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ImageView: added depth colormap menu option

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This commit is contained in:
matlabbe
2018-08-17 15:28:23 -04:00
parent 67aa4cd28e
commit 3ce6de573d
9 changed files with 118 additions and 29 deletions
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51
guilib/src/ImageView.cpp
View File

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QVBoxLayout>
#include <QGraphicsRectItem>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/core/util2d.h"
@@ -198,6 +199,24 @@ ImageView::ImageView(QWidget * parent) :
group->addAction(_graphicsViewScaled);
group->addAction(_graphicsViewScaledToHeight);
group->addAction(_graphicsViewNoScaling);
QMenu * colorMap = _menu->addMenu("Depth color map");
_colorMapWhiteToBlack = colorMap->addAction(tr("White to black"));
_colorMapWhiteToBlack->setCheckable(true);
_colorMapWhiteToBlack->setChecked(true);
_colorMapBlackToWhite = colorMap->addAction(tr("Black to white"));
_colorMapBlackToWhite->setCheckable(true);
_colorMapBlackToWhite->setChecked(false);
_colorMapRedToBlue = colorMap->addAction(tr("Red to blue"));
_colorMapRedToBlue->setCheckable(true);
_colorMapRedToBlue->setChecked(false);
_colorMapBlueToRed = colorMap->addAction(tr("Blue to red"));
_colorMapBlueToRed->setCheckable(true);
_colorMapBlueToRed->setChecked(false);
group = new QActionGroup(this);
group->addAction(_colorMapWhiteToBlack);
group->addAction(_colorMapBlackToWhite);
group->addAction(_colorMapRedToBlue);
group->addAction(_colorMapBlueToRed);
_setAlpha = _menu->addAction(tr("Set transparency..."));
_saveImage = _menu->addAction(tr("Save picture..."));
_saveImage->setEnabled(false);
@@ -224,6 +243,8 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
settings.setValue("bg_color", this->getDefaultBackgroundColor());
settings.setValue("graphics_view", this->isGraphicsViewMode());
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);
if(!group.isEmpty())
{
settings.endGroup();
@@ -245,6 +266,12 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
this->setDefaultBackgroundColor(settings.value("bg_color", this->getDefaultBackgroundColor()).value<QColor>());
this->setGraphicsViewMode(settings.value("graphics_view", this->isGraphicsViewMode()).toBool());
this->setGraphicsViewScaled(settings.value("graphics_view_scale", this->isGraphicsViewScaled()).toBool());
this->setGraphicsViewScaledToHeight(settings.value("graphics_view_scale_to_height", this->isGraphicsViewScaledToHeight()).toBool());
int colorMap = settings.value("colormap", 0).toInt();
_colorMapWhiteToBlack->setChecked(colorMap==0);
_colorMapBlackToWhite->setChecked(colorMap==1);
_colorMapRedToBlue->setChecked(colorMap==2);
_colorMapBlueToRed->setChecked(colorMap==3);
if(!group.isEmpty())
{
settings.endGroup();
@@ -689,6 +716,11 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
this->setGraphicsViewScaledToHeight(_graphicsViewScaledToHeight->isChecked());
Q_EMIT configChanged();
}
else if(action == _colorMapBlackToWhite || action == _colorMapWhiteToBlack || action == _colorMapRedToBlue || action == _colorMapBlueToRed)
{
this->setImageDepth(_imageDepthCv);
Q_EMIT configChanged();
}
else if(action == _setAlpha)
{
bool ok = false;
@@ -862,6 +894,25 @@ void ImageView::setImage(const QImage & image)
}
}
void ImageView::setImageDepth(const cv::Mat & imageDepth)
{
_imageDepthCv = imageDepth;
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(_colorMapBlackToWhite->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(_colorMapRedToBlue->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(_colorMapBlueToRed->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
setImageDepth(uCvMat2QImage(_imageDepthCv, true, colorMap));
}
void ImageView::setImageDepth(const QImage & imageDepth)
{
_imageDepth = QPixmap::fromImage(imageDepth);