Modified parameters' name to reduce the number of pages in the parameters toolbox.
Added a way to sort (with a prefix number) parameters in toolbox. Can now switch between nearest neighbor strategies (kd-trees, k-means, linear). Added parameters for all FLANN nearest neighbor approaches. Added likelihood plot (including UPlot from UtiLite library and PdfPlot from RTAB-Map library). Added general parameter "MirrorView". Added general parameter "InvertedSearch" to create the vocabulary from objects descriptor instead of the scene descriptors. We can then compute likelihood of the current scene with all other objects (or another scenes). Fixed a crash (in AddObjectDialog) when selecting outside the image. Added OpenCV version used in AboutDialog. git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@109 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
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// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "PdfPlot.h"
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#define ULOGGER_DEBUG(A, ...)
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namespace rtabmap {
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PdfPlotItem::PdfPlotItem(float dataX, float dataY, float width, int childCount) :
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UPlotItem(dataX, dataY, width),
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_img(0),
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_imagesRef(0)
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{
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setLikelihood(dataX, dataY, childCount);
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_text = new QGraphicsTextItem(this);
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_text->setVisible(false);
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}
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PdfPlotItem::~PdfPlotItem()
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{
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}
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void PdfPlotItem::setLikelihood(int id, float value, int childCount)
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{
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if(_img && id != this->data().x())
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{
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delete _img;
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_img = 0;
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}
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this->setData(QPointF(id, value));
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_childCount = childCount;
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}
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void PdfPlotItem::showDescription(bool shown)
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{
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if(shown)
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{
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if(!_img && _imagesRef)
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{
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QImage img;
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QMap<int, QByteArray>::const_iterator iter = _imagesRef->find(int(this->data().x()));
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if(iter != _imagesRef->constEnd())
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{
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if(img.loadFromData(iter.value(), "JPEG"))
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{
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QPixmap scaled = QPixmap::fromImage(img).scaledToWidth(128);
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_img = new QGraphicsPixmapItem(scaled, this);
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_img->setVisible(false);
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}
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}
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}
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if(_img)
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_text->setPos(this->mapFromScene(4+150,0));
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else
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_text->setPos(this->mapFromScene(4,0));
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if(_childCount >= 0)
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{
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_text->setPlainText(QString("ID = %1\nValue = %2\nWeight = %3").arg(this->data().x()).arg(this->data().y()).arg(_childCount));
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}
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else
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{
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_text->setPlainText(QString("ID = %1\nValue = %2").arg(this->data().x()).arg(this->data().y()));
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}
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_text->setVisible(true);
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if(_img)
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{
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_img->setPos(this->mapFromScene(4,0));
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_img->setVisible(true);
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}
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}
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else
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{
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_text->setVisible(false);
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if(_img)
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_img->setVisible(false);
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}
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UPlotItem::showDescription(shown);
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}
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PdfPlotCurve::PdfPlotCurve(const QString & name, const QMap<int, QByteArray> * imagesMapRef = 0, QObject * parent) :
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UPlotCurve(name, parent),
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_imagesMapRef(imagesMapRef)
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{
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}
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PdfPlotCurve::~PdfPlotCurve()
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{
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}
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void PdfPlotCurve::clear()
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{
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UPlotCurve::clear();
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}
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void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap)
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{
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ULOGGER_DEBUG("dataMap=%d, weightsMap=%d", dataMap.size(), weightsMap.size());
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if(dataMap.size() > 0)
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{
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//match the size of the current data
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int margin = int((_items.size()+1)/2) - dataMap.size();
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while(margin < 0)
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{
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PdfPlotItem * newItem = new PdfPlotItem(0, 0, 2, 0);
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newItem->setImagesRef(_imagesMapRef);
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this->_addValue(newItem);
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++margin;
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}
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while(margin > 0)
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{
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this->removeItem(0);
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--margin;
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}
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ULOGGER_DEBUG("itemsize=%d", _items.size());
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// update values
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QList<QGraphicsItem*>::iterator iter = _items.begin();
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QMap<int, int>::const_iterator j=weightsMap.begin();
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for(QMap<int, float>::const_iterator i=dataMap.begin(); i!=dataMap.end(); ++i, ++j)
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{
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((PdfPlotItem*)*iter)->setLikelihood(i.key(), i.value(), j!=weightsMap.end()?j.value():-1);
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//2 times...
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++iter;
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++iter;
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}
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//reset minMax, this will force the plot to update the axes
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this->updateMinMax();
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emit dataChanged(this);
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}
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}
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}
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@@ -0,0 +1,69 @@
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// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef PDFPLOT_H_
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#define PDFPLOT_H_
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#include "utilite/UPlot.h"
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namespace rtabmap {
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class PdfPlotItem : public UPlotItem
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{
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public:
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PdfPlotItem(float dataX, float dataY, float width, int childCount = -1);
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virtual ~PdfPlotItem();
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void setLikelihood(int id, float value, int childCount);
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void setImagesRef(const QMap<int, QByteArray> * imagesRef) {_imagesRef = imagesRef;}
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float value() const {return this->data().y();}
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int id() const {return this->data().x();}
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protected:
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virtual void showDescription(bool shown);
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private:
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QGraphicsTextItem * _text;
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QGraphicsPixmapItem * _img;
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int _childCount;
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const QMap<int, QByteArray> * _imagesRef;
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};
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class PdfPlotCurve : public UPlotCurve
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{
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Q_OBJECT
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public:
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PdfPlotCurve(const QString & name, const QMap<int, QByteArray> * imagesMapRef, QObject * parent = 0);
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virtual ~PdfPlotCurve();
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virtual void clear();
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void setData(const QMap<int, float> & dataMap, const QMap<int, int> & weightsMap);
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private:
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const QMap<int, QByteArray> * _imagesMapRef;
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};
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}
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#endif /* PDFPLOT_H_ */
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