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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2021, 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.feature;
import boofcv.gui.BoofSwingUtil;
import georegression.struct.curve.EllipseRotated_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.point.Point2D_I32;
import georegression.struct.shapes.Polygon2D_F64;
import georegression.struct.shapes.Quadrilateral_F64;
import georegression.struct.shapes.Rectangle2D_I32;
import java.awt.*;
import java.awt.geom.AffineTransform;
import java.awt.geom.Ellipse2D;
import java.awt.geom.Line2D;
import java.awt.geom.Path2D;
import java.util.List;
import static boofcv.gui.fiducial.VisualizeFiducial.drawLine;
/**
* Functions for rendering different shapes.
*
* @author Peter Abeles
*/
public class VisualizeShapes {
public static void draw( Quadrilateral_F64 quad, Graphics2D g2 ) {
Line2D.Double line = new Line2D.Double();
drawSubPixel(quad.a, quad.b, line, g2);
drawSubPixel(quad.b, quad.c, line, g2);
drawSubPixel(quad.c, quad.d, line, g2);
drawSubPixel(quad.d, quad.a, line, g2);
}
public static void draw( Quadrilateral_F64 quad, Color sideA, Color others, Graphics2D g2 ) {
Line2D.Double line = new Line2D.Double();
g2.setColor(sideA);
drawSubPixel(quad.a, quad.b, line, g2);
g2.setColor(others);
drawSubPixel(quad.b, quad.c, line, g2);
drawSubPixel(quad.c, quad.d, line, g2);
drawSubPixel(quad.d, quad.a, line, g2);
}
public static void draw( Point2D_F64 p0, Point2D_F64 p1, Graphics2D g2 ) {
g2.drawLine((int)(p0.x + 0.5), (int)(p0.y + 0.5), (int)(p1.x + 0.5), (int)(p1.y + 0.5));
}
public static void drawSubPixel( Point2D_F64 p0, Point2D_F64 p1, Line2D.Double line, Graphics2D g2 ) {
line.setLine(p0.x, p0.y, p1.x, p1.y);
g2.draw(line);
}
public static void drawArrowSubPixel( Quadrilateral_F64 quad, double strokeSize, double scale, Graphics2D g2 ) {
Line2D.Double line = new Line2D.Double();
Color[] colors = new Color[]{Color.RED, Color.ORANGE, Color.CYAN, Color.BLUE};
Point2D_F64 start = new Point2D_F64();
Point2D_F64 end = new Point2D_F64();
for (int i = 0; i < 4; i++) {
int j = (i + 1)%4;
Point2D_F64 a = quad.get(i);
Point2D_F64 b = quad.get(j);
double length = a.distance(b);
double dx = (b.x - a.x)/length;
double dy = (b.y - a.y)/length;
start.x = a.x*scale;
start.y = a.y*scale;
end.x = (length*scale - strokeSize*2)*dx + start.x;
end.y = (length*scale - strokeSize*2)*dy + start.y;
g2.setColor(Color.BLACK);
g2.setStroke(new BasicStroke((float)strokeSize*2.0f));
drawArrowSubPixel(start, end, line, g2);
g2.setColor(colors[i]);
g2.setStroke(new BasicStroke((float)strokeSize));
drawArrowSubPixel(start, end, line, g2);
}
}
public static void drawArrowSubPixel( Point2D_F64 p0, Point2D_F64 p1, Line2D.Double line, Graphics2D g2 ) {
drawSubPixel(p0, p1, line, g2);
double x2 = p0.x + (p1.x - p0.x)*0.9;
double y2 = p0.y + (p1.y - p0.y)*0.9;
double tanX = (p1.y - y2);
double tanY = (x2 - p1.x);
drawSubPixel(new Point2D_F64(x2 + tanX, y2 + tanY), p1, line, g2);
drawSubPixel(new Point2D_F64(x2 - tanX, y2 - tanY), p1, line, g2);
}
public static void drawArrow( Quadrilateral_F64 quad, Graphics2D g2 ) {
drawArrow(quad.a, quad.b, g2);
drawArrow(quad.b, quad.c, g2);
drawArrow(quad.c, quad.d, g2);
drawArrow(quad.d, quad.a, g2);
}
