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UPlot: changed float to qreal (double). Added UPlot::frameData() function.

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This commit is contained in:
matlabbe
2020-06-07 11:55:27 -04:00
parent de5610bd08
commit 86ac63ab19
9 changed files with 235 additions and 185 deletions
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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -246,7 +246,7 @@ Q_SIGNALS:
void timeLimitChanged(float);
void mappingModeChanged(bool);
void noMoreImagesReceived();
void loopClosureThrChanged(float);
void loopClosureThrChanged(qreal);
void twistReceived(float x, float y, float z, float roll, float pitch, float yaw, int row, int col);
private:

28
guilib/include/rtabmap/gui/StatsToolBox.h
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@@ -46,14 +46,14 @@ class RTABMAPGUI_EXP StatItem : public QWidget
Q_OBJECT;
public:
StatItem(const QString & name, bool cacheOn, const std::vector<float> & x, const std::vector<float> & y, const QString & unit = QString(), const QMenu * menu = 0, QGridLayout * grid = 0, QWidget * parent = 0);
StatItem(const QString & name, bool cacheOn, const std::vector<qreal> & x, const std::vector<qreal> & y, const QString & unit = QString(), const QMenu * menu = 0, QGridLayout * grid = 0, QWidget * parent = 0);
virtual ~StatItem();
void addValue(float y);
void addValue(float x, float y);
void setValues(const std::vector<float> & x, const std::vector<float> & y);
void addValue(qreal y);
void addValue(qreal x, qreal y);
void setValues(const std::vector<qreal> & x, const std::vector<qreal> & y);
QString value() const;
std::vector<float> xValues() const {return _x;}
std::vector<float> yValues() const {return _y;}
std::vector<qreal> xValues() const {return _x;}
std::vector<qreal> yValues() const {return _y;}
void setCacheOn(bool on);
void clearCache();
@@ -61,9 +61,9 @@ public Q_SLOTS:
void updateMenu(const QMenu * menu);
Q_SIGNALS:
void valueAdded(float);
void valueAdded(float, float);
void valuesChanged(const std::vector<float> &, const std::vector<float> &);
void valueAdded(qreal);
void valueAdded(qreal, qreal);
void valuesChanged(const std::vector<qreal> &, const std::vector<qreal> &);
void plotRequested(const StatItem *, const QString &);
private Q_SLOTS:
@@ -80,8 +80,8 @@ private:
QMenu * _menu;
bool _cacheOn;
std::vector<float> _x;
std::vector<float> _y;
std::vector<qreal> _x;
std::vector<qreal> _y;
};
@@ -104,9 +104,9 @@ public:
public Q_SLOTS:
void updateStat(const QString & statFullName, bool cacheOn);
void updateStat(const QString & statFullName, float y, bool cacheOn);
void updateStat(const QString & statFullName, float x, float y, bool cacheOn);
void updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y, bool cacheOn);
void updateStat(const QString & statFullName, qreal y, bool cacheOn);
void updateStat(const QString & statFullName, qreal x, qreal y, bool cacheOn);
void updateStat(const QString & statFullName, const std::vector<qreal> & x, const std::vector<qreal> & y, bool cacheOn);
void clear();
Q_SIGNALS:

72
guilib/include/rtabmap/utilite/UPlot.h
View File

@@ -105,7 +105,7 @@ public:
/**
* Constructor 3
*/
UPlotCurve(const QString & name, const QVector<float> & x, const QVector<float> & y, QObject * parent = 0);
UPlotCurve(const QString & name, const QVector<qreal> & x, const QVector<qreal> & y, QObject * parent = 0);
virtual ~UPlotCurve();
/**
@@ -140,8 +140,8 @@ public:
QPointF getItemData(int index);
bool isVisible() const {return _visible;}
void setData(QVector<UPlotItem*> & data); // take the ownership
void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
void getData(QMap<float,float> & data) const; // only call in Qt MainThread
void getData(QVector<qreal> & x, QVector<qreal> & y) const; // only call in Qt MainThread
void getData(QMap<qreal,qreal> & data) const; // only call in Qt MainThread
void draw(QPainter * painter, const QRect & limits);
public Q_SLOTS:
@@ -159,12 +159,12 @@ public Q_SLOTS:
*
* Set increment of the x values (when auto-increment is used).
