Add ImageView, show

source/RobotAPI/libraries/armem_gui/CMakeLists.txt

@@ -17,6 +17,7 @@ set(SOURCES
     instance/InstanceTreeDataVisitorBase.cpp
     instance/InstanceTreeDataVisitor.cpp
     instance/InstanceTreeTypedDataVisitor.cpp
+    instance/ImageView.cpp
 
     query_widgets/QueryWidget.cpp
     query_widgets/SnapshotForm.cpp
@@ -31,6 +32,7 @@ set(HEADERS
     instance/InstanceTreeDataVisitorBase.h
     instance/InstanceTreeDataVisitor.h
     instance/InstanceTreeTypedDataVisitor.h
+    instance/ImageView.h
 
     query_widgets/QueryWidget.h
     query_widgets/SnapshotForm.h

source/RobotAPI/libraries/armem_gui/InstanceWidget.cpp

 #include "InstanceWidget.h"
 
 #include <QAction>
+#include <QGroupBox>
 #include <QHBoxLayout>
 #include <QHeaderView>
+#include <QImage>
 #include <QLabel>
 #include <QLayout>
 #include <QMenu>
+#include <QSplitter>
 #include <QVBoxLayout>
 
 #include <SimoxUtility/algorithm/string.h>
@@ -16,6 +19,7 @@
 #include <RobotAPI/libraries/armem_gui/gui_utils.h>
 #include <RobotAPI/libraries/armem_gui/instance/InstanceTreeDataVisitor.h>
 #include <RobotAPI/libraries/armem_gui/instance/InstanceTreeTypedDataVisitor.h>
+#include <RobotAPI/libraries/armem_gui/instance/ImageView.h>
 
 
 namespace armarx::armem::gui
@@ -25,9 +29,14 @@ namespace armarx::armem::gui
     {
         QLayout* layout = new QVBoxLayout();
         this->setLayout(layout);
+        int margin = 3;
+        layout->setContentsMargins(margin, margin, margin, margin);
+
+        splitter = new QSplitter(Qt::Orientation::Vertical);
+        layout->addWidget(splitter);
 
         tree = new QTreeWidget(this);
-        layout->addWidget(tree);
+        splitter->addWidget(tree);
 
         QStringList columns;
         columns.insert(int(Columns::KEY), "Key");
@@ -195,14 +204,16 @@ namespace armarx::armem::gui
         {
             case aron::AronTypeDescriptor::eAronIVTCByteImageType:
             {
-                QAction* viewAction = new QAction("Toggle image view");
+                QStringList pathAndDel = item->data(int(Columns::KEY), Qt::UserRole).toStringList();
+                ARMARX_CHECK_EQUAL(pathAndDel.size(), 2);
+                aron::AronPath path(pathAndDel.at(0).toStdString(), pathAndDel.at(1).toStdString());
+
+                QAction* viewAction = new QAction("Show image");
                 menu.addAction(viewAction);
-                /*
-                    connect(viewAction, &QAction::triggered, [ = ]()
-                    {
-                        this->detachObjectFromRobotNode(providerName, objectID);
-                    });
-                    */
+                connect(viewAction, &QAction::triggered, [this, path]()
+                {
+                    this->showImageView(path);
+                });
             }
             break;
             default:
@@ -212,4 +223,55 @@ namespace armarx::armem::gui
         menu.exec(tree->mapToGlobal(pos));
     }
 
+    void InstanceWidget::showImageView(const aron::AronPath& elementPath)
+    {
+        ARMARX_IMPORTANT << "Toggle image view: " << elementPath.toString();
+        if (!currentInstance)
+        {
+            return;
+        }
+        armarx::aron::datanavigator::AronDictDataNavigatorPtr data = currentInstance->data();
+
+#if 0
+        armarx::aron::datanavigator::AronNDArrayDataNavigatorPtr imageData;
+
+        std::vector<int> shape = imageData->getDimensions();
+        ARMARX_CHECK_EQUAL(shape.size(), 3);
+
+        QImage::Format format = QImage::Format::Format_Invalid;
+        switch (shape.at(2))
+        {
+            case 1:
+                format = QImage::Format::Format_Grayscale8;
+                break;
+            case 3:
+                format = QImage::Format::Format_RGB888;
+                break;
+            default:
+                break;
+        }
+        currentImage = QImage(imageData->getData(), shape.at(0), shape.at(1), format);
+#else
+        currentImage = QImage(640, 480, QImage::Format::Format_RGB888);
+        currentImage->fill(QColor(255, 128, 0));
+#endif
+
+        if (!imageGroup)
+        {
+            ARMARX_CHECK_NULL(imageView);
+
+            imageGroup = new QGroupBox(this);
+            splitter->addWidget(imageGroup);
+
+            imageGroup->setLayout(new QHBoxLayout());
+            int margin = 2;
+            imageGroup->layout()->setContentsMargins(margin, margin, margin, margin);
+
+            imageView = new instance::ImageView(this);
+            imageGroup->layout()->addWidget(imageView);
+        }
+        imageGroup->setTitle(QString::fromStdString(elementPath.toString()));
+        imageView->setImage(*currentImage);
+    }
+
 }

source/RobotAPI/libraries/armem_gui/InstanceWidget.h

@@ -2,18 +2,27 @@
 
 #include <optional>
 
-#include <QTreeWidget>
+#include <QWidget>
 
 #include <RobotAPI/libraries/aron/aroncore/navigators/typenavigator/AronObjectTypeNavigator.h>
 
