//#include "stdafx.h"
#include "RegionAssist.h"
#include "MSRegionSurveilance.h"
#include "left_over_det.h"
#include "cv.h"
#include "highgui.h"
//using namespace cv;
using namespace std;
#define LINE_PIXEL 2
/************************************************************************/
/* 函数: DrawArrow()													*/
/* 作用: 绘制箭头														*/
/* 参数: src：图像；pStart&pEnd：箭头两个端点；len：箭头两翼的长短；	*/
/*		 alpha为箭头两翼展开的幅度										*/
/* 返回: 无																*/
/************************************************************************/
void DrawArrow(IplImage * src, cv::Point  pStart, cv::Point  pEnd, int len, int alpha)
{
	const double PI = 3.1415926;
	cv::Point arrow;
	//计算 θ 角（最简单的一种情况在下面图示中已经展示，关键在于 atan2 函数，详情见下面）   
	double angle = atan2((double)(pStart.y - pEnd.y), (double)(pStart.x - pEnd.x));
	cvLine(src, pStart, pEnd, cvScalar(0, 127, 0), 2);	//黄色线  
	//计算箭角边的另一端的端点位置（上面的还是下面的要看箭头的指向，也就是pStart和pEnd的位置） 
	arrow.x = pEnd.x + len * cos(angle + PI * alpha / 180);
	arrow.y = pEnd.y + len * sin(angle + PI * alpha / 180);
	cvLine(src, pEnd, arrow, cvScalar(0, 127, 0), 2);
	arrow.x = pEnd.x + len * cos(angle - PI * alpha / 180);
	arrow.y = pEnd.y + len * sin(angle - PI * alpha / 180);
	cvLine(src, pEnd, arrow, cvScalar(0, 127, 0), 2);
}
/************************************************************************/
/* 函数: get_ArrowDir()													*/
/* 作用: 获取方向和用于绘制箭头的两个端点；								*/
/* 参数: frame：图像(获取宽和高，用于防止越界)；						*/
/* 		 pROI0&pROI1：拌线两个端点；									*/
/*		 dir：确定单向警报方向的坐标点；								*/
/*		 pStart&pEnd：箭头两个端点；									*/
/* 返回: 1:正方向；0:负方向												*/
/************************************************************************/
//int get_ArrowDir(IplImage *frame, CMPoint pROI0, CMPoint pROI1, CMPoint dir, Point &pStart, Point &pEnd)
//{
//	float k1, k2;  //k1为原线段的斜率
//
//	if (pROI0.x != pROI1.x)	//若不为一根垂直线
//	{
//		k1 = (float)(pROI0.y - pROI1.y) / (float)(pROI0.x - pROI1.x);
//		if (k1 != 0)		//若不为一根平行线
//		{
//			k2 = -1 / k1;
//			//过线段一端画垂线
//			pStart.x = pROI0.x;					
//			pStart.y = pROI0.y;
//			if (pStart.x > dir.x)
//				pEnd.x = pStart.x - 20;  //箭头长为20
//			else
//				pEnd.x = pStart.x + 20; 
//			pEnd.y = (pEnd.x - pStart.x) * k2 + pStart.y;
//
//			////过线段中点画垂线
//			//pStart.x = (pROI0.x + pROI1.x) / 2;	
//			//pStart.y = (pROI0.y + pROI1.y) / 2;
//			//pEnd.x = dir.x;
//			//pEnd.y = (pEnd.x - pStart.x) * k2 + pStart.y;
//
//		}
//		else				//若为水平线
//		{
//			//过线段一端画垂线
//			pStart.x = pROI0.x;					
//			pStart.y = pROI0.y;
//			pEnd.x = pStart.x + 20;
//			pEnd.y = dir.y;
//			////过线段中点画垂线
//			//pStart.x = (pROI0.x + pROI1.x) / 2;
//			//pStart.y = pROI0.y;
//			//pEnd.x = pStart.x;
//			//pEnd.y = dir.y;
//		}
//
//	}
//	else					//若为垂直线
//	{
//		//过线段一端画垂线
//		pStart.y = pROI0.y;						
//		pStart.x = pROI0.x;
//		pEnd.y = pStart.y;
//		pEnd.x = dir.x + 20;
//		////过线段中点画垂线
//		//pStart.y = (pROI0.y + pROI1.y) / 2;		
//		//pStart.x = pROI0.x;
//		//pEnd.y = pStart.y;
//		//pEnd.x = dir.x;
//	}
//	//防止越界
//	pEnd.x = pEnd.x >= 0 ? pEnd.x : 0;
//	pEnd.x = pEnd.x <= frame->width ? pEnd.x : frame->width;
//	pEnd.y = pEnd.y >= 0 ? pEnd.y : 0;
//	pEnd.y = pEnd.y <= frame->height ? pEnd.y : frame->height;
//
//	if (pROI0.x == pROI1.x)	//若为垂直线
//	{
//		if (pEnd.x > pStart.x)
//			return 1;
//		else
//			return 0;
//	}
//	else if (k1 <= 0)	//若不为垂直线且斜率小于等于0（含水平线情况）
//	{
//		if ((pStart.x != pEnd.x && pEnd.x > pStart.x) || (pStart.x == pEnd.x && pEnd.y > pStart.y))
//			return 0;
//		else
//			return 1;
//	}
//	else
//	{
//		if ((pStart.x != pEnd.x && pEnd.x > pStart.x) || (pStart.x == pEnd.x && pEnd.y > pStart.y))
//			return 1;
//		else
//			return 0;
//	}
//}
//画线
void DrawLine(unsigned char* pRGBIn, int widthStep, const sy_point & p_roi, const sy_point & dir_point)
{
	int disX = abs(dir_point.x_ - p_roi.x_);
	int disY = abs(dir_point.y_ - p_roi.y_);
	if (disX >= disY)
	{
		if (p_roi.x_ != dir_point.x_)
		{
			sy_point p_roi_src = p_roi.x_ < dir_point.x_ ? p_roi : dir_point;
			sy_point p_roi_des = p_roi.x_ >= dir_point.x_ ? p_roi : dir_point;
			double tan = (double)(p_roi_des.y_ - p_roi_src.y_) / (double)(p_roi_des.x_ - p_roi_src.x_);
			for (unsigned int i = p_roi_src.x_; i <= p_roi_des.x_; ++i)
			{
				pRGBIn[(p_roi_src.y_ + (int)(tan * (i - p_roi_src.x_)))* widthStep + i * 3] = 0;
				pRGBIn[(p_roi_src.y_ + (int)(tan * (i - p_roi_src.x_)))* widthStep + i * 3 + 1] = 0;
				pRGBIn[(p_roi_src.y_ + (int)(tan * (i - p_roi_src.x_)))* widthStep + i * 3 + 2] = 0;

