#include <SonarView.h>

Inherits ImageViewOld.

Public Slots
void	setOpenGL (bool flag)

void	setSonarScan (const char *data, int size, double angle, double timeBetweenBins, bool fromBearing=false)

void	setPosition (double posX, double posY, double sigmaX, double sigmaY)

void	setOrientation (const double orientation)

void	setDistance (double distance, double angle)

void	paintLine (double bearing, const uint8_t *data, size_t len)

void	paintReference (double bearing, int distance)

void	paintPos (int posX, int posY, int sizeX=10, int sizeY=10)

Public Slots inherited from ImageViewOld
void	emitUserExport ()

void	update ()

void	update2 ()

void	setDefaultImage ()

void	setZoomEnabled (bool enabled)

virtual void	openGL (bool flag)

bool	onOpenGL ()

Public Slots inherited from MultiWidget
void	setActive (bool b)

QString	getMinimizedLabel ()

void	setMinimizedLabel (QString label)

void	childEvent (QChildEvent *event)

bool	event (QEvent *event)

bool	isHiddenWhenMinimized () const

void	hideWhenMin (bool b)

Public Slots inherited from PaintWidget
QObject *	addItem (QObject *object)

QObject *	addPoints (const QList< int > &points_x, const QList< int > &points_y, int groupNr, const QColor &color)

QObject *	addText (int xPos, int yPos, int groupNr, const QString &text)

QObject *	addLine (int xPos, int yPos, int groupNr, const QColor &color, int endX, int endY)

QObject *	addEllipse (int xPos, int yPos, int groupNr, const QColor &color, int width, int height)

QObject *	addRectangle (int xPos, int yPos, int groupNr, const QColor &color, int width, int height)

QObject *	addPolyline (int groupNr, const QColor &color, const QList< QPoint > &points)

QObject *	addPolygon (int groupNr, const QColor &color, const QList< QPoint > &points)

QObject *	removeItem (QObject *drawItem, bool delete_object)

void	removeAllItems (bool delete_objects)

Public Member Functions
	SonarView (QWidget *parent=NULL, bool use_openGL=true)

virtual	~SonarView ()

Public Member Functions inherited from ImageViewOld
	ImageViewOld (QWidget *parent=NULL, bool use_openGL=false)

virtual	~ImageViewOld ()

void	contextMenuEvent (QContextMenuEvent *event)

int	heightForWidth (int w)

void	mouseDoubleClickEvent (QMouseEvent *event)

void	setAspectRatio (bool value)

bool	getAspectRatio ()

void	saveImage (bool overlay=true)

bool	saveImage2 (QString path, bool overlay=true)

bool	saveImage3 (const QString &mode, int pixel_size, int width, int height, const char *pbuffer, QString path, QString format)

void	resetCrop ()

void	crop (int x, int y, int w, int h)

void	addRawImage (const QString &mode, int pixel_size, int width, int height, const char *pbuffer, const int size)

void	addFrame (const base::samples::frame::Frame &frame)

void	addImage (const QImage &image)

void	setGroupStatus (int groupNr, bool enable)

void	clearGroups ()

int	getHeight () const

int	getWidth () const

int	getFormat () const

Public Member Functions inherited from MultiWidget
	MultiWidget (QWidget *parent=0)

Public Member Functions inherited from PaintWidget
	PaintWidget (QWidget *parent)

	~PaintWidget ()

Protected Member Functions
void	paintEvent (QPaintEvent *event)

void	keyPressEvent (QKeyEvent *)

Protected Member Functions inherited from ImageViewOld
void	drawDrawItemsToImage (QImage &image, bool all=false)

void	drawDrawItemsToPainter (QPainter &painter, bool all=false)

virtual void	resizeEvent (QResizeEvent *event)

void	mousePressEvent (QMouseEvent *event)

void	mouseReleaseEvent (QMouseEvent *event)

void	calculateRects ()

std::pair< QPoint, bool >	toImage (QPoint const &p)

