feat: initial code showing intersections on a osm map

.gitignore

@@ -0,0 +1 @@
+*.DS_Store

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.11.3)
 
-# set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 17)
 project(Rideshare_Simulator)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread")
 
@@ -10,9 +10,11 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 link_directories(${OpenCV_LIBRARY_DIRS})
 add_definitions(${OpenCV_DEFINITIONS})
 
+add_subdirectory(thirdparty/pugixml)
+
 # Find all executables
-file(GLOB project_SRCS src/*.cpp) #src/*.h
+file(GLOB_RECURSE project_SRCS src/*.cpp src/*.h)
 
 # Add project executable
 add_executable(rideshare_simulation ${project_SRCS})
-target_link_libraries(rideshare_simulation ${OpenCV_LIBRARIES})
+target_link_libraries(rideshare_simulation pugixml ${OpenCV_LIBRARIES})

README.md

@@ -3,7 +3,7 @@
 My Capstone project for the C++ Nanodegree at Udacity, a rideshare simulator. It extends the concurrency project based on a traffic simulation, as well as taking in parts of the earlier route planning project, in order to simulate ridesharing apps that are able to pick up passengers.
 
 ## Dependencies for Running Locally
-* cmake >= 2.8
+* cmake >= 3.11
   * All OSes: [click here for installation instructions](https://cmake.org/install/)
 * make >= 4.1 (Linux, Mac), 3.81 (Windows)
   * Linux: make is installed by default on most Linux distros

src/BasicGraphics.cpp

@@ -0,0 +1,75 @@
+#include <chrono>
+#include <iostream>
+#include <thread>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+#include "BasicGraphics.h"
+
+BasicGraphics::BasicGraphics(float minLat, float minLon, float maxLat, float maxLon)
+{
+    this->minLat = minLat;
+    this->minLon = minLon;
+    this->maxLat = maxLat;
+    this->maxLon = maxLon;
+}
+
+void BasicGraphics::simulate()
+{
+    this->loadBackgroundImg();
+    while (true)
+    {
+        // sleep at every iteration to reduce CPU usage
+        // TODO: Shorten below delay once ready for active updating
+        std::this_thread::sleep_for(std::chrono::milliseconds(10000));
+
+        // update graphics
+        this->drawIntersections();
+    }
+}
+
+void BasicGraphics::loadBackgroundImg()
+{
+    // create window
+    _windowName = "Rideshare Simulation";
+    cv::namedWindow(_windowName, cv::WINDOW_NORMAL);
+
+    // load image and create copy to be used for semi-transparent overlay
+    cv::Mat background = cv::imread(_bgFilename);
+    _images.push_back(background);         // first element is the original background
+    _images.push_back(background.clone()); // second element will be the transparent overlay
+    _images.push_back(background.clone()); // third element will be the result image for display
+}
+
+void BasicGraphics::drawIntersections()
+{
+    // reset images
+    _images.at(1) = _images.at(0).clone();
+    _images.at(2) = _images.at(0).clone();
+
+    // Get image rows and columns to help with coordinate adjustments for image
+    float imgRows = _images.at(0).rows;
+    float imgCols = _images.at(0).cols;
+
+    // create overlay from intersections
+    for (auto intersect : _intersections)
+    {
+        std::vector<float> position = intersect.getPosition();
+
+        // Adjust the position based on lat & lon in image
+        position[0] = (position[0] - minLon) / (maxLon - minLon);
+        position[1] = (maxLat - position[1]) / (maxLat - minLat);
+
+        // set color according to traffic light and draw the intersection as a circle
+        //std::cout << "Position at: " << (int)(position[0] * imgCols) << "," << (int)(position[1] * imgRows) << std::endl;
+        cv::circle(_images.at(1), cv::Point2d((int)(position[0] * imgCols), (int)(position[1] * imgRows)), 25, cv::Scalar(0, 255, 0), -1);
+    }
+
+    float opacity = 0.85;
+    cv::addWeighted(_images.at(1), opacity, _images.at(0), 1.0 - opacity, 0, _images.at(2));
+    std::cout << "Image size is: " << _images.at(0).rows << " rows, and " << _images.at(0).cols << " columns." << std::endl;
+
+    // display background and overlay image
+    cv::imshow(_windowName, _images.at(2));
+    cv::waitKey(33);
+}

src/BasicGraphics.h

@@ -0,0 +1,35 @@
+#ifndef BASICGRAPHICS_H
+#define BASICGRAPHICS_H
+
+#include <string>
+#include <vector>
+#include <opencv2/core.hpp>
+#include "BasicIntersection.h"
+
+class BasicGraphics
+{
+public:
+    // constructor / destructor
+    BasicGraphics(float minLat, float minLon, float maxLat, float maxLon);
+
+    // getters / setters
+    void setBgFilename(std::string filename) { _bgFilename = filename; }
+    void setIntersections(std::vector<BasicIntersection> &intersections) { _intersections = intersections; };
+
+    // typical behaviour methods
+    void simulate();
+
+private:
+    // typical behaviour methods
+    void loadBackgroundImg();
+    void drawIntersections();
+
+    // member variables
+    float minLat, minLon, maxLat, maxLon;
+    std::vector<BasicIntersection> _intersections;
+    std::string _bgFilename;
+    std::string _windowName;
+    std::vector<cv::Mat> _images;
+};
+
+#endif

src/BasicIntersection.h

@@ -0,0 +1,20 @@
+#ifndef BASICINTERSECTION_H
+#define BASICINTERSECTION_H
+
+#include <vector>
+
+class BasicIntersection
+{
+public:
+    // constructor / destructor
+
+    // getters / setters
+    void setPosition(float x, float y) { _x = x; _y = y;}
+    std::vector<float> getPosition() { return {_x, _y}; }
+
+private:
+    // member variables
+    float _x, _y;
+};
+
+#endif