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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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2
tools/DataRecorder/main.cpp
View File

@@ -204,7 +204,7 @@ int main (int argc, char * argv[])
recorder.registerToEventsManager();
if(show)
{
recorder.setWindowTitle("Cloud viewer");
recorder.setWindowTitle("Data recorder");
recorder.setMinimumWidth(500);
recorder.setMinimumHeight(300);
recorder.showNormal();

54
tools/EpipolarGeometry/main.cpp
View File

@@ -641,22 +641,13 @@ public:
this->layout()->setSpacing(0);
this->layout()->setContentsMargins(0,0,0,0);
this->layout()->addWidget(view1_);
view1_->setSceneRect(0,0,(float)image1.cols, (float)image1.rows);
view1_->setSceneRect(QRectF(0,0,(float)image1.cols, (float)image1.rows));
view1_->setLinesShown(true);
view1_->setFeaturesShown(false);
view1_->setImageDepthShown(true);
QGraphicsPixmapItem * item1 = view1_->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(image1)));
QGraphicsPixmapItem * item2 = view1_->scene()->addPixmap(QPixmap::fromImage(uCvMat2QImage(image2)));
QGraphicsOpacityEffect * effect1 = new QGraphicsOpacityEffect();
QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
effect1->setOpacity(0.5);
effect2->setOpacity(0.5);
item1->setGraphicsEffect(effect1);
item2->setGraphicsEffect(effect2);
item1->setVisible(view1_->isImageShown());
item2->setVisible(view1_->isImageShown());
view1_->setImage(uCvMat2QImage(image1));
view1_->setImageDepth(uCvMat2QImage(image2));
drawKeypoints(words1, words2, status);
}
@@ -665,59 +656,41 @@ protected:
{
resizeEvent(0);
}
virtual void resizeEvent(QResizeEvent* event)
{
view1_->fitInView(view1_->sceneRect(), Qt::KeepAspectRatio);
view1_->resetZoom();
}
private:
void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords, const std::vector<uchar> & status)
{
UTimer timer;
timer.start();
KeypointItem * item = 0;
int alpha = 10*255/100;
QList<QPair<cv::Point2f, cv::Point2f> > uniqueCorrespondences;
QList<bool> inliers;
int j=0;
for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
{
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*1.2/9.*2;
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, alpha));
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<cv::Point2f, cv::Point2f>(r.pt, uValues(loopWords, id).begin()->pt));
uniqueCorrespondences.push_back(QPair<cv::Point2f, cv::Point2f>(i->second.pt, uValues(loopWords, id).begin()->pt));
inliers.push_back(status[j++]);
}
}
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, alpha));
color = Qt::yellow;
}
else
{
// GREEN = NEW
item = new KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(0, 255, 0, alpha));
color = Qt::green;
}
item->setVisible(view1_->isFeaturesShown());
view1_->scene()->addItem(item);
item->setZValue(1);
view1_->addFeature(id, i->second, color);
}
ULOGGER_DEBUG("source time = %f s", timer.ticks());
@@ -728,16 +701,15 @@ private:
iter!=uniqueCorrespondences.end();
++iter)
{
QGraphicsLineItem * item = view1_->scene()->addLine(
view1_->addLine(
iter->first.x,
iter->first.y,
iter->second.x,
iter->second.y,
*jter?QPen(Qt::cyan):QPen(Qt::red));
item->setVisible(view1_->isLinesShown());
item->setZValue(1);
*jter?Qt::cyan:Qt::red);
++jter;
}
view1_->update();
}
private: