DbViewer: added "Edit optimized map" and "Regenerate Optimized Map" actions

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -60,6 +60,7 @@ class CloudViewer;
 class OctoMap;
 class ExportCloudsDialog;
 class EditDepthArea;
+class EditMapArea;
 
 class RTABMAPGUI_EXP DatabaseViewer : public QMainWindow
 {
@@ -93,8 +94,10 @@ private Q_SLOTS:
 	void selectEmptyColor();
 	void editDepthImage();
 	void generateGraph();
+	void editSaved2DMap();
 	void exportSaved2DMap();
 	void import2DMap();
+	void regenerateSavedMap();
 	void viewOptimizedMesh();
 	void exportOptimizedMesh();
 	void updateOptimizedMesh();
@@ -225,6 +228,8 @@ private:
 	ExportCloudsDialog * exportDialog_;
 	QDialog * editDepthDialog_;
 	EditDepthArea * editDepthArea_;
+	QDialog * editMapDialog_;
+	EditMapArea * editMapArea_;
 
 	bool savedMaximized_;
 	bool firstCall_;

guilib/include/rtabmap/gui/EditMapArea.h

@@ -0,0 +1,92 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_EDITMAPAREA_H
+#define RTABMAP_EDITMAPAREA_H
+
+#include "rtabmap/gui/RtabmapGuiExp.h" // DLL export/import defines
+
+#include <QColor>
+#include <QImage>
+#include <QPoint>
+#include <QWidget>
+#include <opencv2/opencv.hpp>
+#include "rtabmap/utilite/UCv2Qt.h"
+
+class QMenu;
+class QAction;
+
+namespace rtabmap {
+
+class RTABMAPGUI_EXP EditMapArea : public QWidget
+{
+    Q_OBJECT
+
+public:
+    EditMapArea(QWidget *parent = 0);
+
+    void setMap(const cv::Mat & map);
+    cv::Mat getModifiedMap() const;
+    bool isModified() const {return modified_;}
+
+    void setPenWidth(int newWidth);
+    int penWidth() const { return myPenWidth_; }
+    void setColorMap(uCvQtDepthColorMap type);
+
+public Q_SLOTS:
+    void resetChanges();
+
+protected:
+    virtual void mousePressEvent(QMouseEvent *event);
+    virtual void mouseMoveEvent(QMouseEvent *event);
+    virtual void mouseReleaseEvent(QMouseEvent *event);
+    virtual void paintEvent(QPaintEvent *event);
+    virtual void resizeEvent(QResizeEvent *event);
+    virtual void contextMenuEvent(QContextMenuEvent * e);
+
+private:
+    void drawLineTo(const QPoint &endPoint);
+    void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
+
+    bool modified_;
+    bool scribbling_;
+    int myPenWidth_;
+    QImage map_;
+    cv::Mat originalMap_;
+    QPoint lastPoint_;
+
+    QMenu * menu_;
+    QAction * resetChanges_;
+    QAction * setPenWidth_;
+    QAction * addObstacle_;
+	QAction * clearObstacle_;
+	QAction * setUnknown_;
+};
+
+}
+
+#endif