Updated detect more loop closures with optimization check to accept (like in dbviewer). DBViewer: added Depth image edition dialog. GainCompensator: now doing it on 3 channels separatly. Export: removed gain's alpha option, added max polygons option, added brightness/contrast auto balance option

guilib/src/EditDepthArea.h

@@ -0,0 +1,88 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef EDITDEPTHAREA_H
+#define EDITDEPTHAREA_H
+
+#include <QColor>
+#include <QImage>
+#include <QPoint>
+#include <QWidget>
+#include <opencv2/opencv.hpp>
+
+class QMenu;
+class QAction;
+
+namespace rtabmap {
+
+class EditDepthArea : public QWidget
+{
+    Q_OBJECT
+
+public:
+    EditDepthArea(QWidget *parent = 0);
+
+    void setImage(const cv::Mat & depth, const cv::Mat & rgb = cv::Mat());
+    cv::Mat getModifiedImage() const;
+    bool isModified() const {return modified_;}
+
+    void setPenWidth(int newWidth);
+    int penWidth() const { return myPenWidth_; }
+
+public slots:
+    void resetChanges();
+
+protected:
+    void mousePressEvent(QMouseEvent *event) override;
+    void mouseMoveEvent(QMouseEvent *event) override;
+    void mouseReleaseEvent(QMouseEvent *event) override;
+    void paintEvent(QPaintEvent *event) override;
+    void resizeEvent(QResizeEvent *event) override;
+    void contextMenuEvent(QContextMenuEvent * e) override;
+
+private:
+    void drawLineTo(const QPoint &endPoint);
+    void computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const;
+
+    bool modified_;
+    bool scribbling_;
+    int myPenWidth_;
+    QImage imageRGB_;
+    QImage image_;
+    cv::Mat originalImage_;
+    QPoint lastPoint_;
+
+    QMenu * menu_;
+    QAction * showRGB_;
+    QAction * removeCluster_;
+    QAction * resetChanges_;
+    QAction * setPenWidth_;
+};
+
+}
+
+#endif