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svmgraphicsview.cpp
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#include "svmgraphicsview.h"
#include <QtWidgets>
#include <QFileDialog>
#include <iostream>
#include <cmath>
#include "eigen.h"
using namespace std;
using namespace Eigen;
SVMGraphicsView::SVMGraphicsView(QWidget *parent) :
QGraphicsView(parent)
{
setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
Scene = new QGraphicsScene(this);
Scene->setBackgroundBrush(QBrush(Qt::darkGray, Qt::SolidPattern));
setScene(Scene);
setDragMode(ScrollHandDrag);
setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
viewport()->setCursor(Qt::ArrowCursor);
_pan = false;
_hasimage = false;
}
void SVMGraphicsView::wheelEvent(QWheelEvent *event)
{
double scaleFactor = 1.15;
if(event->delta() > 0)
{
scale(scaleFactor, scaleFactor);
} else {
scale(1.0 / scaleFactor, 1.0 / scaleFactor);
}
}
void SVMGraphicsView::mousePressEvent(QMouseEvent *event)
{
if (event->button() == Qt::RightButton)
{
_pan = true;
_panStartX = event->x();
_panStartY = event->y();
viewport()->setCursor(Qt::ClosedHandCursor);
event->accept();
return;
} else if (event->button() == Qt::LeftButton)
{
if (_hasimage)
{
QPointF imgCursorPos = mapToScene(event->pos());
double x = imgCursorPos.x();
double y = imgCursorPos.y();
QPoint imgPix = imgCursorPos.toPoint();
if (imgPix.x() >=0 && imgPix.x() < image.size().width() && imgPix.y() >=0 && imgPix.y() < image.size().height())
{
if (QApplication::keyboardModifiers() && Qt::ControlModifier)
{
QGraphicsItem* itemAtCur = Scene->itemAt(imgCursorPos, QGraphicsView::transform());
if (itemAtCur->type() == QGraphicsEllipseItem::Type)
{
x = itemAtCur->boundingRect().center().x();
y = itemAtCur->boundingRect().center().y();
}
// cout << itemAtCur->type() << endl;
}
switch(state)
{
case _START:
cout << "Not Start Yet ?" << endl;
break;
case _XLines:
pushLines(XLines, x, y);
break;
case _YLines:
pushLines(YLines, x, y);
break;
case _ZLines:
pushLines(ZLines, x, y);
break;
case _RPlane:
pushRefPoints(x, y);
break;
case _RHeight:
if (RHpoints.size() < 2)
pushRefPoints(x, y);
break;
case _Polygon:
pushPolyPool(x, y);
break;
case _PtPool:
pushPtPool(x, y);
break;
default:
cout << "Already Finished ?" << endl;
break;
}
}
}
}
event->ignore();
}
void SVMGraphicsView::mouseReleaseEvent(QMouseEvent *event)
{
if (event->button() == Qt::RightButton)
{
_pan = false;
viewport()->setCursor(Qt::ArrowCursor);
event->accept();
return;
}
event->ignore();
}
void SVMGraphicsView::mouseMoveEvent(QMouseEvent *event)
{
if (_pan)
{
horizontalScrollBar()->setValue(horizontalScrollBar()->value() - (event->x() - _panStartX));
verticalScrollBar()->setValue(verticalScrollBar()->value() - (event->y() - _panStartY));
_panStartX = event->x();
_panStartY = event->y();
event->accept();
return;
}
QGraphicsView::mouseMoveEvent(event);
if (_hasimage)
{
QPointF imgCursorPos = mapToScene(event->pos());
QPoint imgPix = imgCursorPos.toPoint();
if(pointCache != NULL)
{
drawScene();
if (imgPix.x() >=0 && imgPix.x() < image.size().width() && imgPix.y() >=0 && imgPix.y() < image.size().height())
{
double endx = pointCache->x + 0.9 * (imgCursorPos.x() - pointCache->x);
double endy = pointCache->y + 0.9 * (imgCursorPos.y() - pointCache->y);
Scene->addLine(pointCache->x, pointCache->y, endx, endy, QPen(Qt::yellow, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
}
}
