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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2023, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.gui;
import boofcv.BoofVerbose;
import boofcv.abst.geo.bundle.SceneStructureMetric;
import boofcv.alg.cloud.PointCloudReader;
import boofcv.core.image.ConvertImage;
import boofcv.gui.dialogs.FilePreviewChooser;
import boofcv.gui.dialogs.OpenImageSetDialog;
import boofcv.gui.dialogs.OpenStereoSequencesChooser;
import boofcv.gui.settings.GlobalDemoSettings;
import boofcv.io.image.ConvertImageMisc;
import boofcv.io.image.UtilImageIO;
import boofcv.io.points.PointCloudIO;
import boofcv.misc.BoofLambdas;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.Point3dRgbI_F64;
import boofcv.struct.image.GrayF32;
import boofcv.struct.image.GrayU16;
import boofcv.struct.image.GrayU8;
import boofcv.struct.image.ImageGray;
import boofcv.visualize.PointCloudViewer;
import georegression.struct.point.Point3D_F64;
import georegression.struct.se.Se3_F64;
import georegression.transform.se.SePointOps_F64;
import org.apache.commons.io.FilenameUtils;
import org.ddogleg.struct.DogArray;
import org.ddogleg.struct.VerbosePrint;
import org.jetbrains.annotations.Nullable;
import org.yaml.snakeyaml.DumperOptions;
import org.yaml.snakeyaml.Yaml;
import javax.imageio.ImageIO;
import javax.swing.*;
import javax.swing.border.EmptyBorder;
import javax.swing.filechooser.FileNameExtensionFilter;
import javax.swing.text.DefaultFormatter;
import javax.swing.text.NumberFormatter;
import java.awt.*;
import java.awt.event.ActionListener;
import java.awt.event.InputEvent;
import java.awt.event.MouseEvent;
import java.awt.event.MouseWheelEvent;
import java.awt.image.BufferedImage;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.UncheckedIOException;
import java.net.URL;
import java.text.NumberFormat;
import java.text.ParseException;
import java.util.List;
import java.util.*;
import java.util.prefs.Preferences;
public class BoofSwingUtil {
public static final String KEY_RECENT_FILES = "RecentFiles";
public static final String KEY_PREVIOUS_SELECTION = "PreviouslySelected";
public static final String KEY_PREVIOUS_DIRECTORY = "PreviousDirectory";
public static final double MIN_ZOOM = 0.01;
public static final double MAX_ZOOM = 50;
/**
* Standard initialization of Swing for applications
*/
public static void initializeSwing() {
try {
// In Mac OS X Display the menubar in the correct location
System.setProperty("apple.laf.useScreenMenuBar", "true");
// smoother font
System.setProperty("apple.awt.textantialiasing", "true");
} catch (Exception ignore) {
}
// If the default layout manager tabbed panes will get smaller and smaller since it has a border
Insets insets = UIManager.getInsets("TabbedPane.contentBorderInsets");
insets.bottom = 0; // because the sides are now mangled it looks better without the bottom border too
insets.left = 0;
insets.right = 0;
UIManager.put("TabbedPane.contentBorderInsets", insets);
GlobalDemoSettings.SETTINGS.changeTheme();
}
public static void setVerboseWithDemoSettings( VerbosePrint v ) {
if (GlobalDemoSettings.SETTINGS.verboseRecursive)
v.setVerbose(System.out, BoofMiscOps.hashSet(BoofVerbose.RECURSIVE));
else
v.setVerbose(null, null);
}
public static boolean isRightClick( MouseEvent e ) {
return (e.getButton() == MouseEvent.BUTTON3 ||
(System.getProperty("os.name").contains("Mac OS X") &&
(e.getModifiers() & InputEvent.BUTTON1_MASK) != 0 &&
(e.getModifiers() & InputEvent.CTRL_MASK) != 0));
}
public static boolean isMiddleMouseButton( MouseEvent e ) {
boolean clicked = SwingUtilities.isMiddleMouseButton(e);
// This is for Mac OS X. Checks to see if control-command are held down with the mouse press
clicked |= e.isControlDown() && ((e.getModifiersEx() & 256) != 0);
return clicked;
}
public static double mouseWheelImageZoom( double scale, MouseWheelEvent e ) {
if (e.getWheelRotation() > 0) {
scale *= e.getWheelRotation()*1.1;
} else if (e.getWheelRotation() < 0) {
scale /= -e.getWheelRotation()*1.1;
}
return scale;
}
public static void recursiveEnable( JComponent panel, Boolean isEnabled ) {
panel.setEnabled(isEnabled);
Component[] components = panel.getComponents();
