/*
* PeTrack - Software for tracking pedestrians movement in videos
* Copyright (C) 2010-2022 Forschungszentrum Jülich GmbH,
* Maik Boltes, Juliane Adrian, Ricardo Martin Brualla, Arne Graf, Paul Häger, Daniel Hillebrand,
* Deniz Kilic, Paul Lieberenz, Daniel Salden, Tobias Schrödter, Ann Katrin Seemann
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "trackerItem.h"
#include "animation.h"
#include "control.h"
#include "personStorage.h"
#include "petrack.h"
#include "roiItem.h"
#include "tracker.h"
#include "view.h"
#include <QInputDialog>
#include <QtWidgets>
// in x und y gleichermassen skaliertes koordinatensystem,
// da von einer vorherigen intrinsischen kamerakalibrierung ausgegenagen wird,
// so dass pixel quadratisch
TrackerItem::TrackerItem(QWidget *wParent, PersonStorage &storage, QGraphicsItem *parent) :
QGraphicsItem(parent), mPersonStorage(storage)
{
mMainWindow = (class Petrack *) wParent;
mControlWidget = mMainWindow->getControlWidget();
}
/**
* @brief Bounding box of drawn to area.
*
* This bounding box is used to determine if this Item needs to be redrawn or not.
* See the official Qt Docs for QGraphicsItem
*
* @return (updated) bounding rect of this item
*/
QRectF TrackerItem::boundingRect() const
{
if(mMainWindow->getImage())
{
return QRectF(
-mMainWindow->getImageBorderSize(),
-mMainWindow->getImageBorderSize(),
mMainWindow->getImage()->width(),
mMainWindow->getImage()->height());
}
else
{
return QRectF(0, 0, 0, 0);
}
}
void TrackerItem::contextMenuEvent(QGraphicsSceneContextMenuEvent *event)
{
if(!(event->modifiers() & Qt::ShiftModifier || event->modifiers() & Qt::ControlModifier ||
event->modifiers() & Qt::AltModifier))
{
TrackPoint p(
(Vec2F) event->pos(),
110); // 110 ist ueber 100 (hoechste Qualitaetsstufe) und wird nach einfuegen auf 100 gesetzt
bool found = false;
int iNearest = -1;
float dist, minDist = 1000000.;
QSet<int> onlyVisible = mMainWindow->getPedestrianUserSelection();
int frame = mMainWindow->getAnimation()->getCurrentFrameNum();
const auto &persons = mPersonStorage.getPersons();
size_t i;
for(i = 0; i < persons.size(); ++i)
{
const auto &person = persons[i];
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) && person.trackPointExist(frame))
{
dist = person.trackPointAt(frame).distanceToPoint(p);
if((dist < mMainWindow->getHeadSize(nullptr, i, frame) / 2.) ||
((person.trackPointAt(frame).distanceToPoint(p.colPoint()) <
mMainWindow->getHeadSize(nullptr, i, frame) / 2.)))
{
if(found)
{
debout << "Warning: more possible trackpoints for point" << std::endl;
debout << " " << p << " in frame " << frame << " with low distance:" << std::endl;
debout << " person " << i + 1 << " (distance: " << dist << "), " << std::endl;
debout << " person " << iNearest + 1 << " (distance: " << minDist << "), " << std::endl;
if(minDist > dist)
{
minDist = dist;
iNearest = i;
}
}
else
{
minDist = dist;
iNearest = i;
// WAR: break inner loop
found = true;
}
}
}
}
QMenu menu;
TrackPerson tp;
float height = 0.f;
bool height_set_by_user = false;
QAction *delTrj = nullptr, *delFutureTrj = nullptr, *delPastTrj = nullptr, *creTrj = nullptr,
*infoTrj = nullptr, *addComment = nullptr, *setHeight = nullptr, *resetHeight = nullptr,
*setMarkerID = nullptr;
if(found)
{
i = iNearest;
tp = persons[i];
height = tp.height();
if(height < MIN_HEIGHT + 1)
{
if(tp.color().isValid())
{
height = mControlWidget->getColorPlot()->map(tp.color());
}
}
else
{
height_set_by_user = true;
}
infoTrj = menu.addAction(QString("PersonNr: %1 height: %2 frames: [%3..%4]")
.arg(i + 1)
.arg(height)
.arg(tp.firstFrame())
.arg(tp.lastFrame()));
delTrj = menu.addAction("Delete whole trajectory");
delFutureTrj = menu.addAction("Delete past part of the trajectory");
delPastTrj = menu.addAction("Delete future part of the trajectory");
setHeight = menu.addAction("Set person height");