*/
void setXIncrement(float increment);
void setXIncrement(qreal increment);
/**
*
* Set starting x value (when auto-increment is used).
*/
void setXStart(float val);
void setXStart(qreal val);
/**
*
* Add a single value, using a custom UPlotItem.
@@ -175,12 +175,12 @@ public Q_SLOTS:
* Add a single value y, x is auto-incremented by the increment set with setXIncrement().
* @see setXStart()
*/
void addValue(float y);
void addValue(qreal y);
/**
*
* Add a single value y at x.
*/
void addValue(float x, float y);
void addValue(qreal x, qreal y);
/**
*
* For convenience...
@@ -198,26 +198,26 @@ public Q_SLOTS:
*
* Add multiple values y at x. Vectors must have the same size.
*/
void addValues(const QVector<float> & xs, const QVector<float> & ys);
void addValues(const QVector<qreal> & xs, const QVector<qreal> & ys);
/**
*
* Add multiple values y, x is auto-incremented by the increment set with setXIncrement().
* @see setXStart()
*/
void addValues(const QVector<float> & ys);
void addValues(const QVector<qreal> & ys);
void addValues(const QVector<int> & ys); // for convenience
/**
*
* Add multiple values y, x is auto-incremented by the increment set with setXIncrement().
* @see setXStart()
*/
void addValues(const std::vector<float> & ys); // for convenience
void addValues(const std::vector<qreal> & ys); // for convenience
void addValues(const std::vector<int> & ys); // for convenience
void setData(const QVector<float> & x, const QVector<float> & y);
void setData(const std::vector<float> & x, const std::vector<float> & y);
void setData(const QVector<float> & y);
void setData(const std::vector<float> & y);
void setData(const QVector<qreal> & x, const QVector<qreal> & y);
void setData(const std::vector<qreal> & x, const std::vector<qreal> & y);
void setData(const QVector<qreal> & y);
void setData(const std::vector<qreal> & y);
Q_SIGNALS:
/**
@@ -231,11 +231,11 @@ protected:
void attach(UPlot * plot);
void detach(UPlot * plot);
void updateMinMax();
const QVector<float> & getMinMax() const {return _minMax;}
const QVector<qreal> & getMinMax() const {return _minMax;}
int removeItem(int index);
void _addValue(UPlotItem * data);;
virtual bool isMinMaxValid() const {return _minMax.size();}
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, int maxItemsKept);
virtual void update(qreal scaleX, qreal scaleY, qreal offsetX, qreal offsetY, qreal xDir, qreal yDir, int maxItemsKept);
QList<QGraphicsItem *> _items;
UPlot * _plot;
@@ -246,11 +246,11 @@ private:
QString _name;
QPen _pen;
QBrush _brush;
float _xIncrement;
float _xStart;
qreal _xIncrement;
qreal _xStart;
bool _visible;
bool _valuesShown;
QVector<float> _minMax; // minX, maxX, minY, maxY
QVector<qreal> _minMax; // minX, maxX, minY, maxY
QGraphicsRectItem * _rootItem;
QColor _itemsColor;
};
@@ -267,14 +267,14 @@ public:
/**
* Constructor.
*/
UPlotCurveThreshold(const QString & name, float thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
UPlotCurveThreshold(const QString & name, qreal thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
virtual ~UPlotCurveThreshold();
public Q_SLOTS:
/**
* Set threshold value.
*/
void setThreshold(float threshold);
void setThreshold(qreal threshold);
/**
* Set orientation (Qt::Horizontal or Qt::Vertical).
