Increased version to 0.20.5

Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)

guilib/include/rtabmap/utilite/UPlot.h

@@ -398,6 +398,7 @@ public:
 	bool isFlat() const {return _flat;}
 	void addItem(UPlotCurve * curve);
 	bool remove(const UPlotCurve * curve);
+	QString getAllCurveDataAsText() const;
 
 private Q_SLOTS:
 	void removeLegendItem(const UPlotCurve * curve);
@@ -510,6 +511,7 @@ public:
 	QStringList curveNames();
 	bool contains(const QString & curveName);
 	void removeCurves();
+	QString getAllCurveDataAsText() const;
 	/**
 	 * Add a threshold to the plot.
 	 */

guilib/src/DatabaseViewer.cpp

@@ -4163,9 +4163,14 @@ void DatabaseViewer::update(int value,
 				std::list<int> ids;
 				ids.push_back(id);
 				std::list<Signature*> signatures;
-				dbDriver_->loadSignatures(ids, signatures);
+				dbDriver_->loadSignatures(ids, signatures);
 
-				if(signatures.size() && signatures.front()!=0 && signatures.front()->getWords().size())
+				if(signatures.size() && signatures.front()!=0 && !signatures.front()->getWordsKpts().empty())
+				{
+					std::multimap<int, cv::KeyPoint> keypoints;
+					for(std::map<int, int>::const_iterator iter=signatures.front()->getWords().begin(); iter!=signatures.front()->getWords().end(); ++iter)
+					{
+						keypoints.insert(std::make_pair(iter->first, signatures.front()->getWordsKpts()[iter->second]));
 					}
 					view->setFeatures(keypoints, data.depthOrRightRaw().type() == CV_8UC1?cv::Mat():data.depthOrRightRaw(), Qt::yellow);
 				}
@@ -4522,16 +4527,19 @@ void DatabaseViewer::update(int value,
 							cloudViewer_->updateCameraFrustum(pose, data.stereoCameraModel());
 						}
 					}
-
+
+					//words
+					if(ui_->checkBox_showWords->isChecked() &&
 						!signatures.empty() &&
 						!(*signatures.begin())->getWords3().empty())
 					{
 						pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
-						cloud->resize((*signatures.begin())->getWords3().size());
-						int i=0;
+						cloud->resize((*signatures.begin())->getWords3().size());
+						int i=0;
 						for(std::multimap<int, int>::const_iterator iter=(*signatures.begin())->getWords().begin();
 							iter!=(*signatures.begin())->getWords().end();
-							++iter)
+							++iter)
+						{
 							const cv::Point3f & pt = (*signatures.begin())->getWords3()[iter->second];
 							cloud->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
 						}
@@ -5593,20 +5601,25 @@ void DatabaseViewer::updateConstraintView(
 				if(sTo)
 				{
 					cloudTo->resize(sTo->getWords3().size());
-				}
-				int i=0;
-				for(std::multimap<int, cv::Point3f>::const_iterator iter=sFrom->getWords3().begin();
+				}
 				int i=0;
-					++iter)
-				{
-					cloudFrom->at(i++) = pcl::PointXYZ(iter->second.x, iter->second.y, iter->second.z);
-				}
-				i=0;
-				if(sTo)
-				{
+				if(!sFrom->getWords3().empty())
+				{
 					for(std::multimap<int, int>::const_iterator iter=sFrom->getWords().begin();
 						iter!=sFrom->getWords().end();
-						++iter)
+						++iter)
+					{
+						const cv::Point3f & pt = sFrom->getWords3()[iter->second];
+						cloudFrom->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
+					}
+				}
+				i=0;
+				if(sTo && !sTo->getWords3().empty())
+				{
+					for(std::multimap<int, int>::const_iterator iter=sTo->getWords().begin();
+						iter!=sTo->getWords().end();
+						++iter)
+					{
 						const cv::Point3f & pt = sTo->getWords3()[iter->second];
 						cloudTo->at(i++) = pcl::PointXYZ(pt.x, pt.y, pt.z);
 					}
@@ -7074,13 +7087,9 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
 			}
 		}
 
