def genLayoutEdgeMap(scene, size):
edgeMap = np.zeros(size)
sizeT = (size[1], size[0])
for wall in scene.label.getLayoutWalls():
if wall.planeEquation[3] > 0:
continue
for edge in wall.edges:
color = utils.normal2ManhColor(edge.vector)
#color = (1, 1, 1)
for i in range(len(edge.coords) - 1):
isCross, l, r = utils.pointsCrossPano(edge.sample[i],
edge.sample[i + 1])
if not isCross:
pos1 = utils.coords2pos(edge.coords[i], sizeT)
pos2 = utils.coords2pos(edge.coords[i + 1], sizeT)
utils.imageDrawLine(edgeMap, pos1, pos2, color)
else:
lpos = utils.coords2pos(utils.xyz2coords(l), sizeT)
rpos = utils.coords2pos(utils.xyz2coords(r), sizeT)
ch = int((lpos[1] + rpos[1]) / 2)
utils.imageDrawLine(edgeMap, lpos, (0, ch), color)
utils.imageDrawLine(edgeMap, rpos, (sizeT[0], ch), color)
edgeMap = utils.imageDilation(edgeMap, 1)
edgeMap = utils.imageGaussianBlur(edgeMap, 2)
return edgeMap
def drawEdges(qp, obj):
for edge in obj.edges:
for i in range(len(edge.coords) - 1):
isCross, l, r = utils.pointsCrossPano(
edge.sample[i], edge.sample[i + 1])
if not isCross:
pos1 = utils.coords2pos(edge.coords[i], size)
pos2 = utils.coords2pos(edge.coords[i + 1], size)
qp.drawLine(pos1[0], pos1[1], pos2[0], pos2[1])
else:
lpos = utils.coords2pos(utils.xyz2coords(l), size)
rpos = utils.coords2pos(utils.xyz2coords(r), size)
ch = int((lpos[1] + rpos[1]) / 2)
qp.drawLine(lpos[0], lpos[1], 0, ch)
qp.drawLine(rpos[0], rpos[1], size[0], ch)
def genBbox2d(self, wall):
size = (self.size[0], self.size[1])
sizeT = utils.posTranspose(size)
extend = 10
bbox = wall.bbox2d
poslt = utils.posTranspose(utils.coords2pos(bbox[0], sizeT))
posrb = utils.posTranspose(utils.coords2pos(bbox[1], sizeT))
poslt = (poslt[0] - extend, poslt[1] - extend)
poslt = utils.checkImageBoundary(poslt, size)
posrb = (posrb[0] + extend, posrb[1] + extend)
posrb = utils.checkImageBoundary(posrb, size)
return poslt, posrb
def genWallPolygon2d(size, wall):
size = (size[1], size[0])
isCrossUp, ul, ur = wall.edges[0].checkCross()
isCrossDown, dl, dr = wall.edges[2].checkCross()
polygon = []
vertex = []
for edge in wall.edges:
vertex.extend([s for s in edge.sample])
polygon.extend([utils.coords2pos(c, size) for c in edge.coords])
if not (isCrossUp or isCrossDown):
return False, polygon
else:
iur = vertex.index(ur)
iul = iur + 1
idr = vertex.index(dr)
idl = idr - 1
uh = int((polygon[iur][1] + polygon[iul][1]) / 2)
dh = int((polygon[idr][1] + polygon[idl][1]) / 2)
polygon1 = polygon[:iur] + [(size[0], uh),
(size[0], dh)] + polygon[idr:]
polygon2 = [(0, uh)] + polygon[iul:idl] + [(0, dh)]
return True, (polygon1, polygon2)
def genLayoutEdgeMap(scene, size, dilat=4, blur=20):
edgeMap = np.zeros(size)
sizeT = (size[1], size[0])
walls = sortWallsByDist(scene.layoutWalls)
for wall in walls:
#if wall.planeEquation[3] > 0:
# continue
'''
isCross, polygon = genWallPolygon2d(size, wall)
if not isCross:
utils.imageDrawPolygon(edgeMap, polygon, (0,0,0))
else:
utils.imageDrawPolygon(edgeMap, polygon[0], (0,0,0))
utils.imageDrawPolygon(edgeMap, polygon[1], (0,0,0))
'''
for i, edge in enumerate(wall.edges):
#color = utils.normal2ManhColor(edge.vector)
#color = (1, 1, 1)
#color = type2Color(edge.type)
color = idx2Color(i)
for i in range(len(edge.coords) - 1):
isCross, l, r = utils.pointsCrossPano(edge.sample[i],
edge.sample[i + 1])
if not isCross:
pos1 = utils.coords2pos(edge.coords[i], sizeT)
pos2 = utils.coords2pos(edge.coords[i + 1], sizeT)
utils.imageDrawLine(edgeMap, pos1, pos2, color)
else:
lpos = utils.coords2pos(utils.xyz2coords(l), sizeT)
rpos = utils.coords2pos(utils.xyz2coords(r), sizeT)
ch = int((lpos[1] + rpos[1]) / 2)
utils.imageDrawLine(edgeMap, lpos, (0, ch), color)
utils.imageDrawLine(edgeMap, rpos, (sizeT[0], ch), color)
edgeMap = utils.imageDilation(edgeMap, dilat)
edgeMap = utils.imageGaussianBlur(edgeMap, blur)
for i in range(size[2]):
edgeMap[:, :, i] *= (1.0 / edgeMap[:, :, i].max())
return edgeMap
def genLayoutCornerMap(scene, size, dilat=4, blur=20):
corMap = np.zeros(size)
for point in scene.layoutFloor.corners + scene.layoutCeiling.corners:
pos = utils.coords2pos(utils.posTranspose(point.coords), size)
corMap[pos[0]][pos[1]] = 1
corMap = utils.imageDilation(corMap, dilat)
corMap = utils.imageGaussianBlur(corMap, blur)
corMap *= (1.0/corMap.max())
return corMap
def initByScene(self):
if self.coords == None:
self.coords = utils.xyz2coords(self.xyz)
coordsT = (self.coords[1], self.coords[0])
colorData = self.__scene.getPanoColorData()
colorPos = utils.coords2pos(coordsT, colorData.shape)
rgb = colorData[colorPos[0]][colorPos[1]]
self.color = (rgb[0], rgb[1], rgb[2])
depthData = self.__scene.getPanoDepthData()
depthPos = utils.coords2pos(coordsT, depthData.shape)
depthMean = utils.imageRegionMean(depthData, depthPos, (5, 5))
self.depth = depthMean
#self.depth = depthData[depthPos[0]][depthPos[1]]
if self.xyz == None:
self.xyz = utils.coords2xyz(self.coords, self.depth)
def __init__(self, scene, coords=None, xyz=None):
self.coords = coords
self.color = (0, 0, 0)
self.depth = 0
self.xyz = xyz
self.type = 0 # [concave, convex, occul]
self.id = 0
if self.coords == None:
self.coords = utils.xyz2coords(self.xyz)
coordsT = (self.coords[1], self.coords[0])
cpos = utils.coords2pos(coordsT, scene.color.shape)
self.color = tuple(scene.color[cpos[0]][cpos[1]])
dpos = utils.coords2pos(coordsT, scene.depth.shape)
self.depth = scene.depth[dpos[0]][dpos[1]]
if self.xyz == None:
self.xyz = utils.coords2xyz(self.coords, self.depth)
def paintEvent(self, event):
size = (self.width(), self.height())
def drawEdges(qp, obj):
for edge in obj.edges:
for i in range(len(edge.coords) - 1):
isCross, l, r = utils.pointsCrossPano(
edge.sample[i], edge.sample[i + 1])
if not isCross:
pos1 = utils.coords2pos(edge.coords[i], size)
pos2 = utils.coords2pos(edge.coords[i + 1], size)
qp.drawLine(pos1[0], pos1[1], pos2[0], pos2[1])
else:
