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Add color scheme for depth images #23

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merged 3 commits into from
Mar 15, 2019
Merged

Add color scheme for depth images #23

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eb616d1
Add color scheme for depth images
efernandez Mar 3, 2019
30d7e2a
Set -std=c++11 compile option
efernandez Mar 15, 2019
50957e5
revert unrelated whitespace change
dirk-thomas Mar 15, 2019
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4 changes: 3 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)

project(rqt_image_view)

add_compile_options(-std=c++11)
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This should make the CI build pass for xenial, @dirk-thomas
I hope this is a valid approach, otherwise I'll have to re-implement things w/o C++11 features.

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Yes, using C++11 in Kinetic and higher is fine, see REP 3.


# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS rqt_gui rqt_gui_cpp image_transport sensor_msgs geometry_msgs cv_bridge)

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2 changes: 2 additions & 0 deletions include/rqt_image_view/image_view.h
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Expand Up @@ -76,6 +76,8 @@ class ImageView

protected slots:

virtual void setColorSchemeList();

virtual void updateTopicList();

protected:
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39 changes: 38 additions & 1 deletion src/rqt_image_view/image_view.cpp
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Expand Up @@ -65,6 +65,9 @@ void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)
}
context.addWidget(widget_);

setColorSchemeList();
ui_.color_scheme_combo_box->setCurrentIndex(ui_.color_scheme_combo_box->findText("Gray"));

updateTopicList();
ui_.topics_combo_box->setCurrentIndex(ui_.topics_combo_box->findText(""));
connect(ui_.topics_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(onTopicChanged(int)));
Expand Down Expand Up @@ -180,6 +183,31 @@ void ImageView::restoreSettings(const qt_gui_cpp::Settings& plugin_settings, con
syncRotateLabel();
}

void ImageView::setColorSchemeList()
{
static const std::map<std::string, int> COLOR_SCHEME_MAP
{
{ "Gray", -1 }, // Special case: no color map
{ "Autumn", cv::COLORMAP_AUTUMN },
{ "Bone", cv::COLORMAP_BONE },
{ "Cool", cv::COLORMAP_COOL },
{ "Hot", cv::COLORMAP_HOT },
{ "Hsv", cv::COLORMAP_HSV },
{ "Jet", cv::COLORMAP_JET },
{ "Ocean", cv::COLORMAP_OCEAN },
{ "Pink", cv::COLORMAP_PINK },
{ "Rainbow", cv::COLORMAP_RAINBOW },
{ "Spring", cv::COLORMAP_SPRING },
{ "Summer", cv::COLORMAP_SUMMER },
{ "Winter", cv::COLORMAP_WINTER }
};

for (const auto& kv : COLOR_SCHEME_MAP)
{
ui_.color_scheme_combo_box->addItem(QString::fromStdString(kv.first), QVariant(kv.second));
}
}

void ImageView::updateTopicList()
{
QSet<QString> message_types;
Expand Down Expand Up @@ -568,7 +596,16 @@ void ImageView::callbackImage(const sensor_msgs::Image::ConstPtr& msg)
}
cv::Mat img_scaled_8u;
cv::Mat(cv_ptr->image-min).convertTo(img_scaled_8u, CV_8UC1, 255. / (max - min));
cv::cvtColor(img_scaled_8u, conversion_mat_, CV_GRAY2RGB);

const auto color_scheme_index = ui_.color_scheme_combo_box->currentIndex();
const auto color_scheme = ui_.color_scheme_combo_box->itemData(color_scheme_index).toInt();
if (color_scheme == -1) {
cv::cvtColor(img_scaled_8u, conversion_mat_, CV_GRAY2RGB);
} else {
cv::Mat img_color_scheme;
cv::applyColorMap(img_scaled_8u, img_color_scheme, color_scheme);
cv::cvtColor(img_color_scheme, conversion_mat_, CV_BGR2RGB);
}
} else {
qWarning("ImageView.callback_image() could not convert image from '%s' to 'rgb8' (%s)", msg->encoding.c_str(), e.what());
ui_.image_frame->setImage(QImage());
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7 changes: 7 additions & 0 deletions src/rqt_image_view/image_view.ui
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Expand Up @@ -197,6 +197,13 @@
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="color_scheme_combo_box">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
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