public static void drawArrow( Point2D_F64 p0, Point2D_F64 p1, Graphics2D g2 ) {
int x0 = (int)(p0.x + 0.5);
int y0 = (int)(p0.y + 0.5);
int x1 = (int)(p1.x + 0.5);
int y1 = (int)(p1.y + 0.5);
g2.drawLine(x0, y0, x1, y1);
int x2 = x0 + (int)((x1 - x0)*0.9);
int y2 = y0 + (int)((y1 - y0)*0.9);
int tanX = (y1 - y2);
int tanY = (x2 - x1);
g2.drawLine(x2 + tanX, y2 + tanY, x1, y1);
g2.drawLine(x2 - tanX, y2 - tanY, x1, y1);
}
public static void drawArrow( double x0, double y0, double x1, double y1, double length,
Line2D.Double line, Graphics2D g2 ) {
line.setLine(x0, y0, x1, y1);
g2.draw(line);
double x2, y2;
if (length > 0) {
double dx = x1 - x0;
double dy = y1 - y0;
double r = Math.sqrt(dx*dx + dy*dy);
dx /= r;
dy /= r;
x2 = x1 - dx*length;
y2 = y1 - dy*length;
} else {
x2 = x0 + ((x1 - x0)*0.9);
y2 = y0 + ((y1 - y0)*0.9);
}
double tanX = (y1 - y2);
double tanY = (x2 - x1);
line.setLine(x2 + tanX, y2 + tanY, x1, y1);
g2.draw(line);
line.setLine(x2 - tanX, y2 - tanY, x1, y1);
g2.draw(line);
}
/**
* Draws a polygon
*
* @param vertexes List of vertices in the polygon
* @param loop true if the end points are connected, forming a loop
* @param g2 Graphics object it's drawn to
*/
public static void drawPolygon( List vertexes, boolean loop, Graphics2D g2 ) {
for (int i = 0; i < vertexes.size() - 1; i++) {
Point2D_I32 p0 = vertexes.get(i);
Point2D_I32 p1 = vertexes.get(i + 1);
g2.drawLine(p0.x, p0.y, p1.x, p1.y);
}
if (loop && vertexes.size() > 0) {
Point2D_I32 p0 = vertexes.get(0);
Point2D_I32 p1 = vertexes.get(vertexes.size() - 1);
g2.drawLine(p0.x, p0.y, p1.x, p1.y);
}
}
public static void drawPolygon( List vertexes, boolean loop, double scale, Graphics2D g2 ) {
BoofSwingUtil.antialiasing(g2);
Line2D.Double l = new Line2D.Double();
for (int i = 0; i < vertexes.size() - 1; i++) {
Point2D_I32 p0 = vertexes.get(i);
Point2D_I32 p1 = vertexes.get(i + 1);
drawLine(g2, l, scale*(p0.x + 0.5), scale*(p0.y + 0.5), scale*(p1.x + 0.5), scale*(p1.y + 0.5));
}
if (loop && vertexes.size() > 0) {
Point2D_I32 p0 = vertexes.get(0);
Point2D_I32 p1 = vertexes.get(vertexes.size() - 1);
drawLine(g2, l, scale*(p0.x + 0.5), scale*(p0.y + 0.5), scale*(p1.x + 0.5), scale*(p1.y + 0.5));
}
}
/**
* Draws a polygon
*
* @param polygon The polygon
* @param loop true if the end points are connected, forming a loop
* @param g2 Graphics object it's drawn to
*/
public static void drawPolygon( Polygon2D_F64 polygon, boolean loop, Graphics2D g2 ) {
for (int i = 0; i < polygon.size() - 1; i++) {
Point2D_F64 p0 = polygon.get(i);
Point2D_F64 p1 = polygon.get(i + 1);
g2.drawLine((int)(p0.x + 0.5), (int)(p0.y + 0.5), (int)(p1.x + 0.5), (int)(p1.y + 0.5));
}
if (loop && polygon.size() > 0) {
Point2D_F64 p0 = polygon.get(0);
Point2D_F64 p1 = polygon.get(polygon.size() - 1);
g2.drawLine((int)(p0.x + 0.5), (int)(p0.y + 0.5), (int)(p1.x + 0.5), (int)(p1.y + 0.5));
}
}
public static void drawPolygon( Polygon2D_F64 polygon, boolean loop, Graphics2D g2, boolean interpolate ) {
if (interpolate) {
BoofSwingUtil.antialiasing(g2);
Path2D path = new Path2D.Double();
for (int i = 0; i < polygon.size(); i++) {
Point2D_F64 p = polygon.get(i);
if (i == 0)
path.moveTo(p.x, p.y);
else
path.lineTo(p.x, p.y);
}
if (loop && polygon.size() > 0) {
path.closePath();
}
g2.draw(path);
} else {
drawPolygon(polygon, loop, g2);