for (Component component : components) {
if (component instanceof JComponent) {
recursiveEnable((JComponent)component, isEnabled);
}
component.setEnabled(isEnabled);
}
}
public static File ensureSuffix( File f, String suffix ) {
String name = f.getName();
if (!name.toLowerCase().endsWith(suffix)) {
name = FilenameUtils.getBaseName(name) + suffix;
f = new File(f.getParent(), name);
}
return f;
}
public static @Nullable File saveFileChooser( Component parent, FileTypes... filters ) {
return fileChooser(null, parent, false, new File(".").getPath(), null, filters);
}
public static @Nullable String[] openImageSetChooser( @Nullable Window parent,
OpenImageSetDialog.Mode mode, int numberOfImages ) {
Preferences prefs;
if (parent == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(parent.getClass().getSimpleName());
}
File defaultPath = BoofSwingUtil.directoryUserHome();
String previousPath = prefs.get(KEY_PREVIOUS_SELECTION, defaultPath.getPath());
String[] response = OpenImageSetDialog.showDialog(new File(previousPath), mode, numberOfImages, parent);
if (response != null) {
prefs.put(KEY_PREVIOUS_SELECTION, new File(response[0]).getParent());
}
return response;
}
public static @Nullable OpenStereoSequencesChooser.Selected openStereoChooser(
Window parent, @Nullable Class owner, boolean isSequence, boolean justImages ) {
Preferences prefs;
if (owner == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(owner.getSimpleName());
}
File defaultPath = BoofSwingUtil.directoryUserHome();
String previousPath = prefs.get(KEY_PREVIOUS_SELECTION, defaultPath.getPath());
OpenStereoSequencesChooser.Selected response =
OpenStereoSequencesChooser.showDialog(parent, isSequence, justImages, new File(previousPath));
if (response != null) {
prefs.put(KEY_PREVIOUS_SELECTION, response.left.getParent());
}
return response;
}
public static String getDefaultPath( @Nullable Object parent, @Nullable String key ) {
File defaultPath = BoofSwingUtil.directoryUserHome();
if (key == null)
return defaultPath.getPath();
Preferences prefs;
if (parent == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(parent.getClass().getSimpleName());
}
return prefs.get(key, defaultPath.getPath());
}
public static void saveDefaultPath( @Nullable Object parent, @Nullable String key, File file ) {
if (key == null)
return;
Preferences prefs;
if (parent == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(parent.getClass().getSimpleName());
}
if (!file.isDirectory())
file = file.getParentFile();
prefs.put(key, file.getAbsolutePath());
}
/**
* Opens a file choose when there is no parent component. Instead a string can be passed in so that the
* preference is specific to the application still
*/
public static @Nullable File openFileChooser( @Nullable String preferenceName, FileTypes... filters ) {
return fileChooser(preferenceName, null, true, new File(".").getPath(), null, filters);
}
public static @Nullable File openFilePreview( @Nullable String preferenceName, FileTypes... filters ) {
return fileChooserPreview(preferenceName, null, true, new File(".").getPath(), filters);
}
public static @Nullable File openFileChooser( @Nullable Component parent, FileTypes... filters ) {
return openFileChooser(parent, new File(".").getPath(), filters);
}
public static @Nullable File openFilePreview( @Nullable Component parent, FileTypes... filters ) {
return fileChooserPreview(null, parent, true, new File(".").getPath(), filters);
}
public static @Nullable File openFileChooser( @Nullable Component parent, String defaultPath, FileTypes... filters ) {
// For now don't use the preview chooser if there are directories
boolean directories = false;
// Make sure it will try to load images
boolean images = false;
for (var filter : filters) {
switch (filter) {
case DIRECTORIES -> directories = true;
case IMAGES, VIDEOS -> images = true;
default -> {
}
}
}
if (!directories && images) {
// Default to the new preview if they only want to see images
return fileChooserPreview(null, parent, true, defaultPath, filters);
} else {
return fileChooser(null, parent, true, defaultPath, null, filters);
}
}
/**
* Opens a file chooser for the specified file types. Previous path is loaded using preferences.
