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Merged pcl_integration branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1014 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-12-11 00:12:44 +00:00
parent 97c70d394e
commit 8b8511e154
124 changed files with 21692 additions and 4458 deletions
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183
guilib/src/ImageView.cpp
View File

@@ -25,6 +25,7 @@
#include <QtGui/QFileDialog>
#include <QtCore/QDir>
#include <QtGui/QAction>
#include <QtGui/QGraphicsEffect>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
@@ -34,7 +35,9 @@ ImageView::ImageView(QWidget * parent) :
QGraphicsView(parent),
_zoom(250),
_minZoom(250),
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png")
_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
_image(0),
_imageDepth(0)
{
this->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
this->setScene(new QGraphicsScene(this));
@@ -44,6 +47,9 @@ ImageView::ImageView(QWidget * parent) :
_showImage = _menu->addAction(tr("Show image"));
_showImage->setCheckable(true);
_showImage->setChecked(true);
_showImageDepth = _menu->addAction(tr("Show image depth"));
_showImageDepth->setCheckable(true);
_showImageDepth->setChecked(false);
_showFeatures = _menu->addAction(tr("Show features"));
_showFeatures->setCheckable(true);
_showFeatures->setChecked(true);
@@ -54,7 +60,7 @@ ImageView::ImageView(QWidget * parent) :
}
ImageView::~ImageView() {
clear();
}
void ImageView::resetZoom()
@@ -68,6 +74,11 @@ bool ImageView::isImageShown()
return _showImage->isChecked();
}
bool ImageView::isImageDepthShown()
{
return _showImageDepth->isChecked();
}
bool ImageView::isFeaturesShown()
{
return _showFeatures->isChecked();
@@ -76,7 +87,30 @@ bool ImageView::isFeaturesShown()
void ImageView::setFeaturesShown(bool shown)
{
_showFeatures->setChecked(shown);
this->updateItemsShown();
for(int i=0; i<_features.size(); ++i)
{
_features[i]->setVisible(_showFeatures->isChecked());
}
}
void ImageView::setImageShown(bool shown)
{
_showImage->setChecked(shown);
if(_image)
{
_image->setVisible(_showImage->isChecked());
this->updateOpacity();
}
}
void ImageView::setImageDepthShown(bool shown)
{
_showImageDepth->setChecked(shown);
if(_imageDepth)
{
_imageDepth->setVisible(_showImageDepth->isChecked());
this->updateOpacity();
}
}
bool ImageView::isLinesShown()
@@ -87,7 +121,14 @@ bool ImageView::isLinesShown()
void ImageView::setLinesShown(bool shown)
{
_showLines->setChecked(shown);
this->updateItemsShown();
QList<QGraphicsItem*> items = this->scene()->items();
for(int i=0; i<items.size(); ++i)
{
if( qgraphicsitem_cast<QGraphicsLineItem*>(items.at(i)))
{
items.at(i)->setVisible(_showLines->isChecked());
}
}
}
void ImageView::contextMenuEvent(QContextMenuEvent * e)
@@ -110,28 +151,46 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
img.save(text);
}
}
else if(action == _showFeatures || action == _showImage || action == _showLines)
else if(action == _showFeatures)
{
this->updateItemsShown();
this->setFeaturesShown(_showFeatures->isChecked());
}
else if(action == _showImage)
{
this->setImageShown(_showImage->isChecked());
}
else if(action == _showImageDepth)
{
this->setImageDepthShown(_showImageDepth->isChecked());
}
else if(action == _showLines)
{
this->setLinesShown(_showLines->isChecked());
}
if(action == _showImage || action ==_showImageDepth)
{
this->updateOpacity();
}
}
void ImageView::updateItemsShown()
void ImageView::updateOpacity()
{
QList<QGraphicsItem*> items = this->scene()->items();
for(int i=0; i<items.size(); ++i)
if(_image && _imageDepth)
{
if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
if(_image->isVisible() && _imageDepth->isVisible())
{
items.at(i)->setVisible(_showFeatures->isChecked());
QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
effect->setOpacity(0.5);
effect2->setOpacity(0.5);
_image->setGraphicsEffect(effect);
_imageDepth->setGraphicsEffect(effect2);
}
else if( qgraphicsitem_cast<QGraphicsLineItem*>(items.at(i)))
else
{
items.at(i)->setVisible(_showLines->isChecked());
}
else if(qgraphicsitem_cast<QGraphicsPixmapItem*>(items.at(i)))
{
items.at(i)->setVisible(_showImage->isChecked());
_image->setGraphicsEffect(0);
_imageDepth->setGraphicsEffect(0);
}
}
}
@@ -175,4 +234,94 @@ void ImageView::wheelEvent(QWheelEvent * e)
this->setMatrix(matrix);
}
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords)
{
for(int i=0; i<_features.size(); ++i)
{
scene()->removeItem(_features[i]);
delete _features[i];
}
_features.clear();
rtabmap::KeypointItem * item = 0;
int alpha = 70;
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;
item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, QColor(255, 255, 0, alpha));
scene()->addItem(item);
_features.append(item);
item->setVisible(_showFeatures->isChecked());
item->setZValue(1);
}
}
void ImageView::setImage(const QImage & image)
{
if(_image)
{
_image->setPixmap(QPixmap::fromImage(image));
}
else
{
_image = scene()->addPixmap(QPixmap::fromImage(image));
_image->setVisible(_showImage->isChecked());
_showImage->setEnabled(true);
this->updateOpacity();
}
}
void ImageView::setImageDepth(const QImage & imageDepth)
{
if(_imageDepth)
{
_imageDepth->setPixmap(QPixmap::fromImage(imageDepth));
}
else
{
_imageDepth = scene()->addPixmap(QPixmap::fromImage(imageDepth));
_imageDepth->setVisible(_showImageDepth->isChecked());
_showImageDepth->setEnabled(true);
this->updateOpacity();
}
}
void ImageView::clear()
{
for(int i=0; i<_features.size(); ++i)
{
scene()->removeItem(_features[i]);
delete _features[i];
}
_features.clear();
if(_image)
{
scene()->removeItem(_image);
delete _image;
_image = 0;
_showImage->setEnabled(false);
}
if(_imageDepth)
{
scene()->removeItem(_imageDepth);
delete _imageDepth;
_imageDepth = 0;
_showImageDepth->setEnabled(false);
}
scene()->clear();
}
}