lpos = utils.coords2pos(utils.xyz2coords(l), size)
rpos = utils.coords2pos(utils.xyz2coords(r), size)
ch = int((lpos[1] + rpos[1]) / 2)
qp.drawLine(lpos[0], lpos[1], 0, ch)
qp.drawLine(rpos[0], rpos[1], size[0], ch)
if not self.__isAvailable:
return
qp = QPainter()
qp.begin(self)
panoPixmap = self.__scene.getPanoColorPixmap()
qp.drawPixmap(0, 0, size[0], size[1], panoPixmap)
qp.setOpacity(1.0)
linesPixmap = self.__scene.getPanoLinesPixmap()
if linesPixmap and self.isPanoLinesEnable:
qp.drawPixmap(0, 0, size[0], size[1], linesPixmap)
qp.setOpacity(1.0)
OmapPixmap = self.__scene.getPanoOmapPixmap()
if OmapPixmap and self.isPanoOmapEnable:
qp.drawPixmap(0, 0, size[0], size[1], OmapPixmap)
qp.setPen(QPen(Qt.red, 2, Qt.SolidLine))
if self.__dragPoints:
pos = utils.xyz2pos(self.__dragPoints[0], size)
qp.drawEllipse(QPoint(pos[0], pos[1]), 5, 5)
if len(self.__dragPoints) == 2:
pos2 = utils.xyz2pos(self.__dragPoints[1], size)
qp.drawEllipse(QPoint(pos2[0], pos2[1]), 5, 5)
qp.drawLine(pos[0], pos[1], pos2[0], pos2[1])
if self.isLayoutPointEnable:
for point in self.__scene.label.getLayoutPoints():
if point in self.__scene.selectObjs:
qp.setPen(QPen(Qt.yellow, 2, Qt.SolidLine))
else:
qp.setPen(QPen(Qt.red, 2, Qt.SolidLine))
pos = utils.coords2pos(point.coords, size)
qp.drawEllipse(QPoint(pos[0], pos[1]), 5, 5)
#qp.drawLine(pos[0], 0, pos[0], self.height())
if self.isLayoutLineEnable:
#draw all obj first
if self.isPanoLinesEnable:
qp.setPen(QPen(Qt.white, 1, Qt.SolidLine))
elif self.isPanoOmapEnable:
qp.setPen(QPen(Qt.white, 2, Qt.SolidLine))
else:
qp.setPen(QPen(Qt.blue, 2, Qt.SolidLine))
for wall in self.__scene.label.getLayoutWalls():
drawEdges(qp, wall)
floor = self.__scene.label.getLayoutFloor()
ceiling = self.__scene.label.getLayoutCeiling()
if floor is not None:
drawEdges(qp, floor)
if ceiling is not None:
drawEdges(qp, ceiling)
#darw selected obj again
qp.setPen(QPen(Qt.yellow, 2, Qt.SolidLine))
for obj in self.__scene.getSelectObjs('WallPlane'):
drawEdges(qp, obj)
for obj in self.__scene.getSelectObjs('FloorPlane'):
drawEdges(qp, obj)
if self.isLayoutObject2dEnable:
for obj in self.__scene.label.getLayoutObject2d():
qp.setPen(QPen(QColor(0, 255, 255), 2, Qt.SolidLine))
drawEdges(qp, obj)
for obj in self.__scene.getSelectObjs('Object2D'):
qp.setPen(QPen(Qt.yellow, 2, Qt.SolidLine))
drawEdges(qp, obj)
###TEST
'''
def drawBbox(obj):
size = (self.width(), self.height())
poslt = utils.coords2pos(obj.bbox2d[0], size)
posrb = utils.coords2pos(obj.bbox2d[1], size)
qp.drawRect(poslt[0], poslt[1],
posrb[0]-poslt[0], posrb[1]-poslt[1])
qp.setPen(QPen(Qt.red, 1, Qt.SolidLine))
drawBbox(self.__scene.label.getLayoutFloor())
drawBbox(self.__scene.label.getLayoutCeiling())
for wall in self.__scene.label.getLayoutWalls():
drawBbox(wall)
'''
qp.setPen(QPen(Qt.green, 4, Qt.SolidLine))
qp.drawText(10, 10, "FPS : {0:.2f}".format(utils.getFPS()))
qp.end()
self.__mainWindow.updateViews()