			}
		}
		else
		{
			pRGBIn[p_roi.x_* widthStep + p_roi.y_ * 3] = 0;
			pRGBIn[p_roi.x_* widthStep + p_roi.y_ * 3+1] = 0;
			pRGBIn[p_roi.x_* widthStep + p_roi.y_ * 3+2] = 0;
		}
	}
	else
	{

		if (p_roi.x_ != dir_point.x_)
		{
			sy_point p_roi_src = p_roi.y_ < dir_point.y_ ? p_roi : dir_point;
			sy_point p_roi_des = p_roi.y_ >= dir_point.y_ ? p_roi : dir_point;
			double cot = (double)(p_roi_des.x_ - p_roi_src.x_) / (double)(p_roi_des.y_ - p_roi_src.y_);
			for (unsigned int i = p_roi_src.y_; i <= p_roi_des.y_; ++i)
			{
				pRGBIn[i* widthStep + (int)(p_roi_src.x_ + cot *(i - p_roi_src.y_)) * 3] = 0;
				pRGBIn[i* widthStep + (int)(p_roi_src.x_ + cot *(i - p_roi_src.y_)) * 3 + 1] = 0;
				pRGBIn[i* widthStep + (int)(p_roi_src.x_ + cot *(i - p_roi_src.y_)) * 3 + 2] = 0;

