DbViewer: added decimation parameter for cloud visualization. ImageView: adding scaling to height menu option.

guilib/include/rtabmap/gui/ImageView.h

@@ -64,6 +64,7 @@ public:
 	int getFeaturesSize() const {return _featuresSize;}
 	bool isGraphicsViewMode() const;
 	bool isGraphicsViewScaled() const;
+	bool isGraphicsViewScaledToHeight() const;
 	const QColor & getDefaultBackgroundColor() const;
 	const QColor & getBackgroundColor() const;
 
@@ -75,6 +76,7 @@ public:
 	void setLinesShown(bool shown);
 	void setGraphicsViewMode(bool on);
 	void setGraphicsViewScaled(bool scaled);
+	void setGraphicsViewScaledToHeight(bool scaled);
 	void setDefaultBackgroundColor(const QColor & color);
 	void setBackgroundColor(const QColor & color);
 
@@ -129,6 +131,9 @@ private:
 	QAction * _setFeaturesSize;
 	QAction * _graphicsViewMode;
 	QAction * _graphicsViewScaled;
+	QAction * _graphicsViewScaledToHeight;
+	QAction * _graphicsViewNoScaling;
+	QMenu * _scaleMenu;
 
 	QGraphicsView * _graphicsView;
 	QMultiMap<int, rtabmap::KeypointItem *> _features;

guilib/src/DatabaseViewer.cpp

@@ -348,6 +348,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
 	connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(updateConstraintView()));
 	connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(update3dView()));
+	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(updateConstraintView()));
+	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(update3dView()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(updateGraphView()));
 	connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
 	connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(editingFinished()), this, SLOT(updateGraphView()));
@@ -373,6 +375,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	// Graph view
 	connect(ui_->doubleSpinBox_gainCompensationRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_voxelSize, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
+	connect(ui_->spinBox_decimation, SIGNAL(valueChanged(int)), this, SLOT(configModified()));
 	connect(ui_->groupBox_posefiltering, SIGNAL(clicked(bool)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringRadius, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
 	connect(ui_->doubleSpinBox_posefilteringAngle, SIGNAL(valueChanged(double)), this, SLOT(configModified()));
@@ -496,7 +499,7 @@ void DatabaseViewer::readSettings()
 	settings.beginGroup("optimization");
 	ui_->doubleSpinBox_gainCompensationRadius->setValue(settings.value("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value()).toDouble());
 	ui_->doubleSpinBox_voxelSize->setValue(settings.value("voxelSize", ui_->doubleSpinBox_voxelSize->value()).toDouble());
-
+	ui_->spinBox_decimation->setValue(settings.value("decimation", ui_->spinBox_decimation->value()).toInt());
 	settings.endGroup();
 
 	settings.beginGroup("grid");
@@ -577,6 +580,7 @@ void DatabaseViewer::writeSettings()
 	settings.beginGroup("optimization");
 	settings.setValue("gainCompensationRadius", ui_->doubleSpinBox_gainCompensationRadius->value());
 	settings.setValue("voxelSize", ui_->doubleSpinBox_voxelSize->value());
+	settings.setValue("decimation", ui_->spinBox_decimation->value());
 	settings.endGroup();
 
 	// save Grid settings
@@ -660,6 +664,7 @@ void DatabaseViewer::restoreDefaultSettings()
 	ui_->doubleSpinBox_optimizationScale->setValue(1.0);
 	ui_->doubleSpinBox_gainCompensationRadius->setValue(0.0);
 	ui_->doubleSpinBox_voxelSize->setValue(0.0);
+	ui_->spinBox_decimation->setValue(1);
 
 	ui_->groupBox_posefiltering->setChecked(false);
 	ui_->doubleSpinBox_posefilteringRadius->setValue(0.1);
@@ -3588,7 +3593,7 @@ void DatabaseViewer::update(int value,
 											data.imageRaw(),
 											depth,
 											data.cameraModels()[0],
-											1,0,0,indices.get());
+											ui_->spinBox_decimation->value(),0,0,indices.get());
 									if(indices->size())
 									{
 										cloud = util3d::transformPointCloud(cloud, data.cameraModels()[0].localTransform());
@@ -3597,7 +3602,7 @@ void DatabaseViewer::update(int value,
 								}
 								else
 								{
-									cloud = util3d::cloudRGBFromSensorData(data, 1, 0, 0, indices.get(), ui_->parameters_toolbox->getParameters());
+									cloud = util3d::cloudRGBFromSensorData(data, ui_->spinBox_decimation->value(), 0, 0, indices.get(), ui_->parameters_toolbox->getParameters());
 								}
 								if(indices->size())
 								{
@@ -3665,7 +3670,7 @@ void DatabaseViewer::update(int value,
 							{
 								pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
 								pcl::IndicesPtr indices(new std::vector<int>);
-								cloud = util3d::cloudFromSensorData(data, 1, 0, 0, indices.get(), ui_->parameters_toolbox->getParameters());
+								cloud = util3d::cloudFromSensorData(data, ui_->spinBox_decimation->value(), 0, 0, indices.get(), ui_->parameters_toolbox->getParameters());
 								if(indices->size())
 								{
 									if(ui_->doubleSpinBox_voxelSize->value() > 0.0)
@@ -4572,11 +4577,11 @@ void DatabaseViewer::updateConstraintView(
 			pcl::IndicesPtr indicesTo(new std::vector<int>);
 			if(!dataFrom.imageRaw().empty() && !dataFrom.depthOrRightRaw().empty())
 			{
-				cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, 1, 0, 0, indicesFrom.get(), ui_->parameters_toolbox->getParameters());
+				cloudFrom=util3d::cloudRGBFromSensorData(dataFrom, ui_->spinBox_decimation->value(), 0, 0, indicesFrom.get(), ui_->parameters_toolbox->getParameters());
 			}
 			if(!dataTo.imageRaw().empty() && !dataTo.depthOrRightRaw().empty())
 			{
-				cloudTo=util3d::cloudRGBFromSensorData(dataTo, 1, 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
+				cloudTo=util3d::cloudRGBFromSensorData(dataTo, ui_->spinBox_decimation->value(), 0, 0, indicesTo.get(), ui_->parameters_toolbox->getParameters());
 			}
 
