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ImageView: added option to set maximum range for depth colormap

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This commit is contained in:
matlabbe
2022-03-03 18:01:04 -05:00
parent b9c7182a08
commit 1e82fd3110
3 changed files with 66 additions and 22 deletions
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4
guilib/include/rtabmap/gui/ImageView.h
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@@ -71,6 +71,7 @@ public:
const QColor & getDefaultMatchingFeatureColor() const;
const QColor & getDefaultMatchingLineColor() const;
const QColor & getBackgroundColor() const;
float getDepthColorMapRange() const;
uCvQtDepthColorMap getDepthColorMap() const;
float viewScale() const;
@@ -87,6 +88,7 @@ public:
void setDefaultMatchingFeatureColor(const QColor & color);
void setDefaultMatchingLineColor(const QColor & color);
void setBackgroundColor(const QColor & color);
void setDepthColorMapRange(float value);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
void setFeatures(const std::vector<cv::KeyPoint> & features, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
@@ -133,6 +135,7 @@ private:
QColor _defaultFeatureColor;
QColor _defaultMatchingFeatureColor;
QColor _defaultMatchingLineColor;
float _depthColorMapRange;
QMenu * _menu;
QAction * _showImage;
@@ -153,6 +156,7 @@ private:
QAction * _colorMapBlackToWhite;
QAction * _colorMapRedToBlue;
QAction * _colorMapBlueToRed;
QAction * _colorMapRange;
QMenu * _featureMenu;
QMenu * _scaleMenu;

56
guilib/include/rtabmap/utilite/UCv2Qt.h
View File

@@ -39,9 +39,17 @@ enum uCvQtDepthColorMap{
* depth (float32, uint16) image and RGB/BGR 8bits images.
* @param image the cv::Mat image (can be 1 channel [CV_8U, CV_16U or CV_32F] or 3 channels [CV_U8])
* @param isBgr if 3 channels, it is BGR or RGB order.
* @param colorMap gradient of color to use to visualize depth
* @param depthMin fixed minimum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
* @param depthMax fixed maximum range (m) of the depth gradient (if depthMax<=depthMin, max/min are computed based on data in depth image)
* @return the QImage
*/
inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack)
inline QImage uCvMat2QImage(
const cv::Mat & image,
bool isBgr = true,
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack,
float depthMin = 0,
float depthMax = 0)
{
QImage qtemp;
if(!image.empty() && image.depth() == CV_8U)
@@ -87,18 +95,21 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepth
{
// Assume depth image (float in meters)
const float * data = (const float *)image.data;
float min=data[0], max=data[0];
for(unsigned int i=1; i<image.total(); ++i)
float min=depthMax>depthMin?depthMin:data[0], max=depthMax>depthMin?depthMax:data[0];
if(depthMax <= depthMin)
{
if(uIsFinite(data[i]) && data[i] > 0)
for(unsigned int i=1; i<image.total(); ++i)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(uIsFinite(data[i]) && data[i] > 0)
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
{
max = data[i];
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
{
max = data[i];
}
}
}
}
@@ -115,7 +126,7 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepth
}
else
{
*p = uchar(255.0f - ((data[x]-min)*255.0f)/(max-min));
*p = uchar(std::max(0.0f, std::min(255.0f, 255.0f - ((data[x]-min)*255.0f)/(max-min))));
if(*p == 255)
{
*p = 0;
@@ -147,18 +158,21 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepth
{
// Assume depth image (unsigned short in mm)
const unsigned short * data = (const unsigned short *)image.data;
unsigned short min=data[0], max=data[0];
for(unsigned int i=1; i<image.total(); ++i)
unsigned short min=depthMax>depthMin?(unsigned short)(depthMin*1000):data[0], max=depthMax>depthMin?(unsigned short)(depthMax*1000):data[0];
if(depthMax<=depthMin)
{
if(uIsFinite(data[i]) && data[i] > 0)
for(unsigned int i=1; i<image.total(); ++i)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(uIsFinite(data[i]) && data[i] > 0)
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
{
max = data[i];
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
{
max = data[i];
}
}
}
}
@@ -175,7 +189,7 @@ inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepth
}
else
{
*p = uchar(255.0f - (float(data[x]-min)/float(max-min))*255.0f);
*p = uchar(std::max(0.0f, std::min(255.0f, 255.0f - (float(data[x]-min)/float(max-min))*255.0f)));
if(*p == 255)
{
*p = 0;