Protected Member Functions inherited from PaintWidget
void	drawDrawItemsToImage (QImage &image, bool all=false)

void	drawDrawItemsToPainter (QPainter &painter, bool all=false)

void	paintEvent (QPaintEvent *event)

Protected Attributes
double	lastScale

int	lastBearing

QImage	img

Protected Attributes inherited from ImageViewOld
QMenu	contextMenu

QAction *	save_image_act

QAction *	user_export_act

QString	save_path

QImage	originalImage

QImage	image

QRect	currentCrop

bool	no_input

bool	aspect_ratio

frame_helper::FrameQImageConverter	frame_converter

ImageViewOldGL *	image_view_gl

QRectF	target

QRectF	source

bool	zoomEnabled

QPoint	pressPoint

bool	pressValid

Protected Attributes inherited from MultiWidget
bool	isActive

bool	wasHidden

Protected Attributes inherited from PaintWidget
QList< DrawItem * >	items

QList< int >	disabledGroups

bool	isOpenGL

Additional Inherited Members
Signals inherited from ImageViewOld
void	clickImage (int x, int y)

void	userExport ()

Signals inherited from MultiWidget
void	activityChanged (bool)

Properties inherited from ImageViewOld
bool	Use_OpenGL

bool	Aspect_Ratio

Properties inherited from MultiWidget
bool	hideWhenMinimized

QString	minimizedLabel

Detailed Description

Definition at line 12 of file SonarView.h.

Constructor & Destructor Documentation

SonarView::SonarView	(	QWidget *	parent = `NULL`,
		bool	use_openGL = `true`
	)

Definition at line 13 of file SonarView.cc.

                                                    :
 ImageViewOld(parent,false),
 img(10, 10, QImage::Format_RGB888)
 {
     resize(width(),height());   
     image_view_gl = 0;
     use_openGL=false;
     setOpenGL(use_openGL);
     lastScale=0;
     
 }

SonarView::~SonarView ( )

virtual

Definition at line 26 of file SonarView.cc.

27 {

28 }

Member Function Documentation

void SonarView::keyPressEvent ( QKeyEvent * event )

protected

Definition at line 150 of file SonarView.cc.

                                                  {
     SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     if(window) window->keyPressEvent(event);    
 }

void SonarView::paintEvent ( QPaintEvent * event )

protectedvirtual

Reimplemented from ImageViewOld.

Definition at line 167 of file SonarView.cc.

 {
     QPainter painter(this);
     painter.drawImage(0, 0, img);
 }

void SonarView::paintLine	(	double	bearing,
		const uint8_t *	data,
		size_t	len
	)

slot

Definition at line 142 of file SonarView.cc.

                                                                         {
     double s = sin(bearing);
     double c = cos(bearing);
     for (size_t i = 0; i < len; i++)
         img.setPixel((len) + (c * i), (len) + (s * i), qRgb(data[i], data[i], data[i]));
 }

void SonarView::paintPos	(	int	posX,
		int	posY,
		int	sizeX = `10`,
		int	sizeY = `10`
	)

slot

Definition at line 135 of file SonarView.cc.

                                                                 {
     QPainter painter(&img);
     painter.setPen(QColor(255,0,0));
     painter.drawEllipse(QPoint(posX,posY),sizeX,sizeY);
         addImage(img);
 }

void SonarView::paintReference	(	double	bearing,
		int	distance
	)

slot

Definition at line 119 of file SonarView.cc.

                                                           {
     if(distance > img.size().width()){
         return;
     }
     QPainter painter(&img);
     double s = sin(bearing);
     double c = cos(bearing);
     int x = (img.size().width()/2.0)+(c*distance);
     int y = (img.size().width()/2.0)+(s*distance);  
 
     painter.setPen(QColor(255,255,0));
     painter.drawEllipse(QPoint(x,y),5,5);
         addImage(img);
     //painter.drawPoint(x,y);
 }

void SonarView::setDistance	(	double	distance,
		double	angle
	)

slot

Definition at line 55 of file SonarView.cc.

