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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/src/ImageView.cpp
+78 -7
View File
@@ -266,14 +266,16 @@ ImageView::ImageView(QWidget * parent) :
_colorMapBlueToRed = colorMap->addAction(tr("Blue to red"));
_colorMapBlueToRed->setCheckable(true);
_colorMapBlueToRed->setChecked(false);
_colorMapMinRange = colorMap->addAction(tr("Min Range..."));
_colorMapMaxRange = colorMap->addAction(tr("Max Range..."));
_colorMapInCameraFrame = colorMap->addAction(tr("Camera Frame"));
_colorMapInCameraFrame->setCheckable(true);
_colorMapInCameraFrame->setChecked(true);
_colorMapMinRange = colorMap->addAction(tr("Min Z..."));
_colorMapMaxRange = colorMap->addAction(tr("Max Z..."));
group = new QActionGroup(this);
group->addAction(_colorMapWhiteToBlack);
group->addAction(_colorMapBlackToWhite);
group->addAction(_colorMapRedToBlue);
group->addAction(_colorMapBlueToRed);
group->addAction(_colorMapMaxRange);
_mouseTracking = _menu->addAction(tr("Show pixel depth"));
_mouseTracking->setCheckable(true);
_mouseTracking->setChecked(false);
@@ -311,6 +313,7 @@ void ImageView::saveSettings(QSettings & settings, const QString & group) const
settings.setValue("graphics_view_scale", this->isGraphicsViewScaled());
settings.setValue("graphics_view_scale_to_height", this->isGraphicsViewScaledToHeight());
settings.setValue("colormap", _colorMapWhiteToBlack->isChecked()?0:_colorMapBlackToWhite->isChecked()?1:_colorMapRedToBlue->isChecked()?2:3);
settings.setValue("colormap_camera_frame", this->isDepthColorMapInCameraFrame());
settings.setValue("colormap_min_range", this->getDepthColorMapMinRange());
settings.setValue("colormap_max_range", this->getDepthColorMapMaxRange());
if(!group.isEmpty())
@@ -345,6 +348,7 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
_colorMapBlackToWhite->setChecked(colorMap==1);
_colorMapRedToBlue->setChecked(colorMap==2);
_colorMapBlueToRed->setChecked(colorMap==3);
this->setDepthColorMapInCameraFrame(settings.value("colormap_camera_frame", this->isDepthColorMapInCameraFrame()).toBool());
this->setDepthColorMapRange(
settings.value("colormap_min_range", this->getDepthColorMapMinRange()).toFloat(),
settings.value("colormap_max_range", settings.value("colormap_range" /*backward compatibility*/, this->getDepthColorMapMaxRange())).toFloat());
@@ -763,13 +767,20 @@ void ImageView::setBackgroundColor(const QColor & color)
}
}
void ImageView::setDepthColorMapInCameraFrame(bool enabled) {
_colorMapInCameraFrame->setChecked(enabled);
}
bool ImageView::isDepthColorMapInCameraFrame() const {
return _colorMapInCameraFrame->isChecked();
}
void ImageView::setDepthColorMapRange(float min, float max)
{
_depthColorMapMinRange = min;
_depthColorMapMaxRange = max;
}
void ImageView::computeScaleOffsets(const QRect & targetRect, float & scale, float & offsetX, float & offsetY) const
{
scale = 1.0f;
@@ -1054,10 +1065,17 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
}
Q_EMIT configChanged();
}
else if(action == _colorMapInCameraFrame)
{
if(!_imageDepthCv.empty()) {
this->setImageDepth(_imageDepthCv, _imageDepthConfidenceCv);
}
Q_EMIT configChanged();
}
else if(action == _colorMapMinRange)
{
bool ok = false;
double value = QInputDialog::getDouble(this, tr("Set depth colormap min range"), tr("Range (m), 0=no limit"), _depthColorMapMinRange, 0, 9999, 1, &ok);
double value = QInputDialog::getDouble(this, tr("Set depth colormap min range"), tr("Range (m), 0=no limit"), _depthColorMapMinRange, -9999, 9999, 2, &ok);
if(ok)
{
this->setDepthColorMapRange(value, _depthColorMapMaxRange);
@@ -1070,7 +1088,7 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
else if(action == _colorMapMaxRange)
{
bool ok = false;
double value = QInputDialog::getDouble(this, tr("Set depth colormap max range"), tr("Range (m), 0=no limit"), _depthColorMapMaxRange, 0, 9999, 1, &ok);
double value = QInputDialog::getDouble(this, tr("Set depth colormap max range"), tr("Range (m), 0=no limit"), _depthColorMapMaxRange, -9999, 9999, 2, &ok);
if(ok)
{
this->setDepthColorMapRange(_depthColorMapMinRange, value);
@@ -1350,8 +1368,61 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
{
_imageDepthCv = imageDepth;
_imageDepthConfidenceCv = imageDepthConfidence;
QImage depth;
if(!_imageDepthCv.empty() && (_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1)) {
if(_colorMapInCameraFrame->isChecked() || _models.empty() || !_models[0].isValidForProjection()) {
depth = uCvMat2QImage(_imageDepthCv, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange);
if(!_colorMapInCameraFrame->isChecked()) {
UWARN("Trying to set depth color map in base frame but the the camera model "
"is not valid for projection, showing depth in camera frame instead.");
}
}
else {
// convert the depth values in height values
cv::Mat depthInBaseFrame = _imageDepthCv.clone();
int subImageWidth = _imageDepthCv.cols / _models.size();
if(depthInBaseFrame.type() == CV_16UC1) {
for(int v=0; v<depthInBaseFrame.rows; ++v){
unsigned short * rowPtr = depthInBaseFrame.ptr<unsigned short>(v);
for(int u=0; u<depthInBaseFrame.cols; ++u){
unsigned short & val = rowPtr[u];
if(val > 0) {
cv::Point3f pt;
int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth());
_models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform());
val = (unsigned short)(pt.z*1000.0f);
}
}
}
}
else { // CV_32FC1
for(int v=0; v<depthInBaseFrame.rows; ++v){
float * rowPtr = depthInBaseFrame.ptr<float>(v);
for(int u=0; u<depthInBaseFrame.cols; ++u){
float & val = rowPtr[u];
if(val > 0) {
cv::Point3f pt;
int cameraIndex = u/subImageWidth;
UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth());
_models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z);
pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform());
val = pt.z;
}
}
}
}
depth = uCvMat2QImage(depthInBaseFrame, true, getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange);
}
}
else {
// right image grayscale or color
depth = uCvMat2QImage(_imageDepthCv, true, uCvQtDepthBlackToWhite);
}
setImageDepth(
uCvMat2QImage(_imageDepthCv, true, _imageDepthCv.type()==CV_8UC1?uCvQtDepthBlackToWhite:getDepthColorMap(), _depthColorMapMinRange, _depthColorMapMaxRange),
depth,
uCvMat2QImage(_imageDepthConfidenceCv, true, getDepthColorMap()));
}