// cout << imgCursorPos.x() << ", " << imgCursorPos.y() << endl;
if(_zVP_exist && (state == _RHeight || state == _PtPool) && imgPix.x() >=0 && imgPix.x() < image.size().width() && imgPix.y() >=0 && imgPix.y() < image.size().height())
{
if(pointCache == NULL)
drawScene();
double endx = zVP->x + (1-gap) * (imgCursorPos.x() - zVP->x);
double endy = zVP->y + (1-gap) * (imgCursorPos.y() - zVP->y);
Scene->addLine(zVP->x, zVP->y, endx, endy, QPen(Qt::white, 0.5, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
endx = zVP->x + (1+gap) * (imgCursorPos.x() - zVP->x);
endy = zVP->y + (1+gap) * (imgCursorPos.y() - zVP->y);
double endx2 = zVP->x + 1.1 * (imgCursorPos.x() - zVP->x);
double endy2 = zVP->y + 1.1 * (imgCursorPos.y() - zVP->y);
Scene->addLine(endx, endy, endx2, endy2, QPen(Qt::white, 0.5, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
}
}
event->ignore();
}
void SVMGraphicsView::svmInit()
{
XLines.clear();
YLines.clear();
ZLines.clear();
RPoints.clear();
RHpoints.clear();
PtPool.clear();
PolyPool.clear();
Scene->clear();
state = _START;
pointCache = NULL;
poolCache = NULL;
xVP = NULL;
yVP = NULL;
zVP = NULL;
_xVP_exist = false;
_yVP_exist = false;
_zVP_exist = false;
_refHomo_exist = false;
_getGammaZ = false;
_method = 0;
_textureMethod = 0;
gap = 0.005;
refHomoI2S << 0,0,0,
0,0,0,
0,0,0;
refHomoS2I << 0,0,0,
0,0,0,
0,0,0;
Proj << 0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0;
patchConfirmDlg = new patchConfirmDialog(this);
}
void SVMGraphicsView::openAct()
{
QString fileName = QFileDialog::getOpenFileName(this, tr("Open File"), QDir::currentPath());
if (!fileName.isEmpty())
{
image = QImage(fileName);
if (image.isNull()) {
QMessageBox::information(this, tr("Single View Modeling"), tr("Cannot load %1.").arg(fileName));
return;
}
svmInit();
Scene->addPixmap(QPixmap::fromImage(image));
resetTransform();
horizontalScrollBar()->setValue(0);
verticalScrollBar()->setValue(0);
_pan = false;
_hasimage = true;
}
}
void SVMGraphicsView::rescaleAct()
{
if (_hasimage)
{
setTransform(QTransform::fromScale(1, 1));
}
}
void SVMGraphicsView::pickXLines()
{
if (_hasimage)
{
cout << "Please pick up endpoints of lines pointing in X direction" << endl;
state = _XLines;
if (pointCache != NULL)
{
pointCache = NULL;
drawScene();
}
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture first !"));
}
}
void SVMGraphicsView::pickYLines()
{
if (_hasimage)
{
cout << "Please pick up endpoints of lines pointing in Y direction" << endl;
state = _YLines;
if (pointCache != NULL)
{
pointCache = NULL;
drawScene();
}
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture first !"));
}
}
void SVMGraphicsView::pickZLines()
{
if (_hasimage)
{
cout << "Please pick up endpoints of lines pointing in Z direction" << endl;
state = _ZLines;
if (pointCache != NULL)
{
pointCache = NULL;
drawScene();
}
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture first !"));
}
}
void SVMGraphicsView::pickRefPlane()
{
if (_hasimage)
{
pointCache = NULL;
drawScene();
// cout << "Please pick up at least 2 points P1 and P2 on Z=0 plane which makes Vx, P1, P2 non-colinear and Vy, P1, P2 non-colinear" << endl;
cout << "Please specify 4 or more points on Z=0 plane (including vanishing points on this plane's vanishing line if they can be calculated and " \
<< "will be taken into account) and make sure these points could form a polygon" << endl;
state = _RPlane;
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture first !"));
