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DbViewer: added colormap menu option to EditDepthArea, update3dView() updates only last select id to avoid switching to second image after editing the depth of the first one.

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This commit is contained in:
matlabbe
2019-03-05 10:07:20 -05:00
parent 45fa968076
commit 884d1d7684
4 changed files with 75 additions and 3 deletions
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1
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -200,6 +200,7 @@ private:
QMap<int, int> idToIndex_;
QList<rtabmap::Link> neighborLinks_;
QList<rtabmap::Link> loopLinks_;
int lastImageBrowsed_ = 0;
rtabmap::DBDriver * dbDriver_;
QString pathDatabase_;
std::string databaseFileName_;

4
guilib/include/rtabmap/gui/EditDepthArea.h
View File

@@ -83,6 +83,10 @@ private:
QAction * removeCluster_;
QAction * resetChanges_;
QAction * setPenWidth_;
QAction * colorMapWhiteToBlack_;
QAction * colorMapBlackToWhite_;
QAction * colorMapRedToBlue_;
QAction * colorMapBlueToRed_;
};
}

13
guilib/src/DatabaseViewer.cpp
View File

@@ -1507,6 +1507,7 @@ void DatabaseViewer::updateIds()
groundTruthPoses_.clear();
gpsPoses_.clear();
gpsValues_.clear();
lastImageBrowsed_ = 0;
ui_->checkBox_wmState->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
@@ -3557,6 +3558,8 @@ void DatabaseViewer::update(int value,
QLabel * labelSensors,
bool updateConstraintView)
{
lastImageBrowsed_ = value;
UTimer timer;
labelIndex->setText(QString::number(value));
labelParents->clear();
@@ -4608,8 +4611,14 @@ void DatabaseViewer::update3dView()
{
if(ui_->dockWidget_view3d->isVisible())
{
sliderAValueChanged(ui_->horizontalSlider_A->value());
sliderBValueChanged(ui_->horizontalSlider_B->value());
if(lastImageBrowsed_ == ui_->horizontalSlider_B->value())
{
sliderBValueChanged(ui_->horizontalSlider_B->value());
}
else
{
sliderAValueChanged(ui_->horizontalSlider_A->value());
}
}
}

60
guilib/src/EditDepthArea.cpp
View File

@@ -52,6 +52,24 @@ EditDepthArea::EditDepthArea(QWidget *parent)
showRGB_->setChecked(true);
removeCluster_ = menu_->addAction(tr("Remove Cluster"));
setPenWidth_ = menu_->addAction(tr("Set Pen Width..."));
QMenu * colorMap = menu_->addMenu("Depth color map");
colorMapWhiteToBlack_ = colorMap->addAction(tr("White to black"));
colorMapWhiteToBlack_->setCheckable(true);
colorMapWhiteToBlack_->setChecked(true);
colorMapBlackToWhite_ = colorMap->addAction(tr("Black to white"));
colorMapBlackToWhite_->setCheckable(true);
colorMapBlackToWhite_->setChecked(false);
colorMapRedToBlue_ = colorMap->addAction(tr("Red to blue"));
colorMapRedToBlue_->setCheckable(true);
colorMapRedToBlue_->setChecked(false);
colorMapBlueToRed_ = colorMap->addAction(tr("Blue to red"));
colorMapBlueToRed_->setCheckable(true);
colorMapBlueToRed_->setChecked(false);
QActionGroup * group = new QActionGroup(this);
group->addAction(colorMapWhiteToBlack_);
group->addAction(colorMapBlackToWhite_);
group->addAction(colorMapRedToBlue_);
group->addAction(colorMapBlueToRed_);
resetChanges_ = menu_->addAction(tr("Reset Changes"));
}
@@ -61,7 +79,22 @@ void EditDepthArea::setImage(const cv::Mat &depth, const cv::Mat & rgb)
UASSERT(depth.type() == CV_32FC1 ||
depth.type() == CV_16UC1);
originalImage_ = depth;
image_ = uCvMat2QImage(depth).convertToFormat(QImage::Format_RGB32);
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(colorMapBlackToWhite_->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(colorMapRedToBlue_->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(colorMapBlueToRed_->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
image_ = uCvMat2QImage(depth, true, colorMap).convertToFormat(QImage::Format_RGB32);
imageRGB_ = QImage();
if(!rgb.empty())
@@ -294,6 +327,31 @@ void EditDepthArea::contextMenuEvent(QContextMenuEvent * e)
myPenWidth_ = width;
}
}
else if(action == colorMapBlackToWhite_ ||
action == colorMapWhiteToBlack_ ||
action == colorMapRedToBlue_ ||
action == colorMapBlueToRed_)
{
if(!originalImage_.empty())
{
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(colorMapBlackToWhite_->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(colorMapRedToBlue_->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(colorMapBlueToRed_->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
image_ = uCvMat2QImage(originalImage_, true, colorMap).convertToFormat(QImage::Format_RGB32);
update();
}
}
else if(action == resetChanges_)
{
this->resetChanges();