                                                         {
     SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     double bearing = angle/(M_PI*2.0)*6399.0;
     if(window){
         window->setWallDist(bearing,distance,0);
     }else{
         //printf("scale: %f, distance: %f\n",lastScale,distance);
         paintReference(angle,distance/lastScale);
     }
 }

void SonarView::setOpenGL ( bool flag )

slot

Definition at line 30 of file SonarView.cc.

 {
   if(flag)
   {
     //prevent activating if it is already activated
     if(image_view_gl)
       return;
 
     image_view_gl = new SonarViewGL(*this);
     if (!image_view_gl)
       return;
     image_view_gl->resize(width(),height());
     //image_view_gl->setAspectRatio(aspect_ratio);
     image_view_gl->show();
     //SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     //window->reset(0.024); //TODO hardcoded value
   }
   else
   {
     delete image_view_gl;
     image_view_gl = NULL;
   }
    
 }

void SonarView::setOrientation ( const double orientation )

slot

Definition at line 161 of file SonarView.cc.

                                                       {
     SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     if(window)window->setOrientation(orientation);
 }

void SonarView::setPosition	(	double	posX,
		double	posY,
		double	sigmaX,
		double	sigmaY
	)

slot

Definition at line 156 of file SonarView.cc.

                                                                                  {
     SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     if(window)window->setPosition(posX,posY,sigmaX,sigmaY); 
 }

void SonarView::setSonarScan	(	const char *	data,
		int	size,
		double	angle,
		double	timeBetweenBins,
		bool	fromBearing = `false`
	)

slot

Definition at line 66 of file SonarView.cc.

                                                                                                               {
     SonarViewGL *window = dynamic_cast<SonarViewGL*>(image_view_gl);
     double bearing = angle;
     double newScale = ((timeBetweenBins*640.0)*1e-9);
     if(!fromBearing){
         bearing = angle/(M_PI*2.0)*6399.0;
         newScale = timeBetweenBins*size/2.0;
     }
     newScale = (newScale*1500.0)/size;
     
     if(window){
         if(newScale != lastScale){
             lastScale = newScale;
             printf("new Scale: %f\n",newScale); 
             window->reset(newScale);
         }
      
         std::vector<uint8_t> data;
         for(int i=0;i<size;i++){
             data.push_back(data_[i]);
         }
         window->setData(data,bearing);
     }else{
         lastScale =  newScale;
         if(img.size().width() != size*2.0){
             //img = QImage(size*2.0,size*2.0,QImage::Format_Mono);
             img = QImage(size*2.0,size*2.0,QImage::Format_RGB888);
             img.fill(0);
             printf("Creating new Image with: %i,%i\n",img.size().width(),img.size().height());
         }
         int begin,end;
         if(lastBearing-bearing>0 || lastBearing-bearing < -3000){
             begin = lastBearing;
             end = lastBearing-bearing;
         }else{
             begin = bearing;
             end = bearing-lastBearing;
         }
 
         for(int j=0;j<end;j++){
             int i = ((begin+j));
             if(i < 0 || i > 6399){
                 break;
             }
             paintLine(((double)i)/6399*2.0*M_PI,(const uint8_t*)data_,(size_t)size);
         }
     }
     lastBearing = bearing;
         addImage(img);
     resize(width(),height());   
     //ImageView::update();
 }

Member Data Documentation

QImage SonarView::img

protected

Definition at line 36 of file SonarView.h.

int SonarView::lastBearing

protected

Definition at line 34 of file SonarView.h.

double SonarView::lastScale

protected

Definition at line 33 of file SonarView.h.

The documentation for this class was generated from the following files:

/build/rock-master-18.09-gui-rock-widget-collection-0.20180124/src/sonar_view/SonarView.h
/build/rock-master-18.09-gui-rock-widget-collection-0.20180124/src/sonar_view/SonarView.cc

Public Slots

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation