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#include <QMenu>
#include <QContextMenuEvent>
#include "QGCRGBDView.h"
#include "UASManager.h"
QGCRGBDView::QGCRGBDView(int width, int height, QWidget *parent) :
HUD(width, height, parent),
rgbEnabled(false),
depthEnabled(false)
{
enableRGBAction = new QAction(tr("Enable RGB Image"), this);
enableRGBAction->setStatusTip(tr("Show the RGB image live stream in this window"));
enableRGBAction->setCheckable(true);
enableRGBAction->setChecked(rgbEnabled);
connect(enableRGBAction, SIGNAL(triggered(bool)), this, SLOT(enableRGB(bool)));
enableDepthAction = new QAction(tr("Enable Depthmap"), this);
enableDepthAction->setStatusTip(tr("Show the Depthmap in this window"));
enableDepthAction->setCheckable(true);
enableDepthAction->setChecked(depthEnabled);
connect(enableDepthAction, SIGNAL(triggered(bool)), this, SLOT(enableDepth(bool)));
connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
void QGCRGBDView::setActiveUAS(UASInterface* uas)
if (this->uas != NULL)
{
// Disconnect any previously connected active MAV
disconnect(this->uas, SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*)));
clearData();
}
if (uas)
{
// Now connect the new UAS
// Setup communication
connect(uas, SIGNAL(rgbdImageChanged(UASInterface*)), this, SLOT(updateData(UASInterface*)));
}
HUD::setActiveUAS(uas);
}
void QGCRGBDView::clearData(void)
{
QImage offlineImg;
qDebug() << offlineImg.load(":/images/status/colorbars.png");
glImage = QGLWidget::convertToGLFormat(offlineImg);
qDebug() << "cleardata" << offlineImg.isNull() << offlineImg.width() << offlineImg.height();
void QGCRGBDView::contextMenuEvent(QContextMenuEvent* event)
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{
QMenu menu(this);
// Update actions
enableHUDAction->setChecked(hudInstrumentsEnabled);
//enableVideoAction->setChecked(videoEnabled);
enableRGBAction->setChecked(rgbEnabled);
enableDepthAction->setChecked(depthEnabled);
menu.addAction(enableHUDAction);
menu.addAction(enableRGBAction);
menu.addAction(enableDepthAction);
//menu.addAction(selectHUDColorAction);
//menu.addAction(enableVideoAction);
//menu.addAction(selectOfflineDirectoryAction);
//menu.addAction(selectVideoChannelAction);
menu.exec(event->globalPos());
}
void QGCRGBDView::enableRGB(bool enabled)
{
rgbEnabled = enabled;
dataStreamEnabled = rgbEnabled | depthEnabled;
resize(size());
}
void QGCRGBDView::enableDepth(bool enabled)
{
depthEnabled = enabled;
dataStreamEnabled = rgbEnabled | depthEnabled;
resize(size());
}
float colormapJet[128][3] = {
{0.0f,0.0f,0.53125f},
{0.0f,0.0f,0.5625f},
{0.0f,0.0f,0.59375f},
{0.0f,0.0f,0.625f},
{0.0f,0.0f,0.65625f},
{0.0f,0.0f,0.6875f},
{0.0f,0.0f,0.71875f},
{0.0f,0.0f,0.75f},
{0.0f,0.0f,0.78125f},
{0.0f,0.0f,0.8125f},
{0.0f,0.0f,0.84375f},
{0.0f,0.0f,0.875f},
{0.0f,0.0f,0.90625f},
{0.0f,0.0f,0.9375f},
{0.0f,0.0f,0.96875f},
{0.0f,0.0f,1.0f},
{0.0f,0.03125f,1.0f},
{0.0f,0.0625f,1.0f},
{0.0f,0.09375f,1.0f},
{0.0f,0.125f,1.0f},
{0.0f,0.15625f,1.0f},
{0.0f,0.1875f,1.0f},
{0.0f,0.21875f,1.0f},
{0.0f,0.25f,1.0f},
{0.0f,0.28125f,1.0f},
{0.0f,0.3125f,1.0f},
{0.0f,0.34375f,1.0f},
{0.0f,0.375f,1.0f},
{0.0f,0.40625f,1.0f},
{0.0f,0.4375f,1.0f},
{0.0f,0.46875f,1.0f},
{0.0f,0.5f,1.0f},
{0.0f,0.53125f,1.0f},
{0.0f,0.5625f,1.0f},
{0.0f,0.59375f,1.0f},
{0.0f,0.625f,1.0f},
{0.0f,0.65625f,1.0f},
{0.0f,0.6875f,1.0f},
{0.0f,0.71875f,1.0f},
{0.0f,0.75f,1.0f},
{0.0f,0.78125f,1.0f},
{0.0f,0.8125f,1.0f},
{0.0f,0.84375f,1.0f},
{0.0f,0.875f,1.0f},
{0.0f,0.90625f,1.0f},
{0.0f,0.9375f,1.0f},
{0.0f,0.96875f,1.0f},
{0.0f,1.0f,1.0f},
{0.03125f,1.0f,0.96875f},
{0.0625f,1.0f,0.9375f},
