[WIP] introduce dark background toggle, rework icons

CMakeLists.txt

@@ -27,6 +27,8 @@ endif()
 
 include_directories(${catkin_INCLUDE_DIRS} src/ ${QT5_INCLUDE_DIRS} ${GLEW_INCLUDE_DIRS} /usr/include/eigen3)
 
+add_compile_definitions(ASSETS_PATH="${CMAKE_CURRENT_SOURCE_DIR}/assets")
+
 set(CMAKE_INCLUDE_CURRENT_DIR ON) # needs to be activated for qt generated files in build directory.
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_CXX_FLAGS "-std=c++11 -O3  -Wall ${CMAKE_CXX_FLAGS}")

README.md

@@ -120,3 +120,7 @@ If you're using the tool in your research, it would be nice if you cite our [pap
 ```
 
 We used the tool to label SemanticKITTI, which contains overall over 40.000 scans organized in 20 sequences. 
+
+## Asset Attribution
+
+Camera icon made by [Ilham Fitrotul Hayat](https://www.flaticon.com/authors/ilham-fitrotul-hayat) from [www.flaticon.com](https://www.flaticon.com/). Dark/Light background toggle icon made by [Icon-Hubs](https://www.flaticon.com/authors/icon-hubs) from [www.flaticon.com](https://www.flaticon.com/). Image icon made by [feen](https://www.flaticon.com/authors/feen) from [www.flaticon.com](https://www.flaticon.com/).

src/MainFrame.ui

@@ -361,7 +361,7 @@
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>200</width>
+               <width>253</width>
                <height>706</height>
               </rect>
              </property>
@@ -1466,6 +1466,7 @@
    <addaction name="actionShowImage"/>
    <addaction name="actionScreenshot"/>
    <addaction name="separator"/>
+   <addaction name="actionToggleDarkBackground"/>
   </widget>
   <action name="actionOpen">
    <property name="text">
@@ -1581,6 +1582,11 @@
     <string>screenshot</string>
    </property>
   </action>
+  <action name="actionToggleDarkBackground">
+   <property name="text">
+    <string>Toggle Dark Background</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>

src/labeler.cpp

@@ -11,7 +11,10 @@ int main(int argc, char** argv) {
   frame.show();
   frame.resize(1200, 900);
 
-//  std::cout << glow::GlCapabilities::getInstance() << std::endl;
+  // QPalette pal = app.palette();
+  // pal.setColor(QPalette::Window, Qt::black);
+  // app.setPalette(pal);
 
+//  std::cout << glow::GlCapabilities::getInstance() << std::endl;
   return app.exec();
 }

src/widget/KittiReader.cpp

@@ -9,6 +9,9 @@
 #include "rv/string_utils.h"
 
 #include <boost/lexical_cast.hpp>
+#include <boost/filesystem.hpp>
+
+namespace fs = boost::filesystem;
 
 void KittiReader::initialize(const QString& directory) {
   velodyne_filenames_.clear();
@@ -37,8 +40,13 @@ void KittiReader::initialize(const QString& directory) {
   // create label dir, etc.
   QDir labels_dir(base_dir_.filePath("labels"));
 
+
   // find corresponding label files.
-  if (!labels_dir.exists()) base_dir_.mkdir("labels");
+  if (!labels_dir.exists()) 
+  {
+    std::cout << "Found no labels. Creating labels directory\n";
+    base_dir_.mkdir("labels");
+  }
 
   for (uint32_t i = 0; i < velodyne_filenames_.size(); ++i) {
     QString filename = QFileInfo(QString::fromStdString(velodyne_filenames_[i])).baseName() + ".label";
@@ -55,18 +63,17 @@ void KittiReader::initialize(const QString& directory) {
 
       out.close();
     }
-
     label_filenames_.push_back(labels_dir.filePath(filename).toStdString());
   }
 
-  std::string missing_img = QDir::currentPath().toStdString() + "/../assets/missing.png";
+  fs::path missing_img = fs::path(ASSETS_PATH) / "missing.png";
   QDir image_dir(base_dir_.filePath("image_2"));
   for (uint32_t i = 0; i < velodyne_filenames_.size(); ++i) {
     QString filename = QFileInfo(QString::fromStdString(velodyne_filenames_[i])).baseName() + ".png";
