rtabmap_ros/guilib/src/ImageView.cpp

/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include "rtabmap/gui/ImageView.h"

#include <QtGui/QWheelEvent>
#include <QtCore/qmath.h>
#include <QtGui/QMenu>
#include <QtGui/QFileDialog>
#include <QtCore/QDir>
#include <QtGui/QAction>
#include <QtGui/QGraphicsEffect>
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/gui/KeypointItem.h"

namespace rtabmap {

ImageView::ImageView(QWidget * parent) :
		QGraphicsView(parent),
		_zoom(250),
		_minZoom(250),
		_savedFileName((QDir::homePath()+ "/") + "picture" + ".png"),
		_image(0),
		_imageDepth(0)
{
	this->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
	this->setScene(new QGraphicsScene(this));
	connect(this->scene(), SIGNAL(sceneRectChanged(const QRectF &)), this, SLOT(updateZoom()));

	_menu = new QMenu(tr(""), this);
	_showImage = _menu->addAction(tr("Show image"));
	_showImage->setCheckable(true);
	_showImage->setChecked(true);
	_showImageDepth = _menu->addAction(tr("Show image depth"));
	_showImageDepth->setCheckable(true);
	_showImageDepth->setChecked(false);
	_showFeatures = _menu->addAction(tr("Show features"));
	_showFeatures->setCheckable(true);
	_showFeatures->setChecked(true);
	_showLines = _menu->addAction(tr("Show lines"));
	_showLines->setCheckable(true);
	_showLines->setChecked(true);
	_saveImage = _menu->addAction(tr("Save picture..."));
}

ImageView::~ImageView() {
	clear();
}

void ImageView::resetZoom()
{
	_zoom = _minZoom;
	this->setDragMode(QGraphicsView::NoDrag);
}

bool ImageView::isImageShown() const
{
	return _showImage->isChecked();
}

bool ImageView::isImageDepthShown() const
{
	return _showImageDepth->isChecked();
}

bool ImageView::isFeaturesShown() const
{
	return _showFeatures->isChecked();
}

void ImageView::setFeaturesShown(bool shown)
{
	_showFeatures->setChecked(shown);
	for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
	{
		iter.value()->setVisible(_showFeatures->isChecked());
	}
}

void ImageView::setImageShown(bool shown)
{
	_showImage->setChecked(shown);
	if(_image)
	{
		_image->setVisible(_showImage->isChecked());
		this->updateOpacity();
	}
}

void ImageView::setImageDepthShown(bool shown)
{
	_showImageDepth->setChecked(shown);
	if(_imageDepth)
	{
		_imageDepth->setVisible(_showImageDepth->isChecked());
		this->updateOpacity();
	}
}

bool ImageView::isLinesShown() const
{
	return _showLines->isChecked();
}

void ImageView::setLinesShown(bool shown)
{
	_showLines->setChecked(shown);
	QList<QGraphicsItem*> items = this->scene()->items();
	for(int i=0; i<items.size(); ++i)
	{
		if( qgraphicsitem_cast<QGraphicsLineItem*>(items.at(i)))
		{
			items.at(i)->setVisible(_showLines->isChecked());
		}
	}
}

void ImageView::contextMenuEvent(QContextMenuEvent * e)
{
	QAction * action = _menu->exec(e->globalPos());
	if(action == _saveImage)
	{
		QString text;
#ifdef QT_SVG_LIB
		text = QFileDialog::getSaveFileName(this, tr("Save figure to ..."), _savedFileName, "*.png *.xpm *.jpg *.pdf *.svg");
#else
		text = QFileDialog::getSaveFileName(this, tr("Save figure to ..."), _savedFileName, "*.png *.xpm *.jpg *.pdf");
#endif
		if(!text.isEmpty())
		{
			_savedFileName = text;
			QImage img(this->sceneRect().width(), this->sceneRect().height(),QImage::Format_ARGB32_Premultiplied);
			QPainter p(&img);
			this->scene()->render(&p, this->sceneRect(), this->sceneRect());
			img.save(text);
		}
	}
	else if(action == _showFeatures)
	{
		this->setFeaturesShown(_showFeatures->isChecked());
		emit configChanged();
	}
	else if(action == _showImage)
	{
		this->setImageShown(_showImage->isChecked());
		emit configChanged();
	}
	else if(action == _showImageDepth)
	{
		this->setImageDepthShown(_showImageDepth->isChecked());
		emit configChanged();
	}
	else if(action == _showLines)
	{
		this->setLinesShown(_showLines->isChecked());
		emit configChanged();
	}

	if(action == _showImage || action ==_showImageDepth)
	{
		this->updateOpacity();
		emit configChanged();
	}
}

void ImageView::updateOpacity()
{
	if(_image && _imageDepth)
	{
		if(_image->isVisible() && _imageDepth->isVisible())
		{
			QGraphicsOpacityEffect * effect = new QGraphicsOpacityEffect();
			QGraphicsOpacityEffect * effect2 = new QGraphicsOpacityEffect();
			effect->setOpacity(0.5);
			effect2->setOpacity(0.5);
			_image->setGraphicsEffect(effect);
			_imageDepth->setGraphicsEffect(effect2);
		}
		else
		{
			_image->setGraphicsEffect(0);
			_imageDepth->setGraphicsEffect(0);
		}
	}
	else if(_image)
	{
		_image->setGraphicsEffect(0);
	}
	else if(_imageDepth)
	{
		_imageDepth->setGraphicsEffect(0);
	}
}

