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merged attention branch to trunk

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@657 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 18:05:05 +00:00
parent f9033809a2
commit 2836d4c48c
216 changed files with 7983 additions and 94891 deletions
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40
guilib/src/PdfPlot.cpp
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@@ -18,18 +18,17 @@
*/
#include "PdfPlot.h"
#include "utilite/ULogger.h"
#include <utilite/ULogger.h>
namespace rtabmap {
PdfPlotItem::PdfPlotItem(float dataX, float dataY, float width, int childCount) :
UPlotItem(dataX, dataY, width),
_img(0),
_imagesRef(0)
_imagesRef(0),
_text(0)
{
setLikelihood(dataX, dataY, childCount);
_text = new QGraphicsTextItem(this);
_text->setVisible(false);
}
PdfPlotItem::~PdfPlotItem()
@@ -39,7 +38,7 @@ PdfPlotItem::~PdfPlotItem()
void PdfPlotItem::setLikelihood(int id, float value, int childCount)
{
if(id != this->data().x())
if(_img && id != this->data().x())
{
delete _img;
_img = 0;
@@ -50,6 +49,11 @@ void PdfPlotItem::setLikelihood(int id, float value, int childCount)
void PdfPlotItem::showDescription(bool shown)
{
if(!_text)
{
_text = new QGraphicsTextItem(this);
_text->setVisible(false);
}
if(shown)
{
if(!_img && _imagesRef)
@@ -71,7 +75,14 @@ void PdfPlotItem::showDescription(bool shown)
_text->setPos(this->mapFromScene(4+150,0));
else
_text->setPos(this->mapFromScene(4,0));
_text->setPlainText(QString("ID = %1\nValue = %2\nWeight = %3").arg(this->data().x()).arg(this->data().y()).arg(_childCount));
if(_childCount >= 0)
{
_text->setPlainText(QString("ID = %1\nValue = %2\nWeight = %3").arg(this->data().x()).arg(this->data().y()).arg(_childCount));
}
else
{
_text->setPlainText(QString("ID = %1\nValue = %2").arg(this->data().x()).arg(this->data().y()));
}
_text->setVisible(true);
if(_img)
{
@@ -109,14 +120,14 @@ void PdfPlotCurve::clear()
UPlotCurve::clear();
}
void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap, int lastId)
void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap)
{
ULOGGER_DEBUG("dataSize=%d", dataMap.size());
ULOGGER_DEBUG("dataMap=%d, weightsMap=%d", dataMap.size(), weightsMap.size());
if(dataMap.size() > 0)
{
//match the size of the current data
int margin = int((_items.size()+1)/2) - dataMap.size();
UDEBUG("margin=%d", margin);
while(margin < 0)
{
PdfPlotItem * newItem = new PdfPlotItem(0, 0, 2, 0);
@@ -124,6 +135,7 @@ void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int
this->_addValue(newItem);
++margin;
}
while(margin > 0)
{
this->removeItem(0);
@@ -133,10 +145,14 @@ void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int
ULOGGER_DEBUG("itemsize=%d", _items.size());
// update values
int index = 0;
for(QMap<int, float>::const_iterator i=dataMap.begin(); i!=dataMap.end(); ++i, index+=2)
QList<QGraphicsItem*>::iterator iter = _items.begin();
QMap<int, int>::const_iterator j=weightsMap.begin();
for(QMap<int, float>::const_iterator i=dataMap.begin(); i!=dataMap.end(); ++i, ++j)
{
((PdfPlotItem*)_items[index])->setLikelihood(i.key(), i.value(), weightsMap.value(i.key(),-1));
((PdfPlotItem*)*iter)->setLikelihood(i.key(), i.value(), j!=weightsMap.end()?j.value():-1);
//2 times...
++iter;
++iter;
}
//reset minMax, this will force the plot to update the axes