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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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73
guilib/src/DataRecorder.cpp
View File

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/Signature.h>
#include <rtabmap/core/CameraEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/gui/ImageView.h>
@@ -37,7 +38,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QMetaType>
#include <QMessageBox>
#include <QtGui/QCloseEvent>
#include <QHBoxLayout>
#include <QLabel>
#include <QVBoxLayout>
namespace rtabmap {
@@ -46,18 +48,25 @@ DataRecorder::DataRecorder(QWidget * parent) :
QWidget(parent),
memory_(0),
imageView_(new ImageView(this)),
dataQueue_(0)
label_(new QLabel(this)),
processingImages_(false),
count_(0),
totalSizeKB_(0)
{
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
qRegisterMetaType<cv::Mat>("cv::Mat");
imageView_->setImageDepthShown(true);
QHBoxLayout * layout = new QHBoxLayout(this);
imageView_->setMinimumSize(320, 240);
QVBoxLayout * layout = new QVBoxLayout(this);
layout->setMargin(0);
layout->addWidget(imageView_);
layout->addWidget(label_);
layout->setStretch(0,1);
this->setLayout(layout);
}
bool DataRecorder::init(const QString & path, bool recordInRAM)
{
UScopeMutex scope(memoryMutex_);
if(!memory_)
{
ParametersMap customParameters;
@@ -88,11 +97,16 @@ bool DataRecorder::init(const QString & path, bool recordInRAM)
void DataRecorder::closeRecorder()
{
memoryMutex_.lock();
if(memory_)
{
delete memory_;
memory_ = 0;
}
memoryMutex_.unlock();
processingImages_ = false;
count_ = 0;
totalSizeKB_ = 0;
UINFO("Data recorded to \"%s\".", this->path().toStdString().c_str());
if(this->isVisible())
{
@@ -102,36 +116,39 @@ void DataRecorder::closeRecorder()
DataRecorder::~DataRecorder()
{
this->unregisterFromEventsManager();
this->closeRecorder();
}
void DataRecorder::addData(const rtabmap::SensorData & data)
{
memoryMutex_.lock();
if(memory_)
{
//save to database
UTimer time;
memory_->update(data);
const Signature * s = memory_->getLastWorkingSignature();
totalSizeKB_ += s->getImageCompressed().total()/1000;
totalSizeKB_ += s->getDepthCompressed().total()/1000;
memory_->cleanup();
if(data.id() % 30)
if(++count_ % 30)
{
memory_->emptyTrash();
}
UDEBUG("Time to process a message = %f s", time.ticks());
}
--dataQueue_;
memoryMutex_.unlock();
}
void DataRecorder::showImage(const rtabmap::SensorData & data)
void DataRecorder::showImage(const cv::Mat & image, const cv::Mat & depth)
{
if(this->isVisible() && data.isValid())
{
imageView_->setImage(uCvMat2QImage(data.image()));
imageView_->setImageDepth(uCvMat2QImage(data.depth()));
imageView_->fitInView(imageView_->sceneRect(), Qt::KeepAspectRatio);
}
processingImages_ = true;
imageView_->setImage(uCvMat2QImage(image));
imageView_->setImageDepth(uCvMat2QImage(depth));
label_->setText(tr("Images=%1 (~%2 MB)").arg(count_).arg(totalSizeKB_/1000));
processingImages_ = false;
}
void DataRecorder::closeEvent(QCloseEvent* event)
@@ -142,24 +159,26 @@ void DataRecorder::closeEvent(QCloseEvent* event)
void DataRecorder::handleEvent(UEvent * event)
{
if(event->getClassName().compare("CameraEvent") == 0)
if(memory_)
{
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
if(event->getClassName().compare("CameraEvent") == 0)
{
if(camEvent->data().isValid())
CameraEvent * camEvent = (CameraEvent*)event;
if(camEvent->getCode() == CameraEvent::kCodeImageDepth ||
camEvent->getCode() == CameraEvent::kCodeImage)
{
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
if(memory_)
if(camEvent->data().isValid())
{
QMetaObject::invokeMethod(this, "addData", Q_ARG(rtabmap::SensorData, camEvent->data()));
++dataQueue_;
}
UINFO("Receiving rate = %f Hz", 1.0f/timer_.ticks());
this->addData(camEvent->data());
if(dataQueue_ < 2 && this->isVisible())
{
QMetaObject::invokeMethod(this, "showImage", Q_ARG(rtabmap::SensorData, camEvent->data()));
if(!processingImages_ && this->isVisible() && camEvent->data().isValid())
{
processingImages_ = true;
QMetaObject::invokeMethod(this, "showImage",
Q_ARG(cv::Mat, camEvent->data().image()),
Q_ARG(cv::Mat, camEvent->data().depth()));
}
}
}
}

