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// Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)
#include "ui/qt_utils.h"
#include "base/camera_models.h"
#include "util/misc.h"
namespace colmap {
Eigen::Matrix4f QMatrixToEigen(const QMatrix4x4& matrix) {
Eigen::Matrix4f eigen;
for (size_t r = 0; r < 4; ++r) {
for (size_t c = 0; c < 4; ++c) {
eigen(r, c) = matrix(r, c);
}
}
return eigen;
}
QMatrix4x4 EigenToQMatrix(const Eigen::Matrix4f& matrix) {
QMatrix4x4 qt;
for (size_t r = 0; r < 4; ++r) {
for (size_t c = 0; c < 4; ++c) {
qt(r, c) = matrix(r, c);
}
}
return qt;
}
QImage BitmapToQImageRGB(const Bitmap& bitmap) {
QImage image(bitmap.Width(), bitmap.Height(), QImage::Format_RGB32);
for (int y = 0; y < image.height(); ++y) {
QRgb* image_line = (QRgb*)image.scanLine(y);
for (int x = 0; x < image.width(); ++x) {
BitmapColor<uint8_t> color;
if (bitmap.GetPixel(x, y, &color)) {
image_line[x] = qRgba(color.r, color.g, color.b, 255);
}
}
}
return image;
}
QPixmap ShowImagesSideBySide(const QPixmap& image1, const QPixmap& image2) {
QPixmap image = QPixmap(QSize(image1.width() + image2.width(),
std::max(image1.height(), image2.height())));
image.fill(Qt::black);
QPainter painter(&image);
painter.drawImage(0, 0, image1.toImage());
painter.drawImage(image1.width(), 0, image2.toImage());
return image;
}
void DrawKeypoints(QPixmap* pixmap, const FeatureKeypoints& points,
const QColor& color) {
if (pixmap->isNull()) {
return;
}
const int pen_width = std::max(pixmap->width(), pixmap->height()) / 2048 + 1;
const int radius = 3 * pen_width + (3 * pen_width) % 2;
const float radius2 = radius / 2.0f;
QPainter painter(pixmap);
painter.setRenderHint(QPainter::Antialiasing);
QPen pen;
pen.setWidth(pen_width);
pen.setColor(color);
painter.setPen(pen);
for (const auto& point : points) {
painter.drawEllipse(point.x - radius2, point.y - radius2, radius, radius);
}
}
QPixmap DrawMatches(const QPixmap& image1, const QPixmap& image2,
const FeatureKeypoints& points1,
const FeatureKeypoints& points2,
const FeatureMatches& matches,
const QColor& keypoints_color) {
QPixmap image = ShowImagesSideBySide(image1, image2);
QPainter painter(&image);
painter.setRenderHint(QPainter::Antialiasing);
// Draw keypoints
const int pen_width = std::max(image.width(), image.height()) / 2048 + 1;
const int radius = 3 * pen_width + (3 * pen_width) % 2;
const float radius2 = radius / 2.0f;
QPen pen;
pen.setWidth(pen_width);
pen.setColor(keypoints_color);
painter.setPen(pen);
for (const auto& point : points1) {
painter.drawEllipse(point.x - radius2, point.y - radius2, radius, radius);
}
for (const auto& point : points2) {
painter.drawEllipse(image1.width() + point.x - radius2, point.y - radius2,
radius, radius);
}
// Draw matches
pen.setWidth(std::max(pen_width / 2, 1));
for (const auto& match : matches) {
const point2D_t idx1 = match.point2D_idx1;
const point2D_t idx2 = match.point2D_idx2;
pen.setColor(QColor(0, 255, 0));
painter.setPen(pen);
painter.drawLine(QPoint(points1[idx1].x, points1[idx1].y),
QPoint(image1.width() + points2[idx2].x, points2[idx2].y));
}
return image;
}
} // namespace colmap
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