3dpcp/.svn/pristine/d5/d5956671639d87edcb7fa5cf211d55781d701fa0.svn-base

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2012-09-16 12:33:11 +00:00
/*
* drawtrackers implementation
*
* Copyright (C) Li Wei, Li Ming, Andreas Nuechter,
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief
*
* @author Andreas Nuechter. Jacobs University Bremen, Germany
* @author Li Wei, Wuhan University, China
* @author Li Ming, Wuhan University, China
*/
#include <cstdlib>
#include <cstdio>
#include <cmath>
#ifdef _MSC_VER
#include <windows.h>
#else
#include <dlfcn.h>
#endif
#include "veloslam/color_util.h"
#include "veloslam/veloscan.h"
#include "veloslam/trackermanager.h"
#include "veloslam/debugview.h"
#include "veloslam/kalmanfilter.h"
#include <GL/gl.h> /* OpenGL header file */
#include <GL/glu.h> /* OpenGL utilities header file */
#ifdef _MSC_VER
#include <GL/glut.h>
#else
#include <GL/freeglut.h>
#endif
#define KG 35
extern int sliding_window_size;
extern int current_sliding_window_pos;
extern Trajectory VelodyneTrajectory;
extern VeloScan * g_pfirstScan;
int TrackerManager::DrawTrackersMovtion_Long_Number_All(vector <Scan *> allScans, int n)
{
int i,j,k,colorIdx;
Point p1,p2,p1text,p2text;
char object_moving_distance[256];
list<Tracker>::iterator it;
for(it=tracks.begin(); it!=tracks.end(); it++)
{
Tracker &tracker=*it;
int size=tracker.statusList.size();
int firstNO= -1;
int secondNO= -1;
if (tracker.moving_distance<constant_static_or_moving||size==0)
{
continue;
}
if (size < 3)
{
for(int i =0; i <size; i++ )
{
clusterFeature &glu1=tracker.statusList[i];
cluster &gluData1=tracker.dataList[i];
firstNO = GetScanID_in_SlidingWindow(glu1.frameNO,
current_sliding_window_pos,
sliding_window_size);
if(firstNO <0)
continue;
Scan *CurrentScan = allScans[firstNO];
double deltaMat[16];
GetCurrecntdelteMat(*CurrentScan , deltaMat);
p1.x = glu1.avg_x; p1.y= glu1.avg_y;p1.z=glu1.avg_z;
p1text.x= glu1.avg_x+150; p1text.y= glu1.avg_y+80; p1text.z=glu1.avg_z+50;
p1.transform(deltaMat);
p1text.transform(deltaMat);
colorIdx=tracker.colorIdx%8;
}
continue;
}
////////////////////////////////////////////////////////////
for(int i =0; i <size-2; i++ )
{
clusterFeature &glu1=tracker.statusList[i];
cluster &gluData1=tracker.dataList[i];
clusterFeature &glu2=tracker.statusList[i+1];
cluster &gluData2=tracker.dataList[i+1];
firstNO = GetScanID_in_SlidingWindow(glu1.frameNO,
current_sliding_window_pos,
sliding_window_size);
secondNO = GetScanID_in_SlidingWindow(glu2.frameNO,
current_sliding_window_pos,
sliding_window_size);
if(firstNO <0 || secondNO< 0 )
continue;
Scan *CurrentScan = allScans[firstNO];
Scan *CurrentScanNext = allScans[secondNO];
double deltaMat[16];
double deltaMatNext[16];
GetCurrecntdelteMat(*CurrentScan , deltaMat);
GetCurrecntdelteMat(*CurrentScanNext , deltaMatNext);
p1.x = glu1.avg_x; p1.y= glu1.avg_y;p1.z=glu1.avg_z;
p1text.x= glu1.avg_x+150; p1text.y= glu1.avg_y+80; p1text.z=glu1.avg_z+50;
p2.x = glu2.avg_x; p2.y= glu2.avg_y; p2.z=glu2.avg_z;
p2text.x= glu2.avg_x+150; p2text.y= glu2.avg_y+80; p2text.z=glu2.avg_z+50;
p1.transform(deltaMat);
p2.transform(deltaMatNext);
p1text.transform(deltaMat);
p2text.transform(deltaMatNext);
colorIdx=tracker.colorIdx%8;
DrawPoint(p1,4,0,1,1);
DrawPoint(p2,4,0,1,1);
Draw_Line_GL_RGB(p1, p2, 3, 1, 0, 0, false);
}
}
return 0;
}
int TrackerManager::DrawEgoTrajectory()
{
int i, size;
size =VelodyneTrajectory.path.size();
for(i=0; i< size; i++)
{
Point p = VelodyneTrajectory.path[i];
DrawPoint(p,4,0,1,0);
}
return 0;
}