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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __GRAPH_PAINTER__</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __GRAPH_PAINTER__</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "opencx.hpp"</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "core/directed_graph.hpp"</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="keyword">namespace </span><a class="code" href="namespacedg.html">dg</a></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> {</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> </div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classdg_1_1_canvas_info.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_canvas_info.html">CanvasInfo</a> : <span class="keyword">public</span> cv::Size</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> {</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classdg_1_1_canvas_info.html">CanvasInfo</a>() : ppm(0), margin(0) { }</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  cv::Rect2d box_m;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  cv::Rect box_p;</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">double</span> ppm;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keywordtype">double</span> margin;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> };</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">template</span><<span class="keyword">typename</span> D, <span class="keyword">typename</span> C></div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classdg_1_1_graph_painter.html"> 25</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_graph_painter.html">GraphPainter</a> : <span class="keyword">public</span> <a class="code" href="classcx_1_1_algorithm.html">cx::Algorithm</a></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> {</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">typedef</span> <a class="code" href="classdg_1_1_directed_graph.html">DirectedGraph<D, C></a> <a class="code" href="classdg_1_1_directed_graph.html">Point2IDGraph</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">typedef</span> <a class="code" href="classdg_1_1_node_type.html">NodeType<D, C></a> <a class="code" href="classdg_1_1_node_type.html">Point2IDNode</a>;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classdg_1_1_graph_painter.html">GraphPainter</a>()</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  m_pixel_per_meter = 100;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  m_canvas_margin = 0.2;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  m_canvas_color = cx::COLOR_WHITE;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  m_box_color = cv::Vec3b(128, 128, 128);</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  m_box_thickness = 1;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  m_grid_step = 1;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  m_grid_color = cv::Vec3b(200, 200, 200);</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  m_grid_thickness = 1;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  m_grid_unit_font_scale = 0.5;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  m_grid_unit_color = cv::Vec3b(64, 64, 64);</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  m_grid_unit_pos = cv::Point(100, 10);</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  m_axes_length = 0.5;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  m_axes_x_color = cx::COLOR_RED;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  m_axes_y_color = cx::COLOR_BLUE;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  m_axes_thickness = 2;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  m_node_radius = 0.1;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  m_node_font_scale = 0.5;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  m_node_color = cx::COLOR_BLUE;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  m_node_thickness = -1;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  m_edge_color = cx::COLOR_GREEN;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  m_edge_thickness = 2;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  m_edge_arrow_length = 0.05;</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">virtual</span> ~<a class="code" href="classdg_1_1_graph_painter.html">GraphPainter</a>() { }</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classdg_1_1_graph_painter.html#aa0f524b0e62464ad310d60836b80f2ab"> 66</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classdg_1_1_graph_painter.html#aa0f524b0e62464ad310d60836b80f2ab">readParam</a>(<span class="keyword">const</span> cv::FileNode& fn)</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">int</span> n_read = <a class="code" href="classcx_1_1_algorithm.html#a4823e0e8bd089bdaa743ed0bea2c1df9">cx::Algorithm::readParam</a>(fn);</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"pixel_per_meter"</span>, m_pixel_per_meter, n_read);</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"canvas_margin"</span>, m_canvas_margin, n_read);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"canvas_color"</span>, m_canvas_color, n_read);</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"box_color"</span>, m_box_color, n_read);</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"box_thickness"</span>, m_box_thickness, n_read);</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_step"</span>, m_grid_step, n_read);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_color"</span>, m_grid_color, n_read);</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_thickness"</span>, m_grid_thickness, n_read);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_unit_font_scale"</span>, m_grid_unit_font_scale, n_read);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_unit_color"</span>, m_grid_unit_color, n_read);</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"grid_unit_pos"</span>, m_grid_unit_pos, n_read);</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"axes_length"</span>, m_axes_length, n_read);</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"axes_x_color"</span>, m_axes_x_color, n_read);</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"axes_y_color"</span>, m_axes_y_color, n_read);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"axes_thickness"</span>, m_axes_thickness, n_read);</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"node_radius"</span>, m_node_radius, n_read);</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"node_font_scale"</span>, m_node_font_scale, n_read);</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"node_color"</span>, m_node_color, n_read);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"node_thickness"</span>, m_node_thickness, n_read);</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"edge_color"</span>, m_edge_color, n_read);</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"edge_thickness"</span>, m_edge_thickness, n_read);</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  