57
guilib/src/DatabaseViewer.cpp
View File

@@ -612,11 +612,6 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
void DatabaseViewer::showEvent(QShowEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_B->fitInView(ui_->graphicsView_B->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_A->resetZoom();
ui_->graphicsView_B->resetZoom();
this->setWindowModified(false);
}
@@ -635,10 +630,6 @@ void DatabaseViewer::moveEvent(QMoveEvent* anEvent)
void DatabaseViewer::resizeEvent(QResizeEvent* anEvent)
{
ui_->graphicsView_A->fitInView(ui_->graphicsView_A->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_B->fitInView(ui_->graphicsView_B->sceneRect(), Qt::KeepAspectRatio);
ui_->graphicsView_A->resetZoom();
ui_->graphicsView_B->resetZoom();
if(this->isVisible())
{
this->configModified();
@@ -1362,7 +1353,6 @@ void DatabaseViewer::update(int value,
if(value >= 0 && value < ids_.size())
{
view->clear();
view->resetTransform();
int id = ids_.at(value);
int mapId = -1;
labelId->setText(QString::number(id));
@@ -1557,11 +1547,6 @@ void DatabaseViewer::update(int value,
{
view->setSceneRect(rect);
}
else
{
view->setSceneRect(view->scene()->itemsBoundingRect());
}
view->fitInView(view->sceneRect(), Qt::KeepAspectRatio);
}
void DatabaseViewer::updateStereo(const Signature * data)
@@ -1680,20 +1665,13 @@ void DatabaseViewer::updateStereo(const Signature * data)
//ui_->graphicsView_stereo->setImage(uCvMat2QImage(imageMatches));
ui_->graphicsView_stereo->scene()->clear();
ui_->graphicsView_stereo->setSceneRect(0,0,(float)leftMono.cols, (float)leftMono.rows);
ui_->graphicsView_stereo->clear();
ui_->graphicsView_stereo->setLinesShown(true);
ui_->graphicsView_stereo->setFeaturesShown(false);
ui_->graphicsView_stereo->setImageDepthShown(true);
QGraphicsPixmapItem * item1 = ui_->graphicsView_stereo->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(data->getImageRaw())));
QGraphicsPixmapItem * item2 = ui_->graphicsView_stereo->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(data->getDepthRaw())));
QGraphicsOpacityEffect * effect1 = new QGraphicsOpacityEffect();
QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
effect1->setOpacity(0.5);
effect2->setOpacity(0.5);
item1->setGraphicsEffect(effect1);
item2->setGraphicsEffect(effect2);
ui_->graphicsView_stereo->setImage(uCvMat2QImage(data->getImageRaw()));
ui_->graphicsView_stereo->setImageDepth(uCvMat2QImage(data->getDepthRaw()));
// Draw lines between corresponding features...
for(unsigned int i=0; i<kpts.size(); ++i)
@@ -1715,14 +1693,14 @@ void DatabaseViewer::updateStereo(const Signature * data)
{
c = Qt::magenta;
}
QGraphicsLineItem * item = ui_->graphicsView_stereo->scene()->addLine(
ui_->graphicsView_stereo->addLine(
kpts[i].pt.x,
kpts[i].pt.y,
rightKpts[i].pt.x,
rightKpts[i].pt.y,
QPen(c));
item->setZValue(1);
c);
}
ui_->graphicsView_stereo->update();
}
}
@@ -1748,35 +1726,34 @@ void DatabaseViewer::updateWordsMatching()
if(wordsA.count(ids[i]) == 1 && wordsB.count(ids[i]) == 1)
{
// PINK features
ui_->graphicsView_A->setFeatureColor(ids[i], QColor(255, 0, 255, alpha));
ui_->graphicsView_B->setFeatureColor(ids[i], QColor(255, 0, 255, alpha));
ui_->graphicsView_A->setFeatureColor(ids[i], Qt::magenta);
ui_->graphicsView_B->setFeatureColor(ids[i], Qt::magenta);
// Add lines
// Draw lines between corresponding features...
float deltaX = ui_->graphicsView_A->sceneRect().width();
float scaleX = ui_->graphicsView_A->viewScale();
float deltaX = ui_->graphicsView_A->width()/scaleX;
float deltaY = 0;
const KeypointItem * kptA = wordsA.value(ids[i]);
const KeypointItem * kptB = wordsB.value(ids[i]);
QGraphicsLineItem * item = ui_->graphicsView_A->scene()->addLine(
ui_->graphicsView_A->addLine(
kptA->rect().x()+kptA->rect().width()/2,
kptA->rect().y()+kptA->rect().height()/2,
kptB->rect().x()+kptB->rect().width()/2+deltaX,
kptB->rect().y()+kptB->rect().height()/2+deltaY,
QPen(QColor(0, 255, 255, alpha)));
item->setVisible(ui_->graphicsView_A->isLinesShown());
item->setZValue(1);
Qt::cyan);
item = ui_->graphicsView_B->scene()->addLine(
ui_->graphicsView_B->addLine(
kptA->rect().x()+kptA->rect().width()/2-deltaX,
kptA->rect().y()+kptA->rect().height()/2-deltaY,
kptB->rect().x()+kptB->rect().width()/2,
kptB->rect().y()+kptB->rect().height()/2,
QPen(QColor(0, 255, 255, alpha)));
item->setVisible(ui_->graphicsView_B->isLinesShown());
item->setZValue(1);
Qt::cyan);
}
}
ui_->graphicsView_A->update();
ui_->graphicsView_B->update();
}
}
}