			}
		}
		else
		{
			sy_point p_roi_src = p_roi.y_ < dir_point.y_ ? p_roi : dir_point;
			sy_point p_roi_des = p_roi.y_ >= dir_point.y_ ? p_roi : dir_point;
			for (unsigned int i = p_roi_src.y_; i <= p_roi_des.y_; ++i)
			{
				pRGBIn[i* widthStep + (int)(p_roi_src.x_) * 3] = 0;
				pRGBIn[i* widthStep + (int)(p_roi_src.x_) * 3 + 1] = 0;
				pRGBIn[i* widthStep + (int)(p_roi_src.x_) * 3 + 2] = 0;

			}
		}
			
	}


}
////描绘区域
//void DrawRegion(unsigned char* pRGBIn, region_info* pRegionInfo, int numROI, int widthStep)
//{
//	for (int i = 0; i < numROI; ++i)
//	{
//		for (int j = 0; j <= pRegionInfo[i].point_num-1; ++j)
//		{
//			if (j < pRegionInfo[i].point_num - 1)
//			{
//				DrawLine(pRGBIn, widthStep, pRegionInfo[i].p_roi[j], pRegionInfo[i].p_roi[j + 1]);
//			}
//			else if (j = pRegionInfo[i].point_num - 1)
//			{
//				DrawLine(pRGBIn, widthStep, pRegionInfo[i].p_roi[j], pRegionInfo[i].p_roi[0]);
//			}
//		}
//	}
//}
//外接矩形描绘
void ExternalRectangle(unsigned char* pRGBIn, ms_object_info *ObjInfo, int ObjCount, int widthStep, int numROI)
{
	int dwStep = widthStep;
	int i;

	// 前景目标外接矩形描绘
	for (i = 0; i < ObjCount; i++)
	{
		//根据颜色区分报警情况
		int alarm_flag = 0;
		for (int ii = 0; ii < numROI; ii++)
		{
			if (ObjInfo[i].pb_alarm_state == true)
			{
				//alarm_flag = 1;
				alarm_flag = ObjInfo[i].pb_alarm_type;
				break;
			}
		}

		// 无报警 蓝色
		if (alarm_flag == 0)
		{
			for (int t = ObjInfo[i].tar_box.left_; t <= ObjInfo[i].tar_box.left_+ ObjInfo[i].tar_box.width_; t++)
			{
				pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3] = 255;
				pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3 + 2] = 0;
				pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ ) * dwStep + t * 3] = 255;
				pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ ) * dwStep + t * 3 + 1] = 0;
				pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ ) * dwStep + t * 3 + 2] = 0;
			}
			for (int t = ObjInfo[i].tar_box.top_; t < ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_; t++)
			{
				pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3] = 255;
				pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 1] = 0;
				pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 2] = 0;
				pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3] = 255;
				pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 1] = 0;
				pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 2] = 0;
			}
		}
		// 
		else
		{    
			//报警 进入禁区 红色
			if (alarm_flag==1)
			{
				
				for (int t = ObjInfo[i].tar_box.left_; t <= ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_; t++)
				{
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3] = 0;
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3 + 1] = 0;
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3 + 2] = 255;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_) * dwStep + t * 3] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_) * dwStep + t * 3 + 1] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_) * dwStep + t * 3 + 2] = 255;
				}
				for (int t = ObjInfo[i].tar_box.top_; t < ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_; t++)
				{
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3] = 0;
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 1] = 0;
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 2] = 255;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3] = 0;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 1] = 0;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 2] = 255;
				}
			}  
			//黄色 离开禁区
			else if (alarm_flag ==2)
			{
				
