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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):
+    cv2.imshow(window_title, image)
+    while True:
+        click = cv2.getWindowProperty(window_title, cv2.WND_PROP_AUTOSIZE)
+        if click < 0:
+            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.image = image
+        self.title = title
+        self.keypoints = []
+
+    def draw_image(self):
+        """
+        Display the selected keypoints and draw the convex hull.
+        """
+        # the trick: draw on another new image
+        new_image = self.image.copy()
+
+        # draw the selected keypoints
+        for i, pt in enumerate(self.keypoints):
+            cv2.circle(new_image, pt, 6, self.POINT_COLOR, -1)
+            cv2.putText(new_image, str(i), (pt[0], pt[1] - 15),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.6, self.POINT_COLOR, 2)
+
+        # draw a line if there are two points
+        if len(self.keypoints) == 2:
+            p1, p2 = self.keypoints
+            cv2.line(new_image, p1, p2, self.POINT_COLOR, 2)
+
+        # draw the convex hull if there are more than two points
+        if len(self.keypoints) > 2:
+            mask = self.create_mask_from_pixels(self.keypoints,
+                                                self.image.shape)
+            new_image = self.draw_mask_on_image(new_image, mask)
+
+        cv2.imshow(self.title, new_image)
+
+    def onclick(self, event, x, y, flags, param):
+        """
+        Click on a point (x, y) will add this points to the list
+        and re-draw the image.
+        """
+        if event == cv2.EVENT_LBUTTONDOWN:
+            print("click ({}, {})".format(x, y))
+            self.keypoints.append((x, y))
+            self.draw_image()
+
+    def loop(self):
+        """
+        Press "q" will exist the gui and return False
+        press "d" will delete the last selected point.
+        Press "Enter" will exist the gui and return True.
+        """
+        cv2.namedWindow(self.title)
+        cv2.setMouseCallback(self.title, self.onclick, param=())
+        cv2.imshow(self.title, self.image)
+
+        while True:
+            click = cv2.getWindowProperty(self.title, cv2.WND_PROP_AUTOSIZE)
+            if click < 0:
+                return False
+
+            key = cv2.waitKey(1) & 0xFF
+
+            # press q to return False
+            if key == ord("q"):
+                return False
+
+            # press d to delete the last point
+            if key == ord("d"):
+                if len(self.keypoints) > 0:
+                    x, y = self.keypoints.pop()
+                    print("Delete ({}, {})".format(x, y))
+                    self.draw_image()
+
+            # press Enter to confirm
+            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