581
guilib/src/ImageView.cpp
View File

@@ -35,23 +35,27 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QAction>
#include <QGraphicsEffect>
#include <QInputDialog>
#include <QVBoxLayout>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
namespace rtabmap {
ImageView::ImageView(QWidget * parent) :
QGraphicsView(parent),
_zoom(250),
_minZoom(250),
QWidget(parent),
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
_alpha(100),
_image(0),
_imageDepth(0)
_imageItem(0),
_imageDepthItem(0)
{
this->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
this->setScene(new QGraphicsScene(this));
connect(this->scene(), SIGNAL(sceneRectChanged(const QRectF &)), this, SLOT(updateZoom()));
_graphicsView = new QGraphicsView(this);
_graphicsView->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
_graphicsView->setScene(new QGraphicsScene(this));
_graphicsView->setVisible(false);
this->setLayout(new QVBoxLayout(this));
this->layout()->addWidget(_graphicsView);
this->layout()->setContentsMargins(0,0,0,0);
_menu = new QMenu(tr(""), this);
_showImage = _menu->addAction(tr("Show image"));
@@ -66,6 +70,13 @@ ImageView::ImageView(QWidget * parent) :
_showLines = _menu->addAction(tr("Show lines"));
_showLines->setCheckable(true);
_showLines->setChecked(true);
_graphicsViewMode = _menu->addAction(tr("Graphics view"));
_graphicsViewMode->setCheckable(true);
_graphicsViewMode->setChecked(false);
_graphicsViewScaled = _menu->addAction(tr("Scale image"));
_graphicsViewScaled->setCheckable(true);
_graphicsViewScaled->setChecked(true);
_graphicsViewScaled->setEnabled(false);
_setAlpha = _menu->addAction(tr("Set alpha..."));
_saveImage = _menu->addAction(tr("Save picture..."));
}
@@ -85,6 +96,8 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
settings.setValue("features_shown", this->isFeaturesShown());
settings.setValue("lines_shown", this->isLinesShown());
settings.setValue("alpha", this->getAlpha());
settings.setValue("graphics_view", this->isGraphicsViewMode());
settings.setValue("graphics_view_scale", this->isGraphicsViewScaled());
if(!group.isEmpty())
{
settings.endGroup();
@@ -102,18 +115,14 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
this->setFeaturesShown(settings.value("features_shown", this->isFeaturesShown()).toBool());
this->setLinesShown(settings.value("lines_shown", this->isLinesShown()).toBool());
this->setAlpha(settings.value("alpha", this->getAlpha()).toInt());
this->setGraphicsViewMode(settings.value("graphics_view", this->isGraphicsViewMode()).toBool());
this->setGraphicsViewScaled(settings.value("graphics_view_scale", this->isGraphicsViewScaled()).toBool());
if(!group.isEmpty())
{
settings.endGroup();
}
}
void ImageView::resetZoom()
{
_zoom = _minZoom;
this->setDragMode(QGraphicsView::NoDrag);
}
bool ImageView::isImageShown() const
{
return _showImage->isChecked();
@@ -129,6 +138,16 @@ bool ImageView::isFeaturesShown() const
return _showFeatures->isChecked();
}
bool ImageView::isGraphicsViewMode() const
{
return _graphicsViewMode->isChecked();
}
bool ImageView::isGraphicsViewScaled() const
{
return _graphicsViewScaled->isChecked();
}
void ImageView::setFeaturesShown(bool shown)
{
_showFeatures->setChecked(shown);
@@ -136,26 +155,41 @@ void ImageView::setFeaturesShown(bool shown)
{
iter.value()->setVisible(_showFeatures->isChecked());
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setImageShown(bool shown)
{
_showImage->setChecked(shown);
if(_image)
if(_imageItem)
{
_image->setVisible(_showImage->isChecked());
_imageItem->setVisible(_showImage->isChecked());
this->updateOpacity();
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setImageDepthShown(bool shown)
{
_showImageDepth->setChecked(shown);
if(_imageDepth)
if(_imageDepthItem)
{
_imageDepth->setVisible(_showImageDepth->isChecked());
_imageDepthItem->setVisible(_showImageDepth->isChecked());
this->updateOpacity();
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
bool ImageView::isLinesShown() const
@@ -166,13 +200,233 @@ bool ImageView::isLinesShown() const
void ImageView::setLinesShown(bool shown)
{
_showLines->setChecked(shown);
QList<QGraphicsItem*> items = this->scene()->items();
for(int i=0; i<items.size(); ++i)
for(int i=0; i<_lines.size(); ++i)
{
if( qgraphicsitem_cast<QGraphicsLineItem*>(items.at(i)))
_lines.at(i)->setVisible(_showLines->isChecked());
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
float ImageView::viewScale() const
{
if(_graphicsView->isVisible())
{
return _graphicsView->transform().m11();
}
else
{
float scale, offsetX, offsetY;
computeScaleOffsets(scale, offsetX, offsetY);
return scale;
}
}
void ImageView::setGraphicsViewMode(bool on)
{
_graphicsViewMode->setChecked(on);
_graphicsView->setVisible(on);
_graphicsViewScaled->setEnabled(on);
if(on)
{
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
items.at(i)->setVisible(_showLines->isChecked());
_graphicsView->scene()->addItem(iter.value());
}
for(QList<QGraphicsLineItem*>::iterator iter=_lines.begin(); iter!=_lines.end(); ++iter)
{
_graphicsView->scene()->addItem(*iter);
}
//update images
if(_imageItem)
{
_imageItem->setPixmap(_image);
}
else
{
_imageItem = _graphicsView->scene()->addPixmap(_image);
_imageItem->setVisible(_showImage->isChecked());
_showImage->setEnabled(true);
}
if(_imageDepthItem)
{
_imageDepthItem->setPixmap(_imageDepth);
}
else
{
_imageDepthItem = _graphicsView->scene()->addPixmap(_imageDepth);
_imageDepthItem->setVisible(_showImageDepth->isChecked());
_showImageDepth->setEnabled(true);
}
this->updateOpacity();
if(_graphicsViewScaled->isChecked())
{
_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
}
else
{
_graphicsView->resetTransform();
}
}
else
{
this->update();
}
}
void ImageView::setGraphicsViewScaled(bool scaled)
{
_graphicsViewScaled->setChecked(scaled);
if(scaled)
{
_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
}
else
{
_graphicsView->resetTransform();
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setBackgroundColor(const QColor & color)
{
_graphicsView->setBackgroundBrush(QBrush(color));
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::computeScaleOffsets(float & scale, float & offsetX, float & offsetY) const
{
scale = 1.0f;
offsetX = 0.0f;
offsetY = 0.0f;
if(!_graphicsView->scene()->sceneRect().isNull())
{
float w = _graphicsView->scene()->width();
float h = _graphicsView->scene()->height();
float widthRatio = float(this->rect().width()) / w;
float heightRatio = float(this->rect().height()) / h;
//printf("w=%f, h=%f, wR=%f, hR=%f, sW=%d, sH=%d\n", w, h, widthRatio, heightRatio, this->rect().width(), this->rect().height());
if(widthRatio < heightRatio)
{
scale = widthRatio;
}
else
{
scale = heightRatio;
}
//printf("ratio=%f\n",ratio);
w *= scale;
h *= scale;
if(w < this->rect().width())
{
offsetX = (this->rect().width() - w)/2.0f;
}
if(h < this->rect().height())
{
offsetY = (this->rect().height() - h)/2.0f;
}
//printf("offsetX=%f, offsetY=%f\n",offsetX, offsetY);
}
}
void ImageView::paintEvent(QPaintEvent *event)
{
if(_graphicsViewMode->isChecked())
{
QWidget::paintEvent(event);
}
else
{
if(!_graphicsView->scene()->sceneRect().isNull())
{
//Scale
float ratio, offsetX, offsetY;
this->computeScaleOffsets(ratio, offsetX, offsetY);
QPainter painter(this);
//Background
painter.save();
painter.setBrush(_graphicsView->backgroundBrush());
painter.drawRect(this->rect());
painter.restore();
painter.translate(offsetX, offsetY);
painter.scale(ratio, ratio);
painter.save();
if(_showImage->isChecked() && !_image.isNull() &&
_showImageDepth->isChecked() && !_imageDepth.isNull())
{
painter.setOpacity(0.5);
}
if(_showImage->isChecked() && !_image.isNull())
{
painter.drawPixmap(QPoint(0,0), _image);
}
if(_showImageDepth->isChecked() && !_imageDepth.isNull())
{
painter.drawPixmap(QPoint(0,0), _imageDepth);
}
painter.restore();
if(_showFeatures->isChecked())
{
for(QMultiMap<int, rtabmap::KeypointItem *>::iterator iter = _features.begin(); iter != _features.end(); ++iter)
{
QColor color = iter.value()->pen().color();
painter.save();
painter.setPen(color);
painter.setBrush(color);
painter.drawEllipse(iter.value()->rect());
painter.restore();
}
}
if(_showLines->isChecked())
{
for(QList<QGraphicsLineItem*>::iterator iter = _lines.begin(); iter != _lines.end(); ++iter)
{
QColor color = (*iter)->pen().color();
painter.save();
painter.setPen(color);
painter.drawLine((*iter)->line());
painter.restore();
}
}
}
}
}
void ImageView::resizeEvent(QResizeEvent* event)
