ImgPainter.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
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 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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 */

#ifndef _MIRA_IMGPAINTER_H_
#define _MIRA_IMGPAINTER_H_

#include <opencv2/core/core.hpp>

#include <platform/Platform.h>

#include <Eigen/Core>

#include <image/Color.h>
#include <geometry/Point.h>

namespace mira {

namespace ImgPainter {


MIRA_BASE_EXPORT
void drawTransparentLine(cv::Mat& ioImg, const Point2i& a, const Point2i& b,
                         const Color::RGB& color, double alpha=0.5f);

MIRA_BASE_EXPORT
void drawCovariance(cv::Mat& ioImg, const Point2i& p, float a, float b, float c,
                    float sigma, const Color::RGB& color, int thickness=1);

template <typename Derived>
inline void drawCovariance(cv::Mat& ioImg, const Point2i& p,
                    const Eigen::MatrixBase<Derived>& S,
                    float sigma, const Color::RGB& color, int thickness=1)
{
    drawCovariance(ioImg, p, S(0,0), S(1,0), S(1,1), sigma, color, thickness);
}

MIRA_BASE_EXPORT
void drawInvCovariance(cv::Mat& ioImg, const Point2i& p, float a, float b, float c,
                       float sigma, const Color::RGB& color, int thickness=1);

template <typename Derived>
inline void drawInvCovariance(cv::Mat& ioImg, const Point2i& p,
                    const Eigen::MatrixBase<Derived>& Sinv,
                    float sigma, const Color::RGB& color, int thickness=1)
{
    drawInvCovariance(ioImg, p, Sinv(0,0), Sinv(1,0), Sinv(1,1), sigma, color, thickness);
}

}} // namespace

#endif