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canvas.py
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from PyQt5.QtWidgets import QFrame
from PyQt5.QtGui import QPolygonF, QImage, QPixmap
from PyQt5.QtGui import QBrush, QPainter, QColor, QPen
from PyQt5.QtCore import Qt, pyqtSignal, QPointF
import numpy as np
import cv2
from utils import xy_to_uv
def paint_text_style(painter, color):
pen = QPen(color, 2, Qt.SolidLine)
painter.setPen(pen)
def paint_point_style(painter, color):
pen = QPen(color, 3, Qt.SolidLine)
painter.setPen(pen)
def paint_corner_style(painter, color):
pen = QPen(color, 10, Qt.SolidLine)
painter.setPen(pen)
def paint_edge_style(painter, color):
pen = QPen(color, 3, Qt.DotLine)
painter.setPen(pen)
def paint_room_style(painter, color):
pen = QPen(color, 3, Qt.DotLine)
color = QColor(color)
color.setAlpha(100)
brush = QBrush(color)
painter.setPen(pen)
painter.setBrush(brush)
def convert_qpointf(xy):
points = []
for i in range(xy.shape[0]):
points.append(QPointF(xy[i, 0], xy[i, 1]))
return points
class Canvas(QFrame):
sig_label_point = pyqtSignal((int, int))
sig_undo_label = pyqtSignal()
def __init__(self, parent):
super().__init__(parent)
def draw_slice(self, p, painter):
width = self.frameGeometry().width()
height = self.frameGeometry().height()
points = p.points
xy = points[:, [0, 2]]
z = points[:, 1]
center = np.mean(xy, axis=0)
uv = xy_to_uv(xy, center, p.rotate, p.trans_x, p.trans_y, p.zoom, height, width)
# Draw layer 1
paint_point_style(painter, QColor(0, 255, 0, 127))
mask_1 = (z > p.height_1 - p.thick_1) & (z <= p.height_1 + p.thick_1)
uv_1 = uv[mask_1, :]
painter.drawPoints(QPolygonF(convert_qpointf(uv_1)))
# Draw layer 2
paint_point_style(painter, QColor(255, 0, 0, 127))
mask_2 = (z > p.height_2 - p.thick_2) & (z <= p.height_2 + p.thick_2)
uv_2 = uv[mask_2, :]
painter.drawPoints(QPolygonF(convert_qpointf(uv_2)))
def draw_density(self, p, painter):
width = self.frameGeometry().width()
height = self.frameGeometry().height()
points = p.points
xy = points[:, [0, 2]]
center = np.mean(xy, axis=0)
uv = xy_to_uv(xy, center, p.rotate, p.trans_x, p.trans_y, p.zoom, height, width)
mask = (uv[:, 0] >= 0) & (uv[:, 0] < width) & (uv[:, 1] >= 0) & (uv[:, 1] < height)
if mask.sum() == 0:
return
uv = uv[mask, :].astype(np.int32)
coords = uv[:, 0] + uv[:, 1] * width
density = np.bincount(coords, minlength=height * width)
density = density.reshape(height, width) * p.density_scale * 4
density = np.stack([density, density, density], axis=-1)
density = np.clip(np.round(density), 0, 255).astype(np.uint8)
density = cv2.GaussianBlur(density, (3, 3), 0.5)
# numpy array to pyqt image
qimage = QImage(density.data, width, height, QImage.Format_RGB888)
painter.drawPixmap(self.rect(), QPixmap(qimage))
def paintEvent(self, event):
# draw_debug_box(self, diag=False)
width = self.frameGeometry().width()
height = self.frameGeometry().height()
painter = QPainter(self)
painter.setRenderHint(QPainter.Antialiasing)
painter.setRenderHint(QPainter.HighQualityAntialiasing)
p = self.parent()
if p.canvas_mode == 'DENSITY':
self.draw_density(p, painter)
paint_text_style(painter, QColor(255, 255, 255))
painter.drawText(20, 20, p.files[p.file_idx])
elif p.canvas_mode == 'SLICE':
self.draw_slice(p, painter)
paint_text_style(painter, QColor(0, 0, 0))
painter.drawText(20, 20, p.files[p.file_idx])
else:
raise NotImplementedError
points = p.points
xy = points[:, [0, 2]]
center = np.mean(xy, axis=0)
# Draw current labeling corners
if len(p.cur_corners) > 0:
xy_corners = np.stack(p.cur_corners)
uv_corners = xy_to_uv(xy_corners, center, p.rotate, p.trans_x, p.trans_y, p.zoom, height, width)
for i in range(uv_corners.shape[0]):
paint_corner_style(painter, QColor(0, 0, 255, 255))
point = QPointF(uv_corners[i, 0], uv_corners[i, 1])
painter.drawPoint(point)
if i > 0:
prev_point = QPointF(uv_corners[i-1, 0], uv_corners[i-1, 1])
paint_edge_style(painter, QColor(0, 0, 255, 255))
painter.drawLine(point, prev_point)
# Draw rooms
for i, room_corners in enumerate(p.room_corner_list):
color = p.room_color_list[i]
paint_room_style(painter, color)
xy_corners = np.stack(room_corners)
uv_corners = xy_to_uv(xy_corners, center, p.rotate, p.trans_x, p.trans_y, p.zoom, height, width)
painter.drawPolygon(QPolygonF(convert_qpointf(uv_corners)))
paint_corner_style(painter, color)
painter.drawPoints(QPolygonF(convert_qpointf(uv_corners)))
# Dras axis
if len(p.axis_corners) == 2:
axis_corners = np.stack(p.axis_corners)
uv_corners = xy_to_uv(axis_corners, center, p.rotate, p.trans_x, p.trans_y, p.zoom, height, width)
paint_corner_style(painter, QColor(0, 255, 255, 255))
point1 = QPointF(uv_corners[0, 0], uv_corners[0, 1])
painter.drawPoint(point1)
point2 = QPointF(uv_corners[1, 0], uv_corners[1, 1])
painter.drawPoint(point2)
paint_edge_style(painter, QColor(0, 255, 255, 255))
painter.drawLine(point1, point2)
def clear(self):
painter = QPainter(self)
brush = QBrush(Qt.white)
painter.setBrush(brush)
width = self.frameGeometry().width()
height = self.frameGeometry().height()
painter.drawRect(0, 0, width, height)
def mousePressEvent(self, event):
if not self.hasFocus():
self.setFocus()
x, y = event.x(), event.y()
# if not self.is_labeling:
# self.is_labeling = True
if event.button() == Qt.LeftButton:
self.sig_label_point.emit(x, y)
elif event.button() == Qt.RightButton:
self.sig_undo_label.emit()