{
QWidget::resizeEvent(event);
if(_graphicsView->isVisible() && _graphicsViewScaled->isChecked())
{
_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
}
}
@@ -190,9 +444,9 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
if(!text.isEmpty())
{
_savedFileName = text;
QImage img(this->sceneRect().width(), this->sceneRect().height(),QImage::Format_ARGB32_Premultiplied);
QImage img(_graphicsView->sceneRect().width(), _graphicsView->sceneRect().height(),QImage::Format_ARGB32_Premultiplied);
QPainter p(&img);
this->scene()->render(&p, this->sceneRect(), this->sceneRect());
_graphicsView->scene()->render(&p, _graphicsView->sceneRect(), _graphicsView->sceneRect());
img.save(text);
}
}
@@ -216,6 +470,16 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
this->setLinesShown(_showLines->isChecked());
emit configChanged();
}
else if(action == _graphicsViewMode)
{
this->setGraphicsViewMode(_graphicsViewMode->isChecked());
emit configChanged();
}
else if(action == _graphicsViewScaled)
{
this->setGraphicsViewScaled(_graphicsViewScaled->isChecked());
emit configChanged();
}
else if(action == _setAlpha)
{
bool ok = false;
@@ -236,96 +500,46 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
void ImageView::updateOpacity()
{
if(_image && _imageDepth)
if(_imageItem && _imageDepthItem)
{
if(_image->isVisible() && _imageDepth->isVisible())
if(_imageItem->isVisible() && _imageDepthItem->isVisible())
{
QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
effect->setOpacity(0.5);
effect2->setOpacity(0.5);
_image->setGraphicsEffect(effect);
_imageDepth->setGraphicsEffect(effect2);
_imageItem->setGraphicsEffect(effect);
_imageDepthItem->setGraphicsEffect(effect2);
}
else
{
_image->setGraphicsEffect(0);
_imageDepth->setGraphicsEffect(0);
_imageItem->setGraphicsEffect(0);
_imageDepthItem->setGraphicsEffect(0);
}
}
else if(_image)
else if(_imageItem)
{
_image->setGraphicsEffect(0);
_imageItem->setGraphicsEffect(0);
}
else if(_imageDepth)
else if(_imageDepthItem)
{
_imageDepth->setGraphicsEffect(0);
_imageDepthItem->setGraphicsEffect(0);
}
}
void ImageView::updateZoom()
{
qreal scaleRatio = 1;
if(this->scene())
{
scaleRatio = this->geometry().width()/this->sceneRect().width();
}
_minZoom = log(scaleRatio)/log(2.0)*50+250;
}
void ImageView::wheelEvent(QWheelEvent * e)
{
if(e->delta() > 0)
{
_zoom += 20;
this->setDragMode(QGraphicsView::ScrollHandDrag);
if(_zoom>=500)
{
_zoom = 500;
}
}
else
{
_zoom -= 20;
if(_zoom<=_minZoom)
{
this->setDragMode(QGraphicsView::NoDrag);
_zoom = _minZoom;
this->fitInView(this->sceneRect(), Qt::KeepAspectRatio);
return;
}
}
qreal scale = qPow(qreal(2), (_zoom - 250) / qreal(50));
QMatrix matrix;
matrix.scale(scale, scale);
this->setMatrix(matrix);
}
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
rtabmap::KeypointItem * item = 0;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
const cv::KeyPoint & r = (*i).second;
int id = (*i).first;
QString info = QString( "WordRef = %1\n"
"Laplacian = %2\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = r.size/2.0f;
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
addFeature(iter->first, iter->second, color);
}
scene()->addItem(item);
_features.insert(id, item);
item->setVisible(_showFeatures->isChecked());
item->setZValue(1);
if(!_graphicsView->isVisible())
{
this->update();
}
}
@@ -334,60 +548,97 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QC
qDeleteAll(_features);
_features.clear();
rtabmap::KeypointItem * item = 0;
for(unsigned int i = 0; i< features.size(); ++i )
{
const cv::KeyPoint & r = features[i];
int id = i;
QString info = QString( "WordRef = %1\n"
"Laplacian = %2\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = (r.size==0?3:r.size)/2.0f;
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
addFeature(i, features[i], color);
}
scene()->addItem(item);
_features.insert(id, item);
item->setVisible(_showFeatures->isChecked());
item->setZValue(1);
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::addFeature(int id, const cv::KeyPoint & kpt, QColor color)
{
color.setAlpha(this->getAlpha());
rtabmap::KeypointItem * item = new rtabmap::KeypointItem(id, kpt, color);
_features.insert(id, item);
item->setVisible(isFeaturesShown());
item->setZValue(1);
if(_graphicsView->isVisible())
{
_graphicsView->scene()->addItem(item);
}
}
void ImageView::addLine(float x1, float y1, float x2, float y2, QColor color)
{
color.setAlpha(this->getAlpha());
QGraphicsLineItem * item = new QGraphicsLineItem(x1, y1, x2, y2);
item->setPen(QPen(color));
_lines.push_back(item);
item->setVisible(isLinesShown());
item->setZValue(1);
if(_graphicsView->isVisible())
{
_graphicsView->scene()->addItem(item);
}
}
void ImageView::setImage(const QImage & image)
{
if(_image)
_image = QPixmap::fromImage(image);
if(_graphicsView->isVisible())
{
_image->setPixmap(QPixmap::fromImage(image));
if(_imageItem)
{
_imageItem->setPixmap(_image);
}
else
{
_imageItem = _graphicsView->scene()->addPixmap(_image);
_imageItem->setVisible(_showImage->isChecked());
_showImage->setEnabled(true);
this->updateOpacity();
}
}
else
{
_image = scene()->addPixmap(QPixmap::fromImage(image));
_image->setVisible(_showImage->isChecked());
_showImage->setEnabled(true);
this->updateOpacity();
this->setSceneRect(image.rect());
this->update();
}
}
void ImageView::setImageDepth(const QImage & imageDepth)
{
if(_imageDepth)
_imageDepth = QPixmap::fromImage(imageDepth);
if(_graphicsView->isVisible())
{
_imageDepth->setPixmap(QPixmap::fromImage(imageDepth));
if(_imageDepthItem)
{
_imageDepthItem->setPixmap(_imageDepth);
}
else
{
_imageDepthItem = _graphicsView->scene()->addPixmap(_imageDepth);
_imageDepthItem->setVisible(_showImageDepth->isChecked());
_showImageDepth->setEnabled(true);
this->updateOpacity();
}
}
else
{
_imageDepth = scene()->addPixmap(QPixmap::fromImage(imageDepth));
_imageDepth->setVisible(_showImageDepth->isChecked());
_showImageDepth->setEnabled(true);
this->updateOpacity();
this->setSceneRect(imageDepth.rect());
this->update();
}
}
void ImageView::setFeatureColor(int id, const QColor & color)
void ImageView::setFeatureColor(int id, QColor color)
{
color.setAlpha(getAlpha());
QList<KeypointItem*> items = _features.values(id);
if(items.size())
{
@@ -400,14 +651,24 @@ void ImageView::setFeatureColor(int id, const QColor & color)
{
UWARN("Not found feature %d", id);
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setFeaturesColor(const QColor & color)
void ImageView::setFeaturesColor(QColor color)
{
color.setAlpha(getAlpha());
for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
{
iter.value()->setPen(QPen(color));
iter.value()->setBrush(QBrush(color));
iter.value()->setColor(color);
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
@@ -422,21 +683,47 @@ void ImageView::setAlpha(int alpha)
iter.value()->setPen(QPen(c));
iter.value()->setBrush(QBrush(c));
}
for(QList<QGraphicsLineItem*>::iterator iter=_lines.begin(); iter!=_lines.end(); ++iter)
{
QColor c = (*iter)->pen().color();
c.setAlpha(_alpha);
(*iter)->setPen(QPen(c));
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::setSceneRect(const QRectF & rect)
{
_graphicsView->scene()->setSceneRect(rect);
if(_graphicsViewScaled->isChecked())
{
_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
}
else
{
_graphicsView->resetTransform();
}
if(!_graphicsView->isVisible())
{
this->update();
}
}
void ImageView::clearLines()
{
if(this->scene())
qDeleteAll(_lines);
_lines.clear();
if(!_graphicsView->isVisible())
{
QList<QGraphicsItem*> items = this->scene()->items();
for(int i=0; i<items.size(); ++i)
{
QGraphicsLineItem * line = qgraphicsitem_cast<QGraphicsLineItem*>(items[i]);
if(line)
{
delete line;
}
}
this->update();
}
}
@@ -445,22 +732,34 @@ void ImageView::clear()
qDeleteAll(_features);
_features.clear();
if(_image)
qDeleteAll(_lines);
_lines.clear();
if(_imageItem)
{
scene()->removeItem(_image);
delete _image;
_image = 0;
_graphicsView->scene()->removeItem(_imageItem);
delete _imageItem;
_imageItem = 0;
_showImage->setEnabled(false);
}
if(_imageDepth)
if(_imageDepthItem)
{
scene()->removeItem(_imageDepth);
delete _imageDepth;
_imageDepth = 0;
_graphicsView->scene()->removeItem(_imageDepthItem);
delete _imageDepthItem;
_imageDepthItem = 0;
_showImageDepth->setEnabled(false);
}
scene()->clear();
if(!_graphicsView->isVisible())
{
this->update();
}
}
QSize ImageView::sizeHint() const
{
return _graphicsView->sizeHint();
}
}