}
}
void SVMGraphicsView::pickRefHeightPoint()
{
if (_hasimage)
{
pointCache = NULL;
drawScene();
cout << "Please specify an off-plane reference point ( Z!=0 ) and give its 3D coordinates: " << endl;
state = _RHeight;
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture first !"));
}
}
bool SVMGraphicsView::isLinesReady()
{
if (_hasimage)
{
if (XLines.size() < 2)
{
QMessageBox::warning(this, tr("Warning"), tr("Please specify more lines in X direction so i can calculate X vanish point :)"));
} else if (YLines.size() < 2) {
QMessageBox::warning(this, tr("Warning"), tr("Please specify more lines in Y direction so i can calculate Y vanish point :)"));
} else if (ZLines.size() < 2) {
QMessageBox::warning(this, tr("Warning"), tr("Please specify more lines in Z direction so i can calculate Z vanish point :)"));
} else {
return true;
}
}
return false;
}
void SVMGraphicsView::pushLines(std::vector<imgLine> &lineContainer, double x, double y)
{
if (pointCache == NULL)
{
pointCache = new imgPoint;
pointCache->x = x;
pointCache->y = y;
pointCache->w = 1;
} else {
imgLine newLine;
newLine.p0 = *pointCache;
newLine.p1.x = x;
newLine.p1.y = y;
newLine.p1.w = 1;
lineContainer.push_back(newLine);
pointCache = NULL;
}
drawScene();
}
void SVMGraphicsView::pushRefPoints(double x, double y)
{
QGraphicsEllipseItem* cursorRPT;
if (state == _RPlane)
cursorRPT = Scene->addEllipse(x-3, y-3, 6, 6, QPen(Qt::black), QBrush(Qt::black, Qt::SolidPattern));
else
cursorRPT = Scene->addEllipse(x-3, y-3, 6, 6, QPen(QColor(163, 3, 168,255)), QBrush(QColor(163, 3, 168,255), Qt::SolidPattern));
if(popRefInDialog(x, y))
{
drawScene();
if (_refHomo_exist && RHpoints.size()>=1)
{
Vector3d dualRHpt = refHomoS2I * scnPointToVector3d(RHpt_cache.scnPt);
dualRHpt /= dualRHpt(2);
QGraphicsEllipseItem* cursorRPT;
cursorRPT = Scene->addEllipse(dualRHpt(0)-3, dualRHpt(1)-3, 6, 6, QPen(QColor(163, 3, 168,255)), QBrush(QColor(163, 3, 168,255), Qt::SolidPattern));
QGraphicsOpacityEffect* dual_Eff = new QGraphicsOpacityEffect(this);
dual_Eff->setOpacity(0.5);
cursorRPT->setGraphicsEffect(dual_Eff);
}
} else {
Scene->removeItem(cursorRPT);
}
}
bool SVMGraphicsView::popRefInDialog(double x, double y)
{
QDialog dialog(this);
// Use a layout allowing to have a label next to each field
QFormLayout form(&dialog);
// Add some text above the fields
form.addRow(new QLabel("Please input the 3D coordinates:"));
// Add the lineEdits with their respective labels
QList<QLineEdit *> fields;
for(int i = 0; i < 3; ++i) {
QLineEdit *lineEdit = new QLineEdit(&dialog);
QString label;
switch(i)
{
case 0:
label = QString("X: ");
lineEdit->setValidator(new QDoubleValidator());
break;
case 1:
label = QString("Y: ");
lineEdit->setValidator(new QDoubleValidator());
break;
default:
label = QString("Z: ");
if (state == _RPlane)
{
lineEdit->setText("0");
lineEdit->setReadOnly(true);
lineEdit->setStyleSheet(QString( "background-color: gray"));
} else {
lineEdit->setValidator(new QDoubleValidator());
}
break;
}
form.addRow(label, lineEdit);
fields << lineEdit;
}
// Add some standard buttons (Cancel/Ok) at the bottom of the dialog
QDialogButtonBox buttonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel,
Qt::Horizontal, &dialog);
form.addRow(&buttonBox);
QObject::connect(&buttonBox, SIGNAL(accepted()), &dialog, SLOT(accept()));
QObject::connect(&buttonBox, SIGNAL(rejected()), &dialog, SLOT(reject()));