setMarkerID = menu.addAction("Set marker ID");
if(height_set_by_user)
{
resetHeight = menu.addAction("Reset height");
}
addComment = menu.addAction("Edit comment");
}
else
{
creTrj = menu.addAction("Create new trajectory");
}
QAction *selectedAction = menu.exec(event->screenPos());
if(selectedAction == creTrj)
{
mMainWindow->addOrMoveManualTrackPoint(event->scenePos());
}
else if(selectedAction == delTrj)
{
mMainWindow->deleteTrackPoint(event->scenePos(), 0);
}
else if(selectedAction == delFutureTrj)
{
mMainWindow->deleteTrackPoint(event->scenePos(), -1);
}
else if(selectedAction == delPastTrj)
{
mMainWindow->deleteTrackPoint(event->scenePos(), 1);
}
else if(selectedAction == addComment)
{
mMainWindow->editTrackPersonComment(event->scenePos());
}
else if(selectedAction == setHeight)
{
mMainWindow->setTrackPersonHeight(event->scenePos());
}
else if(selectedAction == resetHeight)
{
mMainWindow->resetTrackPersonHeight(event->scenePos());
}
else if(selectedAction == setMarkerID)
{
int currentID = mPersonStorage.getPersons()[i].getMarkerID();
bool changeID = true;
if(currentID != -1)
{
QMessageBox::StandardButton reply = QMessageBox::question(
mMainWindow,
"Overwrite marker ID",
QString("The person (%1) already has a markerID (%2)- are you sure you want to assign a new one?")
.arg(i + 1)
.arg(currentID),
QMessageBox::Yes | QMessageBox::No);
changeID = reply == QMessageBox::Yes;
}
if(changeID)
{
int markerID = QInputDialog::getInt(mMainWindow, "Enter Marker ID", "Marker ID:");
mPersonStorage.setMarkerID(i, markerID, true);
}
}
else if(selectedAction == infoTrj)
{
if(found)
{
QString out;
QMessageBox msgBox;
msgBox.setText(QString("Info for trajectory number %1:").arg(i + 1));
if(height_set_by_user)
{
out = QString("<table>"
"<tr><td>height:</td><td>%0 cm (edited by user)</td></tr>"
"<tr><td>frames:</td><td>[%1...%2]</td></tr>"
"<tr><td>color:</td><td><font "
"style='display:inline;background:%3;color:#fff;'>%4</font></td></tr>"
"<tr><td>comment:</td><td>%5</td></tr>"
"<tr><td></td><td></td></tr>");
}
else
{
out = QString("<table>"
"<tr><td>height:</td><td>%0 cm</td></tr>"
"<tr><td>frames:</td><td>[%1...%2]</td></tr>"
"<tr><td>color:</td><td><font "
"style='display:inline;background:%3;color:#fff;'>%4</font></td></tr>"
"<tr><td>comment:</td><td>%5</td></tr>"
"<tr><td></td><td></td></tr>");
}
if(tp.lastFrame() - tp.firstFrame() > 5)
{
out.append(QString("<tr><td>frame [%6]:</td><td>[%7, %8]</td></tr>"
"<tr><td>frame [%9]:</td><td>[%10, %11]</td></tr>"
"<tr><td colspan='2'>...</td></tr>"
"<tr><td colspan='2'>...</td></tr>"
"<tr><td>frame [%12]:</td><td>[%13, %14]</td></tr>"
"<tr><td>frame [%15]:</td><td>[%16, %17]]</td></tr>"
"</table>")
.toLatin1());
msgBox.setInformativeText(out.arg(height)
.arg(tp.firstFrame())
.arg(tp.lastFrame())
.arg(tp.color().name())
.arg(tp.color().name())
.arg(tp.comment())
.arg(tp.firstFrame())
.arg(tp.at(0).x())
.arg(tp.at(0).y())
.arg(tp.firstFrame() + 1)
.arg(tp.at(1).x())
.arg(tp.at(1).y())
.arg(tp.lastFrame() - 1)
.arg(tp.at(tp.size() - 2).x())
.arg(tp.at(tp.size() - 2).y())
.arg(tp.lastFrame())
.arg(tp.at(tp.size() - 1).x())
.arg(tp.at(tp.size() - 1).y()));
}
else
{
out.append(QString("</table>"));
msgBox.setInformativeText(out.arg(height)
.arg(tp.firstFrame())
.arg(tp.lastFrame())
.arg(tp.color().name())
.arg(tp.color().name())
.arg(tp.comment()));
}
out = QString();
for(int frameTrackperson = tp.firstFrame(); frameTrackperson <= tp.lastFrame(); frameTrackperson++)
{
out.append(QString("frame [%0]: [%1, %2]\n")
.arg(frameTrackperson)
.arg(tp.at(frameTrackperson - tp.firstFrame()).x())
.arg(tp.at(frameTrackperson - tp.firstFrame()).y()));
}
msgBox.setDetailedText(out);
msgBox.setWindowTitle("PeTrack");
msgBox.setIcon(QMessageBox::Information);
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.setEscapeButton(QMessageBox::Ok);