14
guilib/src/KeypointItem.cpp
View File

@@ -34,9 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
KeypointItem::KeypointItem(qreal x, qreal y, int r, const QString & info, const QColor & color, QGraphicsItem * parent) :
QGraphicsEllipseItem(x, y, r, r, parent),
_info(info),
KeypointItem::KeypointItem(int id, const cv::KeyPoint & kpt, const QColor & color, QGraphicsItem * parent) :
QGraphicsEllipseItem(kpt.pt.x-(kpt.size==0?3.0f:kpt.size)/2.0f, kpt.pt.y-(kpt.size==0?3.0f:kpt.size)/2.0f, kpt.size==0?3.0f:kpt.size, kpt.size==0?3.0f:kpt.size, parent),
_id(id),
_kpt(kpt),
_placeHolder(0)
{
this->setColor(color);
@@ -68,7 +69,12 @@ void KeypointItem::showDescription()
_placeHolder->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
QGraphicsTextItem * text = new QGraphicsTextItem(_placeHolder);
text->setDefaultTextColor(this->pen().color().rgb());
text->setPlainText(_info);
text->setPlainText(QString( "Id = %1\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(_id).arg(_kpt.angle).arg(_kpt.response).arg(_kpt.pt.x).arg(_kpt.pt.y).arg(_kpt.size));
_placeHolder->setRect(text->boundingRect());
}

