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.

guilib/src/DatabaseViewer.cpp

@@ -268,6 +268,8 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->dockWidget_statistics->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateStatistics()));
 	connect(ui_->dockWidget_info->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateInfo()));
 
+	connect(ui_->graphViewer, SIGNAL(nodeSelected(int)), this , SLOT(graphNodeSelected(int)));
+	connect(ui_->graphViewer, SIGNAL(linkSelected(int,int)), this , SLOT(graphLinkSelected(int,int)));
 
 	connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
 
@@ -4547,6 +4549,20 @@ void DatabaseViewer::resetAllChanges()
 	}
 }
 
+void DatabaseViewer::graphNodeSelected(int id)
+{
+	if(id>0 && idToIndex_.contains(id))
+		ui_->horizontalSlider_A->setValue(idToIndex_.value(id));
+}
+
+void DatabaseViewer::graphLinkSelected(int from, int to)
+{
+	if(from>0 && idToIndex_.contains(from))
+		ui_->horizontalSlider_A->setValue(idToIndex_.value(from));
+	if(to>0 && idToIndex_.contains(to))
+		ui_->horizontalSlider_B->setValue(idToIndex_.value(to));
+}
+
 void DatabaseViewer::sliderAValueChanged(int value)
 {
 	this->update(value,
@@ -4685,7 +4701,12 @@ void DatabaseViewer::update(int value,
 				QRectF rect;
 				if(!img.isNull())
 				{
-					view->setImage(img);
+					Transform pose;
+					if(!graphes_.empty() && graphes_.back().find(data.id())!=graphes_.back().end())
+					{
+						pose = graphes_.back().at(data.id());
+					}
+					view->setImage(img, data.cameraModels(), pose);
 					rect = img.rect();
 				}
 				else

guilib/src/GraphViewer.cpp

@@ -1797,7 +1797,7 @@ void GraphViewer::mouseMoveEvent(QMouseEvent * event)
 	if(_mouseTracking && _viewPlane==XY && this->sceneRect().contains(scenePoint))
 	{
 #if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-		QToolTip::showText(event->globalPosition().toPoint(), QString("%1,%2").arg(scenePoint.x()/100.0).arg(scenePoint.y()/100.0));
+		QToolTip::showText(event->globalPosition().toPoint(), QString("%1m %2m").arg(-scenePoint.y()/100.0).arg(-scenePoint.x()/100.0));
 #else
 		QToolTip::showText(event->globalPos(), QString("%1m %2m").arg(-scenePoint.y()/100.0).arg(-scenePoint.x()/100.0));
 #endif
@@ -1809,6 +1809,32 @@ void GraphViewer::mouseMoveEvent(QMouseEvent * event)
 	QGraphicsView::mouseMoveEvent(event);
 }
 
+void GraphViewer::mouseDoubleClickEvent(QMouseEvent * event)
+{
+	QGraphicsItem *item = this->scene()->itemAt(mapToScene(event->pos()), QTransform());
+	if(item)
+	{
+		NodeItem *nodeItem = qgraphicsitem_cast<NodeItem*>(item);
+		LinkItem *linkItem = qgraphicsitem_cast<LinkItem*>(item);
+		if(nodeItem && nodeItem->parentItem() == _graphRoot && nodeItem->id() != 0)
+		{
+			Q_EMIT nodeSelected(nodeItem->id());
+		}
+		else if(linkItem && linkItem->parentItem() == _graphRoot && linkItem->from() != 0 && linkItem->to() != 0)
+		{
+			Q_EMIT linkSelected(linkItem->from(), linkItem->to());
+		}
+		else
+		{
+			QGraphicsView::mouseDoubleClickEvent(event);
+		}
+	}
+	else
+	{
+		QGraphicsView::mouseDoubleClickEvent(event);
+	}
+}
+
 QIcon createIcon(const QColor & color)
 {
 	QPixmap pixmap(50, 50);

guilib/src/ImageView.cpp

@@ -40,9 +40,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QColorDialog>
 #include <QPrinter>
 #include <QGraphicsRectItem>
+#include <QToolTip>
 #include "rtabmap/utilite/ULogger.h"
 #include "rtabmap/gui/KeypointItem.h"
 #include "rtabmap/core/util2d.h"
+#include "rtabmap/core/util3d_transforms.h"
 