msgBox.exec();
}
}
}
mMainWindow->getScene()->update();
}
void TrackerItem::paint(QPainter *painter, const QStyleOptionGraphicsItem * /*option*/, QWidget * /*widget*/)
{
int from, to;
int curFrame = mMainWindow->getAnimation()->getCurrentFrameNum();
QPen ellipsePen;
QRectF rect;
Vec2F normalVector;
cv::Subdiv2D subdiv;
QPen linePen;
QPen numberPen;
QPen groundPositionPen;
QPen groundPathPen;
double pSP = (double) mControlWidget->trackCurrentPointSize->value();
double pS = (double) mControlWidget->trackPointSize->value();
double pSC = (double) mControlWidget->trackColColorSize->value();
double pSM = (double) mControlWidget->trackColorMarkerSize->value();
double pSN = (double) mControlWidget->trackNumberSize->value();
double pSG = (double) mControlWidget->trackGroundPositionSize->value();
double pSGP = (double) mControlWidget->trackGroundPathSize->value();
QColor pGPC = mControlWidget->getTrackGroundPathColor();
QColor pTPC = mControlWidget->getTrackPathColor();
QFont font, heightFont;
float x_offset = 0, y_offset = 0;
float y_switch = 0, x_switch = 0;
double hS;
painter->drawRect(boundingRect());
linePen.setColor(pTPC);
linePen.setWidth(mControlWidget->trackPathWidth->value());
ellipsePen.setWidth(3);
if(mControlWidget->trackNumberBold->checkState() == Qt::Checked)
{
font.setBold(true);
}
else
{
font.setBold(false);
}
font.setPixelSize(mControlWidget->trackNumberSize->value());
heightFont.setPixelSize(mControlWidget->trackColColorSize->value());
painter->setFont(font);
numberPen.setColor(Qt::red);
groundPositionPen.setColor(Qt::green);
groundPositionPen.setWidth(pSG);
groundPathPen.setColor(pGPC);
groundPathPen.setWidth(pSGP);
if(mControlWidget->showVoronoiCells->isChecked() && mPersonStorage.nbPersons() != 0)
{
// ToDo: adjust subdiv rect to correct area
QRectF qrect = mMainWindow->getRecoRoiItem()->rect();
cv::Point3f leftTop = mMainWindow->getExtrCalibration()->get3DPoint(cv::Point2f(qrect.left(), qrect.top()), 0);
cv::Point3f rightBottom =
mMainWindow->getExtrCalibration()->get3DPoint(cv::Point2f(qrect.right(), qrect.bottom()), 0);
x_offset = -std::min(leftTop.x, rightBottom.x);
y_offset = -std::min(leftTop.y, rightBottom.y);
x_switch = rightBottom.x < leftTop.x ? abs(rightBottom.x - leftTop.x) : 0;
y_switch = rightBottom.y < leftTop.y ? abs(leftTop.y - rightBottom.y) : 0;
debout << "x_offset: " << x_offset << ", y_offset: " << y_offset << ", x_switch: " << x_switch
<< ", y_switch: " << y_switch << std::endl;
cv::Rect delaunyROI(cv::Rect(
leftTop.x + x_offset,
leftTop.y + y_offset,
x_switch > 0 ? x_switch : (rightBottom.x - leftTop.x),
y_switch > 0 ? y_switch : (rightBottom.y - leftTop.y)));
debout << "Rect size: P(" << delaunyROI.x << ", " << delaunyROI.y << "), width: " << delaunyROI.width
<< ", height: " << delaunyROI.height << std::endl;
subdiv.initDelaunay(delaunyROI);
}
auto pedestrianToPaint = mMainWindow->getPedestrianUserSelection();
const auto &persons = mPersonStorage.getPersons();
for(size_t i = 0; i < persons.size(); ++i) // ueber TrackPerson
{
const auto &person = persons[i];
// show current frame
if(pedestrianToPaint.contains(i) || pedestrianToPaint.empty())
{
if(person.trackPointExist(curFrame))
{
if(mControlWidget->trackHeadSized->checkState() == Qt::Checked)
{
pSP = mMainWindow->getHeadSize(nullptr, i, curFrame); // headSize;
}
const TrackPoint &tp = person[curFrame - person.firstFrame()];
if(mControlWidget->trackShowCurrentPoint->checkState() ==
Qt::Checked) //(mControlWidget->recoShowColor->checkState() == Qt::Checked)
{
painter->setBrush(Qt::NoBrush);
if(person.newReco())
{
painter->setPen(Qt::green);
}
else
{
painter->setPen(Qt::blue);
}
rect.setRect(tp.x() - pSP / 2., tp.y() - pSP / 2., pSP, pSP);
painter->drawEllipse(rect); // direkt waere nur int erlaubt tp.x()-5., tp.y()-5., 10., 10.