}
}
public static void drawPolygon( Polygon2D_F64 polygon, boolean loop, double scale, Graphics2D g2 ) {
BoofSwingUtil.antialiasing(g2);
Path2D path = new Path2D.Double();
for (int i = 0; i < polygon.size(); i++) {
Point2D_F64 p = polygon.get(i);
if (i == 0)
path.moveTo(scale*p.x, scale*p.y);
else
path.lineTo(scale*p.x, scale*p.y);
}
if (loop && polygon.size() > 0) {
path.closePath();
}
g2.draw(path);
}
public static void drawPolygon( Polygon2D_F64 polygon, boolean loop, double scale, Color color0, Color colorOthers, Graphics2D g2 ) {
BoofSwingUtil.antialiasing(g2);
Path2D path = new Path2D.Double();
for (int i = 1; i <= polygon.size(); i++) {
Point2D_F64 p = polygon.get(i%polygon.size());
if (i == 1) {
path.moveTo(scale*p.x, scale*p.y);
} else {
path.lineTo(scale*p.x, scale*p.y);
}
}
g2.setColor(colorOthers);
g2.draw(path);
path.reset();
for (int i = 0; i < 2; i++) {
Point2D_F64 p = polygon.get(i);
if (i == 0) {
path.moveTo(scale*p.x, scale*p.y);
} else {
path.lineTo(scale*p.x, scale*p.y);
}
}
g2.setColor(color0);
g2.draw(path);
}
public static void fillPolygon( Polygon2D_F64 polygon, double scale, Graphics2D g2 ) {
BoofSwingUtil.antialiasing(g2);
Path2D path = new Path2D.Double();
Point2D_F64 p = polygon.get(0);
path.moveTo(p.x*scale, p.y*scale);
for (int i = 1; i <= polygon.size(); i++) {
p = polygon.get(i%polygon.size());
path.lineTo(p.x*scale, p.y*scale);
}
g2.fill(path);
}
public static void drawPolygonCorners( Polygon2D_F64 polygon, int radius, Graphics2D g2, boolean interpolate ) {
if (interpolate) {
BoofSwingUtil.antialiasing(g2);
for (int i = 0; i < polygon.size(); i++) {
Point2D_F64 p = polygon.get(i);
VisualizeFeatures.drawCircle(g2, p.x, p.y, radius);
}
} else {
for (int i = 0; i < polygon.size(); i++) {
Point2D_F64 p = polygon.get(i);
VisualizeFeatures.drawCircle(g2, (int)(p.x + 0.5), (int)(p.y + 0.5), radius);
}
}
}
/**
* Draws the rotated ellipse
*
* @param ellipse Description of the ellipse
* @param g2 Graphics object
*/
public static void drawEllipse( EllipseRotated_F64 ellipse, Graphics2D g2 ) {
AffineTransform rotate = new AffineTransform();
rotate.rotate(ellipse.phi);
double w = ellipse.a*2;
double h = ellipse.b*2;
Shape shape = rotate.createTransformedShape(new Ellipse2D.Double(-w/2, -h/2, w, h));
shape = AffineTransform.getTranslateInstance(ellipse.center.x, ellipse.center.y).createTransformedShape(shape);
g2.draw(shape);
}
public static void drawEllipse( EllipseRotated_F64 ellipse, double scale, Graphics2D g2 ) {
AffineTransform rotate = new AffineTransform();
rotate.rotate(ellipse.phi);
double w = scale*ellipse.a*2;
double h = scale*ellipse.b*2;
Shape shape = rotate.createTransformedShape(new Ellipse2D.Double(-w/2, -h/2, w, h));
shape = AffineTransform.getTranslateInstance(scale*ellipse.center.x, scale*ellipse.center.y).createTransformedShape(shape);
g2.draw(shape);
}
/**
* Draws an axis aligned rectangle
*
* @param rect Rectangle
* @param g2 Graphics object
*/
public static void drawRectangle( Rectangle2D_I32 rect, Graphics2D g2 ) {
g2.drawLine(rect.x0, rect.y0, rect.x1, rect.y0);
g2.drawLine(rect.x1, rect.y0, rect.x1, rect.y1);
g2.drawLine(rect.x0, rect.y1, rect.x1, rect.y1);
g2.drawLine(rect.x0, rect.y1, rect.x0, rect.y0);
}
public static void drawRectangle( double x0, double y0, double x1, double y1, Line2D.Double line, Graphics2D g2 ) {