void ImageView::updateZoom()
{
	qreal scaleRatio = 1;
	if(this->scene())
	{
		scaleRatio = this->geometry().width()/this->sceneRect().width();
	}
	_minZoom = log(scaleRatio)/log(2.0)*50+250;
}

void ImageView::wheelEvent(QWheelEvent * e)
{
	if(e->delta() > 0)
	{
		_zoom += 20;
		this->setDragMode(QGraphicsView::ScrollHandDrag);
		if(_zoom>=500)
		{
			_zoom = 500;
		}
	}
	else
	{
		_zoom -= 20;
		if(_zoom<=_minZoom)
		{
			this->setDragMode(QGraphicsView::NoDrag);
			_zoom = _minZoom;
			this->fitInView(this->sceneRect(), Qt::KeepAspectRatio);
			return;
		}
	}

	qreal scale = qPow(qreal(2), (_zoom - 250) / qreal(50));
	QMatrix matrix;
	matrix.scale(scale, scale);
	this->setMatrix(matrix);
}

void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, const QColor & color)
{
	qDeleteAll(_features);
	_features.clear();

	rtabmap::KeypointItem * item = 0;
	for(std::multimap<int, cv::KeyPoint>::const_iterator i = refWords.begin(); i != refWords.end(); ++i )
	{
		const cv::KeyPoint & r = (*i).second;
		int id = (*i).first;
		QString info = QString( "WordRef = %1\n"
								"Laplacian = %2\n"
								"Dir = %3\n"
								"Hessian = %4\n"
								"X = %5\n"
								"Y = %6\n"
								"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
		float radius = r.size/2.0f;
		item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);

		scene()->addItem(item);
		_features.insert(id, item);
		item->setVisible(_showFeatures->isChecked());
		item->setZValue(1);
	}
}

void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const QColor & color)
{
	qDeleteAll(_features);
	_features.clear();

	rtabmap::KeypointItem * item = 0;
	for(unsigned int i = 0; i< features.size(); ++i )
	{
		const cv::KeyPoint & r = features[i];
		int id = i;
		QString info = QString( "WordRef = %1\n"
								"Laplacian = %2\n"
								"Dir = %3\n"
								"Hessian = %4\n"
								"X = %5\n"
								"Y = %6\n"
								"Size = %7").arg(id).arg(1).arg(r.angle).arg(r.response).arg(r.pt.x).arg(r.pt.y).arg(r.size);
		float radius = (r.size==0?3:r.size)/2.0f;
		item = new rtabmap::KeypointItem(r.pt.x-radius, r.pt.y-radius, radius*2, info, color);

		scene()->addItem(item);
		_features.insert(id, item);
		item->setVisible(_showFeatures->isChecked());
		item->setZValue(1);
	}
}

void ImageView::setImage(const QImage & image)
{
	if(_image)
	{
		_image->setPixmap(QPixmap::fromImage(image));
	}
	else
	{
		_image = scene()->addPixmap(QPixmap::fromImage(image));
		_image->setVisible(_showImage->isChecked());
		_showImage->setEnabled(true);
		this->updateOpacity();
	}
}

void ImageView::setImageDepth(const QImage & imageDepth)
{
	if(_imageDepth)
	{
		_imageDepth->setPixmap(QPixmap::fromImage(imageDepth));
	}
	else
	{
		_imageDepth = scene()->addPixmap(QPixmap::fromImage(imageDepth));
		_imageDepth->setVisible(_showImageDepth->isChecked());
		_showImageDepth->setEnabled(true);
		this->updateOpacity();
	}
}

void ImageView::setFeatureColor(int id, const QColor & color)
{
	QList<KeypointItem*> items = _features.values(id);
	if(items.size())
	{
		for(int i=0; i<items.size(); ++i)
		{
			items[i]->setColor(color);
		}
	}
	else
	{
		UWARN("Not found feature %d", id);
	}
}

void ImageView::setFeaturesColor(const QColor & color)
{
	for(QMultiMap<int, KeypointItem*>::iterator iter=_features.begin(); iter!=_features.end(); ++iter)
	{
		iter.value()->setPen(QPen(color));
		iter.value()->setBrush(QBrush(color));
	}
}

void ImageView::clearLines()
{
	if(this->scene())
	{
		QList<QGraphicsItem*> items = this->scene()->items();
		for(int i=0; i<items.size(); ++i)
		{
			QGraphicsLineItem * line = qgraphicsitem_cast<QGraphicsLineItem*>(items[i]);
			if(line)
			{
				delete line;
			}
		}
	}
}

void ImageView::clear()
{
	qDeleteAll(_features);
	_features.clear();

	if(_image)
	{
		scene()->removeItem(_image);
		delete _image;
		_image = 0;
		_showImage->setEnabled(false);
	}

	if(_imageDepth)
	{
		scene()->removeItem(_imageDepth);
		delete _imageDepth;
		_imageDepth = 0;
		_showImageDepth->setEnabled(false);
	}
	scene()->clear();
}

}