// Show the dialog as modal
if (dialog.exec() == QDialog::Accepted) {
connPoint newRefPt;
newRefPt.imgPt.w = 1;
newRefPt.imgPt.x = x;
newRefPt.imgPt.y = y;
newRefPt.scnPt.w = 1;
newRefPt.scnPt.z = 0;
// newRefPt.homoMatrix = NULL;
newRefPt.homoMatrixEig3 << 0, 0, 0,
0, 0, 0,
0, 0, 0;
int i = 0;
// If the user didn't dismiss the dialog, do something with the fields
foreach(QLineEdit * lineEdit, fields) {
switch(i)
{
case 0:
newRefPt.scnPt.x = lineEdit->text().toDouble();
i++;
break;
case 1:
newRefPt.scnPt.y = lineEdit->text().toDouble();
i++;
break;
case 2:
newRefPt.scnPt.z = lineEdit->text().toDouble();
i++;
break;
default:
break;
}
}
switch(state)
{
case _RPlane:
RPoints.push_back(newRefPt);
break;
case _RHeight:
RHpt_cache = newRefPt;
RHpoints.push_back(RHpt_cache);
break;
default:
break;
}
return true;
}
return false;
}
void SVMGraphicsView::drawPoint(double x, double y, int size, const QPen & pen, const QBrush & brush)
{
QGraphicsEllipseItem* pt = new QGraphicsEllipseItem;
pt->setPen(pen);
pt->setBrush(brush);
pt->setRect(x-size/2, y-size/2, size, size);
Scene->addItem(pt);
}
void SVMGraphicsView::drawScene()
{
Scene->clear();
Scene->addPixmap(QPixmap::fromImage(image));
std::vector<imgLine>::iterator iterLINE;
for(iterLINE = XLines.begin(); iterLINE != XLines.end(); iterLINE++)
{
imgLine line = *iterLINE;
Scene->addLine(line.p0.x, line.p0.y, line.p1.x, line.p1.y, QPen(Qt::red, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
drawPoint(line.p0.x, line.p0.y, 4, QPen(Qt::red), QBrush(Qt::red, Qt::SolidPattern));
drawPoint(line.p1.x, line.p1.y, 4, QPen(Qt::red), QBrush(Qt::red, Qt::SolidPattern));
}
for(iterLINE = YLines.begin(); iterLINE != YLines.end(); iterLINE++)
{
imgLine line = *iterLINE;
Scene->addLine(line.p0.x, line.p0.y, line.p1.x, line.p1.y, QPen(Qt::green, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
drawPoint(line.p0.x, line.p0.y, 4, QPen(Qt::green), QBrush(Qt::green, Qt::SolidPattern));
drawPoint(line.p1.x, line.p1.y, 4, QPen(Qt::green), QBrush(Qt::green, Qt::SolidPattern));
}
for(iterLINE = ZLines.begin(); iterLINE != ZLines.end(); iterLINE++)
{
imgLine line = *iterLINE;
Scene->addLine(line.p0.x, line.p0.y, line.p1.x, line.p1.y, QPen(Qt::blue, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
drawPoint(line.p0.x, line.p0.y, 4, QPen(Qt::blue), QBrush(Qt::blue, Qt::SolidPattern));
drawPoint(line.p1.x, line.p1.y, 4, QPen(Qt::blue), QBrush(Qt::blue, Qt::SolidPattern));
}
std::vector<connPoint>::iterator iterRPLANE;
for(iterRPLANE = RPoints.begin(); iterRPLANE != RPoints.end(); iterRPLANE++)
{
connPoint connPt = *iterRPLANE;
drawPoint(connPt.imgPt.x, connPt.imgPt.y, 6, QPen(Qt::black), QBrush(Qt::black, Qt::SolidPattern));
}
if (pointCache != NULL)
{
drawPoint(pointCache->x, pointCache->y, 4, QPen(Qt::magenta), QBrush(Qt::magenta, Qt::SolidPattern));
}
if (xVP != NULL)
{
drawPoint(xVP->x, xVP->y, 4, QPen(QColor(205, 79, 86,255)), QBrush(QColor(205, 79, 86,255), Qt::SolidPattern));
}
if (yVP != NULL)
{
drawPoint(yVP->x, yVP->y, 4, QPen(QColor(205, 79, 86,255)), QBrush(QColor(205, 79, 86,255), Qt::SolidPattern));
}
if (zVP != NULL)
{
drawPoint(zVP->x, zVP->y, 4, QPen(QColor(205, 79, 86,255)), QBrush(QColor(205, 79, 86,255), Qt::SolidPattern));
}
std::vector<connPoint>::iterator iterRHpt;
for(iterRHpt = RHpoints.begin(); iterRHpt != RHpoints.end(); iterRHpt++)
{
connPoint connPt = *iterRHpt;
