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Refactoring of the cameraStereoImages and cameraRGBDImages classes (now inheriting from CameraImages) for easy setting of laser scan path, timestamps path and ground truth path.

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Added graph::importPoses().
Can now have a ground truth published with SensorData (filled optionally by CameraImages classes).
Increased database closing time performance when the database is not saved.
Added ParametersToolBox widget in DatabaseViewer for core parameters (refactoring done to make easy access to all rtabmap parameters in DatabaseViewer).
Added Parameters::getType(key).
Added Transform::interpolate() to interpolate between two transforms (SLERP)
Updated pf_filter.m and added test_pf_filter.m MATLAB scripts (making easier to compare with a ground truth)
UPlot: can now save all curve data of a figure in one action (see right-click on legend area->"Copy all curve data to clipboard")
This commit is contained in:
matlabbe
2015-12-17 14:13:19 -05:00
parent f5c062448d
commit 3292fb1146
49 changed files with 2135 additions and 2010 deletions
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73
guilib/src/utilite/UPlot.cpp
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@@ -1016,6 +1016,18 @@ void UPlotCurve::getData(QVector<float> & x, QVector<float> & y) const
}
}
void UPlotCurve::getData(QMap<float,float> & data) const
{
data.clear();
if(_items.size())
{
for(int i=0; i<_items.size(); i+=2)
{
data.insert(((UPlotItem*)_items.at(i))->data().x(), ((UPlotItem*)_items.at(i))->data().y());
}
}
}
@@ -1352,7 +1364,7 @@ UPlotLegendItem::UPlotLegendItem(UPlotCurve * curve, QWidget * parent) :
_aChangeText = new QAction(tr("Change text..."), this);
_aResetText = new QAction(tr("Reset text..."), this);
_aChangeColor = new QAction(tr("Change color..."), this);
_aCopyToClipboard = new QAction(tr("Copy curve data to the clipboard"), this);
_aCopyToClipboard = new QAction(tr("Copy curve data to clipboard"), this);
_aShowStdDev = new QAction(tr("Show std deviation"), this);
_aShowStdDev->setCheckable(true);
_aMoveUp = new QAction(tr("Move up"), this);
@@ -1495,8 +1507,10 @@ UPlotLegend::UPlotLegend(QWidget * parent) :
_aUseFlatButtons = new QAction(tr("Use flat buttons"), this);
_aUseFlatButtons->setCheckable(true);
_aUseFlatButtons->setChecked(_flat);
_aCopyAllCurveToClipboard = new QAction(tr("Copy all curve data to clipboard"), this);
_menu = new QMenu(tr("Legend"), this);
_menu->addAction(_aUseFlatButtons);
_menu->addAction(_aCopyAllCurveToClipboard);
QVBoxLayout * vLayout = new QVBoxLayout(this);
vLayout->setContentsMargins(0,0,0,0);
@@ -1635,6 +1649,63 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
{
this->setFlat(_aUseFlatButtons->isChecked());
}
else if(action == _aCopyAllCurveToClipboard)
{
QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
if(items.size())
{
QMap<float,float> firstData;
QVector<QVector<float> > axes;
for(int i=0; i<items.size(); ++i)
{
QMap<float, float> data;
items.at(i)->curve()->getData(data);
if(i==0)
{
firstData = data;
}
else
{
QVector<float> y(firstData.size(), 0.0f);
// ust to make usre that we have the same number of data on each curve, set 0 for unknowns
int j=0;
for(QMap<float,float>::iterator iter=firstData.begin(); iter!=firstData.end(); ++iter)
{
if(data.contains(iter.key()))
{
y[j] = data.value(iter.key());
}
++j;
}
axes.push_back(y);
}
}
if(firstData.size())
{
axes.push_front(firstData.values().toVector());
axes.push_front(firstData.keys().toVector());
QString text;
for(int i=0; i<axes.size(); ++i)
{
for(int j=0; j<axes[i].size(); ++j)
{
text.append(QString::number(axes[i][j]));
if(j+1<axes[i].size())
{
text.append(' ');
}
}
if(i+1<axes.size())
{
text.append("\n");
}
}
QClipboard * clipboard = QApplication::clipboard();
clipboard->setText(text);
}
}
}
}
void UPlotLegend::redirectToggled(bool toggled)