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ImageView: Depth color map in base frame (#1553)

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* ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.

* CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.

* reset color inverted when reset
This commit is contained in:
matlabbe
2025-07-12 10:07:47 -07:00
committed by GitHub
parent e5655b0b96
commit d34962f908
8 changed files with 635 additions and 172 deletions
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guilib/include/rtabmap/utilite/UCv2Qt.h
+12 -12
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@@ -117,7 +117,7 @@ inline QImage uCvMat2QImage(
// Assume depth image (float in meters)
const float * data = (const float *)image.data;
float min,max;
if(depthMax>depthMin)
if(depthMin != 0 && depthMax != 0 && depthMax > depthMin)
{
min = depthMin;
max = depthMax;
@@ -127,23 +127,23 @@ inline QImage uCvMat2QImage(
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
if(uIsFinite(data[i]) && data[i] != 0)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(!uIsFinite(min) || (data[i] != 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
if(!uIsFinite(max) || (data[i] != 0 && data[i]>max))
{
max = data[i];
}
}
}
if(depthMax > 0 && depthMax > depthMin)
if(depthMax != 0 && depthMax > depthMin)
{
max = depthMax;
}
if(depthMin>0 && (depthMin < depthMax || depthMin < max))
if(depthMin != 0 && (depthMin < depthMax || depthMin < max))
{
min = depthMin;
}
@@ -198,7 +198,7 @@ inline QImage uCvMat2QImage(
// Assume depth image (unsigned short in mm)
const unsigned short * data = (const unsigned short *)image.data;
unsigned short min,max;
if(depthMax>depthMin)
if(depthMin != 0 && depthMax != 0 && depthMax > depthMin)
{
min = depthMin*1000;
max = depthMax*1000;
@@ -208,23 +208,23 @@ inline QImage uCvMat2QImage(
min = max = data[0];
for(unsigned int i=1; i<image.total(); ++i)
{
if(uIsFinite(data[i]) && data[i] > 0)
if(uIsFinite(data[i]) && data[i] != 0)
{
if(!uIsFinite(min) || (data[i] > 0 && data[i]<min))
if(!uIsFinite(min) || (data[i] != 0 && data[i]<min))
{
min = data[i];
}
if(!uIsFinite(max) || (data[i] > 0 && data[i]>max))
if(!uIsFinite(max) || (data[i] != 0 && data[i]>max))
{
max = data[i];
}
}
}
if(depthMax > 0 && depthMax > depthMin)
if(depthMax != 0 && depthMax > depthMin)
{
max = depthMax*1000;
}
if(depthMin>0 && (depthMin < depthMax || depthMin*1000 < max))
if(depthMin != 0 && (depthMin < depthMax || depthMin*1000 < max))
{
min = depthMin*1000;
}