*
* @param massageName A lambda that lets you change the name of the previous path. Useful when a file type is selected.
*/
public static @Nullable File fileChooser( @Nullable String preferenceName,
@Nullable Component parent,
boolean openFile,
String defaultPath,
@Nullable BoofLambdas.MassageString massageName,
FileTypes... filters ) {
if (preferenceName == null && parent != null) {
preferenceName = parent.getClass().getSimpleName();
}
Preferences prefs;
if (preferenceName == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(preferenceName);
}
File previousPath = new File(prefs.get(KEY_PREVIOUS_SELECTION, defaultPath));
if (massageName != null) {
previousPath = new File(massageName.process(previousPath.getPath()));
}
var chooser = new JFileChooser();
boolean selectDirectories = false;
for (FileTypes t : filters) {
javax.swing.filechooser.FileFilter ff;
ff = switch (t) {
case FILES -> new javax.swing.filechooser.FileFilter() {
@Override public boolean accept( File pathname ) {return true;}
@Override public String getDescription() {return "All";}
};
case YAML -> new FileNameExtensionFilter("yaml", "yaml", "yml");
case XML -> new FileNameExtensionFilter("xml", "xml");
case IMAGES -> new FileNameExtensionFilter("Images", ImageIO.getReaderFileSuffixes());
case VIDEOS -> new FileNameExtensionFilter("Videos", "mpg", "mp4", "mov", "avi", "wmv");
case MESH -> new FileNameExtensionFilter("Mesh3D", "ply", "stl", "obj");
case DIRECTORIES -> {
selectDirectories = true;
yield null;
}
default -> throw new RuntimeException("Unknown file type");
};
if (ff == null)
break;
chooser.addChoosableFileFilter(ff);
}
if (selectDirectories) {
if (filters.length == 1)
chooser.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
else
chooser.setFileSelectionMode(JFileChooser.FILES_AND_DIRECTORIES);
}
if (chooser.getChoosableFileFilters().length > 1) {
chooser.setFileFilter(chooser.getChoosableFileFilters()[1]);
}
// Point it at the directory containing the previous selection
File currentDirectory = previousPath.getParentFile();
if (currentDirectory != null && currentDirectory.exists()) {
chooser.setCurrentDirectory(currentDirectory);
chooser.setSelectedFile(previousPath);
} else {
// otherwise, set the name to the previous file/directory name
chooser.setSelectedFile(new File(previousPath.getName()));
}
File selected = null;
int returnVal = openFile ? chooser.showOpenDialog(parent) : chooser.showSaveDialog(parent);
if (returnVal == JFileChooser.APPROVE_OPTION) {
selected = chooser.getSelectedFile();
prefs.put(KEY_PREVIOUS_SELECTION, selected.getPath());
}
return selected;
}
/**
* File chooser with a preview. Work in progress for replacing the old file chooser
*/
public static @Nullable File fileChooserPreview( @Nullable String preferenceName,
@Nullable Component parent,
boolean openFile,
String defaultPath, FileTypes... filters ) {
if (preferenceName == null && parent != null) {
preferenceName = parent.getClass().getSimpleName();
}
Preferences prefs;
if (preferenceName == null) {
prefs = Preferences.userRoot();
} else {
prefs = Preferences.userRoot().node(preferenceName);
}
File previousPath = new File(prefs.get(KEY_PREVIOUS_SELECTION, defaultPath)).getAbsoluteFile();