     if (image_dir.exists(filename)) {
       image_filenames_.push_back(image_dir.filePath(filename).toStdString());
     } else {
-      image_filenames_.push_back(missing_img);
+      image_filenames_.push_back(missing_img.string());
     }
   }
 
@@ -207,9 +214,13 @@ void KittiReader::initialize(const QString& directory) {
         uint32_t instanceId = (instance_label >> 16) & uint32_t(0xFFFF);
         uint32_t label = instance_label & uint32_t(0xFFFF);
         if (maxInstanceIds_.find(label) == maxInstanceIds_.end())
+        {
           maxInstanceIds_[label] = instanceId;
+        }
         else
+        {
           maxInstanceIds_[label] = std::max(instanceId, maxInstanceIds_[label]);
+        }
       }
     }
 

src/widget/Mainframe.cpp

@@ -16,8 +16,10 @@
 
 #include <QtGui/QClipboard>
 #include <boost/lexical_cast.hpp>
+#include <boost/filesystem.hpp>
 
 using namespace glow;
+namespace fs = boost::filesystem;
 
 // see https://stackoverflow.com/a/24349347
 template <class T>
@@ -52,6 +54,9 @@ Mainframe::Mainframe() : mChangesSinceLastSave(false) {
   connect(ui.actionPolygonMode, &QAction::triggered,
           [this]() { changeMode(Viewport::POLYGON, ui.actionPolygonMode->isChecked()); });
 
+  connect(ui.actionToggleDarkBackground, &QAction::triggered,
+          [this]() { ui.mViewportXYZ->toggleBackground(); });
+
   ui.btnOverwrite->setDefaultAction(ui.actionOverwrite);
   ui.btnFilter->setDefaultAction(ui.actionFilter);
 
@@ -480,6 +485,7 @@ Mainframe::Mainframe() : mChangesSinceLastSave(false) {
 
   connect(ui.actionScreenshot, &QAction::triggered, [this]() {
     QImage img = ui.mViewportXYZ->grabFrameBuffer();
+    std::cout << "-- Saving screenshot to screenshot.png" << std::endl;
     img.save("screenshot.png");
     QApplication::clipboard()->setImage(img);
   });
@@ -1000,84 +1006,98 @@ void Mainframe::readConfig() {
 }
 
 void Mainframe::initializeIcons() {
-  std::string assertDir = QDir::currentPath().toStdString() + "/../assets/";
+  fs::path assetDir = fs::path(ASSETS_PATH);
   std::cout << QDir::currentPath().toStdString() << std::endl;
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "brush.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "brush.png").string())));
 
     ui.actionPaintMode->setIcon(icon);
     ui.btnBrushMode->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "polygon.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "polygon.png").string())));
     ui.actionPolygonMode->setIcon(icon);
     ui.btnPolygonMode->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "filter.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "filter.png").string())));
     ui.actionFilter->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "overwrite_on.png")), QIcon::Normal, QIcon::On);
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "overwrite_off.png")), QIcon::Normal, QIcon::Off);
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "overwrite_on.png").string())), QIcon::Normal, QIcon::On);
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "overwrite_off.png").string())), QIcon::Normal, QIcon::Off);
     ui.actionOverwrite->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "open.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "open.png").string())));
 
     ui.actionOpen->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "save.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "save.png").string())));
 
     ui.actionSave->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "reload.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "reload.png").string())));
 