}
if(mControlWidget->trackShowSearchSize->checkState() == Qt::Checked)
{
painter->setBrush(Qt::NoBrush);
painter->setPen(Qt::yellow);
hS = mMainWindow->winSize(nullptr, i, curFrame);
if(hS < 2)
{
hS = 2; // entspricht Vorgehen in tracker.cpp
}
for(int j = 0; j <= mControlWidget->trackRegionLevels->value(); ++j)
{
rect.setRect(tp.x() - hS / 2., tp.y() - hS / 2., hS, hS);
painter->drawRect(rect);
hS *= 2;
}
}
if(mControlWidget->trackShowColorMarker->checkState() == Qt::Checked)
{
// farbe des trackpoints
if(tp.color().isValid())
{
painter->setBrush(Qt::NoBrush);
ellipsePen.setColor(tp.color());
painter->setPen(ellipsePen);
rect.setRect(tp.colPoint().x() - pSM / 2., tp.colPoint().y() - pSM / 2., pSM, pSM);
painter->drawEllipse(rect);
}
}
// berechnung der normalen, die zur positionierung der nummerieung und der gesamtfarbe dient
if(((mControlWidget->trackShowColColor->checkState() == Qt::Checked) && (person.color().isValid())) ||
(mControlWidget->trackShowNumber->checkState() == Qt::Checked) ||
((mControlWidget->trackShowColColor->checkState() == Qt::Checked) &&
((person.height() > MIN_HEIGHT) ||
((tp.sp().z() > 0.) && (mControlWidget->trackShowHeightIndividual->checkState() ==
Qt::Checked))))) // Hoehe kann auf Treppen auch negativ werden, wenn koord
// weiter oben angesetzt wird
{
if(tp.color().isValid())
{
normalVector = (tp - tp.colPoint()).normal();
normalVector.normalize();
if(normalVector.length() < .001) // wenn to und colpoint aufeinander liegen z bei colorMarker!
{
normalVector.set(1., 0.);
}
}
else
{
// man koennte auch lastNormal von anderem trackpath nehmen statt 1, 0
normalVector.set(1., 0.);
// den vorherigen trackpoint finden, wo reco farbe erzeugt hat und somit colpoint vorliegt
for(int j = curFrame - person.firstFrame(); j > -1; --j)
{
if(person.at(j).color().isValid())
{
normalVector = (person.at(j) - person.at(j).colPoint()).normal();
normalVector.normalize();
break;
}
}
// einen nachfolgenden trackpoint suchen, wenn vorher keiner mit farbe war
// zB wenn rueckwaerts abgespielt wird
if((normalVector.x() == 1.) && (normalVector.y() == 0.))
{
for(int j = curFrame - person.firstFrame() + 1; j < person.size(); ++j)
{
if(person.at(j).color().isValid())
{
normalVector = (person.at(j) - person.at(j).colPoint()).normal();
normalVector.normalize();
break;
}
}
}
}
}
// farbe der gesamten trackperson
double height = person.height();
if(mControlWidget->trackShowColColor->checkState() == Qt::Checked)
{
painter->setPen(numberPen);
painter->setBrush(Qt::NoBrush);
rect.setRect(tp.x() + 10, tp.y() + 10, 15 * pSC, 10 * pSC);
painter->drawText(rect, person.comment());
rect.setRect(tp.x() - pSC, tp.y() - pSC, 50, 50);
if(tp.getMarkerID() > 0)
{
painter->drawText(rect, QString("id=%1").arg(tp.getMarkerID()));
}
}
if((mControlWidget->trackShowColColor->checkState() == Qt::Checked) && (person.color().isValid()))
{
painter->setPen(Qt::NoPen);
painter->setBrush(QBrush(person.color()));
rect.setRect(
tp.x() + (pSP + pSC) * 0.6 * normalVector.x() - pSC / 2.,
tp.y() + (pSP + pSC) * 0.6 * normalVector.y() - pSC / 2.,
pSC,
pSC); // 11
painter->drawEllipse(rect);
}
else if(
(mControlWidget->trackShowColColor->checkState() == Qt::Checked) &&
((height > MIN_HEIGHT) ||
((tp.sp().z() > 0.) &&
(mControlWidget->trackShowHeightIndividual->checkState() ==
Qt::Checked)))) // Hoehe && (person.height() > 0.) Hoehe kann auf Treppen auch negativ