FilePreviewChooser chooser = new FilePreviewChooser(openFile);
escape:
for (FileTypes t : filters) {
javax.swing.filechooser.FileFilter ff;
switch (t) {
case FILES:
ff = new javax.swing.filechooser.FileFilter() {
@Override
public boolean accept( File pathname ) {
return true;
}
@Override
public String getDescription() {
return "All";
}
};
break;
case YAML:
ff = new FileNameExtensionFilter("yaml", "yaml", "yml");
break;
case XML:
ff = new FileNameExtensionFilter("xml", "xml");
break;
case IMAGES:
ff = new FileNameExtensionFilter("Images", UtilImageIO.IMAGE_SUFFIXES);
break;
case VIDEOS:
ff = new FileNameExtensionFilter("Videos", "mpg", "mp4", "mov", "avi", "wmv");
break;
case MESH:
ff = new FileNameExtensionFilter("Mesh3D", "ply", "stl", "obj");
break;
case DIRECTORIES:
break escape;
default:
throw new RuntimeException("Unknown file type");
}
chooser.getBrowser().addFileFilter(ff);
}
chooser.getBrowser().setSelectedFile(previousPath);
// if( selectDirectories ) {
// if( filters.length == 1 )
// chooser.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
// else
// chooser.setFileSelectionMode(JFileChooser.FILES_AND_DIRECTORIES);
// }
// if( chooser.getChoosableFileFilters().length > 1 ) {
// chooser.setFileFilter(chooser.getChoosableFileFilters()[1]);
// }
File selected = chooser.showDialog(parent);
System.out.println("Chooser file " + selected);
if (selected != null) {
prefs.put(KEY_PREVIOUS_SELECTION, selected.getPath());
}
return selected;
}
public static java.util.List getListOfRecentFiles( Component parent ) {
return getListOfRecentFiles(parent.getClass().getSimpleName());
}
public static java.util.List getListOfRecentFiles( String preferenceName ) {
Preferences prefs = Preferences.userRoot().node(preferenceName);
String encodedString = prefs.get(KEY_RECENT_FILES, "");
// See if recent file list exists, if not just return an empty list
if (encodedString.length() == 0) {
return new java.util.ArrayList<>();
}
try {
java.util.List results = new ArrayList<>();
java.util.List> decoded = new Yaml().load(encodedString);
for (var d : decoded) {
RecentFiles r = new RecentFiles();
r.name = (String)d.getOrDefault("name", "DefaultName");
r.files = (java.util.List)Objects.requireNonNull(d.get("files"));
results.add(r);
}
return results;
} catch (RuntimeException e) {
e.printStackTrace();
return new java.util.ArrayList<>();
}
}
public static void addToRecentFiles( Component parent, String name, List filePaths ) {
addToRecentFiles(parent.getClass().getSimpleName(), name, filePaths);
}
public static void addToRecentFiles( String preferenceName, String name, List filePaths ) {
java.util.List files = getListOfRecentFiles(preferenceName);
// Remove it from the list if it's already there
for (int i = 0; i < files.size(); i++) {
boolean matched = true;
RecentFiles list = files.get(i);
if (list.files.size() != filePaths.size())
matched = false;
for (int j = 0; j < list.files.size() && matched; j++) {
if (!list.files.get(j).equals(filePaths.get(j)))
matched = false;
}
if (matched) {
files.remove(i);
break;
}
}
if (files.size() >= 10) {
files.remove(9);
}
RecentFiles r = new RecentFiles();
r.name = name;
r.files = filePaths;
files.add(0, r);
saveRecentFiles(preferenceName, files);