{0.09375f,1.0f,0.90625f},
{0.125f,1.0f,0.875f},
{0.15625f,1.0f,0.84375f},
{0.1875f,1.0f,0.8125f},
{0.21875f,1.0f,0.78125f},
{0.25f,1.0f,0.75f},
{0.28125f,1.0f,0.71875f},
{0.3125f,1.0f,0.6875f},
{0.34375f,1.0f,0.65625f},
{0.375f,1.0f,0.625f},
{0.40625f,1.0f,0.59375f},
{0.4375f,1.0f,0.5625f},
{0.46875f,1.0f,0.53125f},
{0.5f,1.0f,0.5f},
{0.53125f,1.0f,0.46875f},
{0.5625f,1.0f,0.4375f},
{0.59375f,1.0f,0.40625f},
{0.625f,1.0f,0.375f},
{0.65625f,1.0f,0.34375f},
{0.6875f,1.0f,0.3125f},
{0.71875f,1.0f,0.28125f},
{0.75f,1.0f,0.25f},
{0.78125f,1.0f,0.21875f},
{0.8125f,1.0f,0.1875f},
{0.84375f,1.0f,0.15625f},
{0.875f,1.0f,0.125f},
{0.90625f,1.0f,0.09375f},
{0.9375f,1.0f,0.0625f},
{0.96875f,1.0f,0.03125f},
{1.0f,1.0f,0.0f},
{1.0f,0.96875f,0.0f},
{1.0f,0.9375f,0.0f},
{1.0f,0.90625f,0.0f},
{1.0f,0.875f,0.0f},
{1.0f,0.84375f,0.0f},
{1.0f,0.8125f,0.0f},
{1.0f,0.78125f,0.0f},
{1.0f,0.75f,0.0f},
{1.0f,0.71875f,0.0f},
{1.0f,0.6875f,0.0f},
{1.0f,0.65625f,0.0f},
{1.0f,0.625f,0.0f},
{1.0f,0.59375f,0.0f},
{1.0f,0.5625f,0.0f},
{1.0f,0.53125f,0.0f},
{1.0f,0.5f,0.0f},
{1.0f,0.46875f,0.0f},
{1.0f,0.4375f,0.0f},
{1.0f,0.40625f,0.0f},
{1.0f,0.375f,0.0f},
{1.0f,0.34375f,0.0f},
{1.0f,0.3125f,0.0f},
{1.0f,0.28125f,0.0f},
{1.0f,0.25f,0.0f},
{1.0f,0.21875f,0.0f},
{1.0f,0.1875f,0.0f},
{1.0f,0.15625f,0.0f},
{1.0f,0.125f,0.0f},
{1.0f,0.09375f,0.0f},
{1.0f,0.0625f,0.0f},
{1.0f,0.03125f,0.0f},
{1.0f,0.0f,0.0f},
{0.96875f,0.0f,0.0f},
{0.9375f,0.0f,0.0f},
{0.90625f,0.0f,0.0f},
{0.875f,0.0f,0.0f},
{0.84375f,0.0f,0.0f},
{0.8125f,0.0f,0.0f},
{0.78125f,0.0f,0.0f},
{0.75f,0.0f,0.0f},
{0.71875f,0.0f,0.0f},
{0.6875f,0.0f,0.0f},
{0.65625f,0.0f,0.0f},
{0.625f,0.0f,0.0f},
{0.59375f,0.0f,0.0f},
{0.5625f,0.0f,0.0f},
{0.53125f,0.0f,0.0f},
{0.5f,0.0f,0.0f}
};
void QGCRGBDView::updateData(UASInterface *uas)
{
#ifdef QGC_PROTOBUF_ENABLED
px::RGBDImage rgbdImage = uas->getRGBDImage();
if (rgbdImage.rows() == 0 || rgbdImage.cols() == 0 || (!rgbEnabled && !depthEnabled))
{
return;
}
QImage fill;
if (rgbEnabled)
{
// fill = QImage(reinterpret_cast<const unsigned char*>(rgbdImage.imagedata1().c_str()),
// rgbdImage.cols(), rgbdImage.rows(), QImage::Format_Mono);
// Construct PGM header
QString header("P5\n%1 %2\n%3\n");
int imgColors = 255;
header = header.arg(rgbdImage.cols()).arg(rgbdImage.rows()).arg(imgColors);
//QByteArray tmpImage(rgbdImage.imagedata1().c_str(), rgbdImage.cols()*rgbdImage.rows());
QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
tmpImage.append(rgbdImage.imagedata1().c_str(), rgbdImage.cols()*rgbdImage.rows());
//qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;
// if (imageRecBuffer.isNull())
// {
// qDebug()<< "could not convertToPGM()";
// return QImage();
// }
if (!fill.loadFromData(tmpImage, "PGM"))
{
qDebug()<< "could not create extracted image";
// return QImage();
}
}
if (depthEnabled)
{
QByteArray coloredDepth(rgbdImage.cols() * rgbdImage.rows() * 3, 0);
for (uint32_t r = 0; r < rgbdImage.rows(); ++r)
{
const float* depth = reinterpret_cast<const float*>(rgbdImage.imagedata2().c_str() + r * rgbdImage.step2());
uint8_t* pixel = reinterpret_cast<uint8_t*>(coloredDepth.data()) + r * rgbdImage.cols() * 3;
for (uint32_t c = 0; c < rgbdImage.cols(); ++c)
{
if (depth[c] != 0)
{
int idx = fminf(depth[c], 10.0f) / 10.0f * 127.0f;
idx = 127 - idx;
pixel[0] = colormapJet[idx][2] * 255.0f;
pixel[1] = colormapJet[idx][1] * 255.0f;
pixel[2] = colormapJet[idx][0] * 255.0f;
}
pixel += 3;
}
}
fill = QImage(reinterpret_cast<const uchar*>(coloredDepth.constData()),
rgbdImage.cols(), rgbdImage.rows(), QImage::Format_RGB888);
}
glImage = QGLWidget::convertToGLFormat(fill);
