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GraphViewer: added gridCellSize parameter (default 5cm/pixel)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1341 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-09 20:47:35 +00:00
parent 4fa947b7a6
commit 35db51419e
2 changed files with 23 additions and 4 deletions
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25
guilib/src/GraphViewer.cpp
View File

@@ -134,8 +134,11 @@ GraphViewer::GraphViewer(QWidget * parent) :
_root(0),
_nodeRadius(0.1),
_linkWidth(0),
_gridMap(0)
_gridMap(0),
_gridCellSize(0.05f)
{
Q_ASSERT(_gridCellSize > 0);
this->setScene(new QGraphicsScene(this));
this->setDragMode(QGraphicsView::ScrollHandDrag);
_workingDirectory = QDir::homePath();
@@ -152,7 +155,7 @@ GraphViewer::GraphViewer(QWidget * parent) :
item->setParentItem(_root);
_gridMap = this->scene()->addPixmap(QPixmap());
_gridMap->scale(0.05, -0.05);
_gridMap->scale(_gridCellSize, -_gridCellSize);
_gridMap->setRotation(90);
_gridMap->setZValue(0);
_gridMap->setParentItem(_root);
@@ -309,7 +312,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
if(scanClouds.size())
{
float xMin=0.0f, yMin=0.0f;
cv::Mat map8S = util3d::create2DMap(poses, scanClouds, 0.05, xMin, yMin);
cv::Mat map8S = util3d::create2DMap(poses, scanClouds, _gridCellSize, xMin, yMin);
cv::Mat map8U(map8S.rows, map8S.cols, CV_8U);
//convert to gray scaled map
for (int i = 0; i < map8S.rows; ++i)
@@ -333,6 +336,9 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
}
}
QImage image = uCvMat2QImage(map8U, false);
_gridMap->resetTransform();
_gridMap->scale(_gridCellSize, -_gridCellSize);
_gridMap->setRotation(90);
_gridMap->setPixmap(QPixmap::fromImage(image));
_gridMap->setPos(-yMin, -xMin);
}
@@ -383,6 +389,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QAction * aSetNodeSize = menu.addAction(tr("Set node radius..."));
QAction * aSetLinkSize = menu.addAction(tr("Set link width..."));
menu.addSeparator();
QAction * aSetGridCellSize = menu.addAction(tr("Set grid cell size..."));
QAction * aShowHideGridMap;
if(_gridMap->isVisible())
{
@@ -415,7 +422,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
QString name = (QDateTime::currentDateTime().toString("yyMMddhhmmsszzz") + (isPNG?".png":".svg"));
//_root->setScale(this->transform().m11()); // current view
_root->setScale(20); // grid map precision (5cm)
_root->setScale(1.0f/_gridCellSize); // grid map precision (for 5cm grid cell, x20 to have 1pix/5cm)
this->scene()->clearSelection(); // Selections would also render to the file
this->scene()->setSceneRect(this->scene()->itemsBoundingRect()); // Re-shrink the scene to it's bounding contents
@@ -542,6 +549,16 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
}
}
}
else if(r == aSetGridCellSize)
{
bool ok;
double value = QInputDialog::getDouble(this, tr("Grid cell size"), tr("Width (m)"), _gridCellSize, 0.01, 10, 2, &ok);
if(ok)
{
_gridCellSize = value;
}
}
else if(r == aShowHideGridMap)
{
_gridMap->setVisible(!_gridMap->isVisible());

2
guilib/src/GraphViewer.h
View File

@@ -32,6 +32,7 @@ public:
void clearGraph();
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
void setGridCellSize(float size) {Q_ASSERT(_gridCellSize>0.0f); _gridCellSize= size;}
protected:
virtual void wheelEvent ( QWheelEvent * event );
@@ -49,6 +50,7 @@ private:
float _nodeRadius;
float _linkWidth;
QGraphicsPixmapItem * _gridMap;
float _gridCellSize;
};
} /* namespace rtabmap */