-		if(reextractVisualFeatures)
-		{
-			fromS->setWords(std::multimap<int, cv::KeyPoint>());
+		if(reextractVisualFeatures)
 		{
-			fromS->setWordsDescriptors(std::multimap<int, cv::Mat>());
-			fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
-			toS->setWords(std::multimap<int, cv::KeyPoint>());
+			fromS->removeAllWords();
 			fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
 			toS->removeAllWords();
 			toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
@@ -7192,17 +7201,33 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
 		if(!silent && ui_->dockWidget_constraints->isVisible())
 		{
 			if(toS && fromS->id() > 0 && toS->id() > 0)
+			{
+				updateLoopClosuresSlider(fromS->id(), toS->id());
+				std::multimap<int, cv::KeyPoint> keypointsFrom;
+				std::multimap<int, cv::KeyPoint> keypointsTo;
+				if(!fromS->getWordsKpts().empty())
+				{
+					for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
+					{
+						keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
+					}
+				}
+				if(!toS->getWordsKpts().empty())
+				{
+					for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
+					{
+						keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
 					}
 				}
 				if(newLink.type() != Link::kNeighbor && fromS->id() < toS->id())
-				{
-					this->updateConstraintView(newLink.inverse(), true, *toS, *fromS);
+				{
+					this->updateConstraintView(newLink.inverse(), true, *toS, *fromS);
 					ui_->graphicsView_A->setFeatures(keypointsTo, toS->sensorData().depthRaw());
 					ui_->graphicsView_B->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
 				}
 				else
-				{
-					this->updateConstraintView(newLink, true, *fromS, *toS);
+				{
+					this->updateConstraintView(newLink, true, *fromS, *toS);
 					ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
 					ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
 				}
@@ -7218,8 +7243,32 @@ void DatabaseViewer::refineConstraint(int from, int to, bool silent)
 	else if(!silent)
 	{
 		if(toS && fromS->id() > 0 && toS->id() > 0)
-		{
-			// just update matches in the views
+		{
+			// just update matches in the views
+			std::multimap<int, cv::KeyPoint> keypointsFrom;
+			std::multimap<int, cv::KeyPoint> keypointsTo;
+			if(!fromS->getWordsKpts().empty())
+			{
+				for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
+				{
+					keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
+				}
+			}
+			if(!toS->getWordsKpts().empty())
+			{
+				for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
+				{
+					keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
+				}
+			}
+			if(currentLink.type() != Link::kNeighbor && fromS->id() < toS->id())
+			{
+				ui_->graphicsView_A->setFeatures(keypointsTo, toS->sensorData().depthRaw());
+				ui_->graphicsView_B->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
+			}
+			else
+			{
+				ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
 				ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
 			}
 			updateWordsMatching(info.inliersIDs);
@@ -7306,13 +7355,9 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
 			fromS->sensorData().uncompressData();
 			dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent, reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
 			toS->sensorData().uncompressData();
-			if(reextractVisualFeatures)
-			{
-				fromS->setWords(std::multimap<int, cv::KeyPoint>());
+			if(reextractVisualFeatures)
 			{
-				fromS->setWordsDescriptors(std::multimap<int, cv::Mat>());
-				fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
-				toS->setWords(std::multimap<int, cv::KeyPoint>());
+				fromS->removeAllWords();
 				fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
 				toS->removeAllWords();
 				toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
@@ -7565,8 +7610,24 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
 				updateLoopClosuresSlider(fromS->id(), toS->id());
 				this->updateGraphView();
 				this->updateConstraintView(newLink, false, *fromS, *toS);
-			}
-
+			}
+
+			std::multimap<int, cv::KeyPoint> keypointsFrom;
+			std::multimap<int, cv::KeyPoint> keypointsTo;
+			if(!fromS->getWordsKpts().empty())
+			{
+				for(std::map<int, int>::const_iterator iter=fromS->getWords().begin(); iter!=fromS->getWords().end(); ++iter)
+				{
+					keypointsFrom.insert(keypointsFrom.end(), std::make_pair(iter->first, fromS->getWordsKpts()[iter->second]));
+				}
+			}
+			if(!toS->getWordsKpts().empty())
+			{
+				for(std::map<int, int>::const_iterator iter=toS->getWords().begin(); iter!=toS->getWords().end(); ++iter)
+				{
+					keypointsTo.insert(keypointsTo.end(), std::make_pair(iter->first, toS->getWordsKpts()[iter->second]));
+				}
+			}
 			ui_->graphicsView_A->setFeatures(keypointsFrom, fromS->sensorData().depthRaw());
 			ui_->graphicsView_B->setFeatures(keypointsTo, toS->sensorData().depthRaw());
 			updateWordsMatching(info.inliersIDs);