212
guilib/src/MainWindow.cpp
View File

@@ -209,9 +209,9 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
_logEventTime->start();
//Graphics scenes
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setAlpha(200);
_preferencesDialog->loadWidgetState(_ui->imageView_source);
_preferencesDialog->loadWidgetState(_ui->imageView_loopClosure);
@@ -666,13 +666,13 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
Transform pose = data.pose();
bool lost = false;
bool lostStateChanged = false;
_ui->imageView_odometry->resetTransform();
if(pose.isNull())
{
UDEBUG("odom lost"); // use last pose
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() != Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkRed);
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::darkRed));
_ui->imageView_odometry->setBackgroundColor(Qt::darkRed);
pose = _lastOdomPose;
lost = true;
@@ -684,15 +684,16 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
UDEBUG("odom warn, quality(inliers)=%d thr=%d", info.inliers, _preferencesDialog->getOdomQualityWarnThr());
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(Qt::darkYellow);
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::darkYellow));
_ui->imageView_odometry->setBackgroundColor(Qt::darkYellow);
}
else
{
UDEBUG("odom ok");
lostStateChanged = _ui->widget_cloudViewer->getBackgroundColor() == Qt::darkRed;
_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundColor(Qt::black);
}
if(info.inliers >= 0)
{
_ui->statsToolBox->updateStat("Odometry/Inliers/", (float)data.id(), (float)info.inliers);
@@ -810,16 +811,16 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
if(_ui->imageView_odometry->isFeaturesShown())
{
int alpha = _ui->imageView_odometry->getAlpha();
if(info.type == 0)
{
_ui->imageView_odometry->setFeatures(info.words, QColor(255,255,0, alpha));
_ui->imageView_odometry->setFeatures(info.words, Qt::yellow);
}
else if(info.type == 1)
{
_ui->imageView_odometry->setFeatures(info.refCorners, QColor(255,0,0, alpha));
_ui->imageView_odometry->setFeatures(info.refCorners, Qt::red);
}
}
_ui->imageView_odometry->clearLines();
if(lost)
{
@@ -852,14 +853,13 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
if(_ui->imageView_odometry->isFeaturesShown())
{
int alpha = _ui->imageView_odometry->getAlpha();
for(unsigned int i=0; i<info.wordMatches.size(); ++i)
{
_ui->imageView_odometry->setFeatureColor(info.wordMatches[i], QColor(255,0,0, alpha)); // outliers
_ui->imageView_odometry->setFeatureColor(info.wordMatches[i], Qt::red); // outliers
}
for(unsigned int i=0; i<info.wordInliers.size(); ++i)
{
_ui->imageView_odometry->setFeatureColor(info.wordInliers[i], QColor(0,255,0, alpha)); // inliers
_ui->imageView_odometry->setFeatureColor(info.wordInliers[i], Qt::green); // inliers
}
}
}
@@ -868,33 +868,32 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
{
//draw lines
int alpha = _ui->imageView_odometry->getAlpha();
UASSERT(info.refCorners.size() == info.newCorners.size());
for(unsigned int i=0; i<info.cornerInliers.size(); ++i)
{
if(_ui->imageView_odometry->isFeaturesShown())
{
_ui->imageView_odometry->setFeatureColor(info.cornerInliers[i], QColor(0,255,0, alpha)); // inliers
_ui->imageView_odometry->setFeatureColor(info.cornerInliers[i], Qt::green); // inliers
}
if(_ui->imageView_odometry->isLinesShown())
{
QGraphicsLineItem * item = _ui->imageView_odometry->scene()->addLine(
_ui->imageView_odometry->addLine(
info.refCorners[info.cornerInliers[i]].pt.x,
info.refCorners[info.cornerInliers[i]].pt.y,
info.newCorners[info.cornerInliers[i]].pt.x,
info.newCorners[info.cornerInliers[i]].pt.y,
QPen(QColor(0, 0, 255, alpha)));
item->setVisible(_ui->imageView_odometry->isLinesShown());
item->setZValue(1);
Qt::blue);
}
}
_ui->imageView_odometry->update();
}
}
}
_ui->imageView_odometry->resetZoom();
_ui->imageView_odometry->setSceneRect(_ui->imageView_odometry->scene()->itemsBoundingRect());
_ui->imageView_odometry->fitInView(_ui->imageView_odometry->sceneRect(), Qt::KeepAspectRatio);
}
if(!data.image().empty())
{
_ui->imageView_odometry->setSceneRect(QRectF(0,0,(float)data.image().cols, (float)data.image().rows));
}
}
if(_ui->actionAuto_screen_capture->isChecked() && _autoScreenCaptureOdomSync)
@@ -937,10 +936,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
// Loop closure info
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
_ui->imageView_source->resetTransform();
_ui->imageView_loopClosure->resetTransform();
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
// update cache
Signature signature = stat.getSignature();
@@ -955,15 +952,15 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(rehearsed > 0)
{
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::blue));
_ui->imageView_source->setBackgroundColor(Qt::blue);
}
else if(localTimeClosures > 0)
{
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::darkCyan));
_ui->imageView_source->setBackgroundColor(Qt::darkCyan);
}
else if(scanMatchingSuccess)
{
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::gray));
_ui->imageView_source->setBackgroundColor(Qt::gray);
}
UDEBUG("time= %d ms", time.restart());
@@ -978,7 +975,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
bool show = true;
if(stat.loopClosureId() > 0)
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::green));
_ui->imageView_loopClosure->setBackgroundColor(Qt::green);
_ui->label_stats_loopClosuresDetected->setText(QString::number(_ui->label_stats_loopClosuresDetected->text().toInt() + 1));
if(highestHypothesisIsSaved)
{
@@ -989,7 +986,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
else if(stat.localLoopClosureId())
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::yellow));
_ui->imageView_loopClosure->setBackgroundColor(Qt::yellow);
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.localLoopClosureId()).arg(loopMapId));
matchId = stat.localLoopClosureId();
}
@@ -998,7 +995,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
show = _preferencesDialog->imageRejectedShown() || _preferencesDialog->imageHighestHypShown();
if(show)
{
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::red));
_ui->imageView_loopClosure->setBackgroundColor(Qt::red);
_ui->label_stats_loopClosuresRejected->setText(QString::number(_ui->label_stats_loopClosuresRejected->text().toInt() + 1));
_ui->label_matchId->setText(QString("Loop hypothesis %1 rejected!").arg(highestHypothesisId));
}
@@ -1062,24 +1059,16 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_loopClosure->setImageDepth(lcDepth);
}
QRectF sceneRect = img.rect();
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
if(img.rect().isValid())
{
QRectF sceneRect = img.rect();
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
}
}
UDEBUG("time= %d ms", time.restart());
// We use the reference image to resize the 2 views
_ui->imageView_source->resetZoom();
_ui->imageView_loopClosure->resetZoom();
if(signature.getImageRaw().empty())
{
_ui->imageView_source->setSceneRect(_ui->imageView_source->scene()->itemsBoundingRect());
_ui->imageView_loopClosure->setSceneRect(_ui->imageView_source->scene()->itemsBoundingRect());
}
_ui->imageView_source->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
// do it after scaling