 #include <RobotAPI/libraries/armem/core/Memory.h>
 
 
+class QGroupBox;
 class QLabel;
+class QSplitter;
+class QTreeWidget;
+class QTreeWidgetItem;
 
 
 namespace armarx::armem::gui
 {
+    namespace instance
+    {
+        class ImageView;
+    }
+
 
     class InstanceWidget : public QWidget
     {
@@ -42,6 +51,7 @@ namespace armarx::armem::gui
     private slots:
 
         void prepareTreeContextMenu(const QPoint& pos);
+        void showImageView(const aron::AronPath& elementPath);
 
 
     private:
@@ -60,17 +70,23 @@ namespace armarx::armem::gui
             TYPE = 2,
         };
 
+        std::optional<EntityInstance> currentInstance;
+        aron::typenavigator::AronObjectTypeNavigatorPtr currentAronType = nullptr;
+
+        QSplitter* splitter;
+
         QTreeWidget* tree;
         QTreeWidgetItem* treeItemInstanceID;
         QTreeWidgetItem* treeItemMetadata;
         QTreeWidgetItem* treeItemData;
 
+        std::optional<QImage> currentImage;
+        QGroupBox* imageGroup = nullptr;
+        instance::ImageView* imageView = nullptr;
+
         QLabel* statusLabel = nullptr;
         bool useTypeInfo = true;
 
-        std::optional<EntityInstance> currentInstance;
-        aron::typenavigator::AronObjectTypeNavigatorPtr currentAronType = nullptr;
-
     };
 
 }

source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp

+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX 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 General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    ArmarX::
+* @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu)
+* @date       2021
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#include "ImageView.h"
+
+#include <QImage>
+#include <QPainter>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::gui::instance
+{
+
+    ImageView::ImageView(QWidget* parent) : QWidget(parent)
+    {
+        setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
+        connect(this, &This::sourceImageChanged, this, &This::updateImage);
+    }
+
+    void ImageView::setImage(const QImage& image)
+    {
+        sourceImage = image.copy();
+        emit sourceImageChanged();
+    }
+
+    void ImageView::paintEvent(QPaintEvent* event)
+    {
+        (void) event;
+
+        QPainter painter(this);
+        //scaledImage = image.scaled (width(), height(), Qt::KeepAspectRatio, Qt::FastTransformation);
+        scaledImage = sourceImage.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+        painter.drawImage(0, 0, scaledImage);
+    }
+
+    void ImageView::updateImage()
+    {
+        update(0, 0, width(), height());
+    }
+
+}
+

source/RobotAPI/libraries/armem_gui/instance/ImageView.h

+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX 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 General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    ArmarX::
+* @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu)
+* @date       2021
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+#include <QWidget>
+#include <QImage>
+
+
+namespace armarx::armem::gui::instance
+{
+
+    class ImageView : public QWidget
+    {
+        Q_OBJECT
+        using This = ImageView;
+
+    public:
+        ImageView(QWidget* parent = nullptr);
+
+        void setImage(const QImage& image);
+
+
+    public slots:
+
+    signals:
+
+
+    protected slots:
+        void updateImage();
+
+    signals:
+        void sourceImageChanged();
+
+
+    protected:
+
+        void paintEvent(QPaintEvent* pPaintEvent) override;
+
+
+    private:
+
+        QImage sourceImage;
+        QImage scaledImage;
+
+    };
+}
+
+

source/RobotAPI/libraries/armem_gui/instance/InstanceTreeTypedDataVisitor.h

@@ -105,13 +105,19 @@ namespace armarx::armem::gui
 
     protected:
 
-        template <class DataNavigator>
-        bool addValueRow(const std::string& key, DataNavigator& dataNavigator, const TypeNavigator& type)
+        template <class DataNavigatorT>
+        bool addValueRow(const std::string& key, DataNavigatorT& dataNavigator, const TypeNavigator& type)
         {
+            aron::AronPath path = dataNavigator.getPath();
             if (items.size() > 0)
             {
                 QTreeWidgetItem* item = new QTreeWidgetItem(this->makeValueRowStrings(key, dataNavigator, type.getName()));
                 items.top()->addChild(item);
+                item->setData(columnKey, Qt::UserRole, QStringList
+                {
+                    QString::fromStdString(path.toString()),
+                    QString::fromStdString(path.getDelimeter())
+                });
                 item->setData(columnType, Qt::UserRole, int(type.getDescriptor()));
             }
             return true;

source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp

@@ -21,7 +21,7 @@ namespace armarx::armem::gui
         setLayout(layout);
 
         _dataCheckBox = new QCheckBox("Get Data");
-        _dataCheckBox->setChecked(false);
+        _dataCheckBox->setChecked(true);
 
         _tabWidget = new QTabWidget();