void pigalePaint::DrawText(QPainter *p,Tpoint &a,tvertex v,int col,int center)
// draw text centered at a, with a surrounding rectangle
// center=1 center
// center=0 horizontal
{QString t = getVertexLabel(GCP,v);
QPen pn = p->pen();pn.setWidth(1);pn.setColor(color[Black]);p->setPen(pn);
QSize size = QFontMetrics(p->font()).size(Qt::AlignCenter,t);
double nx = size.width() + 4; double ny = size.height();
if(t.length() == 0)nx = ny= 8;
QRect rect;
//if pn.setWidth() > 1 => rect increase
if(center)
rect = QRect((int)(to_x(a.x())-nx/2+.5),(int)(to_y(a.y())-ny/2+.5),(int)(nx+.5),(int)(ny+.5));
else
rect = QRect((int)(to_x(a.x())-nx/2+.5),(int)(to_y(a.y())-ny+1.),(int)(nx+.5),(int)(ny+.5));
QBrush pb = p->brush();
pb.setStyle(Qt::SolidPattern);
pb.setColor(color[bound(col,0,16)]);
//pb.setColor(color[White]);
p->setBrush(pb);
//pn.setColor(color[col]);pn.setWidth(1);p->setPen(pn);
pn.setWidth(1);pn.setColor(color[Black]);p->setPen(pn);
p->drawRect(rect);
if(ny < 6)return;
p->drawText(rect,Qt::AlignCenter,t);
}
void pigalePaint::DrawSeg(QPainter *p,Tpoint &a,Tpoint &b,int col,int width)
{QPen pn = p->pen();
QPoint ps = QPoint(to_x(a.x()),to_y(a.y()));
QPoint pt = QPoint(to_x(b.x()),to_y(b.y()));
pn.setColor(color[bound(col,1,16)]); pn.setWidth(width);
p->setPen(pn);
p->drawLine(ps,pt);
}
bool Maze::dir_in_bounds(int pos, int dir) {
switch (dir) {
case N : return (to_y(pos) > 0);
case S : return (to_y(pos) < y_size-1);
case W : return (to_x(pos) > 0);
case E : return (to_x(pos) < x_size-1);
default: return false;
}
}
void pigalePaint::DrawTriangle(QPainter *p,Tpoint &p1,Tpoint &p2,Tpoint &p3,int col)
{QPen pn = p->pen();pn.setWidth(1);pn.setColor(color[Black]);p->setPen(pn);
QBrush pb = p->brush();pb.setStyle(Qt::SolidPattern);
pb.setColor(color[bound(col,1,16)]);p->setBrush(pb);
QPoint vertices[3];
vertices[0] = QPoint((int)to_x(p1.x()),(int)to_y(p1.y()));
vertices[1] = QPoint((int)to_x(p2.x()),(int)to_y(p2.y()));
vertices[2] = QPoint((int)to_x(p3.x()),(int)to_y(p3.y()));
p->drawConvexPolygon(vertices,3);
}
void Maze::sdl_paint_all(SDLWindow *window, int path_width) {
window->clear();
for(int pos = 0; pos < size; pos++) {
temp_x0 = to_x(pos) * (path_width + 1);
temp_y0 = to_y(pos) * (path_width + 1);
temp_x1 = temp_x0 + path_width + 1;
temp_y1 = temp_y0 + path_width + 1;
if(walls[pos] == 0 && !actv[pos]) {
window -> setColor(0xCC, 0xCC, 0xCC);
window -> fillRect(temp_x0+1, temp_y0+1, path_width, path_width);
} else {
if (actv[pos]) {
window -> setColor(0xDE, 0xCA, 0xFF);
window -> fillRect(temp_x0, temp_y0, path_width+1, path_width+1);
}
window -> setColor(0x00, 0x00, 0x00);
if ( !(walls[pos] & dirEnc[N]) ) window -> drawLine(temp_x0, temp_y0, temp_x1, temp_y0);
if ( !(walls[pos] & dirEnc[S]) ) window -> drawLine(temp_x0, temp_y1, temp_x1, temp_y1);
if ( !(walls[pos] & dirEnc[W]) ) window -> drawLine(temp_x0, temp_y0, temp_x0, temp_y1);
if ( !(walls[pos] & dirEnc[E]) ) window -> drawLine(temp_x1, temp_y0, temp_x1, temp_y1);
}
}
}
void Maze::sdl_paint_count(SDLWindow *window, float div) {
if(window -> SCREEN_WIDTH < x_size || window -> SCREEN_HEIGHT < y_size)
return;
for (int i = 0; i < size; i++) {
window -> setColorHSV(dist[i] / div, 0.5, 0.9);
window -> setPixel(to_x(i), to_y(i));
}
}
void pigalePaint::DrawRect(QPainter *p,Tpoint &a,double nx,double ny,int col)
// draw a rectangle centered at a
{QPen pn = p->pen();pn.setWidth(2);pn.setColor(color[Black]);p->setPen(pn);
QBrush pb = p->brush();pb.setStyle(Qt::SolidPattern);
pb.setColor(color[bound(col,1,16)]);p->setBrush(pb);
// nx *= xscale; ny *= yscale;
// p->drawRect(QRect(to_x(a.x()-nx/2+.5),to_y(a.y()-ny/2+.5),(int)(nx+.5),(int)(ny+.5)));
p->drawRect(QRect((int)(to_x(a.x()) - nx*Min(xscale,yscale)/2), (int)(to_y(a.y())- ny*Min(xscale,yscale)/2), (int)(nx*Min(xscale,yscale)), (int)(ny*Min(xscale,yscale))));
}
void pigalePaint::wheelEvent(QWheelEvent *event)
{//event->accept();
zoom = (event->delta() > 0) ? 1.1 : 1./1.1;
double xx0 = ((double)posClick.x() - xtr)/xscale;
double yy0 = -((double)posClick.y() + ytr - this->height())/yscale;
xscale *= zoom ;yscale *= zoom;
xtr += posClick.x() - to_x(xx0);
ytr += to_y(yy0) - posClick.y();
repaint(geometry());
}
void pigalePaint::DrawText(QPainter *p,double x,double y,double nx,double ny,tvertex v,int col)
// draw centered text in rectangle left at x,y of size: nx,ny
{QPen pn = p->pen();pn.setColor(color[Black]);
nx *= xscale; ny *= yscale;
QRect rect = QRect(to_x(x),to_y(y),(int)(nx+.5),(int)(ny+.5));
QBrush pb = p->brush();pb.setStyle(Qt::SolidPattern);
pb.setColor(color[bound(col,1,16)]);p->setBrush(pb);
pn.setWidth(1);p->setPen(pn);
p->drawRect(rect);
pn.setWidth(1);p->setPen(pn);
QString t = getVertexLabel(GCP,v);
p->drawText(rect,Qt::AlignCenter,t);
}
void pigalePaint::keyPressEvent(QKeyEvent *k)
{int key = k->key();
if(key == Qt::Key_Up)
zoom = 1.1;
else if(key == Qt::Key_Down)
zoom = 1/1.1;
else if(key == Qt::Key_Home)
{xtr = xtr0; ytr = ytr0;
xscale = xscale0; yscale = yscale0;
}
else
return;
//k->accept();
if(key != Qt::Key_Home)
{double xx0 = ((double)posClick.x() - xtr)/xscale;
double yy0 = -((double)posClick.y() + ytr - this->height())/yscale;
xscale *= zoom ;yscale *= zoom;
xtr += posClick.x() - to_x(xx0);
ytr += to_y(yy0) - posClick.y();
}
repaint(geometry());
}
bool DataIOStanford::read_next_frame(cv::Mat& frame_rgb, cv::Mat& frame_depth) {
// while (true) {
if(!stanford_eval::read_frame()) { if (!stanford_eval::next_file()) return false; };
stanford_eval::Frame f = stanford_eval::frame;
cv::Mat frame(cv::Size(f.C, f.R), CV_32F);
for (int i = 0; i < f.N; ++i) {
frame.at<float>(i % f.R, i/f.R) = -(f.points[i][2] + 2.0);
}
cv::normalize(frame, frame_depth, 0, 1.0, cv::NORM_MINMAX);
for (int i = 0; i < f.N; ++i) {
if (frame_depth.at<float>(i % f.R, i/f.R) > 0.7f)
frame_depth.at<float>(i % f.R, i/f.R) = 0.0f;
}
// Ground truth
if (f.markers[1].cond > 0) {
centre_truth_head.x = to_x(f.markers[1].x);
centre_truth_head.y = to_y(f.markers[1].y + 0.1);
} else if (f.markers[3].cond > 0) {
centre_truth_head.x = to_x(f.markers[3].x);
centre_truth_head.y = to_y(f.markers[3].y + 0.1);
} else {
centre_truth_head.x = -1;
}
if (f.markers[24].cond > 0) {
centre_truth_left_hand.x = to_x(f.markers[24].x);
centre_truth_left_hand.y = to_y(f.markers[24].y);
} else if (f.markers[28].cond > 0) {
centre_truth_left_hand.x = to_x(f.markers[28].x);
centre_truth_left_hand.y = to_y(f.markers[28].y);
} else {
centre_truth_left_hand.x = -1;
}
if (f.markers[16].cond > 0) {
centre_truth_right_hand.x = to_x(f.markers[16].x);
centre_truth_right_hand.y = to_y(f.markers[16].y);
} else if (f.markers[19].cond > 0) {
centre_truth_right_hand.x = to_x(f.markers[19].x);
centre_truth_right_hand.y = to_y(f.markers[19].y);
} else {
centre_truth_right_hand.x = -1;
}
if (f.markers[35].cond > 0) {
centre_truth_left_foot.x = to_x(f.markers[35].x);
centre_truth_left_foot.y = to_y(f.markers[35].y - 0.2);
} else if (f.markers[37].cond > 0) {
centre_truth_left_foot.x = to_x(f.markers[37].x);