// werden, wenn koord weiter oben angesetzt wird
{
painter->setFont(heightFont);
if((mControlWidget->trackShowHeightIndividual->checkState() == Qt::Checked) &&
(tp.sp().z() > 0.)) // Hoehe incl individual fuer jeden trackpoint
{
painter->setPen(numberPen);
painter->setBrush(Qt::NoBrush);
rect.setRect(
tp.x() + (pSP + pSC) * 0.6 * normalVector.x() - pSC / 2.,
tp.y() + (pSP + pSC) * 0.6 * normalVector.y() - pSC / 2.,
3 * pSC,
2.5 * pSC); // 11
if(height < MIN_HEIGHT + 1)
{
if(mControlWidget->getCalibCoordDimension() == 0) // 3D
{
painter->drawText(
rect,
Qt::AlignHCenter,
QString("-\n%2").arg(
-mControlWidget->getCalibExtrTrans3() - tp.sp().z(), 6, 'f', 1));
}
else
{
painter->drawText(
rect,
Qt::AlignHCenter,
QString("-\n%2").arg(
mControlWidget->coordAltitude->value() - tp.sp().z(), 6, 'f', 1));
}
}
else
{
if(mControlWidget->getCalibCoordDimension() == 0) // 3D
{
painter->drawText(
rect,
Qt::AlignHCenter,
QString("%1\n%2")
.arg(height, 6, 'f', 1)
.arg(-mControlWidget->getCalibExtrTrans3() - tp.sp().z(), 6, 'f', 1));
}
else
{
painter->drawText(
rect,
Qt::AlignHCenter,
QString("%1\n%2")
.arg(height, 6, 'f', 1)
.arg(mControlWidget->coordAltitude->value() - tp.sp().z(), 6, 'f', 1));
}
}
}
else
{
painter->setPen(numberPen);
painter->setBrush(Qt::NoBrush);
rect.setRect(
tp.x() + (pSP + pSC) * 0.6 * normalVector.x() - pSC / 2.,
tp.y() + (pSP + pSC) * 0.6 * normalVector.y() - pSC / 2.,
3 * pSC,
2 * pSC); // 11
painter->drawText(rect, Qt::AlignHCenter, QString("%1").arg(height, 6, 'f', 1));
}
painter->setFont(font);
}
if(mControlWidget->trackShowNumber->checkState() == Qt::Checked)
{
// listennummer
painter->setPen(numberPen);
painter->setBrush(Qt::NoBrush);
rect.setRect(
tp.x() - (pSP + pSN) * 0.6 * normalVector.x() - pSN,
tp.y() - (pSP + pSN) * 0.6 * normalVector.y() - pSN / 2.,
2. * pSN,
pSN); // 11
painter->drawText(rect, Qt::AlignHCenter, QString("%1").arg(i + 1));
}
if(mControlWidget->trackShowGroundPosition->checkState() == Qt::Checked)
{
// ground position
painter->setPen(groundPositionPen);
painter->setBrush(Qt::NoBrush);
if(mControlWidget->getCalibCoordDimension() == 0) // 3D
{
double cross_size = 15 + pSG * 0.25;
cv::Point3f p3d_height;
if(height < MIN_HEIGHT + 1)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), mControlWidget->getColorPlot()->map(person.color()));
}
else
{
if(tp.sp().z() > 0)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), -mControlWidget->getCalibExtrTrans3() - tp.sp().z());
}
else
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), height /*mControlWidget->mapDefaultHeight->value()*/);
}
}
p3d_height.z = 0;
cv::Point2f p2d_ground = mMainWindow->getExtrCalibration()->getImagePoint(p3d_height);
QPointF axis = mMainWindow->getImageItem()->getCmPerPixel(p2d_ground.x, p2d_ground.y, 0);
painter->drawLine(QLineF(
p2d_ground.x - cross_size * 0.5 * pow(axis.x(), -1),
p2d_ground.y - cross_size * 0.5 * pow(axis.y(), -1),
p2d_ground.x + cross_size * 0.5 * pow(axis.x(), -1),
p2d_ground.y + cross_size * 0.5 * pow(axis.y(), -1)));
painter->drawLine(QLineF(
p2d_ground.x - cross_size * 0.5 * pow(axis.x(), -1),
p2d_ground.y + cross_size * 0.5 * pow(axis.y(), -1),
p2d_ground.x + cross_size * 0.5 * pow(axis.x(), -1),
p2d_ground.y - cross_size * 0.5 * pow(axis.y(), -1)));
painter->drawLine(QLineF(p2d_ground.x, p2d_ground.y, tp.x(), tp.y()));
}
else // 2D
{
}
}