this->drawKeypoints(signature.getWords(), loopSignature.getWords());
@@ -2059,101 +2048,78 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
timer.start();
KeypointItem * item = 0;
int alphaA = _ui->imageView_source->getAlpha();
ULOGGER_DEBUG("refWords.size() = %d", refWords.size());
QMap<int, KeypointItem*> addedKeypoints;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
const cv::KeyPoint & r = (*i).second;
int id = (*i).first;
QString info = QString( "WordRef = %1\n"
"Laplacian = %2\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = r.size/2.0f;
int id = iter->first;
QColor color;
if(uContains(loopWords, id))
{
// PINK = FOUND IN LOOP SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alphaA));
color = Qt::magenta;
}
else if(_lastIds.contains(id))
{
// BLUE = FOUND IN LAST SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 0, 255, alphaA));
color = Qt::blue;
}
else if(id<=_lastId)
{
// RED = ALREADY EXISTS
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alphaA));
color = Qt::red;
}
else if(refWords.count(id) > 1)
{
// YELLOW = NEW and multiple times
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alphaA));
color = Qt::yellow;
}
else
{
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alphaA));
color = Qt::green;
}
item->setVisible(this->_ui->imageView_source->isFeaturesShown());
this->_ui->imageView_source->scene()->addItem(item);
item->setZValue(1);
addedKeypoints.insert(id, item);
_ui->imageView_source->addFeature(iter->first, iter->second, color);
}
ULOGGER_DEBUG("source time = %f s", timer.ticks());
timer.start();
item = 0;
int alphaB = _ui->imageView_loopClosure->getAlpha();
ULOGGER_DEBUG("loopWords.size() = %d", loopWords.size());
QList<QPair<KeypointItem*, KeypointItem*> > uniqueCorrespondences;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = loopWords.begin(); i != loopWords.end(); ++i )
QList<QPair<cv::Point2f, cv::Point2f> > uniqueCorrespondences;
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = loopWords.begin(); iter != loopWords.end(); ++iter )
{
const cv::KeyPoint & r = (*i).second;
int id = (*i).first;
QString info = QString( "WordRef = %1\n"
"Laplacian = %2\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
float radius = r.size/2.0f;
int id = iter->first;
QColor color;
if(uContains(refWords, id))
{
// PINK = FOUND IN LOOP SIGNATURE
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 255, alphaB));
color = Qt::magenta;
//To draw lines... get only unique correspondences
if(uValues(refWords, id).size() == 1 && uValues(loopWords, id).size() == 1)
{
uniqueCorrespondences.push_back(QPair<KeypointItem*, KeypointItem*>(addedKeypoints.value(id), item));
const cv::KeyPoint & a = refWords.find(id)->second;
const cv::KeyPoint & b = iter->second;
uniqueCorrespondences.push_back(QPair<cv::Point2f, cv::Point2f>(a.pt, b.pt));
}
}
else if(id<=_lastId)
{
// RED = ALREADY EXISTS
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 0, 0, alphaB));
color = Qt::red;
}
else if(refWords.count(id) > 1)
{
// YELLOW = NEW and multiple times
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alphaB));
color = Qt::yellow;
}
else
{
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alphaB));
color = Qt::green;
}
item->setVisible(this->_ui->imageView_loopClosure->isFeaturesShown());
this->_ui->imageView_loopClosure->scene()->addItem(item);
item->setZValue(1);
_ui->imageView_loopClosure->addFeature(iter->first, iter->second, color);
}
ULOGGER_DEBUG("loop closure time = %f s", timer.ticks());
if(refWords.size()>0)
@@ -2166,39 +2132,36 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
// Draw lines between corresponding features...
float scaleX = _ui->imageView_source->transform().m11();
float scaleY = _ui->imageView_source->transform().m22();
UDEBUG("scaleX=%f scaleY=%f", scaleX, scaleY);
int deltaX = _ui->imageView_source->width()/scaleX;
int deltaY = 0;
float scale = _ui->imageView_source->viewScale();
UDEBUG("scale=%f", scale);
float deltaX = _ui->imageView_source->width()/scale;
float deltaY = 0;
if(_preferencesDialog->isVerticalLayoutUsed())
{
deltaX = 0;
deltaY = _ui->imageView_source->height()/scaleY;
deltaY += _ui->label_matchId->height()/scaleY;
deltaY = _ui->imageView_source->height()/scale;
deltaY += _ui->label_matchId->height()/scale;
}
for(QList<QPair<KeypointItem*, KeypointItem*> >::iterator iter = uniqueCorrespondences.begin();
for(QList<QPair<cv::Point2f, cv::Point2f> >::iterator iter = uniqueCorrespondences.begin();
iter!=uniqueCorrespondences.end();
++iter)
{
QGraphicsLineItem * item = _ui->imageView_source->scene()->addLine(
iter->first->rect().x()+iter->first->rect().width()/2,
iter->first->rect().y()+iter->first->rect().height()/2,
iter->second->rect().x()+iter->second->rect().width()/2+deltaX,
iter->second->rect().y()+iter->second->rect().height()/2+deltaY,
QPen(QColor(0, 255, 255, alphaA)));
item->setVisible(_ui->imageView_source->isLinesShown());
item->setZValue(1);
_ui->imageView_source->addLine(
iter->first.x,
iter->first.y,
iter->second.x+deltaX,
iter->second.y+deltaY,
Qt::cyan);
item = _ui->imageView_loopClosure->scene()->addLine(
iter->first->rect().x()+iter->first->rect().width()/2-deltaX,
iter->first->rect().y()+iter->first->rect().height()/2-deltaY,
iter->second->rect().x()+iter->second->rect().width()/2,
iter->second->rect().y()+iter->second->rect().height()/2,
QPen(QColor(0, 255, 255, alphaB)));
item->setVisible(_ui->imageView_loopClosure->isLinesShown());
item->setZValue(1);
_ui->imageView_loopClosure->addLine(
iter->first.x-deltaX,
iter->first.y-deltaY,
iter->second.x,
iter->second.y,
Qt::cyan);
}
_ui->imageView_source->update();
_ui->imageView_loopClosure->update();
}
void MainWindow::showEvent(QShowEvent* anEvent)
@@ -2221,12 +2184,6 @@ void MainWindow::moveEvent(QMoveEvent* anEvent)
void MainWindow::resizeEvent(QResizeEvent* anEvent)
{
_ui->imageView_source->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
_ui->imageView_loopClosure->fitInView(_ui->imageView_source->sceneRect(), Qt::KeepAspectRatio);
_ui->imageView_odometry->fitInView(_ui->imageView_odometry->sceneRect(), Qt::KeepAspectRatio);
_ui->imageView_source->resetZoom();
_ui->imageView_loopClosure->resetZoom();
_ui->imageView_odometry->resetZoom();
if(this->isVisible())
{
this->configGUIModified();
@@ -2485,7 +2442,7 @@ void MainWindow::editDatabase()
if(!path.isEmpty())
{
DatabaseViewer * viewer = new DatabaseViewer(this);
viewer->setWindowModality(Qt::WindowModal);
viewer->setWindowFlags(Qt::Dialog);
if(viewer->openDatabase(path))
{
if(viewer->isSavedMaximized())
@@ -3774,12 +3731,9 @@ void MainWindow::clearTheCache()
_ui->imageView_source->clear();
_ui->imageView_loopClosure->clear();
_ui->imageView_odometry->clear();
_ui->imageView_source->resetTransform();
_ui->imageView_loopClosure->resetTransform();
_ui->imageView_odometry->resetTransform();
_ui->imageView_source->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_loopClosure->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_odometry->setBackgroundBrush(QBrush(Qt::black));
_ui->imageView_source->setBackgroundColor(Qt::black);
_ui->imageView_loopClosure->setBackgroundColor(Qt::black);
_ui->imageView_odometry->setBackgroundColor(Qt::black);
}
void MainWindow::updateElapsedTime()