 			if(cloudTo.get() && indicesTo->size())

guilib/src/ImageView.cpp

@@ -183,10 +183,21 @@ ImageView::ImageView(QWidget * parent) :
 	_graphicsViewMode = _menu->addAction(tr("Graphics view"));
 	_graphicsViewMode->setCheckable(true);
 	_graphicsViewMode->setChecked(false);
-	_graphicsViewScaled = _menu->addAction(tr("Scale image"));
+	_scaleMenu = _menu->addMenu("Scale image");
+	_scaleMenu->setEnabled(false);
+	_graphicsViewScaled = _scaleMenu->addAction(tr("Fit in view"));
 	_graphicsViewScaled->setCheckable(true);
 	_graphicsViewScaled->setChecked(true);
-	_graphicsViewScaled->setEnabled(false);
+	_graphicsViewScaledToHeight = _scaleMenu->addAction(tr("Fit height"));
+	_graphicsViewScaledToHeight->setCheckable(true);
+	_graphicsViewScaledToHeight->setChecked(false);
+	_graphicsViewNoScaling = _scaleMenu->addAction(tr("No scale"));
+	_graphicsViewNoScaling->setCheckable(true);
+	_graphicsViewNoScaling->setChecked(false);
+	QActionGroup * group = new QActionGroup(this);
+	group->addAction(_graphicsViewScaled);
+	group->addAction(_graphicsViewScaledToHeight);
+	group->addAction(_graphicsViewNoScaling);
 	_setAlpha = _menu->addAction(tr("Set transparency..."));
 	_saveImage = _menu->addAction(tr("Save picture..."));
 	_saveImage->setEnabled(false);
@@ -270,6 +281,11 @@ bool ImageView::isGraphicsViewScaled() const
 	return _graphicsViewScaled->isChecked();
 }
 
+bool ImageView::isGraphicsViewScaledToHeight() const
+{
+	return _graphicsViewScaledToHeight->isChecked();
+}
+
 const QColor & ImageView::getDefaultBackgroundColor() const
 {
 	return _defaultBgColor;
@@ -362,7 +378,7 @@ void ImageView::setGraphicsViewMode(bool on)
 {
 	_graphicsViewMode->setChecked(on);
 	_graphicsView->setVisible(on);
-	_graphicsViewScaled->setEnabled(on);
+	_scaleMenu->setEnabled(on);
 
 	if(on)
 	{
@@ -402,6 +418,12 @@ void ImageView::setGraphicsViewMode(bool on)
 		{
 			_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
 		}
+		else if(_graphicsViewScaledToHeight->isChecked())
+		{
+			QRectF rect = _graphicsView->sceneRect();
+			rect.setWidth(1);
+			_graphicsView->fitInView(rect, Qt::KeepAspectRatio);
+		}
 		else
 		{
 			_graphicsView->resetTransform();
@@ -432,6 +454,27 @@ void ImageView::setGraphicsViewScaled(bool scaled)
 	}
 }
 
+void ImageView::setGraphicsViewScaledToHeight(bool scaled)
+{
+	_graphicsViewScaledToHeight->setChecked(scaled);
+
+	if(scaled)
+	{
+		QRectF rect = _graphicsView->sceneRect();
+		rect.setWidth(1);
+		_graphicsView->fitInView(rect, Qt::KeepAspectRatio);
+	}
+	else
+	{
+		_graphicsView->resetTransform();
+	}
+
+	if(!_graphicsView->isVisible())
+	{
+		this->update();
+	}
+}
+
 void ImageView::setDefaultBackgroundColor(const QColor & color)
 {
 	_defaultBgColor = color;
@@ -566,9 +609,18 @@ void ImageView::paintEvent(QPaintEvent *event)
 void ImageView::resizeEvent(QResizeEvent* event)
 {
 	QWidget::resizeEvent(event);
-	if(_graphicsView->isVisible() && _graphicsViewScaled->isChecked())
+	if(_graphicsView->isVisible())
 	{
-		_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
+		if(_graphicsViewScaled->isChecked())
+		{
+			_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
+		}
+		else if(_graphicsViewScaledToHeight->isChecked())
+		{
+			QRectF rect = _graphicsView->sceneRect();
+			rect.setWidth(1);
+			_graphicsView->fitInView(rect, Qt::KeepAspectRatio);
+		}
 	}
 }
 
