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Updated UPlot data copy to include data of all curves (common x-axis), added also mean and max along stddev in legend item option

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This commit is contained in:
matlabbe
2019-07-03 12:01:34 -04:00
parent 72e613fe28
commit abbf7e4476
3 changed files with 85 additions and 42 deletions
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6
guilib/include/rtabmap/utilite/UPlot.h
View File

@@ -360,7 +360,7 @@ Q_SIGNALS:
void moveDownRequest(UPlotLegendItem *);
private Q_SLOTS:
void updateStdDev();
void updateStdDevMeanMax();
protected:
virtual void contextMenuEvent(QContextMenuEvent * event);
@@ -372,7 +372,7 @@ private:
QAction * _aResetText;
QAction * _aChangeColor;
QAction * _aCopyToClipboard;
QAction * _aShowStdDev;
QAction * _aShowStdDevMeanMax;
QAction * _aRemoveCurve;
QAction * _aMoveUp;
QAction * _aMoveDown;
@@ -417,7 +417,7 @@ private:
bool _flat;
QMenu * _menu;
QAction * _aUseFlatButtons;
QAction * _aCopyAllCurveToClipboard;
QAction * _aCopyAllCurvesToClipboard;
};

3
guilib/src/MainWindow.cpp
View File

@@ -1924,7 +1924,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
std::map<int, std::string> labels = _currentLabels;
mapIds.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().mapId()));
if(!stat.getLastSignatureData().getGroundTruthPose().isNull())
if(!stat.getLastSignatureData().getGroundTruthPose().isNull() &&
_cachedSignatures.contains(stat.getLastSignatureData().id()))
{
groundTruth.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().getGroundTruthPose()));
}

118
guilib/src/utilite/UPlot.cpp
View File

@@ -1143,6 +1143,10 @@ void UPlotCurveThreshold::update(float scaleX, float scaleY, float offsetX, floa
UPlotAxis::UPlotAxis(Qt::Orientation orientation, float min, float max, QWidget * parent) :
QWidget(parent),
_orientation(orientation),
_min(0),
_max(0),
_count(0),
_step(0),
_reversed(false),
_gradMaxDigits(4),
_border(0)
@@ -1365,8 +1369,8 @@ UPlotLegendItem::UPlotLegendItem(UPlotCurve * curve, QWidget * parent) :
_aResetText = new QAction(tr("Reset text..."), this);
_aChangeColor = new QAction(tr("Change color..."), this);
_aCopyToClipboard = new QAction(tr("Copy curve data to clipboard"), this);
_aShowStdDev = new QAction(tr("Show std deviation"), this);
_aShowStdDev->setCheckable(true);
_aShowStdDevMeanMax = new QAction(tr("Show %1, %2, max").arg(QChar(0xbc, 0x03)).arg(QChar(0xc3, 0x03)), this);
_aShowStdDevMeanMax->setCheckable(true);
_aMoveUp = new QAction(tr("Move up"), this);
_aMoveDown = new QAction(tr("Move down"), this);
_aRemoveCurve = new QAction(tr("Remove this curve"), this);
@@ -1375,7 +1379,7 @@ UPlotLegendItem::UPlotLegendItem(UPlotCurve * curve, QWidget * parent) :
_menu->addAction(_aResetText);
_menu->addAction(_aChangeColor);
_menu->addAction(_aCopyToClipboard);
_menu->addAction(_aShowStdDev);
_menu->addAction(_aShowStdDevMeanMax);
_menu->addSeparator();
_menu->addAction(_aMoveUp);
_menu->addAction(_aMoveDown);
@@ -1446,15 +1450,16 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
clipboard->setText(text);
}
}
else if(action == _aShowStdDev)
else if(action == _aShowStdDevMeanMax)
{
if(_aShowStdDev->isChecked())
if(_aShowStdDevMeanMax->isChecked())
{
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDev()));
connect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
updateStdDevMeanMax();
}
else
{
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDev()));
disconnect(_curve, SIGNAL(dataChanged(const UPlotCurve *)), this, SLOT(updateStdDevMeanMax()));
QString nameSpaced = _curve->name();
nameSpaced.replace('_', ' ');
this->setText(nameSpaced);
@@ -1486,14 +1491,16 @@ QPixmap UPlotLegendItem::createSymbol(const QPen & pen, const QBrush & brush)
return pixmap;
}
void UPlotLegendItem::updateStdDev()
void UPlotLegendItem::updateStdDevMeanMax()
{
QVector<float> x, y;
_curve->getData(x, y);
float stdDev = std::sqrt(uVariance(y.data(), y.size()));
float mean = uMean(y.data(), y.size());
float stdDev = std::sqrt(uVariance(y.data(), y.size(), mean));
float max = uMax(y.data(), y.size());
QString nameSpaced = _curve->name();
nameSpaced.replace('_', ' ');
nameSpaced += QString(" (%1=%2)").arg(QChar(0xc3, 0x03)).arg(stdDev);
nameSpaced += QString("\n(%1=%2, %3=%4, max=%5)").arg(QChar(0xbc, 0x03)).arg(mean).arg(QChar(0xc3, 0x03)).arg(stdDev).arg(max);
this->setText(nameSpaced);
}
@@ -1510,10 +1517,10 @@ 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);
_aCopyAllCurvesToClipboard = new QAction(tr("Copy all curve data to clipboard"), this);
_menu = new QMenu(tr("Legend"), this);
_menu->addAction(_aUseFlatButtons);
_menu->addAction(_aCopyAllCurveToClipboard);
_menu->addAction(_aCopyAllCurvesToClipboard);
QVBoxLayout * vLayout = new QVBoxLayout(this);
vLayout->setContentsMargins(0,0,0,0);
@@ -1652,42 +1659,44 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
{
this->setFlat(_aUseFlatButtons->isChecked());
}
else if(action == _aCopyAllCurveToClipboard)
else if(action == _aCopyAllCurvesToClipboard)
{
QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
if(items.size())
{
QMap<float,float> firstData;
// create common x-axis
QSet<float> xAxisSet;
for(int i=0; i<items.size(); ++i)
{
QMap<float, float> data;
items.at(i)->curve()->getData(data);
xAxisSet.unite(QSet<float>::fromList(data.keys()));
}
QList<float> xAxis = xAxisSet.toList();
qSort(xAxis.begin(), xAxis.end());
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)
QVector<float> y(xAxis.size(), std::numeric_limits<float>::quiet_NaN());
// just to make sure that we have the same number of data on each curve, set NAN for unknowns
int j=0;
for(QList<float>::iterator iter=xAxis.begin(); iter!=xAxis.end(); ++iter)
{
firstData = data;
}
else
{
QVector<float> y(firstData.size(), std::numeric_limits<float>::quiet_NaN());
// 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))
{
if(data.contains(iter.key()))
{
y[j] = data.value(iter.key());
}
++j;
y[j] = data.value(*iter);
}
axes.push_back(y);
++j;
}
axes.push_back(y);
}
if(firstData.size())
if(!xAxis.empty())
{
axes.push_front(firstData.values().toVector());
axes.push_front(firstData.keys().toVector());
axes.push_front(xAxis.toVector());
QString text;
text.append('x');
text.append('\t');
@@ -1822,9 +1831,46 @@ void UOrientableLabel::paintEvent(QPaintEvent* event)
UPlot::UPlot(QWidget *parent) :
QWidget(parent),
_legend(0),
_view(0),
_sceneRoot(0),
_graphicsViewHolder(0),
_verticalAxis(0),
_horizontalAxis(0),
_penStyleCount(0),
_maxVisibleItems(-1),
_title(0),
_xLabel(0),
_yLabel(0),
_refreshRate(0),
_workingDirectory(QDir::homePath()),
_lowestRefreshRate(99),
_autoScreenCaptureFormat("png"),
_bgColor(Qt::white)
_bgColor(Qt::white),
_menu(0),
_aShowLegend(0),
_aShowGrid(0),
_aKeepAllData(0),
_aLimit0(0),
_aLimit10(0),
_aLimit50(0),
_aLimit100(0),
_aLimit500(0),
_aLimit1000(0),
_aLimitCustom(0),
_aAddVerticalLine(0),
_aAddHorizontalLine(0),
_aChangeTitle(0),
_aChangeXLabel(0),
_aChangeYLabel(0),
_aChangeBackgroundColor(0),
_aYLabelVertical(0),
_aShowRefreshRate(0),
_aMouseTracking(0),
_aSaveFigure(0),
_aAutoScreenCapture(0),
_aClearData(0),
_aGraphicsView(0)
{
this->setupUi();
this->createActions();
@@ -1836,7 +1882,7 @@ UPlot::UPlot(QWidget *parent) :
this->setMaxVisibleItems(0);
this->showGrid(false);
this->showRefreshRate(false);
this->keepAllData(false);
this->keepAllData(true);
for(int i=0; i<4; ++i)
{
@@ -1851,11 +1897,7 @@ UPlot::UPlot(QWidget *parent) :
_mouseCurrentPos = _mousePressedPos; // for zooming
_refreshIntervalTime.start();
_lowestRefreshRate = 99;
_refreshStartTime.start();
_penStyleCount = 0;
_workingDirectory = QDir::homePath();
}
UPlot::~UPlot()