     ui.actionReload->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "centerview.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "centerview.png").string())));
 
     ui.actionCenterView->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "image.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "insert_picture_icon_2.png").string())));
 
     ui.actionShowImage->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "layoutA.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "layoutA.png").string())));
 
     ui.btnButtonLayoutA->setIcon(icon);
   }
 
   {
     QIcon icon;
-    icon.addPixmap(QPixmap(QString::fromStdString(assertDir + "layoutB.png")));
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "layoutB.png").string())));
 
     ui.btnButtonLayoutB->setIcon(icon);
   }
+
+  {
+    QIcon icon;
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "dark_mode.png").string())));
+
+    ui.actionToggleDarkBackground->setIcon(icon);
+  }
+
+  {
+    QIcon icon;
+    icon.addPixmap(QPixmap(QString::fromStdString((assetDir / "camera.png").string())));
+
+    ui.actionScreenshot->setIcon(icon);
+  }
 }
 
 void Mainframe::keyPressEvent(QKeyEvent* event) {

src/widget/Viewport.cpp

@@ -23,6 +23,7 @@ Viewport::Viewport(QWidget* parent, Qt::WindowFlags f)
       contextInitialized_(initContext()),
       mAxis(XYZ),
       mMode(NONE),
+      mBackground(LIGHT),
       mFlags(FLAG_OVERWRITE),
       mCurrentLabel(0),
       mRadius(5),
@@ -561,6 +562,17 @@ void Viewport::setMode(MODE mode) {
   updateGL();
 }
 
+void Viewport::toggleBackground() {
+  if (mBackground == BACKGROUND::LIGHT)
+  {
+    mBackground = BACKGROUND::DARK;
+  } else {
+    mBackground = BACKGROUND::LIGHT;
+  }
+
+  updateGL();
+}
+
 void Viewport::setFlags(int32_t flags) { mFlags = flags; }
 
 void Viewport::setOverwrite(bool value) {
@@ -670,14 +682,22 @@ void Viewport::setLabelVisibility(uint32_t label, bool visible) {
 }
 
 void Viewport::initializeGL() {
-  glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
+  applyBackground();
   glEnable(GL_DEPTH_TEST);
   glDepthFunc(GL_LEQUAL);
   glEnable(GL_LINE_SMOOTH);
 
   mCamera->lookAt(5.0f, 5.0f, 5.0f, 0.0f, 0.0f, 0.0f);
 }
 
+void Viewport::applyBackground() {
+  if (mBackground == LIGHT) {
+    glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
+  } else { 
+    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
+  }
+}
+
 void Viewport::resizeGL(int w, int h) {
   glViewport(0, 0, w, h);
 
@@ -708,6 +728,7 @@ void Viewport::resizeGL(int w, int h) {
 void Viewport::paintGL() {
   glow::_CheckGlError(__FILE__, __LINE__);
 
+  applyBackground();
   glEnable(GL_DEPTH_TEST);
   glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
   glPointSize(pointSize_);

src/widget/Viewport.h

@@ -51,6 +51,8 @@ class Viewport : public QGLWidget {
 
   enum MODE { NONE, PAINT, POLYGON };
 
+  enum BACKGROUND { LIGHT, DARK };
+
   enum FLAGS { FLAG_OVERWRITE = 1, FLAG_OTHER = 2 };
 
   enum class CameraProjection { perspective, orthographic };
@@ -142,6 +144,7 @@ class Viewport : public QGLWidget {
   void setInstanceableLabels(const std::vector<uint32_t>& labels);
 
   void setMode(MODE mode);
+  void toggleBackground();
   void setFlags(int32_t flags);
   void setOverwrite(bool value);
 
@@ -178,6 +181,7 @@ class Viewport : public QGLWidget {
   void initializeGL();
   void resizeGL(int width, int height);
   void paintGL();
+  void applyBackground();
 
   void wheelEvent(QWheelEvent*);
   void mousePressEvent(QMouseEvent*);
@@ -221,6 +225,7 @@ class Viewport : public QGLWidget {
 
   AXIS mAxis;
   MODE mMode;
+  BACKGROUND mBackground;
   int32_t mFlags;
 
   uint32_t mCurrentLabel;