}
public static void saveRecentFiles( String preferenceName, List files ) {
DumperOptions options = new DumperOptions();
options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
Yaml yaml = new Yaml(options);
String encoded = yaml.dump(encodeForYaml(files));
Preferences prefs = Preferences.userRoot().node(preferenceName);
prefs.put(KEY_RECENT_FILES, encoded);
}
public static void updateRecentItems( JComponent owner, @Nullable JMenu menuRecent,
BoofLambdas.ProcessObject function ) {
if (menuRecent == null)
return;
menuRecent.removeAll();
List recentFiles = BoofSwingUtil.getListOfRecentFiles(owner);
for (BoofSwingUtil.RecentFiles info : recentFiles) {
JMenuItem recentItem = new JMenuItem(info.name);
recentItem.addActionListener(e -> function.process(info));
menuRecent.add(recentItem);
}
// don't add clear option if there is nothing to clear
if (recentFiles.size() == 0)
return;
// Add the option to clear the list of recent files
JMenuItem clearItem = new JMenuItem("Clear Recent");
clearItem.addActionListener(e -> {
menuRecent.removeAll();
BoofSwingUtil.saveRecentFiles(owner.getClass().getSimpleName(), new ArrayList<>());
});
menuRecent.addSeparator();
menuRecent.add(clearItem);
}
private static java.util.List> encodeForYaml( java.util.List list ) {
java.util.List> output = new ArrayList<>();
for (RecentFiles r : list) {
Map m = new HashMap<>();
m.put("name", r.name);
m.put("files", r.files);
output.add(m);
}
return output;
}
public static void invokeNowOrLater( Runnable r ) {
if (SwingUtilities.isEventDispatchThread()) {
r.run();
} else {
SwingUtilities.invokeLater(r);
}
}
public static void checkGuiThread() {
if (!SwingUtilities.isEventDispatchThread())
throw new RuntimeException("Must be run in UI thread");
}
public static void checkNotGuiThread() {
if (SwingUtilities.isEventDispatchThread())
throw new RuntimeException("Must NOT be run in UI thread");
}
/**
* Select a zoom which will allow the entire image to be shown in the panel
*/
public static double selectZoomToShowAll( JComponent panel, int width, int height ) {
int w = panel.getWidth();
int h = panel.getHeight();
if (w == 0) {
w = panel.getPreferredSize().width;
h = panel.getPreferredSize().height;
}
double scale = Math.max(width/(double)w, height/(double)h);
if (scale > 1.0) {
return 1.0/scale;
} else {
return 1.0;
}
}
/**
* Figures out what the scale should be to fit the window inside the default display
*/
public static double selectZoomToFitInDisplay( int width, int height ) {
Dimension screenSize = Toolkit.getDefaultToolkit().getScreenSize();
double w = screenSize.getWidth();
double h = screenSize.getHeight();
double scale = Math.max(width/w, height/h);
if (scale > 1.0) {
return 1.0/scale;
} else {
return 1.0;
}
}
public static JPanel gridPanel( int cols, Component... children ) {
return gridPanel(0, 2, 0, 0, children);
}
public static JPanel gridPanel( int rows, int cols, int hgap, int vgap, Component... children ) {
JPanel panel = new JPanel(new GridLayout(rows, cols, hgap, vgap));
for (int i = 0; i < children.length; i++) {
panel.add(children[i]);
}
panel.setMaximumSize(panel.getPreferredSize());
return panel;
}
public static JFormattedTextField createTextField( int current, int min, int max ) {