drawPoint(connPt.imgPt.x, connPt.imgPt.y, 6, QPen(QColor(163, 3, 168,255)), QBrush(QColor(163, 3, 168,255), Qt::SolidPattern));
}
std::vector<connPoint>::iterator iterPoolpt;
for(iterPoolpt = PtPool.begin(); iterPoolpt != PtPool.end(); iterPoolpt++)
{
connPoint connPt = *iterPoolpt;
drawPoint(connPt.imgPt.x, connPt.imgPt.y, 6, QPen(QColor(5, 179, 250,255)), QBrush(QColor(5, 179, 250,255), Qt::SolidPattern));
}
if (state == _Polygon)
{
for(iterPoolpt = PolyPool.begin(); iterPoolpt != PolyPool.end(); iterPoolpt++)
{
QGraphicsEllipseItem* polyPt;
connPoint connPt = *iterPoolpt;
polyPt = Scene->addEllipse(connPt.imgPt.x-10, connPt.imgPt.y-10, 20, 20, QPen(QColor(5, 179, 250,255)), QBrush(QColor(5, 179, 250,255), Qt::SolidPattern));
QGraphicsOpacityEffect* dual_Eff = new QGraphicsOpacityEffect(this);
dual_Eff->setOpacity(0.5);
polyPt->setGraphicsEffect(dual_Eff);
}
}
if (poolCache != NULL)
{
QGraphicsEllipseItem* prePoolpt;
if (!_method)
{
prePoolpt = Scene->addEllipse(poolCache->imgPt.x-10, poolCache->imgPt.y-10, 20, 20, QPen(QColor(5, 179, 250,255)), QBrush(QColor(5, 179, 250,255), Qt::SolidPattern));
} else {
prePoolpt = Scene->addEllipse(poolCache->imgPt.x-10, poolCache->imgPt.y-10, 20, 20, QPen(Qt::white), QBrush(Qt::white, Qt::SolidPattern));
}
QGraphicsOpacityEffect* dual_Eff = new QGraphicsOpacityEffect(this);
dual_Eff->setOpacity(0.5);
prePoolpt->setGraphicsEffect(dual_Eff);
}
}
void SVMGraphicsView::keyPressEvent(QKeyEvent *event)
{
if (_hasimage)
{
if (QApplication::keyboardModifiers() && Qt::AltModifier)
{
if (event->key() == Qt::Key_D)
{
switch(state)
{
case _XLines:
reWindDel(XLines);
break;
case _YLines:
reWindDel(YLines);
break;
case _ZLines:
reWindDel(ZLines);
break;
case _RPlane:
if(RPoints.size())
{
RPoints.pop_back();
drawScene();
}
break;
case _RHeight:
if(RHpoints.size())
{
RHpoints.pop_back();
drawScene();
}
break;
case _PtPool:
if(PtPool.size())
{
connPoint lstPlPt = PtPool.back();
if(poolCache != NULL && poolCache->imgPt.x == lstPlPt.imgPt.x && poolCache->imgPt.y == lstPlPt.imgPt.y)
{
poolCache = NULL;
}
PtPool.pop_back();
drawScene();
}
break;
case _Polygon:
if(PolyPool.size())
{
PolyPool.pop_back();
drawScene();
}
break;
default:
break;
}
}
if (event->key() == Qt::Key_M)
{
popMoveDialog();
}
if (event->key() == Qt::Key_S)
{
if (state == _PtPool)
{
_method = 1 - _method;
drawScene();
} else if (state == _Polygon) {
_textureMethod = 1 - _textureMethod;
}
}
if (event->key() == Qt::Key_P)
{
calPatch();
}
}
if (event->key() == Qt::Key_Equal)
{
gap *= 1.1;
}
if (event->key() == Qt::Key_Minus)
{
gap /= 1.1;
}
}
}
void SVMGraphicsView::popMoveDialog()
{
QDialog dialog(this);
// Use a layout allowing to have a label next to each field
QFormLayout form(&dialog);
// Add some text above the fields
form.addRow(new QLabel("Cursor's new coordinate:"));
// Add the lineEdits with their respective labels
QList<QLineEdit *> fields;
for(int i = 0; i < 2; ++i) {
QLineEdit *lineEdit = new QLineEdit(&dialog);
QString label;
switch(i)
{
case 0:
label = QString("X: ");
lineEdit->setValidator(new QDoubleValidator());
break;
case 1:
label = QString("Y: ");
lineEdit->setValidator(new QDoubleValidator());
break;
}
form.addRow(label, lineEdit);
fields << lineEdit;
}
// Add some standard buttons (Cancel/Ok) at the bottom of the dialog
QDialogButtonBox buttonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel,
Qt::Horizontal, &dialog);
form.addRow(&buttonBox);