guilib/src/MainWindow.cpp

@@ -1715,11 +1715,14 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 					_cachedSignatures.insert(signature.id(), signature);
 					_cachedMemoryUsage += signature.sensorData().getMemoryUsed();
 					unsigned int count = 0;
-					for(std::multimap<int, cv::Point3f>::const_iterator jter=signature.getWords3().upper_bound(-1); jter!=signature.getWords3().end(); ++jter)
+					if(!signature.getWords3().empty())
 					{
-						if(util3d::isFinite(jter->second))
+						for(std::multimap<int, int>::const_iterator jter=signature.getWords().upper_bound(-1); jter!=signature.getWords().end(); ++jter)
 						{
-							++count;
+							if(util3d::isFinite(signature.getWords3()[jter->second]))
+							{
+								++count;
+							}
 						}
 					}
 					_cachedWordsCount.insert(std::make_pair(signature.id(), (float)count));
@@ -1952,7 +1955,17 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			UDEBUG("time= %d ms", time.restart());
 
 			// do it after scaling
-			this->drawKeypoints(signature.getWords(), loopSignature.getWords());
+			std::multimap<int, cv::KeyPoint> wordsA;
+			std::multimap<int, cv::KeyPoint> wordsB;
+			for(std::map<int, int>::const_iterator iter=signature.getWords().begin(); iter!=signature.getWords().end(); ++iter)
+			{
+				wordsA.insert(wordsA.end(), std::make_pair(iter->first, signature.getWordsKpts()[iter->second]));
+			}
+			for(std::map<int, int>::const_iterator iter=loopSignature.getWords().begin(); iter!=loopSignature.getWords().end(); ++iter)
+			{
+				wordsB.insert(wordsB.end(), std::make_pair(iter->first, loopSignature.getWordsKpts()[iter->second]));
+			}
+			this->drawKeypoints(wordsA, wordsB);
 
 			UDEBUG("time= %d ms", time.restart());
 