NumberFormat format = NumberFormat.getInstance();
NumberFormatter formatter = new NumberFormatter(format);
formatter.setValueClass(Integer.class);
if (Integer.MIN_VALUE != min)
formatter.setMinimum(min);
if (Integer.MAX_VALUE != max)
formatter.setMaximum(max);
formatter.setAllowsInvalid(true);
// formatter.setCommitsOnValidEdit(true);
JFormattedTextField field = new JFormattedTextField(formatter);
field.setHorizontalAlignment(JTextField.RIGHT);
field.setValue(current);
return field;
}
public static JFormattedTextField createTextField( double current, double min, double max ) {
NumberFormat format = NumberFormat.getInstance();
NumberFormatter formatter = new NumberFormatter(format);
formatter.setValueClass(Double.class);
if (!Double.isNaN(min))
formatter.setMinimum(min);
if (!Double.isNaN(max))
formatter.setMaximum(max);
formatter.setAllowsInvalid(true);
// formatter.setCommitsOnValidEdit(true);
JFormattedTextField field = new JFormattedTextField(formatter);
field.setHorizontalAlignment(JTextField.RIGHT);
field.setValue(current);
return field;
}
public static JFormattedTextField createHexTextField( long current ) {
HexFormatter formatter = new HexFormatter();
formatter.setValueClass(Long.class);
formatter.setAllowsInvalid(true);
// formatter.setCommitsOnValidEdit(true);
JFormattedTextField field = new JFormattedTextField(formatter);
field.setHorizontalAlignment(JTextField.RIGHT);
field.setValue(current);
return field;
}
/**
* Wraps the component in the center of a BorderLayout
*/
public static JComponent wrapBorder( JComponent comp ) {
JPanel panel = new JPanel(new BorderLayout());
panel.add(comp, BorderLayout.CENTER);
return panel;
}
private static class HexFormatter extends DefaultFormatter {
@Override
public Object stringToValue( String text ) throws ParseException {
if (text == null)
return 0L;
try {
if (text.startsWith("0x")) {
text = text.substring(2);
}
return Long.valueOf(text, 16);
} catch (NumberFormatException nfe) {
throw new ParseException(text, 0);
}
}
@Override
public String valueToString( Object value ) {
if (value == null)
return "";
return "0x" + Long.toHexString((Long)value).toUpperCase();
}
}
public static JMenuItem createMenuItem( String name, int mnmonic, int accelerator, BoofLambdas.ProcessCall action ) {
JMenuItem item = new JMenuItem(name);
BoofSwingUtil.setMenuItemKeys(item, mnmonic, accelerator);
item.addActionListener(e -> action.process());
return item;
}
public static JMenuItem createMenuItem( String name, BoofLambdas.ProcessCall action ) {
JMenuItem item = new JMenuItem(name);
item.addActionListener(e -> action.process());
return item;
}
public static void setMenuItemKeys( JMenuItem menu, int mnemonic, int accelerator ) {
menu.setMnemonic(mnemonic);
menu.setAccelerator(KeyStroke.getKeyStroke(accelerator, Toolkit.getDefaultToolkit().getMenuShortcutKeyMask()));
}
public static void warningDialog( Component component, Exception e ) {
JOptionPane.showMessageDialog(component, e.getMessage());
}
/**
* Convenience function which sets rendering hints that the improve rendering quality of 2D graphics and will
* return the type casted Graphics2D. Potentially converting 3 lines of code into 1 line of code.
