void dialogAnalog::plot(bool forceRedraw,QSize size)
{
QPainter p;
screenPixmap = QPixmap( size);
if (forceRedraw)
{
initPixmap(size);
QColor greenColor(Qt::green);
QPen dataPen1( greenColor);
fillPixmap(&dataplot,&dataPen1);
#if 0
QPen dataPen2(QColor(Qt::red));
dataPen2.setStyle(Qt::DashDotDotLine);
fillPixmap(&dataplot2,&dataPen2);
#endif
}
p.begin(&screenPixmap);
p.drawPixmap(0, 0, lastPixmap);
drawMarkers(&p);
p.end(); // draw markers
}
void RenderableDebugableEntityItem::render(EntityItem* entity, RenderArgs* args) {
if (args->_debugFlags & RenderArgs::RENDER_DEBUG_SIMULATION_OWNERSHIP) {
Q_ASSERT(args->_batch);
gpu::Batch& batch = *args->_batch;
batch.setModelTransform(entity->getTransformToCenter()); // we want to include the scale as well
auto nodeList = DependencyManager::get<NodeList>();
const QUuid& myNodeID = nodeList->getSessionUUID();
bool highlightSimulationOwnership = (entity->getSimulatorID() == myNodeID);
if (highlightSimulationOwnership) {
glm::vec4 greenColor(0.0f, 1.0f, 0.2f, 1.0f);
renderBoundingBox(entity, args, 0.08f, greenColor);
}
quint64 now = usecTimestampNow();
if (now - entity->getLastEditedFromRemote() < 0.1f * USECS_PER_SECOND) {
glm::vec4 redColor(1.0f, 0.0f, 0.0f, 1.0f);
renderBoundingBox(entity, args, 0.16f, redColor);
}
if (now - entity->getLastBroadcast() < 0.2f * USECS_PER_SECOND) {
glm::vec4 yellowColor(1.0f, 1.0f, 0.2f, 1.0f);
renderBoundingBox(entity, args, 0.24f, yellowColor);
}
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(entity->getPhysicsInfo());
if (motionState && motionState->isActive()) {
glm::vec4 blueColor(0.0f, 0.0f, 1.0f, 1.0f);
renderBoundingBox(entity, args, 0.32f, blueColor);
}
}
}
void TupColorPalette::setBaseColorsPanel()
{
#ifndef Q_OS_ANDROID
QSize cellSize(50, 30);
#else
QSize cellSize(70, 50);
#endif
k->currentBaseColor = 0;
QColor redColor(255, 0, 0);
QBrush redBrush(redColor, k->brush.style());
TupColorWidget *red = new TupColorWidget(0, redBrush, cellSize, false);
red->selected();
connect(red, SIGNAL(clicked(int)), this, SLOT(updateMatrix(int)));
k->baseColors << red;
QColor greenColor(0, 255, 0);
QBrush greenBrush(greenColor, k->brush.style());
TupColorWidget *green = new TupColorWidget(1, greenBrush, cellSize, false);
connect(green, SIGNAL(clicked(int)), this, SLOT(updateMatrix(int)));
k->baseColors << green;
QColor blueColor(0, 0, 255);
QBrush blueBrush(blueColor, k->brush.style());
TupColorWidget *blue = new TupColorWidget(2, blueBrush, cellSize, false);
connect(blue, SIGNAL(clicked(int)), this, SLOT(updateMatrix(int)));
k->baseColors << blue;
QColor whiteColor(255, 255, 255);
QBrush whiteBrush(whiteColor, k->brush.style());
TupColorWidget *white = new TupColorWidget(3, whiteBrush, cellSize, false);
connect(white, SIGNAL(clicked(int)), this, SLOT(updateMatrix(int)));
k->baseColors << white;
QBoxLayout *bottomLayout = new QHBoxLayout;
bottomLayout->setAlignment(Qt::AlignHCenter);
bottomLayout->setContentsMargins(3, 3, 3, 3);
#ifndef Q_OS_ANDROID
bottomLayout->setSpacing(10);
#else
bottomLayout->setSpacing(25);
#endif
bottomLayout->addWidget(red);
bottomLayout->addWidget(green);
bottomLayout->addWidget(blue);
bottomLayout->addWidget(white);
k->paletteGlobalLayout->addWidget(new TupSeparator(Qt::Horizontal));
k->paletteGlobalLayout->addLayout(bottomLayout);
}
void dialogAnalog::initPixmap(QSize size)
{
// resize the pixmap
// complete it
// Draw plot
QPainter painter;
int heightPerField = size.height() / NbBits;
lastPixmap=QPixmap( size.width(), size.height() );
lastPixmap.fill(Qt::black);
painter.begin(&lastPixmap);
// set font ------------------------------------------------------------------------------------
QFont textFont;