if(mControlWidget->showVoronoiCells->checkState() == Qt::Checked)
{
if(mControlWidget->getCalibCoordDimension() == 0) // 3D
{
cv::Point3f p3d_height;
if(height < MIN_HEIGHT + 1)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), mControlWidget->getColorPlot()->map(person.color()));
}
else
{
if(tp.sp().z() > 0)
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), -mControlWidget->getCalibExtrTrans3() - tp.sp().z());
}
else
{
p3d_height = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(tp.x(), tp.y()), height /*mControlWidget->mapDefaultHeight->value()*/);
}
}
debout << "insert P(" << p3d_height.x + x_offset << ", " << p3d_height.y + y_offset
<< ") to subdiv" << std::endl;
subdiv.insert(cv::Point2f(
x_switch > 0 ? x_switch - p3d_height.x + x_offset : p3d_height.x + x_offset,
y_switch > 0 ? y_switch - p3d_height.y + y_offset :
p3d_height.y + y_offset)); // p2d_ground);
}
}
}
if(((mControlWidget->trackShowPoints->checkState() == Qt::Checked) ||
(mControlWidget->trackShowPath->checkState() == Qt::Checked) ||
(mControlWidget->trackShowGroundPath->checkState() == Qt::Checked)) &&
((person.trackPointExist(curFrame)) ||
(mControlWidget->trackShowOnlyVisible->checkState() == Qt::Unchecked)))
{
if(mControlWidget->trackShowBefore->value() == -1)
{
from = 0;
}
else
{
from = curFrame - person.firstFrame() - mControlWidget->trackShowBefore->value();
if(from < 0)
{
from = 0;
}
}
if(mControlWidget->trackShowAfter->value() == -1)
{
to = person.size();
}
else
{
to = curFrame - person.firstFrame() + mControlWidget->trackShowAfter->value() + 1;
if(to > person.size())
{
to = person.size();
}
}
for(int j = from; j < to; ++j) // ueber TrackPoint
{
// path
if(mControlWidget->trackShowPath->checkState() == Qt::Checked)
{
if(j != from) // autom. > 0
{
painter->setPen(linePen);
painter->setBrush(Qt::NoBrush);
// nur Linie zeichnen, wenn x oder y sich unterscheidet, sonst Punkt
// die Unterscheidung ist noetig, da Qt sonst grosses quadrat beim ranzoomen zeichnet
if((person.at(j - 1).toQPointF().x() != person.at(j).toQPointF().x()) ||
(person.at(j - 1).toQPointF().y() != person.at(j).toQPointF().y()))
{
painter->drawLine(person.at(j - 1).toQPointF(), person.at(j).toQPointF());
}
else
{
painter->drawPoint(person.at(j - 1).toQPointF());
}
}
}
// path on ground
if(mControlWidget->trackShowGroundPath->checkState() == Qt::Checked)
{
if(j != from)
{
// ground position
painter->setPen(groundPathPen);
painter->setBrush(Qt::NoBrush);
if(mControlWidget->getCalibCoordDimension() == 0) // 3D
{
cv::Point3f p3d_height_p1, p3d_height_p2;
if(person.height() < MIN_HEIGHT + 1)
{
p3d_height_p1 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j - 1).x(), person.at(j - 1).y()),
mControlWidget->getColorPlot()->map(person.color()));
p3d_height_p2 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j).x(), person.at(j).y()),
mControlWidget->getColorPlot()->map(person.color()));
}
else
{
if(person.at(j - 1).sp().z() > 0 && person.at(j).sp().z() > 0)
{
p3d_height_p1 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j - 1).x(), person.at(j - 1).y()),
-mControlWidget->getCalibExtrTrans3() - person.at(j - 1).sp().z());
p3d_height_p2 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j).x(), person.at(j).y()),
-mControlWidget->getCalibExtrTrans3() - person.at(j).sp().z());
}
else
{
p3d_height_p1 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j - 1).x(), person.at(j - 1).y()), person.height());
