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ImageView: updated depth color map gradient, added option to set minimum depth.

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This commit is contained in:
matlabbe
2023-02-22 12:34:20 -08:00
parent c7f49134eb
commit 23b0b37493
3 changed files with 99 additions and 35 deletions
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guilib/include/rtabmap/utilite/UCv2Qt.h
+54 -18
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@@ -95,9 +95,15 @@ inline QImage uCvMat2QImage(
{
// Assume depth image (float in meters)
const float * data = (const float *)image.data;
float min=depthMax>depthMin?depthMin:data[0], max=depthMax>depthMin?depthMax:data[0];
if(depthMax <= depthMin)
float min,max;
if(depthMax>depthMin)
{
min = depthMin;
max = depthMax;
}
else
{
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
@@ -112,6 +118,14 @@ inline QImage uCvMat2QImage(
}
}
}
if(depthMax > 0 && depthMax > depthMin)
{
max = depthMax;
}
if(depthMin>0 && (depthMin < depthMax || depthMin < max))
{
min = depthMin;
}
}
qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
@@ -120,21 +134,25 @@ inline QImage uCvMat2QImage(
for(int x = 0; x < image.cols; ++x)
{
uchar * p = qtemp.scanLine (y) + x;
if(data[x] < min || data[x] > max || !uIsFinite(data[x]) || max == min)
if(!uIsFinite(data[x]) || max == min || data[x] == 0)
{
*p = 0;
}
else if(data[x] < min)
{
*p = 255;
}
else if(data[x] > max)
{
*p=1;
}
else
{
*p = uchar(std::max(0.0f, std::min(255.0f, 255.0f - ((data[x]-min)*255.0f)/(max-min))));
if(*p == 255)
{
*p = 0;
}
*p = uchar(std::max(1.0f, std::min(255.0f, 255.0f - ((data[x]-min)*255.0f)/(max-min))));
}
if(*p!=0 && (colorMap == uCvQtDepthBlackToWhite || colorMap == uCvQtDepthRedToBlue))
{
*p = 255-*p;
*p = 255-*p+1;
}
}
}
@@ -158,9 +176,15 @@ inline QImage uCvMat2QImage(
{
// Assume depth image (unsigned short in mm)
const unsigned short * data = (const unsigned short *)image.data;
unsigned short min=depthMax>depthMin?(unsigned short)(depthMin*1000):data[0], max=depthMax>depthMin?(unsigned short)(depthMax*1000):data[0];
if(depthMax<=depthMin)
unsigned short min,max;
if(depthMax>depthMin)
{
min = depthMin*1000;
max = depthMax*1000;
}
else
{
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
@@ -175,6 +199,14 @@ inline QImage uCvMat2QImage(
}
}
}
if(depthMax > 0 && depthMax > depthMin)
{
max = depthMax*1000;
}
if(depthMin>0 && (depthMin < depthMax || depthMin*1000 < max))
{
min = depthMin*1000;
}
}
qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
@@ -183,21 +215,25 @@ inline QImage uCvMat2QImage(
for(int x = 0; x < image.cols; ++x)
{
uchar * p = qtemp.scanLine (y) + x;
if(data[x] < min || data[x] > max || !uIsFinite(data[x]) || max == min)
if(!uIsFinite(data[x]) || max == min || data[x]==0)
{
*p = 0;
}
else if(data[x] < min)
{
*p = 255;
}
else if(data[x] > max)
{
*p = 1;
}
else
{
*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;
}
*p = uchar(std::max(1.0f, std::min(255.0f, 255.0f - (float(data[x]-min)/float(max-min))*255.0f)));
}
if(*p!=0 && (colorMap == uCvQtDepthBlackToWhite || colorMap == uCvQtDepthRedToBlue))
{
*p = 255-*p;
*p = 255-*p+1;
}
}
}