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Added Depth information to ImageView's keypoint items

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This commit is contained in:
Mathieu Labbe
2015-05-05 11:39:30 -04:00
parent 0b5d6c84b1
commit b2bfa91153
10 changed files with 76 additions and 36 deletions
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6
guilib/include/rtabmap/gui/ImageView.h
View File

@@ -74,9 +74,9 @@ public:
void setGraphicsViewScaled(bool scaled);
void setBackgroundColor(const QColor & color);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color = Qt::yellow);
void setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color = Qt::yellow);
void addFeature(int id, const cv::KeyPoint & kpt, QColor color);
void setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth = cv::Mat(), const QColor & color = Qt::yellow);
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);
void setImage(const QImage & image);
void setImageDepth(const QImage & image);

3
guilib/include/rtabmap/gui/KeypointItem.h
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@@ -41,7 +41,7 @@ namespace rtabmap {
class RTABMAPGUI_EXP KeypointItem : public QGraphicsEllipseItem
{
public:
KeypointItem(int id, const cv::KeyPoint & kpt, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
KeypointItem(int id, const cv::KeyPoint & kpt, float depth = 0, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
virtual ~KeypointItem();
void setColor(const QColor & color);
@@ -61,6 +61,7 @@ private:
cv::KeyPoint _kpt;
QGraphicsRectItem * _placeHolder;
int _width;
float _depth;
};
}

6
guilib/src/DatabaseViewer.cpp
View File

@@ -1446,7 +1446,7 @@ void DatabaseViewer::update(int value,
if(data.getWords().size())
{
view->setFeatures(data.getWords());
view->setFeatures(data.getWords(), data.getDepthRaw().type() == CV_8UC1?cv::Mat():data.getDepthRaw(), Qt::yellow);
}
Transform odomPose;
@@ -2934,8 +2934,8 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent, bool updateGra
if(!silent)
{
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords());
ui_->graphicsView_A->setFeatures(tmpMemory.getSignature(from)->getWords(), dataFrom.depth());
ui_->graphicsView_B->setFeatures(tmpMemory.getSignature(to)->getWords(), dataTo.depth());
updateWordsMatching();
}
}

13
guilib/src/ImageView.cpp
View File

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QVBoxLayout>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/core/util3d.h"
namespace rtabmap {
@@ -543,14 +544,14 @@ void ImageView::updateOpacity()
}
}
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color)
void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const cv::Mat & depth, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
{
addFeature(iter->first, iter->second, color);
addFeature(iter->first, iter->second, depth.empty()?0:util3d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
}
if(!_graphicsView->isVisible())
@@ -559,14 +560,14 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
}
}
void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color)
void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const cv::Mat & depth, const QColor & color)
{
qDeleteAll(_features);
_features.clear();
for(unsigned int i = 0; i< features.size(); ++i )
{
addFeature(i, features[i], color);
addFeature(i, features[i], depth.empty()?0:util3d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
}
if(!_graphicsView->isVisible())
@@ -575,10 +576,10 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QC
}
}
void ImageView::addFeature(int id, const cv::KeyPoint & kpt, QColor color)
void ImageView::addFeature(int id, const cv::KeyPoint & kpt, float depth, QColor color)
{
color.setAlpha(this->getAlpha());
rtabmap::KeypointItem * item = new rtabmap::KeypointItem(id, kpt, color);
rtabmap::KeypointItem * item = new rtabmap::KeypointItem(id, kpt, depth, color);
_features.insert(id, item);
item->setVisible(isFeaturesShown());
item->setZValue(1);

30
guilib/src/KeypointItem.cpp
View File

@@ -34,11 +34,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
KeypointItem::KeypointItem(int id, const cv::KeyPoint & kpt, const QColor & color, QGraphicsItem * parent) :
KeypointItem::KeypointItem(int id, const cv::KeyPoint & kpt, float depth, const QColor & color, QGraphicsItem * parent) :
QGraphicsEllipseItem(kpt.pt.x-(kpt.size==0?3.0f:kpt.size)/2.0f, kpt.pt.y-(kpt.size==0?3.0f:kpt.size)/2.0f, kpt.size==0?3.0f:kpt.size, kpt.size==0?3.0f:kpt.size, parent),
_id(id),
_kpt(kpt),
_placeHolder(0)
_placeHolder(0),
_depth(depth)
{
this->setColor(color);
this->setAcceptHoverEvents(true);
@@ -69,12 +70,25 @@ void KeypointItem::showDescription()
_placeHolder->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
QGraphicsTextItem * text = new QGraphicsTextItem(_placeHolder);
text->setDefaultTextColor(this->pen().color().rgb());
text->setPlainText(QString( "Id = %1\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(_id).arg(_kpt.angle).arg(_kpt.response).arg(_kpt.pt.x).arg(_kpt.pt.y).arg(_kpt.size));
if(_depth <= 0)
{
text->setPlainText(QString( "Id = %1\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7").arg(_id).arg(_kpt.angle).arg(_kpt.response).arg(_kpt.pt.x).arg(_kpt.pt.y).arg(_kpt.size));
}
else
{
text->setPlainText(QString( "Id = %1\n"
"Dir = %3\n"
"Hessian = %4\n"
"X = %5\n"
"Y = %6\n"
"Size = %7\n"
"Depth = %8 m").arg(_id).arg(_kpt.angle).arg(_kpt.response).arg(_kpt.pt.x).arg(_kpt.pt.y).arg(_kpt.size).arg(_depth));
}
_placeHolder->setRect(text->boundingRect());
}

8
guilib/src/MainWindow.cpp
View File

@@ -845,13 +845,13 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, const rtabmap
{
if(info.type == 0)
{
_ui->imageView_odometry->setFeatures(info.words, Qt::yellow);
_ui->imageView_odometry->setFeatures(info.words, data.depth(), Qt::yellow);
}
else if(info.type == 1)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(info.refCorners, kpts);
_ui->imageView_odometry->setFeatures(kpts, Qt::red);
_ui->imageView_odometry->setFeatures(kpts, data.depth(), Qt::red);
}
}
@@ -2187,7 +2187,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
color = Qt::green;
}
_ui->imageView_source->addFeature(iter->first, iter->second, color);
_ui->imageView_source->addFeature(iter->first, iter->second, 0, color);
}
ULOGGER_DEBUG("source time = %f s", timer.ticks());
@@ -2225,7 +2225,7 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
// GREEN = NEW
color = Qt::green;
}
_ui->imageView_loopClosure->addFeature(iter->first, iter->second, color);
_ui->imageView_loopClosure->addFeature(iter->first, iter->second, 0, color);
}
ULOGGER_DEBUG("loop closure time = %f s", timer.ticks());

4
guilib/src/OdometryViewer.cpp
View File

@@ -270,13 +270,13 @@ void OdometryViewer::processData(const rtabmap::SensorData & data, const rtabmap
{
if(info.type == 0)
{
imageView_->setFeatures(info.words, Qt::yellow);
imageView_->setFeatures(info.words, data.depth(), Qt::yellow);
}
else if(info.type == 1)
{
std::vector<cv::KeyPoint> kpts;
cv::KeyPoint::convert(info.refCorners, kpts);
imageView_->setFeatures(kpts, Qt::red);
imageView_->setFeatures(kpts, data.depth(), Qt::red);
}
imageView_->clearLines();