moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-03 01:50:24 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
--- a/guilib/src/PdfPlot.cpp
+++ b/guilib/src/PdfPlot.cpp
@@ -0,0 +1,148 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map 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 RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "PdfPlot.h"
+#include "utilite/ULogger.h"
+
+namespace rtabmap {
+
+PdfPlotItem::PdfPlotItem(float dataX, float dataY, float width, int childCount) :
+	PlotItem(dataX, dataY, width),
+	_img(0),
+	_imagesRef(0)
+{
+	setLikelihood(dataX, dataY, childCount);
+	_text = new QGraphicsTextItem(this);
+	_text->setVisible(false);
+}
+
+PdfPlotItem::~PdfPlotItem()
+{
+
+}
+
+void PdfPlotItem::setLikelihood(int id, float value, int childCount)
+{
+	if(id != this->data().x())
+	{
+		delete _img;
+		_img = 0;
+	}
+	this->setData(QPointF(id, value));
+	_childCount = childCount;
+}
+
+void PdfPlotItem::showDescription(bool shown)
+{
+	if(shown)
+	{
+		if(!_img && _imagesRef)
+		{
+			QImage img;
+			QMap<int, QByteArray>::const_iterator iter = _imagesRef->find(int(this->data().x()));
+			if(iter != _imagesRef->constEnd())
+			{
+				if(img.loadFromData(iter.value(), "JPEG"))
+				{
+					QPixmap scaled = QPixmap::fromImage(img).scaledToWidth(128);
+					_img = new QGraphicsPixmapItem(scaled, this);
+					_img->setVisible(false);
+				}
+			}
+		}
+
+		if(_img)
+			_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));
+		_text->setVisible(true);
+		if(_img)
+		{
+			_img->setPos(this->mapFromScene(4,0));
+			_img->setVisible(true);
+		}
+	}
+	else
+	{
+		_text->setVisible(false);
+		if(_img)
+			_img->setVisible(false);
+	}
+	PlotItem::showDescription(shown);
+}
+
+
+
+
+
+PdfPlotCurve::PdfPlotCurve(const QString & name, const QMap<int, QByteArray> * imagesMapRef = 0, QObject * parent) :
+	PlotCurve(name, parent),
+	_imagesMapRef(imagesMapRef)
+{
+
+}
+
+PdfPlotCurve::~PdfPlotCurve()
+{
+
+}
+
+void PdfPlotCurve::clear()
+{
+	PlotCurve::clear();
+}
+
+void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap, int lastId)
+{
+	ULOGGER_DEBUG("dataSize=%d", dataMap.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, -1);
+			newItem->setImagesRef(_imagesMapRef);
+			this->_addValue(newItem);
+			++margin;
+		}
+		while(margin > 0)
+		{
+			this->removeItem(0);
+			--margin;
+		}
+
+		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)
+		{
+			((PdfPlotItem*)_items[index])->setLikelihood(i.key(),  i.value(), weightsMap.value(i.key(),-1));
+		}
+
+		//reset minMax, this will force the plot to update the axes
+		this->updateMinMax();
+		emit dataChanged(this);
+	}
+}
+
+}