				for (int t = ObjInfo[i].tar_box.left_; t <= ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_; t++)
				{
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3] = 0;
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3 + 1] = 255;
					pRGBIn[ObjInfo[i].tar_box.top_ * dwStep + t * 3 + 2] = 255;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_)  * dwStep + t * 3] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_)  * dwStep + t * 3 + 1] = 255;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_)  * dwStep + t * 3 + 2] = 255;
				}
				for (int t = ObjInfo[i].tar_box.top_; t < (ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_); t++)
				{
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3] = 0;
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 1] = 255;
					pRGBIn[t * dwStep + ObjInfo[i].tar_box.left_ * 3 + 2] = 255;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3] = 0;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 1] = 255;
					pRGBIn[t * dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_) * 3 + 2] = 255;
				}
			}

			
		}
	}
}

//外接矩形描绘
void ExternalRectangle(unsigned char* pRGBIn, int  width, int height, ms_object_info *ObjInfo, int ObjCount, int widthStep, int numROI)
{
	int dwStep = widthStep;
	int i;

	// 前景目标外接矩形描绘
	for (i = 0; i < ObjCount; i++)
	{
		//根据颜色区分报警情况
		int alarm_flag = 0;
		for (int ii = 0; ii < numROI; ii++)
		{
			if (ObjInfo[i].pb_alarm_state == true)
			{
				alarm_flag = 1;
				//alarm_flag = ObjInfo[i].pb_alarm_type[ii];
				break;
			}
		}
		if ((ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_) > height - LINE_PIXEL)
		{
			continue;
		}
		if ((ObjInfo[i].tar_box.width_ + ObjInfo[i].tar_box.left_) > width - LINE_PIXEL)
		{
			continue;
		}
		// 无报警 蓝色
		if (alarm_flag == 0)
		{
			/*for (int t = ObjInfo[i].tar_box.left_; t <= ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_; t++)
			{
				for (int j = 0; j < LINE_PIXEL; ++j)
				{
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3] = 255;
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 1] = 0;
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 2] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3] = 255;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 1] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 2] = 0;
				}

			}
			for (int t = ObjInfo[i].tar_box.top_; t < ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_; t++)
			{
				for (int j = 0; j < LINE_PIXEL; ++j)
				{
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3] = 255;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3 + 1] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3 + 2] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3] = 255;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3 + 1] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3 + 2] = 0;
				}

			}*/
		}
		else
		{

			for (int t = ObjInfo[i].tar_box.left_; t <= ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_; t++)
			{
				for (int j = 0; j < LINE_PIXEL; ++j)
				{
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3] = 0;
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 1] = 0;
					pRGBIn[(ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 2] = 255;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 1] = 0;
					pRGBIn[(ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_ + j) * dwStep + t * 3 + 2] = 255;
				}

			}
			for (int t = ObjInfo[i].tar_box.top_; t < ObjInfo[i].tar_box.height_ + ObjInfo[i].tar_box.top_; t++)
			{
				for (int j = 0; j < LINE_PIXEL; ++j)
				{
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3 + 1] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + j) * 3 + 2] = 255;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3 + 1] = 0;
					pRGBIn[(t)* dwStep + (ObjInfo[i].tar_box.left_ + ObjInfo[i].tar_box.width_ + j) * 3 + 2] = 255;
				}

			}

		}
	}
}

// 轨迹描绘
void Trajectory(unsigned char* pRGBIn, ms_object_info *ObjInfo, int ObjCount, int width, int height, int widthStep)
{
	// 轨迹描绘
	int dwStep = widthStep;
	int i;
	for (i = 0; i < ObjCount; i++)
	{
		unsigned char bRed = (unsigned char)((ObjInfo[i].unique_id % 3) * 85 + 85);
		unsigned char bGreen = (unsigned char)((ObjInfo[i].unique_id % 7) * 36 + 36);
		unsigned char bBlue = (unsigned char)((ObjInfo[i].unique_id % 13) * 20 + 15);

		int dwPointNum = ObjInfo[i].trace.trace_num;
		sy_point ptLast = ObjInfo[i].trace.obj_trace[0];