p3d_height_p2 = mMainWindow->getExtrCalibration()->get3DPoint(
cv::Point2f(person.at(j).x(), person.at(j).y()), person.height());
}
}
p3d_height_p1.z = 0;
p3d_height_p2.z = 0;
cv::Point2f p2d_ground_p1 =
mMainWindow->getExtrCalibration()->getImagePoint(p3d_height_p1);
cv::Point2f p2d_ground_p2 =
mMainWindow->getExtrCalibration()->getImagePoint(p3d_height_p2);
// nur Linie zeichnen, wenn x oder y sich unterscheidet, sonst Punkt
// die Unterscheidung ist noetig, da Qt sonst grosses quadrat beim ranzoomen zeichnet
if(p2d_ground_p1.x != p2d_ground_p2.x || p2d_ground_p1.y != p2d_ground_p2.y)
{
painter->drawLine(
QLineF(p2d_ground_p1.x, p2d_ground_p1.y, p2d_ground_p2.x, p2d_ground_p2.y));
}
else
{
painter->drawPoint(p2d_ground_p1.x, p2d_ground_p1.y);
}
}
else // 2D
{
}
}
}
// points before and after
if(mControlWidget->trackShowPoints->checkState() == Qt::Checked)
{
if(person.firstFrame() + j != curFrame)
{
if((mControlWidget->trackShowPointsColored->checkState() == Qt::Checked) &&
(person.at(j).color().isValid()))
{
painter->setPen(Qt::NoPen);
painter->setBrush(QBrush(person.at(j).color()));
rect.setRect(person.at(j).x() - pS / 2., person.at(j).y() - pS / 2., pS,
pS); // 7
}
else
{
painter->setPen(Qt::red);
painter->setBrush(Qt::NoBrush);
rect.setRect(person.at(j).x() - pS / 2., person.at(j).y() - pS / 2., pS, pS);
}
painter->drawEllipse(rect);
}
}
}
}
}
}
// Mat& img, Subdiv2D& subdiv )
if(mControlWidget->showVoronoiCells->checkState() == Qt::Checked && !mPersonStorage.getPersons().empty())
{
std::vector<std::vector<cv::Point2f>> facets3D;
std::vector<cv::Point2f> centers3D;
// get Voronoi cell info from subDiv in 3D coordinates on ground (z=0)
subdiv.getVoronoiFacetList(std::vector<int>(), facets3D, centers3D);
painter->setClipRect(mMainWindow->getRecoRoiItem()
->rect()); // 0,0,mMainWindow->getImage()->width(),mMainWindow->getImage()->height());
// cell by cell
for(size_t i = 0; i < facets3D.size(); i++)
{
centers3D.at(i).x = x_switch > 0 ? x_switch - centers3D.at(i).x - x_offset : centers3D.at(i).x - x_offset;
centers3D.at(i).y = y_switch > 0 ? y_switch - centers3D.at(i).y - y_offset : centers3D.at(i).y - y_offset;
// voronoi cell center in 2D
cv::Point2f center2D =
mMainWindow->getExtrCalibration()->getImagePoint(cv::Point3f(centers3D.at(i).x, centers3D.at(i).y, 0));
std::vector<QPointF> ifacet2D;
QPointF circleStart, circleEnd;
float area = 0;
float r = 50, m = 0, n = 0, s1_x = 0, s2_x = 0, s1_y = 0, s2_y = 0;
bool circleStarted = false;
for(size_t j = 0; j < facets3D[i].size(); j++)
{
facets3D.at(i).at(j).x =
x_switch > 0 ? x_switch - facets3D.at(i).at(j).x - x_offset : facets3D.at(i).at(j).x - x_offset;
facets3D.at(i).at(j).y =
y_switch > 0 ? y_switch - facets3D.at(i).at(j).y - y_offset : facets3D.at(i).at(j).y - y_offset;
cv::Point2f point2D = mMainWindow->getExtrCalibration()->getImagePoint(
cv::Point3f(facets3D.at(i).at(j).x, facets3D.at(i).at(j).y, 0));
debout << "facets3D.at(" << i << ").at(" << j << ").x = " << facets3D.at(i).at(j).x
<< ", .y = " << facets3D.at(i).at(j).y << std::endl;
debout << "point2D.x = " << point2D.x << " , .y = " << point2D.y << std::endl;
if constexpr(
false && sqrt(
pow((facets3D.at(i).at(j).x - centers3D.at(i).x), 2) +
pow((facets3D.at(i).at(j).y - centers3D.at(i).y), 2)) > r)
{
if(circleStarted)
{
