Merged Audio branch to trunk

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@560 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-09 03:07:45 +08:00 · 2012-06-24 17:19:34 +00:00
parent 6de31a4080
commit ffcfa9236c
79 changed files with 3608 additions and 1349 deletions
@@ -0,0 +1,212 @@
+/*
+ * ImageViewQt.hpp
+ *
+ *  Created on: 2012-06-20
+ *      Author: mathieu
+ */
+
+#ifndef IMAGEVIEWQT_HPP_
+#define IMAGEVIEWQT_HPP_
+
+#include <QtCore/QTimer>
+#include <QtGui/QMouseEvent>
+#include <QtGui/QApplication>
+#include <QtGui/QWidget>
+#include <QtGui/QPainter>
+#include <QtGui/QToolTip>
+#include <QtGui/QMenu>
+
+#include <utilite/UPlot.h>
+
+class RGBPlot: public UPlot
+{
+public:
+	RGBPlot(int x, int y, QWidget * parent = 0) :
+		x_(x),
+		y_(y)
+	{
+		r_ = this->addCurve("R", Qt::red);
+		g_ = this->addCurve("G", Qt::green);
+		b_ = this->addCurve("B", Qt::blue);
+	}
+	~RGBPlot() {}
+	void setPixel(int r, int g, int b)
+	{
+		r_->addValue(r);
+		g_->addValue(g);
+		b_->addValue(b);
+	}
+	int x() const {return x_;}
+	int y() const {return y_;}
+private:
+	int x_;
+	int y_;
+	UPlotCurve * r_;
+	UPlotCurve * g_;
+	UPlotCurve * b_;
+};
+
+class ImageViewQt : public QWidget
+{
+	Q_OBJECT;
+public:
+	ImageViewQt(QWidget * parent = 0) : QWidget(parent)
+	{
+		this->setMouseTracking(true);
+	}
+	~ImageViewQt() {}
+
+public slots:
+	void setImage(const QImage & image)
+	{
+		if(pixmap_.width() != image.width() || pixmap_.height() != image.height())
+		{
+			for(QMap<QPair<int,int>, RGBPlot*>::iterator iter = pixelMap_.begin(); iter!=pixelMap_.end();)
+			{
+				RGBPlot * plot = *iter;
+				iter = pixelMap_.erase(iter);
+				delete plot;
+			}
+			this->setMinimumSize(image.width(), image.height());
+			this->setGeometry(this->geometry().x(), this->geometry().y(), image.width(), image.height());
+		}
+		else
+		{
+			for(QMap<QPair<int,int>, RGBPlot*>::iterator iter = pixelMap_.begin(); iter!=pixelMap_.end();++iter)
+			{
+				QRgb rgb = image.pixel((*iter)->x(), (*iter)->y());
+				(*iter)->setPixel(qRed(rgb), qGreen(rgb), qBlue(rgb));
+			}
+		}
+		pixmap_ = QPixmap::fromImage(image);
+		this->update();
+	}
+
+private:
+	void computeScaleOffsets(float & scale, float & offsetX, float & offsetY)
+	{
+		scale = 1.0f;
+		offsetX = 0.0f;
+		offsetY = 0.0f;
+
+		if(!pixmap_.isNull())
+		{
+			float w = pixmap_.width();
+			float h = pixmap_.height();
+			float widthRatio = float(this->rect().width()) / w;
+			float heightRatio = float(this->rect().height()) / h;
+
+			if(widthRatio < heightRatio)
+			{
+				scale = widthRatio;
+			}
+			else
+			{
+				scale = heightRatio;
+			}
+
+			w *= scale;
+			h *= scale;
+
+			if(w < this->rect().width())
+			{
+				offsetX = (this->rect().width() - w)/2.0f;
+			}
+			if(h < this->rect().height())
+			{
+				offsetY = (this->rect().height() - h)/2.0f;
+			}
+		}
+	}
+private slots:
+	void removePlot(QObject * obj)
+	{
+		if(obj)
+		{
+			RGBPlot * plot = (RGBPlot*)obj;
+			pixelMap_.remove(QPair<int,int>(plot->x(), plot->y()));
+		}
+	}
+
+protected:
+	virtual void paintEvent(QPaintEvent *event)
+	{
+		if(!pixmap_.isNull())
+		{
+			//Scale
+			float ratio, offsetX, offsetY;
+			this->computeScaleOffsets(ratio, offsetX, offsetY);
+			QPainter painter(this);
+			painter.translate(offsetX, offsetY);
+			painter.scale(ratio, ratio);
+			painter.drawPixmap(QPoint(0,0), pixmap_);
+		}
+	}
+
+	virtual void mouseMoveEvent(QMouseEvent * event)
+	{
+		if(!pixmap_.isNull())
+		{
+			QPoint pos = this->mapFromGlobal(event->globalPos());
+
+			float ratio, offsetX, offsetY;
+			computeScaleOffsets(ratio, offsetX, offsetY);
+			pos.rx()-=offsetX;
+			pos.ry()-=offsetY;
+			pos.rx()/=ratio;
+			pos.ry()/=ratio;
+
+			if(pos.x()>=0 && pos.x()<pixmap_.width() &&
+			   pos.y()>=0 && pos.y()<pixmap_.height())
+			{
+				QToolTip::showText(event->globalPos(),
+						QString("[%1,%2]")
+						.arg(pos.x())
+						.arg(pos.y()));
+			}
+		}
+	}
+
+	virtual void contextMenuEvent(QContextMenuEvent * event)
+	{
+		if(!pixmap_.isNull())
+		{
+			QPoint pos = this->mapFromGlobal(event->globalPos());
+
+			float ratio, offsetX, offsetY;
+			computeScaleOffsets(ratio, offsetX, offsetY);
+			pos.rx()-=offsetX;
+			pos.ry()-=offsetY;
+			pos.rx()/=ratio;
+			pos.ry()/=ratio;
+
+			if(pos.x()>=0 && pos.x()<pixmap_.width() &&
+			   pos.y()>=0 && pos.y()<pixmap_.height())
+			{
+				QMenu menu;
+				QAction * a = menu.addAction(tr("Plot pixel (%1,%2) variation").arg(pos.x()).arg(pos.y()));
+				QAction * b = menu.exec(event->globalPos());
+				if(b == a)
+				{
+					if(!pixelMap_.contains(QPair<int,int>(pos.x(), pos.y())))
+					{
+						RGBPlot * plot = new RGBPlot(pos.x(), pos.y(), this);
+						plot->setWindowTitle(tr("Pixel (%1,%2)").arg(pos.x()).arg(pos.y()));
+						connect(plot, SIGNAL(destroyed(QObject *)), this, SLOT(removePlot(QObject *)));
+						plot->setMaxVisibleItems(100);
+						plot->show();
+						pixelMap_.insert(QPair<int,int>(pos.x(), pos.y()), plot);
+					}
+				}
+
+			}
+		}
+	}
+
+private:
+	QPixmap pixmap_;
+	QMap<QPair<int,int>, RGBPlot*> pixelMap_;
+};
+
+
+#endif /* IMAGEVIEWQT_HPP_ */