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image_view_qt node: Added image rate overlay

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@576 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-26 20:03:41 +00:00
parent 39e4f95031
commit 7eb9253e32
1 changed files with 24 additions and 5 deletions
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rtabmap_image/src/ImageViewQt.hpp
+24 -5
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@@ -50,15 +50,17 @@ class ImageViewQt : public QWidget
{ {
Q_OBJECT; Q_OBJECT;
public: public:
ImageViewQt(QWidget * parent = 0) : QWidget(parent) ImageViewQt(QWidget * parent = 0) : QWidget(parent), showFrameRate_(true), lastTime_(0)
{ {
this->setMouseTracking(true); this->setMouseTracking(true);
time_.start();
} }
~ImageViewQt() {} ~ImageViewQt() {}
public slots: public slots:
void setImage(const QImage & image) void setImage(const QImage & image)
{ {
lastTime_ = time_.restart();
if(pixmap_.width() != image.width() || pixmap_.height() != image.height()) if(pixmap_.width() != image.width() || pixmap_.height() != image.height())
{ {
for(QMap<QPair<int,int>, RGBPlot*>::iterator iter = pixelMap_.begin(); iter!=pixelMap_.end();) for(QMap<QPair<int,int>, RGBPlot*>::iterator iter = pixelMap_.begin(); iter!=pixelMap_.end();)
@@ -131,15 +133,22 @@ private slots:
protected: protected:
virtual void paintEvent(QPaintEvent *event) virtual void paintEvent(QPaintEvent *event)
{ {
QPainter painter(this);
if(!pixmap_.isNull()) if(!pixmap_.isNull())
{ {
painter.save();
//Scale //Scale
float ratio, offsetX, offsetY; float ratio, offsetX, offsetY;
this->computeScaleOffsets(ratio, offsetX, offsetY); this->computeScaleOffsets(ratio, offsetX, offsetY);
QPainter painter(this);
painter.translate(offsetX, offsetY); painter.translate(offsetX, offsetY);
painter.scale(ratio, ratio); painter.scale(ratio, ratio);
painter.drawPixmap(QPoint(0,0), pixmap_); painter.drawPixmap(QPoint(0,0), pixmap_);
painter.restore();
}
if(showFrameRate_ && lastTime_>0)
{
painter.setPen(QColor(Qt::green));
painter.drawText(2, painter.font().pointSize()+2 , QString("%1 Hz").arg(1000/lastTime_));
} }
} }
@@ -184,9 +193,12 @@ protected:
pos.y()>=0 && pos.y()<pixmap_.height()) pos.y()>=0 && pos.y()<pixmap_.height())
{ {
QMenu menu; QMenu menu;
QAction * a = menu.addAction(tr("Plot pixel (%1,%2) variation").arg(pos.x()).arg(pos.y())); QAction * a_plot = menu.addAction(tr("Plot pixel (%1,%2) variation").arg(pos.x()).arg(pos.y()));
QAction * b = menu.exec(event->globalPos()); QAction * a_frameRate = menu.addAction(tr("Show frame rate"));
if(b == a) a_frameRate->setCheckable(true);
a_frameRate->setChecked(showFrameRate_);
QAction * action = menu.exec(event->globalPos());
if(action == a_plot)
{ {
if(!pixelMap_.contains(QPair<int,int>(pos.x(), pos.y()))) if(!pixelMap_.contains(QPair<int,int>(pos.x(), pos.y())))
{ {
@@ -198,6 +210,10 @@ protected:
pixelMap_.insert(QPair<int,int>(pos.x(), pos.y()), plot); pixelMap_.insert(QPair<int,int>(pos.x(), pos.y()), plot);
} }
} }
else if(action == a_frameRate)
{
showFrameRate_ = action->isChecked();
}
} }
} }
@@ -206,6 +222,9 @@ protected:
private: private:
QPixmap pixmap_; QPixmap pixmap_;
QMap<QPair<int,int>, RGBPlot*> pixelMap_; QMap<QPair<int,int>, RGBPlot*> pixelMap_;
QTime time_;
bool showFrameRate_;
int lastTime_;
}; };