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#include <QMenu>
#include <QContextMenuEvent>
#include <QSettings>
#include "QGCRGBDView.h"
#include "UASManager.h"
QGCRGBDView::QGCRGBDView(int width, int height, QWidget *parent) :
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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*)));
loadSettings();
}
QGCRGBDView::~QGCRGBDView()
{
storeSettings();
}
void QGCRGBDView::storeSettings()
{
QSettings settings;
settings.beginGroup("QGC_RGBDWIDGET");
settings.setValue("STREAM_RGB_ON", rgbEnabled);
settings.setValue("STREAM_DEPTH_ON", depthEnabled);
settings.endGroup();
}
void QGCRGBDView::loadSettings()
{
QSettings settings;
settings.beginGroup("QGC_RGBDWIDGET");
rgbEnabled = settings.value("STREAM_RGB_ON", rgbEnabled).toBool();
// Only enable depth if RGB is not on
if (!rgbEnabled) depthEnabled = settings.value("STREAM_DEPTH_ON", depthEnabled).toBool();
settings.endGroup();
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*)));
}
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HUD::setActiveUAS(uas);
}
void QGCRGBDView::clearData(void)
{
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qDebug() << offlineImg.load(":/files/images/status/colorbars.png");
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glImage = offlineImg;
void QGCRGBDView::contextMenuEvent(QContextMenuEvent* event)
{
QMenu menu(this);
// Update actions
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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;
videoEnabled = rgbEnabled | depthEnabled;
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QWidget::resize(size().width(), size().height());
}
void QGCRGBDView::enableDepth(bool enabled)
{
depthEnabled = enabled;
videoEnabled = rgbEnabled | depthEnabled;
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QWidget::resize(size().width(), size().height());
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}
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)
{