textFont.setPixelSize(heightPerField / 2);
painter.setFont(textFont);
// set the needed pens -------------------------------------------------------------------------
QPen linePen(QColor(100,100,100));
QPen textPen(QColor(255, 255, 255));
QPen gridPen(QColor(100, 100, 100));
QColor greenColor(Qt::green);
QPen dataPen(greenColor);
// draw the fields and the text ----------------------------------------------------------------
{
int current = heightPerField;
for (int i = 0; i < (NbBits - 1); i++)
{
painter.setPen(linePen);
painter.drawLine(0, current, size.width(), current);
painter.setPen(textPen);
QString lbl = QString::number(i+1);
if (currentlabels.contains(i+1)) lbl += "-"+currentlabels[i+1];
painter.drawText(10, current - heightPerField / 3, lbl);
current += heightPerField;
}
painter.setPen(textPen);
painter.drawText(10, current - 15, QString::number(NbBits));
}
painter.end();
}
void KeyboardDemo::Render( )
{
if( d3dContext_ == 0 )
return;
float clearColor[4] = { 0.0f, 0.0f, 0.25f, 1.0f };
d3dContext_->ClearRenderTargetView( backBufferTarget_, clearColor );
unsigned int stride = sizeof( VertexPos );
unsigned int offset = 0;
d3dContext_->IASetInputLayout( inputLayout_ );
d3dContext_->IASetVertexBuffers( 0, 1, &vertexBuffer_, &stride, &offset );
d3dContext_->IASetPrimitiveTopology( D3D11_PRIMITIVE_TOPOLOGY_TRIANGLELIST );
XMFLOAT4 redColor( 1.0f, 0.0f, 0.0f, 1.0f );
XMFLOAT4 greenColor( 0.0f, 1.0f, 0.0f, 1.0f );
XMFLOAT4 blueColor( 0.0f, 0.0f, 1.0f, 1.0f );
if( selectedColor_ == 0 )
{
d3dContext_->UpdateSubresource( colorCB_, 0, 0, &redColor, 0, 0 );
}
else if( selectedColor_ == 1 )
{
d3dContext_->UpdateSubresource( colorCB_, 0, 0, &greenColor, 0, 0 );
}
else
{
d3dContext_->UpdateSubresource( colorCB_, 0, 0, &blueColor, 0, 0 );
}
d3dContext_->VSSetShader( customColorVS_, 0, 0 );
d3dContext_->PSSetShader( customColorPS_, 0, 0 );
d3dContext_->PSSetConstantBuffers( 0, 1, &colorCB_ );
d3dContext_->Draw( 3, 0 );
swapChain_->Present( 0, 0 );
}
// NOTE: this only renders the "meta" portion of the Model, namely it renders debugging items, and it handles
// the per frame simulation/update that might be required if the models properties changed.
void RenderableModelEntityItem::render(RenderArgs* args) {
PerformanceTimer perfTimer("RMEIrender");
assert(getType() == EntityTypes::Model);
if (hasModel()) {
if (_model) {
if (getModelURL() != _model->getURL().toString()) {
qDebug() << "Updating model URL: " << getModelURL();
_model->setURL(getModelURL());
}
render::ScenePointer scene = AbstractViewStateInterface::instance()->getMain3DScene();
// check to see if when we added our models to the scene they were ready, if they were not ready, then
// fix them up in the scene
if (_model->needsFixupInScene()) {
render::PendingChanges pendingChanges;
_model->removeFromScene(scene, pendingChanges);
render::Item::Status::Getters statusGetters;
makeEntityItemStatusGetters(this, statusGetters);
_model->addToScene(scene, pendingChanges, statusGetters);
scene->enqueuePendingChanges(pendingChanges);
}
// FIXME: this seems like it could be optimized if we tracked our last known visible state in
// the renderable item. As it stands now the model checks it's visible/invisible state
// so most of the time we don't do anything in this function.
_model->setVisibleInScene(getVisible(), scene);
}
remapTextures();
{
// float alpha = getLocalRenderAlpha();
if (!_model || _needsModelReload) {
// TODO: this getModel() appears to be about 3% of model render time. We should optimize
PerformanceTimer perfTimer("getModel");
EntityTreeRenderer* renderer = static_cast<EntityTreeRenderer*>(args->_renderer);
getModel(renderer);
}
if (_model) {
// handle animations..