CX_LOAD_PARAM_COUNT(fn, <span class="stringliteral">"edge_arrow_length"</span>, m_edge_arrow_length, n_read);</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">return</span> n_read;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classdg_1_1_graph_painter.html#ac44b21f7417e10ee324f7eb2879f2bf8"> 102</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_graph_painter.html#ac44b21f7417e10ee324f7eb2879f2bf8">writeParam</a>(cv::FileStorage& fs)<span class="keyword"> const</span></div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">if</span> (<a class="code" href="classcx_1_1_algorithm.html#ac66fa7a5b81429c3bee2f89ae23de28a">cx::Algorithm::writeParam</a>(fs))</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  fs << <span class="stringliteral">"pixel_per_meter"</span> << m_pixel_per_meter;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  fs << <span class="stringliteral">"canvas_margin"</span> << m_canvas_margin;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  fs << <span class="stringliteral">"canvas_color"</span> << m_canvas_color;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  fs << <span class="stringliteral">"box_color"</span> << m_box_color;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  fs << <span class="stringliteral">"box_thickness"</span> << m_box_thickness;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  fs << <span class="stringliteral">"grid_step"</span> << m_grid_step;</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  fs << <span class="stringliteral">"grid_color"</span> << m_grid_color;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  fs << <span class="stringliteral">"grid_thickness"</span> << m_grid_thickness;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  fs << <span class="stringliteral">"grid_unit_font_scale"</span> << m_grid_unit_font_scale;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  fs << <span class="stringliteral">"grid_unit_color"</span> << m_grid_unit_color;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  fs << <span class="stringliteral">"grid_unit_pos"</span> << m_grid_unit_pos;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  fs << <span class="stringliteral">"axes_length"</span> << m_axes_length;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  fs << <span class="stringliteral">"axes_x_color"</span> << m_axes_x_color;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  fs << <span class="stringliteral">"axes_y_color"</span> << m_axes_y_color;</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  fs << <span class="stringliteral">"axes_thickness"</span> << m_axes_thickness;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> </div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  fs << <span class="stringliteral">"node_radius"</span> << m_node_radius;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  fs << <span class="stringliteral">"node_font_scale"</span> << m_node_font_scale;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  fs << <span class="stringliteral">"node_color"</span> << m_node_color;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  fs << <span class="stringliteral">"node_thickness"</span> << m_node_thickness;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  fs << <span class="stringliteral">"edge_color"</span> << m_edge_color;</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  fs << <span class="stringliteral">"edge_thickness"</span> << m_edge_thickness;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  fs << <span class="stringliteral">"edge_arrow_length"</span> << m_edge_arrow_length;</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  }</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">bool</span> drawMap(cv::Mat& image, Point2IDGraph& map)<span class="keyword"> const</span></div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="classdg_1_1_canvas_info.html">CanvasInfo</a> info = getCanvasInfo(map);</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> (image.empty())</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">if</span> (!clearCanvas(image, info, m_canvas_color)) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  drawGrid(image, info, m_grid_step, m_grid_color, m_grid_thickness, m_grid_unit_font_scale, m_grid_unit_color);</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  drawBox(image, info, m_box_color, m_box_thickness);</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  drawAxes(image, info, m_axes_length, m_axes_x_color, m_axes_y_color, m_axes_thickness);</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">if</span> (!image.empty())</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  drawNodes(image, info, map, m_node_radius, m_node_font_scale, m_node_color, m_node_thickness);</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">for</span> (<a class="code" href="classdg_1_1_directed_graph.html#a9f44063c049f4bfc434a528bd6072ef9">Point2IDGraph::NodeItr</a> n = map.getHeadNode(); n != map.getTailNode(); n++)</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  {</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  drawEdges(image, info, map, &(*n), m_node_radius, m_edge_color, m_edge_thickness, m_edge_arrow_length);</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  }</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  CanvasInfo