BoofSwingUtil.antialiasing(g2);
line.setLine(x0, y0, x1, y0);
g2.draw(line);
line.setLine(x1, y0, x1, y1);
g2.draw(line);
line.setLine(x1, y1, x0, y1);
g2.draw(line);
line.setLine(x0, y1, x0, y0);
g2.draw(line);
}
public static void drawQuad( Quadrilateral_F64 quad, Graphics2D g2, boolean subpixel ) {
if (subpixel) {
Line2D.Double line = new Line2D.Double();
line.setLine(quad.a.x, quad.a.y, quad.b.x, quad.b.y);
g2.draw(line);
line.setLine(quad.b.x, quad.b.y, quad.c.x, quad.c.y);
g2.draw(line);
line.setLine(quad.c.x, quad.c.y, quad.d.x, quad.d.y);
g2.draw(line);
line.setLine(quad.d.x, quad.d.y, quad.a.x, quad.a.y);
g2.draw(line);
} else {
g2.drawLine((int)(quad.a.x + 0.5), (int)(quad.a.y + 0.5), (int)(quad.b.x + 0.5), (int)(quad.b.y + 0.5));
g2.drawLine((int)(quad.b.x + 0.5), (int)(quad.b.y + 0.5), (int)(quad.c.x + 0.5), (int)(quad.c.y + 0.5));
g2.drawLine((int)(quad.c.x + 0.5), (int)(quad.c.y + 0.5), (int)(quad.d.x + 0.5), (int)(quad.d.y + 0.5));
g2.drawLine((int)(quad.d.x + 0.5), (int)(quad.d.y + 0.5), (int)(quad.a.x + 0.5), (int)(quad.a.y + 0.5));
}
}
public static void drawQuad( Quadrilateral_F64 quad, Graphics2D g2, boolean subpixel, Color color1, Color color2 ) {
g2.setColor(color1);
if (subpixel) {
Line2D.Double line = new Line2D.Double();
line.setLine(quad.a.x, quad.a.y, quad.b.x, quad.b.y);
g2.draw(line);
line.setLine(quad.b.x, quad.b.y, quad.c.x, quad.c.y);
g2.draw(line);
line.setLine(quad.c.x, quad.c.y, quad.d.x, quad.d.y);
g2.draw(line);
g2.setColor(color2);
line.setLine(quad.d.x, quad.d.y, quad.a.x, quad.a.y);
g2.draw(line);
} else {
g2.drawLine((int)(quad.a.x + 0.5), (int)(quad.a.y + 0.5), (int)(quad.b.x + 0.5), (int)(quad.b.y + 0.5));
g2.drawLine((int)(quad.b.x + 0.5), (int)(quad.b.y + 0.5), (int)(quad.c.x + 0.5), (int)(quad.c.y + 0.5));
g2.drawLine((int)(quad.c.x + 0.5), (int)(quad.c.y + 0.5), (int)(quad.d.x + 0.5), (int)(quad.d.y + 0.5));
g2.setColor(color2);
g2.drawLine((int)(quad.d.x + 0.5), (int)(quad.d.y + 0.5), (int)(quad.a.x + 0.5), (int)(quad.a.y + 0.5));
}
}
public static void drawQuad( Quadrilateral_F64 quad, Graphics2D g2, double scale,
boolean subpixel, Color color1, Color color2 ) {
g2.setColor(color1);
if (subpixel) {
Line2D.Double line = new Line2D.Double();
line.setLine(quad.a.x*scale, quad.a.y*scale, quad.b.x*scale, quad.b.y*scale);
g2.draw(line);
line.setLine(quad.b.x*scale, quad.b.y*scale, quad.c.x*scale, quad.c.y*scale);
g2.draw(line);
line.setLine(quad.c.x*scale, quad.c.y*scale, quad.d.x*scale, quad.d.y*scale);
g2.draw(line);
g2.setColor(color2);
line.setLine(quad.d.x*scale, quad.d.y*scale, quad.a.x*scale, quad.a.y*scale);
g2.draw(line);
} else {
g2.drawLine((int)(quad.a.x*scale + 0.5), (int)(quad.a.y*scale + 0.5), (int)(quad.b.x*scale + 0.5), (int)(quad.b.y*scale + 0.5));
g2.drawLine((int)(quad.b.x*scale + 0.5), (int)(quad.b.y*scale + 0.5), (int)(quad.c.x*scale + 0.5), (int)(quad.c.y*scale + 0.5));
g2.drawLine((int)(quad.c.x*scale + 0.5), (int)(quad.c.y*scale + 0.5), (int)(quad.d.x*scale + 0.5), (int)(quad.d.y*scale + 0.5));
g2.setColor(color2);
g2.drawLine((int)(quad.d.x*scale + 0.5), (int)(quad.d.y*scale + 0.5), (int)(quad.a.x*scale + 0.5), (int)(quad.a.y*scale + 0.5));
}
}
}
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