*/
public static Graphics2D antialiasing( Graphics g ) {
Graphics2D g2 = (Graphics2D)g;
g2.setRenderingHint(RenderingHints.KEY_STROKE_CONTROL, RenderingHints.VALUE_STROKE_PURE);
g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
return g2;
}
public static JButton createButtonIconGUI( String path, int width, int height ) {
return createButtonIcon("boofcv/gui/" + path, width, height, true);
}
public static JButton createButtonIcon( String path, int width, int height, boolean opaque ) {
try {
BufferedImage b;
// if( path.endsWith("svg")) {
// ClassLoader classloader = Thread.currentThread().getContextClassLoader();
// SVGUniverse svg = new SVGUniverse();
// URI uri = svg.loadSVG(classloader.getResource( path));
// SVGDiagram diagram = svg.getDiagram(uri);
// diagram.setIgnoringClipHeuristic(true);
//
// double scale = computeButtonScale(width,height,diagram.getWidth(),diagram.getHeight());
// width = (int) (diagram.getWidth() * scale);
// height = (int) (diagram.getHeight() * scale);
//
// b = new BufferedImage(width,height,BufferedImage.TYPE_INT_ARGB);
// Graphics2D g2 = b.createGraphics();
// g2.setRenderingHint(RenderingHints.KEY_STROKE_CONTROL, RenderingHints.VALUE_STROKE_PURE);
// g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
// g2.setRenderingHint(RenderingHints.KEY_FRACTIONALMETRICS, RenderingHints.VALUE_FRACTIONALMETRICS_ON);
//
// // scale and center
// double offX = (width-diagram.getWidth()*scale)/2;
// double offY = (height-diagram.getHeight()*scale)/2;
//
// AffineTransform transform = new AffineTransform(scale,0,0,scale,offX,offY);
// g2.setTransform(transform);
// diagram.render(g2);
// } else {
URL url = ClassLoader.getSystemResource(path);
if (url != null) {
b = ImageIO.read(url);
double scale = computeButtonScale(width, height, b.getWidth(), b.getHeight());
if (scale != 1.0) {
width = (int)(b.getWidth()*scale);
height = (int)(b.getHeight()*scale);
BufferedImage a = new BufferedImage(width, height, BufferedImage.TYPE_INT_ARGB);
Graphics2D g2 = a.createGraphics();
g2.setRenderingHint(RenderingHints.KEY_INTERPOLATION, RenderingHints.VALUE_INTERPOLATION_BICUBIC);
g2.drawImage(b, 0, 0, width, height, null);
b = a;
}
} else {
JButton button = new JButton(path);
int bWidth = button.getPreferredSize().width;
int bHeight = button.getPreferredSize().height;
double scale = computeButtonScale(width, height, bWidth, bHeight);
button.setPreferredSize(new Dimension((int)(scale*bWidth), (int)(scale*bHeight)));
return button;
}
// }
JButton button = new JButton(new ImageIcon(b));
if (!opaque) {
button.setOpaque(false);
button.setBackground(new Color(0, 0, 0, 0));
button.setBorder(new EmptyBorder(0, 0, 0, 0));
}
button.setPreferredSize(new Dimension(width, height));
return button;
} catch (IOException e) {
throw new UncheckedIOException(e);
}
}
private static double computeButtonScale( int width, int height,
double imageWidth, double imageHeight ) {
double scale = 1;
if (width > 0 || height > 0) {
if (width <= 0) {
scale = height/imageHeight;
} else if (height <= 0) {
scale = width/imageWidth;
} else {
scale = Math.min(width/imageWidth, height/imageHeight);
}
}
return scale;
}
public static JButton button( String name, @Nullable ActionListener action ) {
var b = new JButton(name);
b.addActionListener(action);
return b;
}
public static JCheckBox checkbox( String name, boolean checked, @Nullable ActionListener action ) {
var b = new JCheckBox(name);
if (action != null)
b.addActionListener(action);
b.setSelected(checked);
return b;
}
public static File directoryUserHome() {
String home = System.getProperty("user.home");
if (home == null)
home = "";
return new File(home);
}
/**
* Opens a dialog, asks the user where to save the point cloud, then saves the point cloud
*/
public static void savePointCloudDialog( @Nullable Component owner, @Nullable String key, PointCloudViewer pcv ) {