QObject::connect(&buttonBox, SIGNAL(accepted()), &dialog, SLOT(accept()));
QObject::connect(&buttonBox, SIGNAL(rejected()), &dialog, SLOT(reject()));
// Show the dialog as modal
double newx, newy;
if (dialog.exec() == QDialog::Accepted) {
int i = 0;
// If the user didn't dismiss the dialog, do something with the fields
foreach(QLineEdit * lineEdit, fields)
{
switch(i)
{
case 0:
newx = lineEdit->text().toDouble();
i++;
break;
case 1:
newy = lineEdit->text().toDouble();
break;
}
}
this->cursor().setPos(mapToGlobal(mapFromScene(newx, newy)));
}
}
void SVMGraphicsView::reWindDel(std::vector<imgLine> &lineConatiner)
{
if (pointCache != NULL)
{
pointCache = NULL;
} else {
int size = lineConatiner.size();
if (size)
{
imgLine lstLine = lineConatiner[size-1];
imgPoint newPtCache = lstLine.p0;
pointCache = new imgPoint(newPtCache);
lineConatiner.pop_back();
}
}
drawScene();
}
void SVMGraphicsView::calXVP()
{
if (_hasimage)
{
xVP = calVP(XLines);
_xVP_exist = true;
drawScene();
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture and specify more than 2 lines in X direction !"));
}
}
void SVMGraphicsView::calYVP()
{
if (_hasimage)
{
yVP = calVP(YLines);
_yVP_exist = true;
drawScene();
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture and specify more than 2 lines in Y direction !"));
}
}
void SVMGraphicsView::calZVP()
{
if (_hasimage)
{
zVP = calVP(ZLines);
_zVP_exist = true;
drawScene();
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture and specify more than 2 lines in Z direction !"));
}
}
imgPoint* SVMGraphicsView::calVP(std::vector<imgLine> &lineConatiner)
{
int size = lineConatiner.size();
if (size >= 2)
{
imgPoint* VP = new imgPoint;
double *eig_val = (double *) calloc (3,sizeof(double));
double **eig_vec = (double**) calloc (3,sizeof(double*));
double **m = (double**) calloc (3,sizeof(double*));
for (int i=0;i<3;i++) {
m[i] = (double *) calloc (3,sizeof(double));
eig_vec[i] = (double *) calloc (3, sizeof(double));
}
std::vector<imgLine>::iterator iterLINE;
for(iterLINE = lineConatiner.begin(); iterLINE != lineConatiner.end(); iterLINE++)
{
imgLine line = *iterLINE;
imgPoint *linePt = new imgPoint;
linePt = crossProduct(line.p0, line.p1);
double ptArray[3];
ptArray[0] = linePt->x;
ptArray[1] = linePt->y;
ptArray[2] = linePt->w;
for (int i=0; i<3; i++)
{
for (int j=0; j<3; j++)
{
m[i][j] += ptArray[i] * ptArray[j];
}
}
}
cout << endl << "------------------------------------------------" << endl;
for (int i=0; i<3; i++)
{
for (int j=0; j<3; j++)
{
cout << m[i][j] << " ";
}
cout << endl;
}
// -------------- Use eigen package from course webpage ---------------------
// eig_sys(3, m, eig_vec, eig_val);
// cout << endl <<"eigenvalues: " << endl;
// for (int i=0;i<3;i++) cout << eig_val[i] << " ";
// cout << endl;
// cout << endl << "eigenvectors: ";
// for (int i=0;i<3;i++) {
// cout << endl;
// for (int j=0;j<3;j++)
// cout << eig_vec[i][j] << " " ;
// }
// cout << endl;
// VP->x = eig_vec[2][0]/eig_vec[2][2];
// VP->y = eig_vec[2][1]/eig_vec[2][2];
// VP->w = 1;
// ----------------------------------------------------------------------------
// ---------------- Use Eigen3 package ----------------------------------------
Matrix3d mEig3;
for (int i=0; i<3; i++)
for (int j=0; j<3; j++)
mEig3(i, j) = m[i][j];
SelfAdjointEigenSolver<Matrix3d> es;
es.compute(mEig3);
cout << "\n Eigen Values: \n" << es.eigenvalues() << endl;
cout << "\n Eigen Vectors: \n" << es.eigenvectors() << endl;