		// 对目标的每一个匹配项进行遍历
		for (int l = 1; l < dwPointNum; l++)
		{
			if (ObjInfo[i].trace.obj_trace[l].x_ == ptLast.x_ && ObjInfo[i].trace.obj_trace[l].y_ == ptLast.y_)
			{
				// Draw a point
				//描绘目标中心点
				pRGBIn[ObjInfo[i].trace.obj_trace[l].y_ * dwStep + ObjInfo[i].trace.obj_trace[l].x_ * 3] = bBlue;
				pRGBIn[ObjInfo[i].trace.obj_trace[l].y_ * dwStep + ObjInfo[i].trace.obj_trace[l].x_ * 3 + 1] = bGreen;
				pRGBIn[ObjInfo[i].trace.obj_trace[l].y_ * dwStep + ObjInfo[i].trace.obj_trace[l].x_ * 3 + 2] = bRed;
			}
			else
			{
				// Draw line
				if (abs(ObjInfo[i].trace.obj_trace[l].x_ - ptLast.x_) > abs(ObjInfo[i].trace.obj_trace[l].y_ - ptLast.y_))
				{
					double dk = ((double)ObjInfo[i].trace.obj_trace[l].y_ - ptLast.y_) / (ObjInfo[i].trace.obj_trace[l].x_ - ptLast.x_);
					double b = ObjInfo[i].trace.obj_trace[l].y_ - ObjInfo[i].trace.obj_trace[l].x_ * dk;
					int colMin = ObjInfo[i].trace.obj_trace[l].x_;
					int colMax = ptLast.x_;
					if (colMin > colMax)
					{
						int dwTemp = colMin;
						colMin = colMax;
						colMax = dwTemp;
					}
					for (int col = colMin; col <= colMax; col++)
					{
						int row = (int)(dk * col + b + 0.5);
						row = row < height ? row : height - 1;
						row = row >= 0 ? row : 0;
						pRGBIn[row * dwStep + col * 3] = bBlue;
						pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
						pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						if (++row < height)
						{
							pRGBIn[row * dwStep + col * 3] = bBlue;
							pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
							pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						}
						else if ((row -= 2) >= 0)
						{
							pRGBIn[row * dwStep + col * 3] = bBlue;
							pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
							pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						}
					}
				}
				else
				{
					double dk = ((double)ObjInfo[i].trace.obj_trace[l].x_ - ptLast.x_) / (ObjInfo[i].trace.obj_trace[l].y_ - ptLast.y_);
					double b = ObjInfo[i].trace.obj_trace[l].x_ - ObjInfo[i].trace.obj_trace[l].y_ * dk;
					int rowMin = ObjInfo[i].trace.obj_trace[l].y_;
					int rowMax = ptLast.y_;
					if (rowMin > rowMax)
					{
						int dwTemp = rowMin;
						rowMin = rowMax;
						rowMax = dwTemp;
					}
					for (int row = rowMin; row <= rowMax; row++)
					{
						int col = (int)(dk * row + b + 0.5);
						col = col < width ? col : width - 1;
						col = col >= 0 ? col : 0;
						pRGBIn[row * dwStep + col * 3] = bBlue;
						pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
						pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						if (++col < width)
						{
							pRGBIn[row * dwStep + col * 3] = bBlue;
							pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
							pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						}
						else if ((col -= 2) >= 0)
						{
							pRGBIn[row * dwStep + col * 3] = bBlue;
							pRGBIn[row * dwStep + col * 3 + 1] = bGreen;
							pRGBIn[row * dwStep + col * 3 + 2] = bRed;
						}
					}
				}
			}
			ptLast = ObjInfo[i].trace.obj_trace[l];
		}
	}
}