@@ -3706,40 +3719,57 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 		cloud->resize(iter->getWords3().size());
 		int oi=0;
 		UASSERT(iter->getWords().size() == iter->getWords3().size());
-		std::multimap<int, cv::KeyPoint>::const_iterator kter=iter->getWords().begin();
 		float maxDepth = _preferencesDialog->getCloudMaxDepth(0);
 		UDEBUG("rgb.channels()=%d");
-		for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->getWords3().begin();
-				jter!=iter->getWords3().end(); ++jter, ++kter)
+		if(!iter->getWords3().empty() && !iter->getWordsKpts().empty())
 		{
-			if(util3d::isFinite(jter->second) && (maxDepth == 0.0f || jter->second.z < maxDepth))
+			Transform invLocalTransform = Transform::getIdentity();
+			if(iter.value().sensorData().cameraModels().size() == 1 && iter.value().sensorData().cameraModels().at(0).isValidForProjection())
 			{
-				(*cloud)[oi].x = jter->second.x;
-				(*cloud)[oi].y = jter->second.y;
-				(*cloud)[oi].z = jter->second.z;
-				int u = kter->second.pt.x+0.5;
-				int v = kter->second.pt.y+0.5;
-				if(!rgb.empty() &&
-					uIsInBounds(u, 0, rgb.cols-1) &&
-					uIsInBounds(v, 0, rgb.rows-1))
+				invLocalTransform = iter.value().sensorData().cameraModels()[0].localTransform().inverse();
+			}
+			else if(iter.value().sensorData().stereoCameraModel().isValidForProjection())
+			{
+				invLocalTransform = iter.value().sensorData().stereoCameraModel().left().localTransform().inverse();
+			}
+
+			for(std::multimap<int, int>::const_iterator jter=iter->getWords().begin(); jter!=iter->getWords().end(); ++jter)
+			{
+				const cv::Point3f & pt = iter->getWords3()[jter->second];
+				if(util3d::isFinite(pt) &&
+					(maxDepth == 0.0f ||
+							//move back point in camera frame (to get depth along z), ignore for multi-camera
+							(iter.value().sensorData().cameraModels().size()<=1 &&
+							 util3d::transformPoint(pt, invLocalTransform).z < maxDepth)))
 				{
-					if(rgb.channels() == 1)
+					(*cloud)[oi].x = pt.x;
+					(*cloud)[oi].y = pt.y;
+					(*cloud)[oi].z = pt.z;
+					const cv::KeyPoint & kpt = iter->getWordsKpts()[jter->second];
+					int u = kpt.pt.x+0.5;
+					int v = kpt.pt.y+0.5;
+					if(!rgb.empty() &&
+						uIsInBounds(u, 0, rgb.cols-1) &&
+						uIsInBounds(v, 0, rgb.rows-1))
 					{
-						(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
+						if(rgb.channels() == 1)
+						{
+							(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = rgb.at<unsigned char>(v, u);
+						}
+						else
+						{
+							cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
+							(*cloud)[oi].b = bgr.val[0];
+							(*cloud)[oi].g = bgr.val[1];
+							(*cloud)[oi].r = bgr.val[2];
+						}
 					}
 					else
 					{
-						cv::Vec3b bgr = rgb.at<cv::Vec3b>(v, u);
-						(*cloud)[oi].b = bgr.val[0];
-						(*cloud)[oi].g = bgr.val[1];
-						(*cloud)[oi].r = bgr.val[2];
+						(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
 					}
+					++oi;
 				}
-				else
-				{
-					(*cloud)[oi].r = (*cloud)[oi].g = (*cloud)[oi].b = 255;
-				}
-				++oi;
 			}
 		}
 		cloud->resize(oi);
@@ -4062,11 +4092,14 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 				_cachedSignatures.insert(iter->first, iter->second);
 				_cachedMemoryUsage += iter->second.sensorData().getMemoryUsed();
 				unsigned int count = 0;
-				for(std::multimap<int, cv::Point3f>::const_iterator jter=iter->second.getWords3().upper_bound(-1); jter!=iter->second.getWords3().end(); ++jter)
+				if(!iter->second.getWords3().empty())
 				{
-					if(util3d::isFinite(jter->second))
+					for(std::multimap<int, int>::const_iterator jter=iter->second.getWords().upper_bound(-1); jter!=iter->second.getWords().end(); ++jter)
 					{
-						++count;
+						if(util3d::isFinite(iter->second.getWords3()[jter->second]))
+						{
+							++count;
+						}
 					}
 				}
 				_cachedWordsCount.insert(std::make_pair(iter->first, (float)count));
@@ -5874,13 +5907,9 @@ void MainWindow::postProcessing()
 										}
 										else
 										{
-											signatureFrom.setWords(std::multimap<int, cv::KeyPoint>());
-											signatureFrom.setWords3(std::multimap<int, cv::Point3f>());
-											signatureFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
+											signatureFrom.removeAllWords();
 											signatureFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
-											signatureTo.setWords(std::multimap<int, cv::KeyPoint>());
-											signatureTo.setWords3(std::multimap<int, cv::Point3f>());
-											signatureTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
+											signatureTo.removeAllWords();
 											signatureTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
 										}
 									}