Vector3d v = es.eigenvectors().col(0);
VP->x = v(0)/v(2);
VP->y = v(1)/v(2);
VP->w = 1;
// ----------------------------------------------------------------------------
for (int i=0;i<3;i++) {
free(m[i]);
free(eig_vec[i]);
}
free(m);
free(eig_vec);
free(eig_val);
cout << endl << "Vanishing point position: (" << VP->x << ", " << VP->y << ")" << endl << "------------------------------------------------" << endl << endl;
return VP;
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please specify more than 2 lines in this direction !"));
}
return NULL;
}
imgPoint* SVMGraphicsView::crossProduct(imgPoint p0, imgPoint p1)
{
imgPoint* lnPoint = new imgPoint;
lnPoint->x = p0.y * p1.w - p0.w * p1.y;
lnPoint->y = p1.x * p0.w - p0.x * p1.w;
lnPoint->w = p0.x * p1.y - p0.y * p1.x;
homoFy(lnPoint);
// cout << p0.x << ", "<< p0.y << ", " << p0.w << ", " << p1.x << ", " << p1.y << ", " << p1.w << ", " << lnPoint->x << ", " << lnPoint->y << ", " << lnPoint->w << endl << "+++++++" << endl;
return lnPoint;
}
void SVMGraphicsView::normaLize(imgPoint* pt)
{
double mod = sqrt(pt->x * pt->x + pt->y * pt->y + pt->w * pt->w);
pt->x /= mod;
pt->y /= mod;
pt->w /= mod;
}
void SVMGraphicsView::homoFy(imgPoint* pt)
{
pt->x /= pt->w;
pt->y /= pt->w;
pt->w = 1;
}
void SVMGraphicsView::eigenJacobianTest()
{
double *eig_val = (double *) calloc (3,sizeof(double));
double **eig_vec = (double**) calloc (3,sizeof(double*));
double **m = (double**) calloc (3,sizeof(double*));
for (int i=0;i<3;i++) {
m[i] = (double *) calloc (3,sizeof(double));
eig_vec[i] = (double *) calloc (3, sizeof(double));
}
m[0][0] = 2; m[0][1] = 1; m[0][2] = 1;
m[1][0] = 1; m[1][1] = 2; m[1][2] = 1;
m[2][0] = 1; m[2][1] = 1; m[2][2] = 2;
eig_sys (3,m,eig_vec,eig_val);
cout << "eigenvalues " ;
for (int i=0;i<3;i++) cout << eig_val[i] << " ";
cout << endl;
cout << "eigenvectors";
for (int i=0;i<3;i++) {
cout << endl;
for (int j=0;j<3;j++)
cout << eig_vec[i][j] << " " ;
}
cout << endl;
for (int i=0;i<3;i++) {
free(m[i]);
free(eig_vec[i]);
}
free(m);
free(eig_vec);
free(eig_val);
}
void SVMGraphicsView::eigen3Test()
{
MatrixXd A = MatrixXd::Random(100,100);
MatrixXd b = MatrixXd::Random(100,50);
MatrixXd x = A.fullPivLu().solve(b);
double relative_error = (A*x - b).norm() / b.norm(); // norm() is L2 norm
cout << "The relative error is:\n" << relative_error << endl;
}
void SVMGraphicsView::calHomography_Public()
{
if(_hasimage)
{
popIfLoadVPDialog();
// calHomography(RPoints); // use self programmed LU solver, performance not good
calHomographyEig3(RPoints); // use eigen3 package, very good performance
} else {
QMessageBox::warning(this, tr("Warning"), tr("Please load a picture and specify a plane first!"));
}
}
void SVMGraphicsView::popIfLoadVPDialog()
{
QDialog dialog(this);
// Use a layout allowing to have a label next to each field
QFormLayout form(&dialog);
// Add some text above the fields
form.addRow(new QLabel("Take X and Y vanishing points into consideration at this step if they can be and already been calculated?"));
// Add some standard buttons (Cancel/Ok) at the bottom of the dialog
QDialogButtonBox buttonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel,
Qt::Horizontal, &dialog);
form.addRow(&buttonBox);
QObject::connect(&buttonBox, SIGNAL(accepted()), &dialog, SLOT(accept()));
QObject::connect(&buttonBox, SIGNAL(rejected()), &dialog, SLOT(reject()));
_extraRPt = 0;