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DbViewer: EditDepth colormap now matches the one in main window

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This commit is contained in:
matlabbe
2019-03-05 10:48:05 -05:00
parent 884d1d7684
commit d85c1c3bcf
6 changed files with 75 additions and 42 deletions
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2
guilib/include/rtabmap/gui/DatabaseViewer.h
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@@ -200,7 +200,7 @@ private:
QMap<int, int> idToIndex_;
QList<rtabmap::Link> neighborLinks_;
QList<rtabmap::Link> loopLinks_;
int lastImageBrowsed_ = 0;
int lastSliderIndexBrowsed_;
rtabmap::DBDriver * dbDriver_;
QString pathDatabase_;
std::string databaseFileName_;

2
guilib/include/rtabmap/gui/EditDepthArea.h
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@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QPoint>
#include <QWidget>
#include <opencv2/opencv.hpp>
#include "rtabmap/utilite/UCv2Qt.h"
class QMenu;
class QAction;
@@ -54,6 +55,7 @@ public:
void setPenWidth(int newWidth);
int penWidth() const { return myPenWidth_; }
void setColorMap(uCvQtDepthColorMap type);
public Q_SLOTS:
void resetChanges();

2
guilib/include/rtabmap/gui/ImageView.h
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@@ -36,6 +36,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QSettings>
#include <opencv2/features2d/features2d.hpp>
#include <map>
#include "rtabmap/utilite/UCv2Qt.h"
class QAction;
class QMenu;
@@ -67,6 +68,7 @@ public:
bool isGraphicsViewScaledToHeight() const;
const QColor & getDefaultBackgroundColor() const;
const QColor & getBackgroundColor() const;
uCvQtDepthColorMap getDepthColorMap() const;
float viewScale() const;

13
guilib/src/DatabaseViewer.cpp
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@@ -1507,7 +1507,7 @@ void DatabaseViewer::updateIds()
groundTruthPoses_.clear();
gpsPoses_.clear();
gpsValues_.clear();
lastImageBrowsed_ = 0;
lastSliderIndexBrowsed_ = 0;
ui_->checkBox_wmState->setVisible(false);
ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
@@ -1984,12 +1984,17 @@ void DatabaseViewer::editDepthImage()
{
if(dbDriver_ && ids_.size())
{
int id = ids_.at(ui_->horizontalSlider_A->value());
if(lastSliderIndexBrowsed_>= ids_.size())
{
lastSliderIndexBrowsed_ = ui_->horizontalSlider_A->value();
}
int id = ids_.at(lastSliderIndexBrowsed_);
SensorData data;
dbDriver_->getNodeData(id, data, true, false, false, false);
data.uncompressData();
if(!data.depthRaw().empty())
{
editDepthArea_->setColorMap(lastSliderIndexBrowsed_ == ui_->horizontalSlider_B->value()?ui_->graphicsView_B->getDepthColorMap():ui_->graphicsView_A->getDepthColorMap());
editDepthArea_->setImage(data.depthRaw(), data.imageRaw());
if(editDepthDialog_->exec() == QDialog::Accepted && editDepthArea_->isModified())
{
@@ -3558,7 +3563,7 @@ void DatabaseViewer::update(int value,
QLabel * labelSensors,
bool updateConstraintView)
{
lastImageBrowsed_ = value;
lastSliderIndexBrowsed_ = value;
UTimer timer;
labelIndex->setText(QString::number(value));
@@ -4611,7 +4616,7 @@ void DatabaseViewer::update3dView()
{
if(ui_->dockWidget_view3d->isVisible())
{
if(lastImageBrowsed_ == ui_->horizontalSlider_B->value())
if(lastSliderIndexBrowsed_ == ui_->horizontalSlider_B->value())
{
sliderBValueChanged(ui_->horizontalSlider_B->value());
}

