init

surround_view/simple_gui.py

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+import cv2
+import numpy as np
+
+# return -1 if user press 'q'. return 1 if user press 'Enter'.
+def display_image(window_title, image):
+    # 创建可调整大小的窗口
+    cv2.namedWindow(window_title, cv2.WINDOW_NORMAL)
+    # 显示图像
+    cv2.imshow(window_title, image)
+    
+    while True:
+        # 检查窗口是否被关闭
+        if cv2.getWindowProperty(window_title, cv2.WND_PROP_VISIBLE) < 1:
+            return -1
+
+        key = cv2.waitKey(1) & 0xFF
+        if key == ord("q"):
+            return -1
+        # 'Enter' key is detected!
+        if key == 13:
+            return 1
+
+
+class PointSelector(object):
+    """
+    ---------------------------------------------------
+    | A simple gui point selector.                    |
+    | Usage:                                          |
+    |                                                 |
+    | 1. call the `loop` method to show the image.    |
+    | 2. click on the image to select key points,     |
+    |    press `d` to delete the last points.         |
+    | 3. press `q` to quit, press `Enter` to confirm. |
+    ---------------------------------------------------
+    """
+
+    POINT_COLOR = (0, 0, 255)
+    FILL_COLOR = (0, 255, 255)
+
+    def __init__(self, image, title="PointSelector"):
+        self.original_image = image.copy()  # 保存原始图像
+        self.image = image
+        self.title = title
+        self.keypoints = []
+        self.window_width = image.shape[1]
+        self.window_height = image.shape[0]
+        self.scale = 1.0  # 缩放比例
+
+    def draw_image(self):
+        """
+        Display the selected keypoints and draw the convex hull.
+        """
+        # 基于当前缩放比例调整点坐标
+        scaled_keypoints = [
+            (int(x * self.scale), int(y * self.scale)) 
+            for x, y in self.keypoints
+        ]
+        
+        # 创建缩放后的图像副本
+        scaled_image = cv2.resize(self.original_image, 
+                                 (self.window_width, self.window_height))
+        
+        # 绘制选中的关键点
+        for i, pt in enumerate(scaled_keypoints):
+            cv2.circle(scaled_image, pt, 6, self.POINT_COLOR, -1)
+            cv2.putText(scaled_image, str(i), (pt[0], pt[1] - 15),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.6, self.POINT_COLOR, 2)
+
+        # 如果有两个点，绘制连接线
+        if len(scaled_keypoints) == 2:
+            p1, p2 = scaled_keypoints
+            cv2.line(scaled_image, p1, p2, self.POINT_COLOR, 2)
+
+        # 如果有两个以上的点，绘制凸包
+        if len(scaled_keypoints) > 2:
+            mask = self.create_mask_from_pixels(scaled_keypoints,
+                                               (self.window_height, self.window_width))
+            scaled_image = self.draw_mask_on_image(scaled_image, mask)
+
+        cv2.imshow(self.title, scaled_image)
+
+    def onclick(self, event, x, y, flags, param):
+        """
+        点击点(x, y)会将该点添加到列表并重新绘制图像。
+        考虑窗口缩放，将点击坐标转换回原始图像坐标。
+        """
+        if event == cv2.EVENT_LBUTTONDOWN:
+            # 将点击坐标转换回原始图像坐标
+            orig_x = int(x / self.scale)
+            orig_y = int(y / self.scale)
+            print(f"click ({orig_x}, {orig_y}) (scaled: ({x}, {y}))")
+            self.keypoints.append((orig_x, orig_y))
+            self.draw_image()
+        # 窗口大小改变事件
+        elif event == cv2.EVENT_RESIZE:
+            self.window_width = x
+            self.window_height = y
+            # 计算新的缩放比例
+            self.scale = min(x / self.original_image.shape[1], 
+                           y / self.original_image.shape[0])
+            self.draw_image()
+
+    def loop(self):
+        """
+        Press "q" will exit the gui and return False
+        press "d" will delete the last selected point.
+        Press "Enter" will exit the gui and return True.
+        """
+        # 创建可调整大小的窗口
+        cv2.namedWindow(self.title, cv2.WINDOW_NORMAL)
+        # 设置窗口初始大小为图像大小
+        cv2.resizeWindow(self.title, self.image.shape[1], self.image.shape[0])
+        cv2.setMouseCallback(self.title, self.onclick, param=())
+        self.draw_image()
+
+        while True:
+            # 检查窗口是否被关闭
+            if cv2.getWindowProperty(self.title, cv2.WND_PROP_VISIBLE) < 1:
+                return False
+
+            key = cv2.waitKey(1) & 0xFF
+
+            # 按q键返回False
+            if key == ord("q"):
+                return False
+
+            # 按d键删除最后一个点
+            if key == ord("d"):
+                if len(self.keypoints) > 0:
+                    x, y = self.keypoints.pop()
+                    print(f"Delete ({x}, {y})")
+                    self.draw_image()
+
+            # 按Enter键确认
+            if key == 13:
+                return True
+
+    def create_mask_from_pixels(self, pixels, image_shape):
+        """
+        Create mask from the convex hull of a list of pixels.
+        """
+        pixels = np.int32(pixels).reshape(-1, 2)
+        hull = cv2.convexHull(pixels)
+        mask = np.zeros(image_shape[:2], np.int8)
+        cv2.fillConvexPoly(mask, hull, 1, lineType=8, shift=0)
+        mask = mask.astype(bool)
+        return mask
+
+    def draw_mask_on_image(self, image, mask):
+        """
+        Paint the region defined by a given mask on an image.
+        """
+        new_image = np.zeros_like(image)
+        new_image[:, :] = self.FILL_COLOR
+        mask = np.array(mask, dtype=np.uint8)
+        new_mask = cv2.bitwise_and(new_image, new_image, mask=mask)
+        cv2.addWeighted(image, 1.0, new_mask, 0.5, 0.0, image)
+        return image