String path = getDefaultPath(owner, key);
var fileChooser = new JFileChooser();
fileChooser.setSelectedFile(new File(path, "pointcloud.ply"));
if (fileChooser.showSaveDialog(owner) == JFileChooser.APPROVE_OPTION) {
File file = fileChooser.getSelectedFile();
saveDefaultPath(owner, key, file);
DogArray cloud = pcv.copyCloud(null);
String n = FilenameUtils.getBaseName(file.getName()) + ".ply";
try {
var f = new File(file.getParent(), n);
var w = new FileOutputStream(f);
PointCloudIO.save3D(PointCloudIO.Format.PLY, PointCloudReader.wrapF64RGB(cloud.toList()), true, w);
w.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}
/**
* Opens a dialog, asks the user where to save the sequence of Se3
*/
public static void saveListSe3Dialog( @Nullable Component owner, @Nullable String key, PointCloudViewer pcv ) {
String path = getDefaultPath(owner, key);
var fileChooser = new JFileChooser();
fileChooser.setSelectedFile(new File(path, "pointcloud.ply"));
if (fileChooser.showSaveDialog(owner) == JFileChooser.APPROVE_OPTION) {
File file = fileChooser.getSelectedFile();
saveDefaultPath(owner, key, file);
DogArray cloud = pcv.copyCloud(null);
String n = FilenameUtils.getBaseName(file.getName()) + ".ply";
try {
var f = new File(file.getParent(), n);
var w = new FileOutputStream(f);
PointCloudIO.save3D(PointCloudIO.Format.PLY, PointCloudReader.wrapF64RGB(cloud.toList()), true, w);
w.close();
} catch (IOException e) {
e.printStackTrace();
}
}
}
/**
* Opens a dialog, asks the user where to save the disparity image, converts the image into a U16 format,
* saves it as a PNG
*/
public static void saveDisparityDialog( @Nullable JComponent owner, @Nullable String key, ImageGray d ) {
String path = getDefaultPath(owner, key);
var fileChooser = new JFileChooser();
fileChooser.setSelectedFile(new File(path, "disparity.png"));
fileChooser.setDialogTitle("Save Disparity Image");
if (fileChooser.showSaveDialog(owner) == JFileChooser.APPROVE_OPTION) {
File file = fileChooser.getSelectedFile();
saveDefaultPath(owner, key, file);
// Convert disparity into a U16 image format
GrayF32 disparity;
if (d instanceof GrayF32) {
disparity = (GrayF32)d;
} else {
disparity = new GrayF32(d.width, d.height);
ConvertImage.convert((GrayU8)d, disparity);
}
var output = new GrayU16(disparity.width, disparity.height);
ConvertImageMisc.convert_F32_U16(disparity, 8, output);
// save as 16-bit png
file = ensureSuffix(file, ".png");
UtilImageIO.saveImage(output, file.getAbsolutePath());
}
}
/**
* Renders camera views as squares from a {@link SceneStructureMetric}
*/
public static void visualizeCameras( SceneStructureMetric structure, PointCloudViewer viewer ) {
var vertexes = new DogArray<>(Point3D_F64::new);
var world_to_view = new Se3_F64();
var view_to_world = new Se3_F64();
var tmpSE3 = new Se3_F64();
double r = 0.1;
structure.views.forEach(v -> {
structure.getWorldToView(v, world_to_view, tmpSE3).invert(view_to_world);
// Represent the camera with a box
vertexes.reset();
vertexes.grow().setTo(-r, -r, 0);
vertexes.grow().setTo(r, -r, 0);
vertexes.grow().setTo(r, r, 0);
vertexes.grow().setTo(-r, r, 0);
for (int j = 0; j < vertexes.size; j++) {
var p = vertexes.get(j);
SePointOps_F64.transform(view_to_world, p, p);
}
viewer.addWireFrame(vertexes.toList(), true, 0xFF0000, 1);
// Line indicating pointing direction
vertexes.reset();
vertexes.grow().setTo(0, 0, 0);
vertexes.grow().setTo(0, 0, r);
for (int j = 0; j < vertexes.size; j++) {
var p = vertexes.get(j);
SePointOps_F64.transform(view_to_world, p, p);
}
viewer.addWireFrame(vertexes.toList(), false, 0x0000FF, 1);
});
}
@SuppressWarnings({"NullAway.Init"})
public static class RecentFiles {
public String name;
public java.util.List files;
}
public enum FileTypes {FILES, YAML, XML, IMAGES, VIDEOS, DIRECTORIES, MESH}
}
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