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DBViewer: support doubleclick on node or link in graphview to update correpsonding image view and constraints view, also added "Show pixel depth" menu option in ImageView to show pixel depth and pixel coordinate in map frame.

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This commit is contained in:
matlabbe
2024-03-13 22:42:47 -07:00
parent e299505a64
commit a6d9425bce
6 changed files with 131 additions and 4 deletions
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2
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -128,6 +128,8 @@ private Q_SLOTS:
void updateAllLandmarkCovariances();
void refineLinks();
void resetAllChanges();
void graphNodeSelected(int);
void graphLinkSelected(int, int);
void sliderAValueChanged(int);
void sliderBValueChanged(int);
void sliderAMoved(int);

3
guilib/include/rtabmap/gui/GraphViewer.h
View File

@@ -166,6 +166,8 @@ public:
Q_SIGNALS:
void configChanged();
void mapShownRequested();
void nodeSelected(int);
void linkSelected(int, int);
public Q_SLOTS:
void restoreDefaults();
@@ -173,6 +175,7 @@ public Q_SLOTS:
protected:
virtual void wheelEvent ( QWheelEvent * event );
virtual void mouseMoveEvent(QMouseEvent * event);
virtual void mouseDoubleClickEvent(QMouseEvent * event);
virtual void contextMenuEvent(QContextMenuEvent * event);
private:

7
guilib/include/rtabmap/gui/ImageView.h
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@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <opencv2/features2d/features2d.hpp>
#include <map>
#include "rtabmap/utilite/UCv2Qt.h"
#include <rtabmap/core/CameraModel.h>
class QAction;
class QMenu;
@@ -96,7 +97,7 @@ public:
void setFeatures(const std::vector<cv::KeyPoint> & features, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
void addFeature(int id, const cv::KeyPoint & kpt, float depth, QColor color);
void addLine(float x1, float y1, float x2, float y2, QColor color, const QString & text = QString());
void setImage(const QImage & image);
void setImage(const QImage & image, const std::vector<CameraModel> & models = std::vector<CameraModel>(), const Transform & pose = Transform());
void setImageDepth(const cv::Mat & imageDepth);
void setImageDepth(const QImage & image);
void setFeatureColor(int id, QColor color);
@@ -121,6 +122,7 @@ protected:
virtual void paintEvent(QPaintEvent *event);
virtual void resizeEvent(QResizeEvent* event);
virtual void contextMenuEvent(QContextMenuEvent * e);
virtual void mouseMoveEvent(QMouseEvent * event);
private Q_SLOTS:
void sceneRectChanged(const QRectF &rect);
@@ -164,6 +166,7 @@ private:
QAction * _colorMapBlueToRed;
QAction * _colorMapMinRange;
QAction * _colorMapMaxRange;
QAction * _mouseTracking;
QMenu * _featureMenu;
QMenu * _scaleMenu;
@@ -175,6 +178,8 @@ private:
QPixmap _image;
QPixmap _imageDepth;
cv::Mat _imageDepthCv;
std::vector<CameraModel> _models;
Transform _pose;
};
}