Qt::WindowFrameSection OverlayEditorScene::rectSection(const QRectF &qrf, const QPointF &qp, qreal dist) {
qreal left, right, top, bottom;
top = distancePointLine(qrf.topLeft(), qrf.topRight(), qp);
bottom = distancePointLine(qrf.bottomLeft(), qrf.bottomRight(), qp);
left = distancePointLine(qrf.topLeft(), qrf.bottomLeft(), qp);
right = distancePointLine(qrf.topRight(), qrf.bottomRight(), qp);
if ((top < dist) && (top < bottom)) {
if ((left < dist) && (left < right))
return Qt::TopLeftSection;
else if (right < dist)
return Qt::TopRightSection;
return Qt::TopSection;
} else if (bottom < dist) {
if ((left < dist) && (left < right))
return Qt::BottomLeftSection;
else if (right < dist)
return Qt::BottomRightSection;
return Qt::BottomSection;
} else if (left < dist) {
return Qt::LeftSection;
} else if (right < dist) {
return Qt::RightSection;
}
if (qrf.contains(qp))
return Qt::TitleBarArea;
return Qt::NoSection;
}
static void drawEpipolarLines(const std::string& title, const cv::Matx<T1, 3, 3> F, const cv::Mat& img1, const cv::Mat& img2,
const std::vector<cv::Point_<T2> > points1, const std::vector<cv::Point_<T2> > points2, const float inlierDistance = -1) {
CV_Assert(img1.size() == img2.size() && img1.type() == img2.type());
cv::Mat outImg(img1.rows, img1.cols * 2, CV_8UC3);
cv::Rect rect1(0, 0, img1.cols, img1.rows);
cv::Rect rect2(img1.cols, 0, img1.cols, img1.rows);
/*
* Allow color drawing
*/
if (img1.type() == CV_8U) {
cv::cvtColor(img1, outImg(rect1), CV_GRAY2BGR);
cv::cvtColor(img2, outImg(rect2), CV_GRAY2BGR);
} else {
img1.copyTo(outImg(rect1));
img2.copyTo(outImg(rect2));
}
std::vector<cv::Vec<T2, 3> > epilines1, epilines2;
cv::computeCorrespondEpilines(points1, 1, F, epilines1); //Index starts with 1
cv::computeCorrespondEpilines(points2, 2, F, epilines2);
CV_Assert(points1.size() == points2.size() && points2.size() == epilines1.size() && epilines1.size() == epilines2.size());
cv::RNG rng(0);
for (size_t i = 0; i < points1.size(); i++) {
if (inlierDistance > 0) {
if (distancePointLine(points1[i], epilines2[i]) > inlierDistance || distancePointLine(points2[i], epilines1[i]) > inlierDistance) {
//The point match is no inlier
continue;
}
}
/*
* Epipolar lines of the 1st point set are drawn in the 2nd image and vice-versa
*/
cv::Scalar color(rng(256), rng(256), rng(256));
cv::Mat temp = outImg.clone();
cv::Mat tmp2 = outImg(rect2);
cv::Mat tmp1 = outImg(rect1);
//outImg.copyTo(temp);
cv::line(tmp2, cv::Point(0, -epilines1[i][2] / epilines1[i][1]),
cv::Point(img1.cols, -(epilines1[i][2] + epilines1[i][0] * img1.cols) / epilines1[i][1]), color);
cv::circle(tmp1, points1[i], 3, color, -1, CV_AA);
cv::line(tmp1, cv::Point(0, -epilines2[i][2] / epilines2[i][1]),
cv::Point(img2.cols, -(epilines2[i][2] + epilines2[i][0] * img2.cols) / epilines2[i][1]), color);
cv::circle(tmp2, points2[i], 3, color, -1, CV_AA);
}
cv::imshow(title, outImg);
cv::waitKey(1);
}
static void myDrawEpipolarLines(const std::string& title, const cv::Matx<T1, 3, 3> F, const cv::Mat& img1, const cv::Mat& img2,
const std::vector<cv::Point_<T2> > points1, const std::vector<cv::Point_<T2> > points2) {
cv::Mat outImg(img1.rows, img1.cols, CV_8UC3);
cv::Mat outImgInit(img1.rows, img1.cols, CV_8UC3);
if (img1.type() == CV_8U) {
cv::cvtColor(img1, outImg, CV_GRAY2BGR);
} else {
img1.copyTo(outImg);
}
outImg.copyTo(outImgInit);
std::vector<cv::Vec<T2, 3> > epilines;
cv::computeCorrespondEpilines(points1, 1, F, epilines);
for (size_t i = 0; i < points1.size(); i++) {
cv::Mat outImg2(img1.rows, img1.cols, CV_8UC3);
outImgInit.copyTo(outImg2);
cv::line(outImg2, cv::Point(0, -epilines[i][2] / epilines[i][1]),
cv::Point(img1.cols, -(epilines[i][2] + epilines[i][0] * img1.cols) / epilines[i][1]), cv::Scalar(255, 0, 0));
cv::circle(outImg2, points2[i], 3, cv::Scalar(0, 255, 255), 2);
cv::line(outImg, cv::Point(0, -epilines[i][2] / epilines[i][1]),
cv::Point(img1.cols, -(epilines[i][2] + epilines[i][0] * img1.cols) / epilines[i][1]), cv::Scalar(255, 0, 0));
cv::circle(outImg, points2[i], 3, cv::Scalar(0, 255, 255), 2);
std::cout << "Current Distance to point" << points2[i] << ": " << distancePointLine(points2[i], epilines[i]) << std::endl;
cv::imshow(title, outImg2);
cv::waitKey(0);
}
cv::imshow(title, outImg);
cv::waitKey(0);
}
