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Updated ImageView with GraphicsView mode disabled by default. Updated DataRecorder.

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This commit is contained in:
matlabbe
2015-03-30 10:47:38 -04:00
parent 80c7102e67
commit 56e372f8d2
13 changed files with 718 additions and 445 deletions
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11
guilib/include/rtabmap/gui/DataRecorder.h
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@@ -34,6 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QWidget>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UMutex.h>
class QLabel;
namespace rtabmap {
@@ -55,17 +58,21 @@ public:
public slots:
void addData(const rtabmap::SensorData & data);
void showImage(const rtabmap::SensorData & data);
void showImage(const cv::Mat & image, const cv::Mat & depth);
protected:
virtual void closeEvent(QCloseEvent* event);
void handleEvent(UEvent * event);
private:
UMutex memoryMutex_;
Memory * memory_;
ImageView* imageView_;
QLabel* label_;
UTimer timer_;
int dataQueue_;
QString path_;
bool processingImages_;
int count_;
int totalSizeKB_;
};
} /* namespace rtabmap */

45
guilib/include/rtabmap/gui/ImageView.h
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@@ -44,7 +44,7 @@ namespace rtabmap {
class KeypointItem;
class RTABMAPGUI_EXP ImageView : public QGraphicsView {
class RTABMAPGUI_EXP ImageView : public QWidget {
Q_OBJECT
@@ -55,48 +55,57 @@ public:
void saveSettings(QSettings & settings, const QString & group = "") const;
void loadSettings(QSettings & settings, const QString & group = "");
void resetZoom();
bool isImageShown() const;
bool isImageDepthShown() const;
bool isFeaturesShown() const;
bool isLinesShown() const;
int getAlpha() const {return _alpha;}
bool isGraphicsViewMode() const;
bool isGraphicsViewScaled() const;
float viewScale() const;
void setFeaturesShown(bool shown);
void setImageShown(bool shown);
void setImageDepthShown(bool shown);
void setLinesShown(bool shown);
void setGraphicsViewMode(bool on);
void setGraphicsViewScaled(bool scaled);
void setBackgroundColor(const QColor & color);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color = QColor(255, 255, 0, 70));
void setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color = QColor(255, 255, 0, 70));
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color = Qt::yellow);
void setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color = Qt::yellow);
void addFeature(int id, const cv::KeyPoint & kpt, QColor color);
void addLine(float x1, float y1, float x2, float y2, QColor color);
void setImage(const QImage & image);
void setImageDepth(const QImage & image);
void setFeatureColor(int id, const QColor & color);
void setFeaturesColor(const QColor & color);
void setFeatureColor(int id, QColor color);
void setFeaturesColor(QColor color);
void setAlpha(int alpha);
void setSceneRect(const QRectF & rect);
const QMultiMap<int, rtabmap::KeypointItem *> & getFeatures() const {return _features;}
void clearLines();
void clear();
virtual QSize sizeHint() const;
signals:
void configChanged();
protected:
virtual void paintEvent(QPaintEvent *event);
virtual void resizeEvent(QResizeEvent* event);
virtual void contextMenuEvent(QContextMenuEvent * e);
virtual void wheelEvent(QWheelEvent * e);
private slots:
void updateZoom();
private:
void updateOpacity();
void computeScaleOffsets(float & scale, float & offsetX, float & offsetY) const;
void drawFeatures(QPainter * painter);
void drawLines(QPainter * painter);
private:
int _zoom;
int _minZoom;
QString _savedFileName;
int _alpha;
@@ -107,10 +116,16 @@ private:
QAction * _showLines;
QAction * _saveImage;
QAction * _setAlpha;
QAction * _graphicsViewMode;
QAction * _graphicsViewScaled;
QGraphicsView * _graphicsView;
QMultiMap<int, rtabmap::KeypointItem *> _features;
QGraphicsPixmapItem * _image;
QGraphicsPixmapItem * _imageDepth;
QList<QGraphicsLineItem*> _lines;
QGraphicsPixmapItem * _imageItem;
QGraphicsPixmapItem * _imageDepthItem;
QPixmap _image;
QPixmap _imageDepth;
};
}

6
guilib/include/rtabmap/gui/KeypointItem.h
View File

@@ -34,13 +34,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QGraphicsTextItem>
#include <QtGui/QPen>
#include <QtGui/QBrush>
#include <opencv2/features2d/features2d.hpp>
namespace rtabmap {
class RTABMAPGUI_EXP KeypointItem : public QGraphicsEllipseItem
{
public:
KeypointItem(qreal x, qreal y, int r, const QString & info, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
KeypointItem(int id, const cv::KeyPoint & kpt, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
virtual ~KeypointItem();
void setColor(const QColor & color);
@@ -56,7 +57,8 @@ private:
void hideDescription();
private:
QString _info;
int _id;
cv::KeyPoint _kpt;
QGraphicsRectItem * _placeHolder;
int _width;
};