if (hasAnimation()) {
if (!jointsMapped()) {
QStringList modelJointNames = _model->getJointNames();
mapJoints(modelJointNames);
}
if (jointsMapped()) {
bool newFrame;
QVector<glm::quat> frameDataRotations;
QVector<glm::vec3> frameDataTranslations;
getAnimationFrame(newFrame, frameDataRotations, frameDataTranslations);
assert(frameDataRotations.size() == frameDataTranslations.size());
if (newFrame) {
for (int i = 0; i < frameDataRotations.size(); i++) {
_model->setJointState(i, true, frameDataRotations[i], frameDataTranslations[i], 1.0f);
}
}
}
}
bool movingOrAnimating = isMoving() || isAnimatingSomething();
if ((movingOrAnimating || _needsInitialSimulation) && _model->isActive() && _dimensionsInitialized) {
_model->setScaleToFit(true, getDimensions());
_model->setSnapModelToRegistrationPoint(true, getRegistrationPoint());
_model->setRotation(getRotation());
_model->setTranslation(getPosition());
// make sure to simulate so everything gets set up correctly for rendering
{
PerformanceTimer perfTimer("_model->simulate");
_model->simulate(0.0f);
}
_needsInitialSimulation = false;
}
}
}
} else {
glm::vec4 greenColor(0.0f, 1.0f, 0.0f, 1.0f);
RenderableDebugableEntityItem::renderBoundingBox(this, args, 0.0f, greenColor);
}
RenderableDebugableEntityItem::render(this, args);
}
void CameraProjections::Publish(Mat &guiRawImg, bool showHorizonBox)
{
if (!lastProjectionIsValid || guiRawImg.empty())
return;
ros::Time now = ros::Time::now();
if (params.debug.showTopView->get())
{
Mat UnDistRawImg;
//Mat tmpp;
//_distorionModel.CreateUndistortFull(guiRawImg, tmpp);
_distorionModel.CreateUndistort(guiRawImg, UnDistRawImg);
unDistortedImg_pub.publish(UnDistRawImg, MatPublisher::bgr);
int sizeOfTopViewW = params.topView.width->get()
/ params.topView.scale->get();
int sizeOfTopViewH = params.topView.width->get()
/ params.topView.scale->get();
if (topImg_pub.thereAreListeners())
{
Mat topHomoFor, topHomoBack;
double picYawDegree;
if (ipm.GetHomographyNoYaw(diagnalAngleView, cameraLocation,
cameraOrintation, topHomoFor, topHomoBack, picYawDegree))
{
warpPerspective(UnDistRawImg, topViewBGR, topHomoFor,
Size(sizeOfTopViewW, sizeOfTopViewH),
CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS);
topImg_pub.publish(topViewBGR, MatPublisher::bgr);
}
}
if (mmap_pub.getNumSubscribers() > 0)
{
warpPerspective(UnDistRawImg, calibViewBGR, realHomoFor,
Size(sizeOfTopViewW, sizeOfTopViewH),
CV_INTER_LINEAR | CV_WARP_FILL_OUTLIERS);
calibImg_pub.publish(calibViewBGR, MatPublisher::bgr);
Mat mapMonoImg(calibViewBGR.size(), CV_8UC1);
cvtColor(calibViewBGR, mapMonoImg, CV_BGR2GRAY);
std_msgs::Header head;
nav_msgs::MapMetaData mapMeta;
head.frame_id = "/ego_floor";
head.stamp = now;
mapMeta.height = mapMonoImg.size().height;
mapMeta.width = mapMonoImg.size().width;
mapMeta.map_load_time = now;
mapMeta.resolution = 0.01 * params.topView.scale->get();
mapMeta.origin.orientation.w = 1;
mapMeta.origin.position.x =
-(int) (params.topView.width->get() / 2.) / 100.;
mapMeta.origin.position.y =
-(int) (params.topView.width->get() / 2.) / 100.;
mapMeta.origin.position.z = 0.1;
for (uint16_t y = 0; y < mapMonoImg.size().height; y++)
{
for (uint16_t x = 0; x < mapMonoImg.size().width; x++)
{
mmap.data.push_back(
(mapMonoImg.at<uchar>(y, x) / 255.) * 100.);
}
}
mmap.header = head;
mmap.info = mapMeta;
mmap_pub.publish(mmap);
mmap.data.clear();
}
}
if (params.debug.showCameraPoints->get())
{
for (int i = 0; i <= 4; i++)
{
int k = i;
if (i == 4)
{
k = 0;
}
geometry_msgs::Point p;
p.x = transformedPointsRes[k].x / 100.;
p.y = transformedPointsRes[k].y / 100.;
p.z = transformedPointsRes[k].z / 100.;
topViewCPoints.marker.points.push_back(p);
}
geometry_msgs::Point p;
p.x = cameraLocation.x;
p.y = cameraLocation.y;
p.z = cameraLocation.z;
topViewCPoints.marker.points.push_back(p);
for (int i = 0; i <= 4; i++)
{
int k = i;
if (i == 4)
{
k = 0;
}
geometry_msgs::Point p;
p.x = gPointRes[k].x / 100.;
p.y = gPointRes[k].y / 100.;
p.z = -0.0;
topViewGPoints.marker.points.push_back(p);
}
topViewCPoints.update();
topViewGPoints.update();
topViewMarker.publish();
topViewCPoints.marker.points.clear();
topViewGPoints.marker.points.clear();
}
if (showHorizonBox && params.debug.showHorizonBox->get())
{
for (int i = 0; i <= 3; i++)
{
int p1 = i;
int p2 = i + 1;
if (i == 3)
{
p2 = 0;
}
char msg[255];
sprintf(msg, "(%d)", i);
putText(guiRawImg, msg, outerCornetrsRawImg[i], 1, 1, greenColor());
line(guiRawImg, outerCornetrsRawImg[p1], outerCornetrsRawImg[p2],
redColor(), 3);
}
circle(guiRawImg, Point2d(320, 240), 5, redColor(), 5);
}
}