*/
@@ -282,7 +282,7 @@ public Q_SLOTS:
protected:
friend class UPlot;
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, int maxItemsKept);
virtual void update(qreal scaleX, qreal scaleY, qreal offsetX, qreal offsetY, qreal xDir, qreal yDir, int maxItemsKept);
virtual bool isMinMaxValid() const {return false;}
private:
@@ -298,7 +298,7 @@ public:
/**
* Constructor.
*/
UPlotAxis(Qt::Orientation orientation = Qt::Horizontal, float min=0, float max=1, QWidget * parent = 0);
UPlotAxis(Qt::Orientation orientation = Qt::Horizontal, qreal min=0, qreal max=1, QWidget * parent = 0);
virtual ~UPlotAxis();
public:
@@ -306,7 +306,7 @@ public:
* Set axis minimum and maximum values, compute the resulting
* intervals depending on the size of the axis.
*/
void setAxis(float & min, float & max);
void setAxis(qreal & min, qreal & max);
/**
* Size of the border between the first line and the beginning of the widget.
*/
@@ -329,8 +329,8 @@ protected:
private:
Qt::Orientation _orientation;
float _min;
float _max;
qreal _min;
qreal _max;
int _count;
int _step;
bool _reversed;
@@ -472,8 +472,8 @@ private:
* QApplication app(argc, argv);
* UPlot plot;
* UPlotCurve * curve = plot.addCurve("My curve");
* float y[10] = {0, 1, 2, 3, -3, -2, -1, 0, 1, 2};
* curve->addValues(std::vector<float>(y, y+10));
* qreal y[10] = {0, 1, 2, 3, -3, -2, -1, 0, 1, 2};
* curve->addValues(std::vector<qreal>(y, y+10));
* plot.showGrid(true);
* plot.setGraphicsView(true);
* plot.show();
@@ -513,7 +513,7 @@ public:
/**
* Add a threshold to the plot.
*/
UPlotCurveThreshold * addThreshold(const QString & name, float value, Qt::Orientation orientation = Qt::Horizontal);
UPlotCurveThreshold * addThreshold(const QString & name, qreal value, Qt::Orientation orientation = Qt::Horizontal);
QString title() const {return this->objectName();}
QPen getRandomPenColored();
void showLegend(bool shown);
@@ -525,8 +525,8 @@ public:
void showYAxis(bool shown) {_verticalAxis->setVisible(shown);}
void setVariableXAxis() {_fixedAxis[0] = false;}
void setVariableYAxis() {_fixedAxis[1] = false;}
void setFixedXAxis(float x1, float x2);
void setFixedYAxis(float y1, float y2);
void setFixedXAxis(qreal x1, qreal x2);
void setFixedYAxis(qreal y1, qreal y2);
void setMaxVisibleItems(int maxVisibleItems);
void setTitle(const QString & text);
void setXLabel(const QString & text);
@@ -550,6 +550,8 @@ public Q_SLOTS:
*/
void clearData();
void frameData(bool xAxis = true, bool yAxis = false);
private Q_SLOTS:
void captureScreen();
void updateAxis(const UPlotCurve * curve);
@@ -570,20 +572,20 @@ private:
private:
void replot(QPainter * painter);
bool updateAxis(float x, float y);
bool updateAxis(float x1, float x2, float y1, float y2);
bool updateAxis(qreal x, qreal y);
bool updateAxis(qreal x1, qreal x2, qreal y1, qreal y2);
void setupUi();
void createActions();
void createMenus();
void selectScreenCaptureFormat();
bool mousePosToValue(const QPoint & pos, float & x, float & y);
bool mousePosToValue(const QPoint & pos, qreal & x, qreal & y);
private:
UPlotLegend * _legend;
QGraphicsView * _view;
QGraphicsItem * _sceneRoot;
QWidget * _graphicsViewHolder;
float _axisMaximums[4]; // {x1->x2, y1->y2}
qreal _axisMaximums[4]; // {x1->x2, y1->y2}
bool _axisMaximumsSet[4]; // {x1->x2, y1->y2}
bool _fixedAxis[2];
UPlotAxis * _verticalAxis;