@@ -632,6 +684,11 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 		this->setGraphicsViewScaled(_graphicsViewScaled->isChecked());
 		Q_EMIT configChanged();
 	}
+	else if(action == _graphicsViewScaledToHeight || action == _graphicsViewNoScaling)
+	{
+		this->setGraphicsViewScaledToHeight(_graphicsViewScaledToHeight->isChecked());
+		Q_EMIT configChanged();
+	}
 	else if(action == _setAlpha)
 	{
 		bool ok = false;
@@ -933,6 +990,12 @@ void ImageView::setSceneRect(const QRectF & rect)
 	{
 		_graphicsView->fitInView(_graphicsView->sceneRect(), Qt::KeepAspectRatio);
 	}
+	else if(_graphicsViewScaledToHeight->isChecked())
+	{
+		QRectF rect = _graphicsView->sceneRect();
+		rect.setWidth(1);
+		_graphicsView->fitInView(rect, Qt::KeepAspectRatio);
+	}
 	else
 	{
 		_graphicsView->resetTransform();

guilib/src/ui/DatabaseViewer.ui

@@ -61,8 +61,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>398</width>
+           <width>327</width>
-           <height>242</height>
+           <height>222</height>
           </rect>
          </property>
          <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -253,8 +253,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-           <width>397</width>
+           <width>327</width>
-           <height>242</height>
+           <height>222</height>
           </rect>
          </property>
          <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
@@ -1221,15 +1221,15 @@
      <item>
       <widget class="QToolBox" name="toolBox">
        <property name="currentIndex">
-        <number>0</number>
+        <number>1</number>
        </property>
        <widget class="QWidget" name="page_3">
         <property name="geometry">
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>318</width>
+          <width>312</width>
-          <height>219</height>
+          <height>200</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1389,9 +1389,9 @@
         <property name="geometry">
          <rect>
           <x>0</x>
-          <y>0</y>
+          <y>-167</y>
-          <width>282</width>
+          <width>441</width>
-          <height>845</height>
+          <height>764</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1439,7 +1439,7 @@
              </property>
             </widget>
            </item>
-           <item row="11" column="1">
+           <item row="12" column="1">
             <widget class="QLabel" name="label_54">
              <property name="text">
               <string>Voxel size (for clouds and scans)</string>
@@ -1466,7 +1466,7 @@
              </property>
             </widget>
            </item>
-           <item row="11" column="0">
+           <item row="12" column="0">
             <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize">
              <property name="suffix">
               <string> m</string>
@@ -1524,6 +1524,25 @@
              </property>
             </widget>
            </item>
+           <item row="7" column="0">
+            <widget class="QComboBox" name="comboBox_octomap_rendering_type">
+             <item>
+              <property name="text">
+               <string>Point Cloud</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Cube</string>
+              </property>
+             </item>
+             <item>
+              <property name="text">
+               <string>Volume</string>
+              </property>
+             </item>
+            </widget>
+           </item>
            <item row="8" column="1">
             <widget class="QLabel" name="label_octomap_depth">
              <property name="text">
@@ -1544,25 +1563,6 @@
              </property>
             </widget>
            </item>
-           <item row="7" column="0">
-            <widget class="QComboBox" name="comboBox_octomap_rendering_type">
-             <item>
-              <property name="text">
-               <string>Point Cloud</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Cube</string>
-              </property>
-             </item>
-             <item>
-              <property name="text">
-               <string>Volume</string>
-              </property>
-             </item>
-            </widget>
-           </item>
            <item row="0" column="1">
             <widget class="QLabel" name="label_octomap_empty">
              <property name="text">
@@ -1657,6 +1657,32 @@
              </item>
             </layout>
            </item>
+           <item row="11" column="1">
+            <widget class="QLabel" name="label_56">
+             <property name="text">
+              <string>Decimation (for images)</string>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="11" column="0">
+            <widget class="QSpinBox" name="spinBox_decimation">
+             <property name="prefix">
+              <string/>
+             </property>
+             <property name="minimum">
+              <number>1</number>
+             </property>
+             <property name="maximum">
+              <number>16</number>
+             </property>
+             <property name="value">
+              <number>16</number>
+             </property>
+            </widget>
+           </item>
           </layout>
          </item>
          <item>
@@ -1898,8 +1924,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>205</width>
+          <width>200</width>
-          <height>117</height>
+          <height>111</height>
          </rect>
         </property>
         <attribute name="label">
@@ -1998,8 +2024,8 @@
          <rect>
           <x>0</x>
           <y>0</y>
-          <width>185</width>
+          <width>179</width>
-          <height>487</height>
+          <height>452</height>
          </rect>
         </property>
         <attribute name="label">