UCv2Qt.h

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/*
*  utilite is a cross-platform library with
*  useful utilities for fast and small developing.
*  Copyright (C) 2010  Mathieu Labbe
*
*  utilite is free library: you can redistribute it and/or modify
*  it under the terms of the GNU Lesser General Public License as published by
*  the Free Software Foundation, either version 3 of the License, or
*  (at your option) any later version.
*
*  utilite is distributed in the hope that it will be useful,
*  but WITHOUT ANY WARRANTY; without even the implied warranty of
*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*  GNU Lesser General Public License for more details.
*
*  You should have received a copy of the GNU Lesser General Public License
*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef UCV2QT_H_
#define UCV2QT_H_

#include <QtGui/QImage>
#include <QtGui/QColor>
#include <opencv2/core/core.hpp>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UThread.h>
#include <stdio.h>

enum uCvQtDepthColorMap{
        uCvQtDepthWhiteToBlack,
        uCvQtDepthBlackToWhite,
        uCvQtDepthRedToBlue,
        uCvQtDepthBlueToRed
};

inline QImage uCvMat2QImage(const cv::Mat & image, bool isBgr = true, uCvQtDepthColorMap colorMap = uCvQtDepthWhiteToBlack)
{
        QImage qtemp;
        if(!image.empty() && image.depth() == CV_8U)
        {
                if(image.channels()==3)
                {
                        const unsigned char * data = image.data;
                        if(image.channels() == 3)
                        {
                                qtemp = QImage(image.cols, image.rows, QImage::Format_RGB32);
                                for(int y = 0; y < image.rows; ++y, data += image.cols*image.elemSize())
                                {
                                        for(int x = 0; x < image.cols; ++x)
                                        {
                                                QRgb * p = ((QRgb*)qtemp.scanLine (y)) + x;
                                                if(isBgr)
                                                {
                                                        *p = qRgb(data[x * image.channels()+2], data[x * image.channels()+1], data[x * image.channels()]);
                                                }
                                                else
                                                {
                                                        *p = qRgb(data[x * image.channels()], data[x * image.channels()+1], data[x * image.channels()+2]);
                                                }
                                        }
                                }
                        }
                }
                else if(image.channels() == 1)
                {
                        // mono grayscale
                        qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
                        QVector<QRgb> my_table;
                        for(int i = 0; i < 256; i++)
                                my_table.push_back(qRgb(i,i,i));
                        qtemp.setColorTable(my_table);
                }
                else
                {
                        printf("Wrong image format, must have 1 or 3 channels\n");
                }
        }
        else if(image.depth() == CV_32F && image.channels()==1)
    {
                // Assume depth image (float in meters)
                const float * data = (const float *)image.data;
                float min=data[0], max=data[0];
                for(unsigned int i=1; i<image.total(); ++i)
                {
                        if(!uIsNan(data[i]) && data[i] > 0)
                        {
                                if((uIsNan(min) && data[i] > 0) ||
                                   (data[i] > 0 && data[i]<min))
                                {
                                        min = data[i];
                                }
                                if((uIsNan(max) && data[i] > 0) ||
                                   (data[i] > 0 && data[i]>max))
                                {
                                        max = data[i];
                                }
                        }
                }
                qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
                for(int y = 0; y < image.rows; ++y, data += image.cols)
                {
                        for(int x = 0; x < image.cols; ++x)
                        {
                                uchar * p = qtemp.scanLine (y) + x;
                                if(data[x] < min || data[x] > max || uIsNan(data[x]) || max == min)
                                {
                                        *p = 0;
                                }
                                else
                                {
                                        *p = uchar(255.0f - ((data[x]-min)*255.0f)/(max-min));
                                        if(*p == 255)
                                        {
                                                *p = 0;
                                        }
                                }
                                if(*p!=0 && (colorMap == uCvQtDepthBlackToWhite || colorMap == uCvQtDepthRedToBlue))
                                {
                                        *p = 255-*p;
                                }
                        }
                }

                QVector<QRgb> my_table;
                my_table.reserve(256);
                if(colorMap == uCvQtDepthRedToBlue || colorMap == uCvQtDepthBlueToRed)
                {
                        my_table.push_back(qRgb(0,0,0));
                        for(int i = 1; i < 256; i++)
                                my_table.push_back(QColor::fromHsv(i, 255, 255, 255).rgb());
                }
                else
                {
                        for(int i = 0; i < 256; i++)
                                my_table.push_back(qRgb(i,i,i));
                }
                qtemp.setColorTable(my_table);
    }
        else if(image.depth() == CV_16U && image.channels()==1)
        {
                // Assume depth image (unsigned short in mm)
                const unsigned short * data = (const unsigned short *)image.data;
                unsigned short min=data[0], max=data[0];
                for(unsigned int i=1; i<image.total(); ++i)
                {
                        if(!uIsNan(data[i]) && data[i] > 0)
                        {
                                if((uIsNan(min) && data[i] > 0) ||
                                   (data[i] > 0 && data[i]<min))
                                {
                                        min = data[i];
                                }
                                if((uIsNan(max) && data[i] > 0) ||
                                   (data[i] > 0 && data[i]>max))
                                {
                                        max = data[i];
                                }
                        }
                }

                qtemp = QImage(image.cols, image.rows, QImage::Format_Indexed8);
                for(int y = 0; y < image.rows; ++y, data += image.cols)
                {
                        for(int x = 0; x < image.cols; ++x)
                        {
                                uchar * p = qtemp.scanLine (y) + x;
                                if(data[x] < min || data[x] > max || uIsNan(data[x]) || max == min)
                                {
                                        *p = 0;
                                }
                                else
                                {
                                        *p = uchar(255.0f - (float(data[x]-min)/float(max-min))*255.0f);
                                        if(*p == 255)
                                        {
                                                *p = 0;
                                        }
                                }
                                if(*p!=0 && (colorMap == uCvQtDepthBlackToWhite || colorMap == uCvQtDepthRedToBlue))
                                {
                                        *p = 255-*p;
                                }
                        }
                }

                QVector<QRgb> my_table;
                my_table.reserve(256);
                if(colorMap == uCvQtDepthRedToBlue || colorMap == uCvQtDepthBlueToRed)
                {
                        my_table.push_back(qRgb(0,0,0));
                        for(int i = 1; i < 256; i++)
                                my_table.push_back(QColor::fromHsv(i, 255, 255, 255).rgb());
                }
                else
                {
                        for(int i = 0; i < 256; i++)
                                my_table.push_back(qRgb(i,i,i));
                }
                qtemp.setColorTable(my_table);
        }
        else if(!image.empty() && image.depth() != CV_8U)
        {
                printf("Wrong image format, must be 8_bits/3channels or (depth) 32bitsFloat/1channel, 16bits/1channel\n");
        }
        return qtemp;
}

class UCvMat2QImageThread : public UThread
{
public:
        UCvMat2QImageThread(const cv::Mat & image, bool isBgr = true) :
                image_(image),
                isBgr_(isBgr) {}
        QImage & getQImage() {return qtImage_;}
protected:
        virtual void mainLoop()
        {
                qtImage_ = uCvMat2QImage(image_, isBgr_);
                this->kill();
        }
private:
        cv::Mat image_;
        bool isBgr_;
        QImage qtImage_;
};

#endif /* UCV2QT_H_ */