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Increased version to 0.20.5

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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)
This commit is contained in:
matlabbe
2020-10-05 17:34:32 -04:00
parent bedc771fa4
commit bbccbd63e4
41 changed files with 1456 additions and 898 deletions
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167
guilib/src/utilite/UPlot.cpp
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@@ -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 "";
}