60
guilib/src/EditDepthArea.cpp
View File

@@ -34,7 +34,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/gui/EditDepthArea.h"
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UCv2Qt.h>
namespace rtabmap {
@@ -55,13 +54,13 @@ EditDepthArea::EditDepthArea(QWidget *parent)
QMenu * colorMap = menu_->addMenu("Depth color map");
colorMapWhiteToBlack_ = colorMap->addAction(tr("White to black"));
colorMapWhiteToBlack_->setCheckable(true);
colorMapWhiteToBlack_->setChecked(true);
colorMapWhiteToBlack_->setChecked(false);
colorMapBlackToWhite_ = colorMap->addAction(tr("Black to white"));
colorMapBlackToWhite_->setCheckable(true);
colorMapBlackToWhite_->setChecked(false);
colorMapRedToBlue_ = colorMap->addAction(tr("Red to blue"));
colorMapRedToBlue_->setCheckable(true);
colorMapRedToBlue_->setChecked(false);
colorMapRedToBlue_->setChecked(true);
colorMapBlueToRed_ = colorMap->addAction(tr("Blue to red"));
colorMapBlueToRed_->setCheckable(true);
colorMapBlueToRed_->setChecked(false);
@@ -156,6 +155,32 @@ void EditDepthArea::resetChanges()
update();
}
void EditDepthArea::setColorMap(uCvQtDepthColorMap type)
{
if(type == uCvQtDepthBlackToWhite)
{
colorMapBlackToWhite_->setChecked(true);
}
else if(type == uCvQtDepthRedToBlue)
{
colorMapRedToBlue_->setChecked(true);
}
else if(type == uCvQtDepthBlueToRed)
{
colorMapBlueToRed_->setChecked(true);
}
else
{
colorMapWhiteToBlack_->setChecked(true);
}
if(!originalImage_.empty())
{
image_ = uCvMat2QImage(originalImage_, true, type).convertToFormat(QImage::Format_RGB32);
update();
}
}
void EditDepthArea::mousePressEvent(QMouseEvent *event)
{
if (event->button() == Qt::LeftButton) {
@@ -332,25 +357,20 @@ void EditDepthArea::contextMenuEvent(QContextMenuEvent * e)
action == colorMapRedToBlue_ ||
action == colorMapBlueToRed_)
{
if(!originalImage_.empty())
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(colorMapBlackToWhite_->isChecked())
{
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(colorMapBlackToWhite_->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(colorMapRedToBlue_->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(colorMapBlueToRed_->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
image_ = uCvMat2QImage(originalImage_, true, colorMap).convertToFormat(QImage::Format_RGB32);
update();
colorMap = uCvQtDepthBlackToWhite;
}
else if(colorMapRedToBlue_->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(colorMapBlueToRed_->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
this->setColorMap(colorMap);
}
else if(action == resetChanges_)
{

38
guilib/src/ImageView.cpp
View File

@@ -38,7 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QVBoxLayout>
#include <QGraphicsRectItem>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UCv2Qt.h"
#include "rtabmap/gui/KeypointItem.h"
#include "rtabmap/core/util2d.h"
@@ -202,13 +201,13 @@ ImageView::ImageView(QWidget * parent) :
QMenu * colorMap = _menu->addMenu("Depth color map");
_colorMapWhiteToBlack = colorMap->addAction(tr("White to black"));
_colorMapWhiteToBlack->setCheckable(true);
_colorMapWhiteToBlack->setChecked(true);
_colorMapWhiteToBlack->setChecked(false);
_colorMapBlackToWhite = colorMap->addAction(tr("Black to white"));
_colorMapBlackToWhite->setCheckable(true);
_colorMapBlackToWhite->setChecked(false);
_colorMapRedToBlue = colorMap->addAction(tr("Red to blue"));
_colorMapRedToBlue->setCheckable(true);
_colorMapRedToBlue->setChecked(false);
_colorMapRedToBlue->setChecked(true);
_colorMapBlueToRed = colorMap->addAction(tr("Blue to red"));
_colorMapBlueToRed->setCheckable(true);
_colorMapBlueToRed->setChecked(false);
@@ -323,6 +322,24 @@ const QColor & ImageView::getBackgroundColor() const
return _graphicsView->backgroundBrush().color();
}
uCvQtDepthColorMap ImageView::getDepthColorMap() const
{
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(_colorMapBlackToWhite->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(_colorMapRedToBlue->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(_colorMapBlueToRed->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
return colorMap;
}
void ImageView::setFeaturesShown(bool shown)
{
@@ -904,20 +921,7 @@ void ImageView::setImage(const QImage & image)
void ImageView::setImageDepth(const cv::Mat & imageDepth)
{
_imageDepthCv = imageDepth;
uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack;
if(_colorMapBlackToWhite->isChecked())
{
colorMap = uCvQtDepthBlackToWhite;
}
else if(_colorMapRedToBlue->isChecked())
{
colorMap = uCvQtDepthRedToBlue;
}
else if(_colorMapBlueToRed->isChecked())
{
colorMap = uCvQtDepthBlueToRed;
}
setImageDepth(uCvMat2QImage(_imageDepthCv, true, colorMap));
setImageDepth(uCvMat2QImage(_imageDepthCv, true, getDepthColorMap()));
}
void ImageView::setImageDepth(const QImage & imageDepth)