guilib/src/utilite/UPlot.cpp

@@ -1678,6 +1678,86 @@ void UPlotLegend::moveDown(UPlotLegendItem * item)
 	}
 }
 
+QString UPlotLegend::getAllCurveDataAsText() const
+{
+	QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
+	if(items.size())
+	{
+		// create common x-axis
+		QMap<qreal, qreal> xAxisMap;
+		for(int i=0; i<items.size(); ++i)
+		{
+			QMap<qreal, qreal> data;
+			items.at(i)->curve()->getData(data);
+			for(QMap<qreal, qreal>::iterator iter=data.begin(); iter!=data.end(); ++iter)
+			{
+				xAxisMap.insert(iter.key(), iter.value());
+			}
+		}
+		QList<qreal> xAxis = xAxisMap.uniqueKeys();
+
+		QVector<QVector<qreal> > axes;
+		for(int i=0; i<items.size(); ++i)
+		{
+			QMap<qreal, qreal> data;
+			items.at(i)->curve()->getData(data);
+
+			QVector<qreal> y(xAxis.size(), std::numeric_limits<qreal>::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<qreal>::iterator iter=xAxis.begin(); iter!=xAxis.end(); ++iter)
+			{
+				if(data.contains(*iter))
+				{
+					y[j] = data.value(*iter);
+				}
+				++j;
+			}
+			axes.push_back(y);
+		}
+		if(!xAxis.empty())
+		{
+			axes.push_front(xAxis.toVector());
+			QString text;
+			text.append('x');
+			text.append('\t');
+			for(int i=0; i<items.size(); ++i)
+			{
+				text.append(items.at(i)->curve()->name());
+				if(i+1<axes.size())
+				{
+					text.append('\t');
+				}
+			}
+			text.append('\n');
+			for(int i=0; i<axes[0].size(); ++i)
+			{
+				for(int j=0; j<axes.size(); ++j)
+				{
+					if(uIsNan(axes[j][i]))
+					{
+						text.append("NaN"); // NaN is interpreted by default as NaN in MatLab/Octave
+					}
+					else
+					{
+						text.append(QString::number(axes[j][i]));
+					}
+					if(j+1<axes.size())
+					{
+						text.append('\t');
+					}
+				}
+				if(i+1<axes[0].size())
+				{
+					text.append("\n");
+				}
+			}
+			return text;
+		}
+	}
+	return "";
+}
+
 void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
 {
 	QAction * action = _menu->exec(event->globalPos());
@@ -1687,81 +1767,11 @@ void UPlotLegend::contextMenuEvent(QContextMenuEvent * event)
 	}
 	else if(action == _aCopyAllCurvesToClipboard)
 	{
-		QList<UPlotLegendItem *> items = this->findChildren<UPlotLegendItem*>();
-		if(items.size())
+		QString data = getAllCurveDataAsText();
+		if(!data.isEmpty())
 		{
-			// create common x-axis
-			QMap<qreal, qreal> xAxisMap;
-			for(int i=0; i<items.size(); ++i)
-			{
-				QMap<qreal, qreal> data;
-				items.at(i)->curve()->getData(data);
-				for(QMap<qreal, qreal>::iterator iter=data.begin(); iter!=data.end(); ++iter)
-				{
-					xAxisMap.insert(iter.key(), iter.value());
-				}
-			}
-			QList<qreal> xAxis = xAxisMap.uniqueKeys();
-
-			QVector<QVector<qreal> > axes;
-			for(int i=0; i<items.size(); ++i)
-			{
-				QMap<qreal, qreal> data;
-				items.at(i)->curve()->getData(data);
-
-				QVector<qreal> y(xAxis.size(), std::numeric_limits<qreal>::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<qreal>::iterator iter=xAxis.begin(); iter!=xAxis.end(); ++iter)
-				{
-					if(data.contains(*iter))
-					{
-						y[j] = data.value(*iter);
-					}
-					++j;
-				}
-				axes.push_back(y);
-			}
-			if(!xAxis.empty())
-			{
-				axes.push_front(xAxis.toVector());
-				QString text;
-				text.append('x');
-				text.append('\t');
-				for(int i=0; i<items.size(); ++i)
-				{
-					text.append(items.at(i)->curve()->name());
-					if(i+1<axes.size())
-					{
-						text.append('\t');
-					}
-				}
-				text.append('\n');
-				for(int i=0; i<axes[0].size(); ++i)
-				{
-					for(int j=0; j<axes.size(); ++j)
-					{
-						if(uIsNan(axes[j][i]))
-						{
-							text.append("NaN"); // NaN is interpreted by default as NaN in MatLab/Octave
-						}
-						else
-						{
-							text.append(QString::number(axes[j][i]));
-						}
-						if(j+1<axes.size())
-						{
-							text.append('\t');
-						}
-					}
-					if(i+1<axes[0].size())
-					{
-						text.append("\n");
-					}
-				}
-				QClipboard * clipboard = QApplication::clipboard();
-				clipboard->setText(text);
-			}
+			QClipboard * clipboard = QApplication::clipboard();
+			clipboard->setText(data);
 		}
 	}
 	else if(action == _aShowAllStdDevMeanMax)
@@ -3262,3 +3272,12 @@ void UPlot::moveCurve(const UPlotCurve * curve, int index)
 		this->update();
 	}
 }
+
+QString UPlot::getAllCurveDataAsText() const
+{
+	if(_legend)
+	{
+		return _legend->getAllCurveDataAsText();
+	}
+	return "";
+}