21
guilib/src/PreferencesDialog.cpp
View File

@@ -1261,6 +1261,27 @@ bool PreferencesDialog::readCoreSettings(const QString & filePath)
QString value = settings.value(key, "").toString();
if(!value.isEmpty())
{
if(key.toStdString().compare(Parameters::kRtabmapWorkingDirectory()) == 0)
{
// The directory should exist if not the default one
if(!QDir(value).exists() && value.compare(Parameters::defaultRtabmapWorkingDirectory().c_str()) != 0)
{
if(QDir(this->getWorkingDirectory().toStdString().c_str()).exists())
{
UWARN("Reading config: Not existing working directory \"%s\". Keeping old one (\"%s\").",
value.toStdString().c_str(),
this->getWorkingDirectory().toStdString().c_str());
value = this->getWorkingDirectory();
}
else
{
UWARN("Reading config: Not existing working directory \"%s\". Using default one (\"%s\").",
value.toStdString().c_str(),
(*iter).second.c_str());
value = (*iter).second.c_str();
}
}
}
this->setParameter(key.toStdString(), value.toStdString());
}
else

48
guilib/src/ui/DatabaseViewer.ui
View File

@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1182</width>
<height>804</height>
<height>821</height>
</rect>
</property>
<property name="windowTitle">
@@ -16,7 +16,7 @@
<widget class="QWidget" name="centralwidget">
<layout class="QVBoxLayout" name="verticalLayout_7" stretch="2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="1,1">
<property name="rightMargin">
<number>0</number>
</property>
@@ -26,7 +26,7 @@
<number>0</number>
</property>
<item>
<widget class="rtabmap::ImageView" name="graphicsView_A"/>
<widget class="rtabmap::ImageView" name="graphicsView_A" native="true"/>
</item>
<item>
<widget class="QScrollArea" name="scrollArea_2">
@@ -41,8 +41,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>136</width>
<height>127</height>
<width>153</width>
<height>136</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -122,7 +122,16 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -181,7 +190,7 @@
<number>0</number>
</property>
<item>
<widget class="rtabmap::ImageView" name="graphicsView_B"/>
<widget class="rtabmap::ImageView" name="graphicsView_B" native="true"/>
</item>
<item>
<widget class="QScrollArea" name="scrollArea">
@@ -196,8 +205,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>137</width>
<height>127</height>
<width>152</width>
<height>136</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -277,7 +286,16 @@
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
@@ -340,7 +358,7 @@
<x>0</x>
<y>0</y>
<width>1182</width>
<height>25</height>
<height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuFile">
@@ -1124,9 +1142,9 @@
<number>4</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,1">
<item>
<widget class="rtabmap::ImageView" name="graphicsView_stereo"/>
<widget class="rtabmap::ImageView" name="graphicsView_stereo" native="true"/>
</item>
<item>
<widget class="rtabmap::CloudViewer" name="stereoViewer" native="true"/>
@@ -1142,7 +1160,7 @@
<number>4</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_6">
<layout class="QHBoxLayout" name="horizontalLayout_8">
<layout class="QHBoxLayout" name="horizontalLayout_8" stretch="1,1">
<item>
<widget class="rtabmap::CloudViewer" name="widget_cloudA" native="true"/>
</item>
@@ -1679,7 +1697,7 @@
</customwidget>
<customwidget>
<class>rtabmap::ImageView</class>
<extends>QGraphicsView</extends>
<extends>QWidget</extends>
<header>rtabmap/gui/ImageView.h</header>
</customwidget>
<customwidget>

39
guilib/src/ui/mainWindow.ui
View File

@@ -45,8 +45,6 @@
<addaction name="separator"/>
<addaction name="actionClose_database"/>
<addaction name="separator"/>
<addaction name="actionEdit_database"/>
<addaction name="separator"/>
<addaction name="actionExit"/>
</widget>
<widget class="QMenu" name="menuEdit">
@@ -194,8 +192,11 @@
<property name="title">
<string>Tools</string>
</property>
<addaction name="actionPost_processing"/>
<addaction name="actionEdit_database"/>
<addaction name="separator"/>
<addaction name="actionData_recorder"/>
<addaction name="separator"/>
<addaction name="actionPost_processing"/>
</widget>
<addaction name="menuFile"/>
<addaction name="menuEdit"/>
@@ -735,7 +736,7 @@
<number>1</number>
</attribute>
<widget class="QWidget" name="layout_imageview">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="1,1">
<property name="spacing">
<number>0</number>
</property>
@@ -752,7 +753,7 @@
<number>0</number>
</property>
<item>
<layout class="QVBoxLayout" name="verticalLayout_2">
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="0,1">
<property name="spacing">
<number>0</number>
</property>
@@ -773,19 +774,12 @@
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_source">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
<widget class="rtabmap::ImageView" name="imageView_source" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<layout class="QVBoxLayout" name="verticalLayout" stretch="0,1">
<property name="spacing">
<number>0</number>
</property>
@@ -806,14 +800,7 @@
</widget>
</item>
<item>
<widget class="rtabmap::ImageView" name="imageView_loopClosure">
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
<widget class="rtabmap::ImageView" name="imageView_loopClosure" native="true"/>
</item>
</layout>
</item>
@@ -845,7 +832,7 @@
<number>0</number>
</property>
<item>
<widget class="rtabmap::ImageView" name="imageView_odometry"/>
<widget class="rtabmap::ImageView" name="imageView_odometry" native="true"/>
</item>
</layout>
</widget>
@@ -1239,10 +1226,6 @@
</property>
</action>
<action name="actionEdit_database">
<property name="icon">
<iconset resource="../GuiLib.qrc">
<normaloff>:/images/document-properties.png</normaloff>:/images/document-properties.png</iconset>
</property>
<property name="text">
<string>Edit database...</string>
</property>
@@ -1275,7 +1258,7 @@
</customwidget>
<customwidget>
<class>rtabmap::ImageView</class>
<extends>QGraphicsView</extends>
<extends>QWidget</extends>
<header>../include/rtabmap/gui/ImageView.h</header>
</customwidget>
<customwidget>