display.tcl

# $Id$ #

#
#/** macro to draw on 2D display. \file display.tcl  \ingroup slam */
#

namespace eval slam {

    proc displayOmniZones {img omniImageManager} {
  # display selection zone of omniImageManager on img

  set camera [$omniImageManager cget -camera]

  # draw circles
  set radiusStep [expr ([$camera cget -imageRadius] - [$camera cget -maskRadius] - 2*[$omniImageManager cget -imageMargin]) / [$omniImageManager cget -nbZonesInRadius]]
  set radius [expr [$camera cget -maskRadius] + [$omniImageManager cget -imageMargin]]
  for {set i 0} {$i <= [$omniImageManager cget -nbZonesInRadius]} {incr i} {
      display::drawCircle $img  [$camera cget -mirrorCenterU]  [$camera cget -mirrorCenterV] $radius 2 "blue" "zone"
      set radius [expr $radius + $radiusStep]
  }

  # draw radius
  set 2pi [expr 2*3.14159265358979323846]
  set thetaStep [expr $2pi / [$omniImageManager cget -nbZonesInPeriphery]]
  set theta 0
  set radius1 [expr [$camera cget -maskRadius] + [$omniImageManager cget -imageMargin]]
  set radius2 [expr [$camera cget -imageRadius] - [$omniImageManager cget -imageMargin]]
  for {set i 0} {$i <= [$omniImageManager cget -nbZonesInPeriphery]} {incr i} {
      set u1 [expr [$camera cget -mirrorCenterU] + cos($theta)*$radius1]
      set v1 [expr [$camera cget -mirrorCenterV] + sin($theta)*$radius1]
      set u2 [expr [$camera cget -mirrorCenterU] + cos($theta)*$radius2]
      set v2 [expr [$camera cget -mirrorCenterV] + sin($theta)*$radius2]

      display::drawLine $img $u1 $v1 $u2 $v2 2 "blue" "zone"
  
      set theta [expr $theta + $thetaStep]
  }
    }

}

package provide slam 2.0