centre_truth_left_foot.y = to_y(f.markers[37].y - 0.2);
} else {
centre_truth_left_foot.x = -1;
}
if (f.markers[43].cond > 0) {
centre_truth_right_foot.x = to_x(f.markers[43].x);
centre_truth_right_foot.y = to_y(f.markers[43].y - 0.2);
} else if (f.markers[41].cond > 0) {
centre_truth_right_foot.x = to_x(f.markers[41].x);
centre_truth_right_foot.y = to_y(f.markers[41].y - 0.2);
} else {
centre_truth_right_foot.x = -1;
}
return true;
}
void DataIOStanford::extract_parts() {
/* initialize random seed: */
srand (time(NULL));
// Creating directory structure
const std::string kTrainingDataPathHead = kPath + "/training";
boost::filesystem::path training_data_path_head(kTrainingDataPathHead);
boost::filesystem::create_directory(training_data_path_head);
std::ofstream data((kTrainingDataPathHead + "/data.txt").c_str());
if (!data.is_open()) {
std::cerr << "Unable to create training data files!" << std::endl;
}
int head_idx, hand_idx, leg_idx;
head_idx = hand_idx = leg_idx = 1;
cv::Mat frame, frame_dummy;
while (read_next_frame(frame_dummy, frame)) {
//if(!) { stanford_eval::next_file(); };
stanford_eval::Frame f = stanford_eval::frame;
// cv::Mat frame(cv::Size(f.C, f.R), CV_32F);
//
// for (int i = 0; i < f.N; ++i) {
// frame.at<float>(i % f.R, i/f.R) = -(static_cast<float>(f.points[i][2]) + 2.f);
// }
//
// cv::normalize(frame, frame, 0, 1.f, cv::NORM_MINMAX);
std::vector<int> positive_centres;
// Head
if (f.markers[3].cond > 0 && f.markers[1].cond > 0) {
extract_positive_part(frame, data,
f.markers[3].x, f.markers[3].y + 0.1,
f.markers[1].x, f.markers[1].y + 0.1,
classifier::HEAD, true);
extract_positive_part(frame, data,
f.markers[3].x, f.markers[3].y + 0.1,
f.markers[3].x, f.markers[1].y + 0.1,
classifier::HEAD, true);
positive_centres.push_back(to_x(f.markers[1].x));
positive_centres.push_back(to_y(f.markers[1].y + 0.1));
positive_centres.push_back(to_x(f.markers[3].x));
positive_centres.push_back(to_y(f.markers[3].y + 0.1));
}
// Left hand
if (f.markers[28].cond > 0 && f.markers[24].cond > 0) {
extract_positive_part(frame, data,
f.markers[28].x, f.markers[28].y,
f.markers[24].x, f.markers[24].y,
classifier::LEFT_HAND, true);
positive_centres.push_back(to_x(f.markers[24].x));
positive_centres.push_back(to_y(f.markers[24].y));
}
// Right hand
if (f.markers[19].cond > 0 && f.markers[16].cond > 0) {
extract_positive_part(frame, data,
f.markers[19].x, f.markers[19].y,
f.markers[16].x, f.markers[16].y,
classifier::RIGHT_HAND, true);
positive_centres.push_back(to_x(f.markers[16].x));
positive_centres.push_back(to_y(f.markers[16].y));
}
// Left foot
if (f.markers[35].cond > 0 && f.markers[37].cond > 0) {
extract_positive_part(frame, data,
f.markers[37].x, f.markers[37].y - 0.2,
f.markers[35].x, f.markers[35].y - 0.2,
classifier::LEFT_FOOT, true);
positive_centres.push_back(to_x(f.markers[35].x));
positive_centres.push_back(to_y(f.markers[35].y - 0.2));
}
// Right foot
if (f.markers[43].cond > 0 && f.markers[41].cond > 0) {
extract_positive_part(frame, data,
f.markers[41].x, f.markers[41].y - 0.2,
f.markers[43].x, f.markers[43].y - 0.2,
classifier::RIGHT_FOOT, true);
positive_centres.push_back(to_x(f.markers[43].x));
positive_centres.push_back(to_y(f.markers[43].y - 0.2));
}
for (int j = 0; j < 12; j++) {
extract_negative_part(frame, data, positive_centres);
}
}
}
void pigalePaint::DrawText(QPainter *p,double x,double y,QString txt)
{QPen pn = p->pen();pn.setWidth(1);pn.setColor(color[Black]);p->setPen(pn);
p->drawText(to_x(x),to_y(y),txt);
}
