { float neckYaw, headPitch; if ( headPathPlanner.isLastPathFinished()) { if (lastScanWasLeft) { Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), rightTop(0.0,45.0,-120.0), rightBottom(0.0,-45.0,-120.0); Vector3f points[4]={centerTop,rightTop, rightBottom, headDown}; headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600); } else { Vector3f centerTop(0.0,45.0,headPathPlanner.lastNeckYaw), leftTop(0.0,45.0,120.0), leftBottom(0.0,-45.0,120.0); Vector3f points[4]={centerTop,leftTop, leftBottom, headDown}; headPathPlanner.oldInit(points, sizeof(points)/sizeof(Vector3f), 600); } lastScanWasLeft = !lastScanWasLeft; } headPathPlanner.getAngles(neckYaw, headPitch); setJointsDirect(neckYaw, headPitch); }
void GraphicsButton::setup() { QRectF r = this->boundingRect(); int mx = m_marginLeft; /// TODO get from keyboard definition int boxWidth = r.width() - m_marginLeft - m_marginRight; int boxHeight = r.height() - m_marginTop - m_marginBottom; /** * if group count = 2, then we have two columns,one aligned left, the other right * if group count = 1, and level count = 2,we have one column, centrally aligned * if group count = 1, and level count = 3,we have two column, left,aligned and right aligned * * Within each column, if one item, align central * if two items, align higher level top, lower level bottom * 1. one cell 2. two cells split vertically, left cell group1, right cell group 2 3. two cells split horizontally, bottom cell level1, top cell level2 (from group1) 4 three cells, split vertically, left cell split horizontally left lower, group 1 level1 left top , group 1 level2 right group2 whatever level 5 four cells , both split horizontally and vertically left low, group 1,level 1 left top, group 1,level 2 right low, group 2, level 1 right top, group 2, level 2 */ // KeyDef * key = m_keydef; switch(m_keydef->decorationCount()) { case 1 : { QRectF rect(mx,m_marginTop,boxWidth,boxHeight); decorateKey(rect,1,1); break; } case 2 : { if (m_keydef->groupCount() == 1) { // split horizontally qreal y = boxHeight/2; QRectF top(mx,m_marginTop,boxWidth,y); QRectF bottom(mx,m_marginTop + y, boxWidth,y); decorateKey(bottom,1,1); decorateKey(top,1,2); } else { qreal x = boxWidth/2; QRectF left(mx,m_marginTop,x,boxHeight); QRectF right(x,m_marginTop,x,boxHeight); decorateKey(left,1,1); decorateKey(right,2,1); } break; } case 3 : { qreal y = boxHeight/2; qreal x = boxWidth/2; QRectF leftTop(mx,m_marginTop,x,y); QRectF leftBottom(mx,m_marginTop+y,x,y); decorateKey(leftBottom,1,1); decorateKey(leftTop,1,2); /// if one group, but third level in the bottom right if (m_keydef->groupCount() == 1) { QRectF right(mx+x,m_marginTop+y,x,y); decorateKey(right,1,3); } else { // otherwise put it in the middle QRectF right(mx+x,m_marginTop,x,boxHeight); decorateKey(right,2,1); } break; } case 4: { qreal y = boxHeight/2; qreal x = boxWidth/2; QRectF leftTop(mx,m_marginTop,x,y); QRectF leftBottom(mx,m_marginTop+y,x,y); QRectF rightTop(mx+x,m_marginTop,x,y); QRectF rightBottom(mx+x,m_marginTop+y,x,y); decorateKey(leftBottom,1,1); decorateKey(leftTop,1,2); decorateKey(rightBottom,2,1); decorateKey(rightTop,2,2); break; } } setPen(QPen(m_keyboardColor)); }