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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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51
guilib/src/ImageView.cpp
View File

@@ -175,7 +175,8 @@ ImageView::ImageView(QWidget * parent) :
_defaultFeatureColor(Qt::yellow),
_defaultMatchingFeatureColor(Qt::magenta),
_defaultMatchingLineColor(Qt::cyan),
_depthColorMapRange(0),
_depthColorMapMinRange(0),
_depthColorMapMaxRange(0),
_imageItem(0),
_imageDepthItem(0)
{
@@ -258,13 +259,14 @@ ImageView::ImageView(QWidget * parent) :
_colorMapBlueToRed = colorMap->addAction(tr("Blue to red"));
_colorMapBlueToRed->setCheckable(true);
_colorMapBlueToRed->setChecked(false);
_colorMapRange = colorMap->addAction(tr("Max Range..."));
_colorMapMinRange = colorMap->addAction(tr("Min Range..."));
_colorMapMaxRange = colorMap->addAction(tr("Max Range..."));
group = new QActionGroup(this);
group->addAction(_colorMapWhiteToBlack);
group->addAction(_colorMapBlackToWhite);
group->addAction(_colorMapRedToBlue);
group->addAction(_colorMapBlueToRed);
group->addAction(_colorMapRange);
group->addAction(_colorMapMaxRange);
_saveImage = _menu->addAction(tr("Save picture..."));
_saveImage->setEnabled(false);
@@ -296,7 +298,8 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
settings.setValue("graphics_view_scale", this->isGraphicsViewScaled());
settings.setValue("graphics_view_scale_to_height", this->isGraphicsViewScaledToHeight());
settings.setValue("colormap", _colorMapWhiteToBlack->isChecked()?0:_colorMapBlackToWhite->isChecked()?1:_colorMapRedToBlue->isChecked()?2:3);
settings.setValue("colormap_range", this->getDepthColorMapRange());
settings.setValue("colormap_min_range", this->getDepthColorMapMinRange());
settings.setValue("colormap_max_range", this->getDepthColorMapMaxRange());
if(!group.isEmpty())
{
settings.endGroup();
@@ -328,7 +331,9 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
_colorMapBlackToWhite->setChecked(colorMap==1);
_colorMapRedToBlue->setChecked(colorMap==2);
_colorMapBlueToRed->setChecked(colorMap==3);
this->setDepthColorMapRange(settings.value("colormap_range", this->getDepthColorMapRange()).toFloat());
this->setDepthColorMapRange(
settings.value("colormap_min_range", this->getDepthColorMapMinRange()).toFloat(),
settings.value("colormap_max_range", settings.value("colormap_range" /*backward compatibility*/, this->getDepthColorMapMaxRange())).toFloat());
if(!group.isEmpty())
{
settings.endGroup();
@@ -392,9 +397,14 @@ const QColor & ImageView::getBackgroundColor() const
return _graphicsView->backgroundBrush().color();
}
float ImageView::getDepthColorMapRange() const
float ImageView::getDepthColorMapMinRange() const
{
return _depthColorMapRange;
return _depthColorMapMinRange;
}
float ImageView::getDepthColorMapMaxRange() const
{
return _depthColorMapMaxRange;
}
uCvQtDepthColorMap ImageView::getDepthColorMap() const
@@ -694,9 +704,10 @@ void ImageView::setBackgroundColor(const QColor & color)
}
}
void ImageView::setDepthColorMapRange(float value)
void ImageView::setDepthColorMapRange(float min, float max)
{
_depthColorMapRange = value;
_depthColorMapMinRange = min;
_depthColorMapMaxRange = max;
}
@@ -973,13 +984,27 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
this->setImageDepth(_imageDepthCv);
Q_EMIT configChanged();
}
else if(action == _colorMapRange)
else if(action == _colorMapMinRange)
{
bool ok = false;
double value = QInputDialog::getDouble(this, tr("Set depth colormap max range"), tr("Range (m), 0=no limit"), _depthColorMapRange, 0, 9999, 1, &ok);
double value = QInputDialog::getDouble(this, tr("Set depth colormap min range"), tr("Range (m), 0=no limit"), _depthColorMapMinRange, 0, 9999, 1, &ok);
if(ok)
{
this->setDepthColorMapRange(value);
this->setDepthColorMapRange(value, _depthColorMapMaxRange);
if(!_imageDepthCv.empty())
this->setImageDepth(_imageDepthCv);
Q_EMIT configChanged();
}
}
else if(action == _colorMapMaxRange)
{
bool ok = false;
double value = QInputDialog::getDouble(this, tr("Set depth colormap max range"), tr("Range (m), 0=no limit"), _depthColorMapMaxRange, 0, 9999, 1, &ok);
if(ok)
{
this->setDepthColorMapRange(_depthColorMapMinRange, value);
if(!_imageDepthCv.empty())
this->setImageDepth(_imageDepthCv);
Q_EMIT configChanged();
}
}
@@ -1170,7 +1195,7 @@ void ImageView::setImage(const QImage & image)
void ImageView::setImageDepth(const cv::Mat & imageDepth)
{
_imageDepthCv = imageDepth;
setImageDepth(uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), 0.0f, _depthColorMapRange));
setImageDepth(uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange));
}
void ImageView::setImageDepth(const QImage & imageDepth)