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Added Depth information to ImageView's keypoint items

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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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30
guilib/src/KeypointItem.cpp
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@@ -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());
}