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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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guilib/src/ImageView.cpp
+71 -1
View File
@@ -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)
{