getCanvasInfo(Point2IDGraph& map)<span class="keyword"> const</span></div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">return</span> buildCanvasInfo(map, m_pixel_per_meter, m_canvas_margin);</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keyword">static</span> CanvasInfo buildCanvasInfo(Point2IDGraph& map, <span class="keywordtype">double</span> ppm, <span class="keywordtype">double</span> margin)</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  CanvasInfo info;</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  info.ppm = ppm;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  info.margin = margin;</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> (map.countNodes() > 0)</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  Point2 box_min = map.getHeadNode()->data, box_max = map.getHeadNode()->data;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">for</span> (<a class="code" href="classdg_1_1_directed_graph.html#a9f44063c049f4bfc434a528bd6072ef9">Point2IDGraph::NodeItr</a> n = map.getHeadNode(); n != map.getTailNode(); n++)</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">if</span> (n->data.x < box_min.x) box_min.x = n->data.x;</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (n->data.y < box_min.y) box_min.y = n->data.y;</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (n->data.x > box_max.x) box_max.x = n->data.x;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span> (n->data.y > box_max.y) box_max.y = n->data.y;</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  info.box_m = cv::Rect2d(box_min, box_max);</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  info.width = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>((box_max.x - box_min.x + 4 * margin) * ppm + 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  info.height = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>((box_max.y - box_min.y + 4 * margin) * ppm + 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">int</span> margin_p = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(info.margin * info.ppm + 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  info.box_p.x = margin_p;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  info.box_p.y = margin_p;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  info.box_p.width = info.width - 2 * margin_p;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  info.box_p.height = info.height - 2 * margin_p;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">return</span> info;</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> </div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> clearCanvas(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keyword">const</span> cv::Vec3b& color = cx::COLOR_WHITE)</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">if</span> (info.area() > 0 && image.size() != info) image.create(info, CV_8UC3);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordflow">if</span> (image.empty()) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  image = color;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawBox(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = 1)</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">if</span> (thickness <= 0) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  cv::rectangle(image, info.box_p, color, thickness);</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawAxes(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keywordtype">double</span> length, <span class="keyword">const</span> cv::Vec3b& color_x, <span class="keyword">const</span> cv::Vec3b& color_y, <span class="keywordtype">int</span> thickness = 1)</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  {</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">if</span> (thickness <= 0) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  cv::Point axes_0 = cvtMeter2Pixel(Point2(0, 0), info) + Point2(0.5, 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  cv::Point axes_x = cvtMeter2Pixel(Point2(length, 0), info) + Point2(0.5, 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  cv::Point axes_y = cvtMeter2Pixel(Point2(0, length), info) + Point2(0.5, 0.5); <span class="comment">// + 0.5: Rounding</span></div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  cv::line(image, axes_0, axes_x, color_x, thickness);</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  cv::line(image, axes_0, axes_y, color_y, thickness);</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawGrid(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keywordtype">double</span> grid_step, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = 1, <span class="keywordtype">double</span> unit_font_scale = 0.5, <span class="keyword">const</span> cv::Vec3b& unit_color = cx::COLOR_BLACK, <span class="keyword">const</span> cv::Point& unit_pos = cv::Point(100, 10))</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  {</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">if</span> (thickness <= 0) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">if</span> (grid_step < 0)</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  {</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="comment">// Select cell size automatically</span></div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordtype">double</span> sz = std::max(info.box_m.width, info.box_m.height);</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  grid_step = pow(10., <span class="keywordtype">int</span>(log10(sz / 4)));</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span> (grid_step < 1) grid_step = 1;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (grid_step > 1000) grid_step = 1000;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  Point2 center_map(info.box_m.x + info.box_m.width / 2, info.box_m.y + info.box_m.height / 2);</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  Point2 center_grid = cvtMeter2Pixel(Point2(<span class="keywordtype">int</span>(center_map.x / grid_step) * grid_step, <span class="keywordtype">int</span>(center_map.y / grid_step) * grid_step), info);</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0;; i++)</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  {</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordtype">double</span> y = center_grid.y - grid_step * i * info.ppm;</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">if</span> (y < info.box_p.tl().y || y > info.box_p.br().y) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  cv::line(image, cv::Point2d(info.box_p.tl().x, y), cv::Point2d(info.box_p.br().x, y), color, thickness); <span class="comment">// Upward X-directional grids</span></div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  }</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1;; i++)</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  {</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordtype">double</span> y = center_grid.y + grid_step * i * info.ppm;</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">if</span> (y < info.box_p.tl().y || y > info.box_p.br().y) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  cv::line(image, cv::Point2d(info.box_p.tl().x, y), cv::Point2d(info.box_p.br().x, y), color, thickness); <span class="comment">// Downward X-directional grids</span></div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  }</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0;; i++)</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  {</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">double</span> x = center_grid.x + grid_step * i * info.ppm;</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span> (x < info.box_p.tl().x || x > info.box_p.br().x) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  cv::line(image, cv::Point2d(x, info.box_p.tl().y), cv::Point2d(x, info.box_p.br().y), color, thickness); <span class="comment">// Rightward Y-directional grids</span></div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1;; i++)</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  {</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">double</span> x = center_grid.x - grid_step * i * info.ppm;</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">if</span> (x < info.box_p.tl().x || x > info.box_p.br().x) <span class="keywordflow">break</span>;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  cv::line(image, cv::Point2d(x, info.box_p.tl().y), cv::Point2d(x, info.box_p.br().y), color, thickness); <span class="comment">// Leftward Y-directional grids</span></div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">if</span> (unit_font_scale > 0)</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  cv::putText(image, cv::format(<span class="stringliteral">"Grid: %d [m]"</span>, <span class="keywordtype">int</span>(grid_step)), cv::Point(image.cols, image.rows) - unit_pos, cv::FONT_HERSHEY_DUPLEX, unit_font_scale, unit_color);</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  }</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawNode(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keyword">const</span> Point2ID& node, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> font_scale, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = -1)</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  {</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> r = std::max(static_cast<int>(radius * info.ppm + 0.5), 1);</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keyword">const</span> cv::Point font_offset(-r / 2, r / 2);</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  cv::Vec3b font_color = color;</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordflow">if</span> (thickness < 0) font_color = cv::Vec3b(255, 255, 255) - color;</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keyword">const</span> cv::Point p = cvtMeter2Pixel(node, info);</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  cv::circle(image, p, r, color, thickness);</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  cv::putText(image, cv::format(<span class="stringliteral">"%d"</span>, node.id), p + font_offset, cv::FONT_HERSHEY_DUPLEX, font_scale, font_color, <span class="keywordtype">int</span>(font_scale));</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  }</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span> </div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawNodes(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, Point2IDGraph& map, <span class="keywordtype">double</span> radius, <span class="keywordtype">double</span> font_scale, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = -1)</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  {</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> r = std::max(static_cast<int>(radius * info.ppm + 0.5), 1);</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keyword">const</span> cv::Point font_offset(-r / 2, r / 2);</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  cv::Vec3b font_color = color;</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordflow">if</span> (thickness < 0) font_color = cv::Vec3b(255, 255, 255) - color;</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">for</span> (<a class="code" href="classdg_1_1_directed_graph.html#a9f44063c049f4bfc434a528bd6072ef9">Point2IDGraph::NodeItr</a> n = map.getHeadNode(); n != map.getTailNode(); n++)</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  {</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keyword">const</span> cv::Point p = cvtMeter2Pixel(n->data, info);</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  cv::circle(image, p, r, color, thickness);</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  cv::putText(image, cv::format(<span class="stringliteral">"%d"</span>, n->data.id), p + font_offset, cv::FONT_HERSHEY_DUPLEX, font_scale, font_color, <span class="keywordtype">int</span>(font_scale));</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  }</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawEdge(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, <span class="keyword">const</span> Point2ID& from, <span class="keyword">const</span> Point2ID& to, <span class="keywordtype">double</span> radius, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = 1, <span class="keywordtype">double</span> arrow_length = -1)</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  {</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">if</span> (thickness <= 0) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> r = radius * info.ppm;</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> a = arrow_length * info.ppm;</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span> </div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="comment">// Draw an edge</span></div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  Point2 p = cvtMeter2Pixel(from, info);</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  Point2 q = cvtMeter2Pixel(to, info);</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">double</span> theta = atan2(q.y - p.y, q.x - p.x);</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  Point2 delta(r * cos(theta), r * sin(theta));</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  p = p + delta;</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  q = q - delta;</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  cv::line(image, p, q, color, thickness);</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="comment">// Draw its arrow</span></div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordflow">if</span> (a > 0)</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  {</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordtype">double</span> theta_p = theta + CV_PI / 6;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordtype">double</span> theta_m = theta - CV_PI / 6;</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  cv::line(image, q, q - a * Point2(cos(theta_p), sin(theta_p)), color, thickness);</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  cv::line(image, q, q - a * Point2(cos(theta_m), sin(theta_m)), color, thickness);</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  }</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  }</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span> </div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> drawEdges(cv::Mat& image, <span class="keyword">const</span> CanvasInfo& info, Point2IDGraph& map, Point2IDNode* node, <span class="keywordtype">double</span> radius, <span class="keyword">const</span> cv::Vec3b& color, <span class="keywordtype">int</span> thickness = 1, <span class="keywordtype">double</span> arrow_length = -1)</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  {</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  CV_DbgAssert(!image.empty());</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordflow">if</span> (thickness <= 0 || node == NULL) <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> </div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> r = radius * info.ppm;</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> a = arrow_length * info.ppm;</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">for</span> (<a class="code" href="classdg_1_1_directed_graph.html#a82474d82683ea38835c45fb6867e2653">Point2IDGraph::EdgeItr</a> e = map.getHeadEdge(node); e != map.getTailEdge(node); e++)</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  {</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="comment">// Draw an edge</span></div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  Point2 p = cvtMeter2Pixel(node->data, info);</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  Point2 q = cvtMeter2Pixel(e->to->data, info);</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordtype">double</span> theta = atan2(q.y - p.y, q.x - p.x);</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  Point2 delta(r * cos(theta), r * sin(theta));</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  p = p + delta;</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  q = q - delta;</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  cv::line(image, p, q, color, thickness);</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span> </div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="comment">// Draw its arrow</span></div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">if</span> (a > 0)</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  {</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordtype">double</span> theta_p = theta + CV_PI / 6;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordtype">double</span> theta_m = theta - CV_PI / 6;</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  cv::line(image, q, q - a * Point2(cos(theta_p), sin(theta_p)), color, thickness);</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  cv::line(image, q, q - a * Point2(cos(theta_m), sin(theta_m)), color, thickness);</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  }</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  }</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  }</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span> </div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keyword">static</span> Point2 cvtMeter2Pixel(<span class="keyword">const</span> Point2& p, <span class="keyword">const</span> CanvasInfo& info)</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  {</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  Point2 m;</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  m.x = (p.x + 2 * info.margin) * info.ppm;</div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  m.y = info.height - (p.y + 2 * info.margin) * info.ppm;</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">return</span> m;</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  }</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span> </div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span> <span class="keyword">protected</span>:</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordtype">double</span> m_pixel_per_meter;</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordtype">double</span> m_canvas_margin;</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  cv::Vec3b m_canvas_color;</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span> </div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  cv::Vec3b