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Display2D.cpp
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Display2D.cpp
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/*******************************************************************************
* Copyright (c) 2017 IBM Corporation, Carnegie Mellon University and others
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*******************************************************************************/
#include "Display2D.hpp"
Mat Display2D::displayFeaturesOnFrame(const cv::Mat &img, const vector<Point2d> &pts, int radius, Scalar colour, float scale) {
//set input
Mat dShow;
if (img.channels() == 3)
dShow = img.clone();
else
cvtColor(img,dShow,CV_GRAY2BGR);
//draw matches
for (int i = 0; i < pts.size(); i++) {
if ((pts[i].x >= 0) && (pts[i].x < dShow.cols) && (pts[i].y >= 0) && (pts[i].y < dShow.rows)) {
circle(dShow, pts[i], radius, colour, -1, CV_AA);
}
}
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::displayFeaturesOnFrame(const cv::Mat &img, const vector<Point2f> &pts, int radius, Scalar colour, float scale) {
//set input
Mat dShow;
if (img.channels() == 3)
dShow = img.clone();
else
cvtColor(img,dShow,CV_GRAY2BGR);
//draw matches
for (int i = 0; i < pts.size(); i++) {
if ((pts[i].x >= 0) && (pts[i].x < dShow.cols) && (pts[i].y >= 0) && (pts[i].y < dShow.rows)) {
circle(dShow, pts[i], radius, colour, -1, CV_AA);
}
}
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::displayFeatureMatches(const cv::Mat &img0, const cv::Mat &img1, const vector<Point2d> &pts0, const vector<Point2d> &pts1, int radius, Scalar colour, float scale) {
//build match structure
vector<DMatch> matches;
vector<KeyPoint> k0, k1;
for (int i = 0; i < pts0.size(); i++) {
matches.push_back(DMatch(i,i,0));
k0.push_back(KeyPoint(pts0[i], 0));
k1.push_back(KeyPoint(pts1[i], 0));
}
//draw matches
Mat dShow;
drawMatches(img0, k0, img1, k1, matches, dShow, colour);
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::displayFeatureMatches(const cv::Mat &img0, const cv::Mat &img1, const vector<Point2f> &pts0, const vector<Point2f> &pts1, int radius, Scalar colour, float scale) {
//build match structure
vector<DMatch> matches;
vector<KeyPoint> k0, k1;
for (int i = 0; i < pts0.size(); i++) {
matches.push_back(DMatch(i,i,0));
k0.push_back(KeyPoint(pts0[i], 0));
k1.push_back(KeyPoint(pts1[i], 0));
}
//draw matches
Mat dShow;
drawMatches(img0, k0, img1, k1, matches, dShow, colour);
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::display3DProjections(const cv::Mat &img, const Matx33d &K, const Matx33d &R, const Matx31d &t, const vector<Matx31d> &pts, int radius, Scalar colour, float scale) {
//set input
Mat dShow;
if (img.channels() == 3)
dShow = img.clone();
else
cvtColor(img,dShow,CV_GRAY2BGR);
//build projection matrix
Matx34d P(R(0,0), R(0,1), R(0,2), t(0), R(1,0), R(1,1), R(1,2), t(1), R(2,0), R(2,1), R(2,2), t(2));
//project points and draw
vector<Point2d> pts2D;
for (int i = 0; i < pts.size(); i++) {
Matx41d pt3D(pts[i](0),pts[i](1),pts[i](2),1);
Matx31d ptn = P*pt3D;
ptn *= 1.0/ptn(2);
Matx31d pt2D = K*ptn;
pt2D *= 1.0/pt2D(2);
//check boundaries
if ((pt2D(0) >= 0) && (pt2D(0) < img.cols) && (pt2D(1) >= 0) && (pt2D(1) < img.rows)) {
pts2D.push_back(Point2d(pt2D(0),pt2D(1)));
circle(dShow, Point2d(pt2D(0),pt2D(1)), radius, colour, -1, CV_AA );
}
}
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::displayEpipolarLines(const cv::Mat &img0, const cv::Mat &img1, const Matx33d &F, const vector<Point2d> pts, int pts0or1, int nFeatures, int radius, Scalar colour, float scale) {
//prepare input
Mat dShow0, dShow1, dShow;
if (img0.channels() == 3) {
dShow0 = img0.clone();
dShow1 = img1.clone();
}
else {
cvtColor(img0,dShow0,CV_GRAY2BGR);
cvtColor(img1,dShow1,CV_GRAY2BGR);
}
//compute epipolar lines
vector<Vec3d> epiLines;
if (pts0or1 == 0)
computeCorrespondEpilines(pts, 1, F, epiLines);
else
computeCorrespondEpilines(pts, 2, F, epiLines);
//draw epilines
if (nFeatures <= 0)
nFeatures = pts.size();
for (int i = 0; i < nFeatures; i++) {
if (pts0or1 == 0) {
//draw feature
circle(dShow0,pts[i],radius,colour,-1,CV_AA);
//draw corresponding epiline
line(dShow1, Point2d(0,-epiLines[i][2]/epiLines[i][1]),Point2d(dShow1.cols,-(epiLines[i][0]*dShow1.cols + epiLines[i][2])/epiLines[i][1]),colour,1,CV_AA);
}
else {
//draw feature
circle(dShow1,pts[i],radius,colour,-1,CV_AA);
//draw corresponding epiline
line(dShow0, Point2d(0,-epiLines[i][2]/epiLines[i][1]),Point2d(dShow1.cols,-(epiLines[i][0]*dShow1.cols + epiLines[i][2])/epiLines[i][1]),colour,1,CV_AA);
}
}
//concatenate images
hconcat(dShow0,dShow1,dShow);
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::drawCubeWireframe(const Mat &img, const Matx33d &K, const Matx34d &P, const vector<Matx31d> &frontFace, const vector<Matx31d> &backFace, int thickness, Scalar colour, float scale) {
//set input
Mat dShow;
if (img.channels() == 3)
dShow = img.clone();
else
cvtColor(img,dShow,CV_GRAY2BGR);
if ((frontFace.size() == 4) && (backFace.size() == 4)) {
//project cube points onto image plane
vector<Point2d> front2D, back2D;
GeometryUtils::projectPoints(P, K, frontFace, front2D);
GeometryUtils::projectPoints(P, K, backFace, back2D);
//display lines
for (int i = 0; i < 4; i++) {
int nextPtIdx = (i+1) % 4;
line(dShow, front2D[i], front2D[nextPtIdx], colour, thickness, CV_AA);
line(dShow, back2D[i], back2D[nextPtIdx], colour, thickness, CV_AA);
line(dShow, front2D[i], back2D[i], colour, thickness, CV_AA);
}
}
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}
Mat Display2D::drawRotatedRectangle(const Mat &img, const RotatedRect &rect, int thickness, Scalar colour, float scale) {
//set input
Mat dShow;
if (img.channels() == 3)
dShow = img.clone();
else
cvtColor(img,dShow,CV_GRAY2BGR);
Point2f vtx[4], center;
rect.points(vtx);
center = rect.center;
for (int i = 0; i < 4; i++) {
line(dShow, vtx[i], vtx[(i+1)%4], colour, thickness, LINE_AA);
}
circle(dShow, center, thickness, colour, -1, CV_AA);
//scale down
Mat dShow_small;
resize(dShow, dShow_small, Size(round(scale*dShow.cols), round(scale*dShow.rows)));
return dShow_small;
}