PdfPlot.cpp

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// Taken from RTAB-Map library r606 [www.rtabmap.googlecode.com]
 
/*
 * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
 *
 * This file is part of RTAB-Map.
 *
 * RTAB-Map is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * RTAB-Map is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#include "PdfPlot.h"
#include "find_object/utilite/ULogger.h"
 
namespace rtabmap {
 
PdfPlotItem::PdfPlotItem(float dataX, float dataY, float width, int childCount) :
        UPlotItem(dataX, dataY, width),
        _img(0),
        _imagesRef(0)
{
        setLikelihood(dataX, dataY, childCount);
        _text = new QGraphicsTextItem(this);
        _text->setVisible(false);
}
 
PdfPlotItem::~PdfPlotItem()
{
 
}
 
void PdfPlotItem::setLikelihood(int id, float value, int childCount)
{
        if(_img && id != this->data().x())
        {
                delete _img;
                _img = 0;
        }
        this->setData(QPointF(id, value));
        _childCount = childCount;
}
 
void PdfPlotItem::showDescription(bool shown)
{
        if(shown)
        {
                if(!_img && _imagesRef)
                {
                        QImage img;
                        QMap<int, QByteArray>::const_iterator iter = _imagesRef->find(int(this->data().x()));
                        if(iter != _imagesRef->constEnd())
                        {
                                if(img.loadFromData(iter.value(), "JPEG"))
                                {
                                        QPixmap scaled = QPixmap::fromImage(img).scaledToWidth(128);
                                        _img = new QGraphicsPixmapItem(scaled, this);
                                        _img->setVisible(false);
                                }
                        }
                }
 
                if(_img)
                        _text->setPos(this->mapFromScene(4+150,0));
                else
                        _text->setPos(this->mapFromScene(4,0));
                if(_childCount >= 0)
                {
                        _text->setPlainText(QString("ID = %1\nValue = %2\nWeight = %3").arg(this->data().x()).arg(this->data().y()).arg(_childCount));
                }
                else
                {
                        _text->setPlainText(QString("ID = %1\nValue = %2").arg(this->data().x()).arg(this->data().y()));
                }
                _text->setVisible(true);
                if(_img)
                {
                        _img->setPos(this->mapFromScene(4,0));
                        _img->setVisible(true);
                }
        }
        else
        {
                _text->setVisible(false);
                if(_img)
                        _img->setVisible(false);
        }
        UPlotItem::showDescription(shown);
}
 
 
 
 
 
PdfPlotCurve::PdfPlotCurve(const QString & name, const QMap<int, QByteArray> * imagesMapRef = 0, QObject * parent) :
        UPlotCurve(name, parent),
        _imagesMapRef(imagesMapRef)
{
 
}
 
PdfPlotCurve::~PdfPlotCurve()
{
 
}
 
void PdfPlotCurve::clear()
{
        UPlotCurve::clear();
}
 
void PdfPlotCurve::setData(const QMap<int, int> & dataMap, const QMap<int, int> & weightsMap)
{
        ULOGGER_DEBUG("dataMap=%d, weightsMap=%d", dataMap.size(), weightsMap.size());
        if(dataMap.size() > 0)
        {
                //match the size of the current data
                int margin = int((_items.size()+1)/2) - dataMap.size();
 
                while(margin < 0)
                {
                        PdfPlotItem * newItem = new PdfPlotItem(0, 0, 2, 0);
                        newItem->setImagesRef(_imagesMapRef);
                        this->_addValue(newItem);
                        ++margin;
                }
 
                while(margin > 0)
                {
                        this->removeItem(0);
                        --margin;
                }
 
                ULOGGER_DEBUG("itemsize=%d", _items.size());
 
                // update values
                QList<QGraphicsItem*>::iterator iter = _items.begin();
                for(QMap<int, int>::const_iterator i=dataMap.begin(); i!=dataMap.end(); ++i)
                {
                        UASSERT(iter!= _items.end());
                        ((PdfPlotItem*)*iter)->setLikelihood(i.key(),  i.value(), weightsMap.value(i.key(),-1));
                        //2 times...
                        ++iter;
                        ++iter;
                }
                //reset minMax, this will force the plot to update the axes
                this->updateMinMax();
                Q_EMIT dataChanged(this);
        }
}
 
}