m_box_color;</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span> </div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordtype">int</span> m_box_thickness;</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordtype">double</span> m_grid_step;</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span> </div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  cv::Vec3b m_grid_color;</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span> </div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordtype">int</span> m_grid_thickness;</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordtype">double</span> m_grid_unit_font_scale;</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span> </div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  cv::Vec3b m_grid_unit_color;</div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span> </div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  cv::Point m_grid_unit_pos;</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordtype">double</span> m_axes_length;</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span> </div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  cv::Vec3b m_axes_x_color;</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  cv::Vec3b m_axes_y_color;</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span> </div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordtype">int</span> m_axes_thickness;</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> </div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">double</span> m_node_radius;</div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keywordtype">double</span> m_node_font_scale;</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  cv::Vec3b m_node_color;</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> </div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  <span class="keywordtype">int</span> m_node_thickness;</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  cv::Vec3b m_edge_color;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keywordtype">int</span> m_edge_thickness;</div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div><div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordtype">double</span> m_edge_arrow_length;</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span> </div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span> }; <span class="comment">// End of 'GraphPainter'</span></div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span> </div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span> } <span class="comment">// End of 'dg'</span></div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span> <span class="preprocessor">#endif // End of '__GRAPH_PAINTER__'</span></div><div class="ttc" id="classdg_1_1_graph_painter_html_ac44b21f7417e10ee324f7eb2879f2bf8"><div class="ttname"><a href="classdg_1_1_graph_painter.html#ac44b21f7417e10ee324f7eb2879f2bf8">dg::GraphPainter::writeParam</a></div><div class="ttdeci">virtual bool writeParam(cv::FileStorage &fs) const</div><div class="ttdef"><b>Definition:</b> graph_painter.hpp:102</div></div>
<div class="ttc" id="classdg_1_1_directed_graph_html_a9f44063c049f4bfc434a528bd6072ef9"><div class="ttname"><a href="classdg_1_1_directed_graph.html#a9f44063c049f4bfc434a528bd6072ef9">dg::DirectedGraph::NodeItr</a></div><div class="ttdeci">std::list< NodeType< D, C > >::iterator NodeItr</div><div class="ttdef"><b>Definition:</b> directed_graph.hpp:123</div></div>
<div class="ttc" id="namespacedg_html"><div class="ttname"><a href="namespacedg.html">dg</a></div><div class="ttdef"><b>Definition:</b> basic_type.hpp:6</div></div>
<div class="ttc" id="classcx_1_1_algorithm_html_ac66fa7a5b81429c3bee2f89ae23de28a"><div class="ttname"><a href="classcx_1_1_algorithm.html#ac66fa7a5b81429c3bee2f89ae23de28a">cx::Algorithm::writeParam</a></div><div class="ttdeci">virtual bool writeParam(cv::FileStorage &fs) const</div><div class="ttdef"><b>Definition:</b> opencx.hpp:66</div></div>
<div class="ttc" id="classdg_1_1_directed_graph_html"><div class="ttname"><a href="classdg_1_1_directed_graph.html">dg::DirectedGraph</a></div><div class="ttdoc">Directed graph. </div><div class="ttdef"><b>Definition:</b> directed_graph.hpp:11</div></div>
<div class="ttc" id="classcx_1_1_algorithm_html_a4823e0e8bd089bdaa743ed0bea2c1df9"><div class="ttname"><a href="classcx_1_1_algorithm.html#a4823e0e8bd089bdaa743ed0bea2c1df9">cx::Algorithm::readParam</a></div><div class="ttdeci">virtual int readParam(const cv::FileNode &fn)</div><div class="ttdef"><b>Definition:</b> opencx.hpp:59</div></div>
<div class="ttc" id="classdg_1_1_canvas_info_html"><div class="ttname"><a href="classdg_1_1_canvas_info.html">dg::CanvasInfo</a></div><div class="ttdef"><b>Definition:</b> graph_painter.hpp:10</div></div>
<div class="ttc" id="classdg_1_1_node_type_html"><div class="ttname"><a href="classdg_1_1_node_type.html">dg::NodeType</a></div><div class="ttdoc">Node for directed graphs. </div><div class="ttdef"><b>Definition:</b> directed_graph.hpp:9</div></div>
<div class="ttc" id="classcx_1_1_algorithm_html"><div class="ttname"><a href="classcx_1_1_algorithm.html">cx::Algorithm</a></div><div class="ttdoc">More convenient Algorithm. </div><div class="ttdef"><b>Definition:</b> opencx.hpp:51</div></div>
<div class="ttc" id="classdg_1_1_graph_painter_html"><div class="ttname"><a href="classdg_1_1_graph_painter.html">dg::GraphPainter</a></div><div class="ttdef"><b>Definition:</b> graph_painter.hpp:25</div></div>
<div class="ttc" id="classdg_1_1_graph_painter_html_aa0f524b0e62464ad310d60836b80f2ab"><div class="ttname"><a href="classdg_1_1_graph_painter.html#aa0f524b0e62464ad310d60836b80f2ab">dg::GraphPainter::readParam</a></div><div class="ttdeci">virtual int readParam(const cv::FileNode &fn)</div><div class="ttdef"><b>Definition:</b> graph_painter.hpp:66</div></div>
<div class="ttc" id="classdg_1_1_directed_graph_html_a82474d82683ea38835c45fb6867e2653"><div class="ttname"><a href="classdg_1_1_directed_graph.html#a82474d82683ea38835c45fb6867e2653">dg::DirectedGraph::EdgeItr</a></div><div class="ttdeci">std::list< EdgeType< D, C > >::iterator EdgeItr</div><div class="ttdef"><b>Definition:</b> directed_graph.hpp:128</div></div>
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