m = (facets3D.at(i).at(j).y - facets3D.at(i).at((j - 1) % facets3D.at(i).size()).y) /
(facets3D.at(i).at(j).x - facets3D.at(i).at((j - 1) % facets3D.at(i).size()).x);
// End punkt berechnen (Schnittpunkt Gerade-Kreis)
// Steigung der Geraden
m = (facets3D.at(i).at(j).y - facets3D.at(i).at((j + 1) % facets3D.at(i).size()).y) /
(facets3D.at(i).at(j).x - facets3D.at(i).at((j + 1) % facets3D.at(i).size()).x);
// Achsenabschnitt der Geraden
n = facets3D.at(i).at(j).y - m * facets3D.at(i).at(j).x;
float p = -((m * n - m * centers3D.at(i).y - centers3D.at(i).x) / (1 + pow(m, 2)));
float q = sqrt(
(pow(r, 2) - pow(centers3D.at(i).x, 2) - pow(centers3D.at(i).y, 2) - pow(n, 2) -
2 * n * centers3D.at(i).y) /
(1 + pow(m, 2)) +
pow((m * n - m * centers3D.at(i).y - centers3D.at(i).x) / (1 + pow(m, 2)), 2));
// Schnittpunkte mit Kreis
s1_x = p + q;
s1_y = m * s1_x + n;
s2_x = p - q;
s2_y = m * s2_x + n;
facets3D[i][j] = cv::Point2f(s1_x, s1_y);
point2D = mMainWindow->getExtrCalibration()->getImagePoint(cv::Point3f(s1_x, s1_y, 0));
circleEnd = QPointF(point2D.x, point2D.y);
ifacet2D.push_back(QPointF(center2D.x, center2D.y));
ifacet2D.push_back(QPointF(point2D.x, point2D.y));
debout << "End point: (" << s1_x << ", " << s1_y << ")" << std::endl;
}
else
{
// start punkt berechnen
m = (facets3D.at(i).at(j).y - facets3D.at(i).at((j - 1) % facets3D.at(i).size()).y) /
(facets3D.at(i).at(j).x - facets3D.at(i).at((j - 1) % facets3D.at(i).size()).x);
n = facets3D.at(i).at(j).y - m * facets3D.at(i).at(j).x;
float p = -((m * n - m * centers3D.at(i).y - centers3D.at(i).x) / (1 + pow(m, 2)));
float q = sqrt(
(pow(r, 2) - pow(centers3D.at(i).x, 2) - pow(centers3D.at(i).y, 2) - pow(n, 2) -
2 * n * centers3D.at(i).y) /
(1 + pow(m, 2)) +
pow((m * n - m * centers3D.at(i).y - centers3D.at(i).x) / (1 + pow(m, 2)), 2));
// Schnittpunkte mit Kreis
s1_x = p + q;
s1_y = m * s1_x + n;
s2_x = p - q;
s2_y = m * s2_x + n;
debout << "x=" << s1_x << " G(x)=" << (m * s1_x + n)
<< " K(x)=" << pow(s1_x - centers3D.at(i).x, 2) + pow(s1_y - centers3D.at(i).y, 2)
<< " = " << pow(r, 2) << std::endl;
debout << "x=" << s2_x << " G(x)=" << (m * s2_x + n)
<< " K(x)=" << pow(s2_x - centers3D.at(i).x, 2) + pow(s2_y - centers3D.at(i).y, 2)
<< " = " << pow(r, 2) << std::endl;
facets3D[i][j] = cv::Point2f(s1_x, s1_y);
point2D = mMainWindow->getExtrCalibration()->getImagePoint(cv::Point3f(s1_x, s1_y, 0));
ifacet2D.push_back(QPointF(point2D.x, point2D.y));
circleStart = QPointF(point2D.x, point2D.y);
circleStarted = true;
debout << "Start point: (" << s1_x << ", " << s1_y << ")" << std::endl;
}
}
else
{
ifacet2D.push_back(QPointF(point2D.x, point2D.y));
area += (facets3D.at(i).at(j).x * facets3D.at(i).at((j + 1) % facets3D[i].size()).y);
area -= (facets3D.at(i).at((j + 1) % facets3D[i].size()).x * facets3D.at(i).at(j).y);
}
}
area *= 0.5;
area = 1.0 / area;
area *= 10000;
QColor color;
color.setHsv((255 - area * 25.5) < 0 ? 0 : (255 - area * 25.5), 255, 255, 128);
QVector<QPointF> ifacet_vec;
for(size_t i = 0; i < ifacet2D.size(); i++)
{
ifacet_vec.append(ifacet2D.at(i));
}
painter->setBrush(color);
painter->setPen(Qt::black);
if(ifacet2D.size() == 0)
{
painter->drawEllipse(QPointF(center2D.x, center2D.y), 100, 100);
}
painter->drawConvexPolygon(QPolygonF(ifacet_vec));
// voronoi cell point
painter->setBrush(Qt::black);
painter->setPen(Qt::red);
painter->drawEllipse(QPointF(center2D.x, center2D.y), 5, 5);
}
}
}