 #include <QtGlobal>
 #if QT_VERSION >= 0x050000
@@ -268,9 +270,14 @@ ImageView::ImageView(QWidget * parent) :
 	group->addAction(_colorMapRedToBlue);
 	group->addAction(_colorMapBlueToRed);
 	group->addAction(_colorMapMaxRange);
+	_mouseTracking = _menu->addAction(tr("Show pixel depth"));
+	_mouseTracking->setCheckable(true);
+	_mouseTracking->setChecked(false);
 	_saveImage = _menu->addAction(tr("Save picture..."));
 	_saveImage->setEnabled(false);
 
+	setMouseTracking(true);
+
 	connect(_graphicsView->scene(), SIGNAL(sceneRectChanged(const QRectF &)), this, SLOT(sceneRectChanged(const QRectF &)));
 }
 
@@ -1047,6 +1054,65 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
 	}
 }
 
+void ImageView::mouseMoveEvent(QMouseEvent * event)
+{
+	if(_mouseTracking->isChecked() &&
+		!_graphicsView->scene()->sceneRect().isNull() &&
+		!_image.isNull() &&
+		!_imageDepthCv.empty() &&
+		(_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
+	{
+		float scale, offsetX, offsetY;
+		computeScaleOffsets(this->rect(), scale, offsetX, offsetY);
+		float u = (event->pos().x() - offsetX) / scale;
+		float v = (event->pos().y() - offsetY) / scale;
+		float depthScale = 1;
+		if(_image.width() > _imageDepth.width())
+		{
+			depthScale = _imageDepth.width() / _image.width();
+		}
+		int ud = int(u*depthScale);
+		int vd = int(v*depthScale);
+		if( ud>=0 && vd>=0 &&
+			ud < _imageDepthCv.cols &&
+			vd < _imageDepthCv.rows)
+		{
+			float depth = 0;
+			if(_imageDepthCv.type() == CV_32FC1)
+			{
+				depth = _imageDepthCv.at<float>(vd, ud);
+			}
+			else
+			{
+				depth = float(_imageDepthCv.at<unsigned short>(vd, ud)) / 1000.0f;
+			}
+
+			cv::Point3f pt(0,0,0);
+			if(depth>0 && !_models.empty() && !_pose.isNull())
+			{
+				int subImageWidth = _imageDepthCv.cols / _models.size();
+				int subImageIndex = ud / subImageWidth;
+				UASSERT(subImageIndex < (int)_models.size());
+				float x,y,z;
+				_models[subImageIndex].project(u, v, depth, x, y, z);
+				pt = cv::Point3f(x,y,z);
+				pt = util3d::transformPoint(pt, _pose*_models[subImageIndex].localTransform());
+			}
+
+#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
+			QToolTip::showText(event->globalPosition().toPoint(), QString("%1 %2").arg(scenePoint.x()).arg(scenePoint.y()));
+#else
+			QToolTip::showText(event->globalPos(), pt.x!=0?tr("Depth=%1m Map=(%2,%3,%4)").arg(depth).arg(pt.x).arg(pt.y).arg(pt.z):depth > 0?tr("Depth=%1m").arg(depth):tr("Depth=NA"));
+#endif
+		}
+		else
+		{
+			QToolTip::hideText();
+		}
+	}
+	QWidget::mouseMoveEvent(event);
+}
+
 void ImageView::updateOpacity()
 {
 	if(_imageItem && _imageDepthItem)
@@ -1166,9 +1232,11 @@ void ImageView::addLine(float x1, float y1, float x2, float y2, QColor color, co
 	}
 }
 
-void ImageView::setImage(const QImage & image)
+void ImageView::setImage(const QImage & image, const std::vector<CameraModel> & models, const Transform & pose)
 {
 	_image = QPixmap::fromImage(image);
+	_models = models;
+	_pose = pose;
 	if(_graphicsView->isVisible())
 	{
 		if(_imageItem)
@@ -1394,6 +1462,8 @@ void ImageView::clear()
 		_imageItem = 0;
 	}
 	_image = QPixmap();
+	_models.clear();
+	_pose.setNull();
 
 	if(_imageDepthItem)
 	{