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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@@ -0,0 +1,598 @@
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// Taken from UtiLite library r185 [www.utilite.googlecode.com]
|
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|
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/*
|
||||
* utilite is a cross-platform library with
|
||||
* useful utilities for fast and small developing.
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||||
* Copyright (C) 2010 Mathieu Labbe
|
||||
*
|
||||
* utilite is free library: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU Lesser General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* utilite 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 Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef UPLOT_H_
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||||
#define UPLOT_H_
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||||
//#include "utilite/UtiLiteExp.h" // DLL export/import defines
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||||
|
||||
#include <QtGui/QFrame>
|
||||
#include <QtCore/QList>
|
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#include <QtCore/QMap>
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#include <QtGui/QPen>
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#include <QtGui/QBrush>
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||||
#include <QtGui/QGraphicsEllipseItem>
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#include <QtCore/QMutex>
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#include <QtGui/QLabel>
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#include <QtGui/QPushButton>
|
||||
#include <QtCore/QTime>
|
||||
|
||||
class QGraphicsView;
|
||||
class QGraphicsScene;
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||||
class QGraphicsItem;
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||||
class QFormLayout;
|
||||
|
||||
/**
|
||||
* UPlotItem is a QGraphicsEllipseItem and can be inherited to do custom behaviors
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||||
* on an hoverEnterEvent() for example.
|
||||
*/
|
||||
class UPlotItem : public QGraphicsEllipseItem
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor 1.
|
||||
*/
|
||||
UPlotItem(qreal dataX, qreal dataY, qreal width=2);
|
||||
/**
|
||||
* Constructor 2.
|
||||
*/
|
||||
UPlotItem(const QPointF & data, qreal width=2);
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virtual ~UPlotItem();
|
||||
|
||||
public:
|
||||
void setNextItem(UPlotItem * nextItem);
|
||||
void setPreviousItem(UPlotItem * previousItem);
|
||||
void setData(const QPointF & data);
|
||||
|
||||
UPlotItem * nextItem() const {return _nextItem;}
|
||||
UPlotItem * previousItem() const {return _previousItem;};
|
||||
const QPointF & data() const {return _data;}
|
||||
|
||||
protected:
|
||||
virtual void hoverEnterEvent(QGraphicsSceneHoverEvent * event);
|
||||
virtual void hoverLeaveEvent(QGraphicsSceneHoverEvent * event);
|
||||
virtual void focusInEvent(QFocusEvent * event);
|
||||
virtual void focusOutEvent(QFocusEvent * event);
|
||||
virtual void keyReleaseEvent(QKeyEvent * keyEvent);
|
||||
|
||||
virtual void showDescription(bool shown);
|
||||
|
||||
private:
|
||||
QPointF _data;
|
||||
QGraphicsTextItem * _text;
|
||||
UPlotItem * _previousItem;
|
||||
UPlotItem * _nextItem;
|
||||
};
|
||||
|
||||
class UPlot;
|
||||
|
||||
/**
|
||||
* UPlotCurve is a curve used to hold data shown in a UPlot.
|
||||
*/
|
||||
class UPlotCurve : public QObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor 1
|
||||
*/
|
||||
UPlotCurve(const QString & name, QObject * parent = 0);
|
||||
/**
|
||||
* Constructor 2
|
||||
*/
|
||||
UPlotCurve(const QString & name, const QVector<UPlotItem *> data, QObject * parent = 0);
|
||||
/**
|
||||
* Constructor 3
|
||||
*/
|
||||
UPlotCurve(const QString & name, const QVector<float> & x, const QVector<float> & y, QObject * parent = 0);
|
||||
virtual ~UPlotCurve();
|
||||
|
||||
/**
|
||||
* Get pen.
|
||||
*/
|
||||
const QPen & pen() const {return _pen;}
|
||||
/**
|
||||
* Get brush.
|
||||
*/
|
||||
const QBrush & brush() const {return _brush;}
|
||||
|
||||
/**
|
||||
* Set pen.
|
||||
*/
|
||||
void setPen(const QPen & pen);
|
||||
/**
|
||||
* Set brush.
|
||||
*/
|
||||
void setBrush(const QBrush & brush);
|
||||
|
||||
/**
|
||||
* Get name.
|
||||
*/
|
||||
QString name() const {return _name;}
|
||||
/**
|
||||
* Get the number of items in the curve (dot + line items).
|
||||
*/
|
||||
int itemsSize() const;
|
||||
QPointF getItemData(int index);
|
||||
bool isVisible() const {return _visible;}
|
||||
void setData(QVector<UPlotItem*> & data); // take the ownership
|
||||
void setData(const QVector<float> & x, const QVector<float> & y);
|
||||
void setData(const std::vector<float> & x, const std::vector<float> & y);
|
||||
void setData(const QVector<float> & y);
|
||||
void setData(const std::vector<float> & y);
|
||||
void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
|
||||
void draw(QPainter * painter);
|
||||
const QVector<float> & getMinMax() const {return _minMax;}
|
||||
|
||||
public slots:
|
||||
/**
|
||||
*
|
||||
* Clear curve's values.
|
||||
*/
|
||||
virtual void clear();
|
||||
/**
|
||||
*
|
||||
* Show or hide the curve.
|
||||
*/
|
||||
void setVisible(bool visible);
|
||||
/**
|
||||
*
|
||||
* Set increment of the x values (when auto-increment is used).
|
||||
*/
|
||||
void setXIncrement(float increment);
|
||||
/**
|
||||
*
|
||||
* Set starting x value (when auto-increment is used).
|
||||
*/
|
||||
void setXStart(float val);
|
||||
/**
|
||||
*
|
||||
* Add a single value, using a custom UPlotItem.
|
||||
*/
|
||||
void addValue(UPlotItem * data); // take the ownership
|
||||
/**
|
||||
*
|
||||
* Add a single value y, x is auto-incremented by the increment set with setXIncrement().
|
||||
* @see setXStart()
|
||||
*/
|
||||
void addValue(float y);
|
||||
/**
|
||||
*
|
||||
* Add a single value y at x.
|
||||
*/
|
||||
void addValue(float x, float y);
|
||||
/**
|
||||
*
|
||||
* For convenience...
|
||||
* Add a single value y, x is auto-incremented by the increment set with setXIncrement().
|
||||
* @see setXStart()
|
||||
*/
|
||||
void addValue(const QString & y);
|
||||
/**
|
||||
*
|
||||
* For convenience...
|
||||
* Add multiple values, using custom UPlotItem.
|
||||
*/
|
||||
void addValues(QVector<UPlotItem *> & data); // take the ownership
|
||||
/**
|
||||
*
|
||||
* Add multiple values y at x. Vectors must have the same size.
|
||||
*/
|
||||
void addValues(const QVector<float> & xs, const QVector<float> & ys);
|
||||
/**
|
||||
*
|
||||
* Add multiple values y, x is auto-incremented by the increment set with setXIncrement().
|
||||
* @see setXStart()
|
||||
*/
|
||||
void addValues(const QVector<float> & ys);
|
||||
void addValues(const QVector<int> & ys); // for convenience
|
||||
/**
|
||||
*
|
||||
* Add multiple values y, x is auto-incremented by the increment set with setXIncrement().
|
||||
* @see setXStart()
|
||||
*/
|
||||
void addValues(const std::vector<float> & ys); // for convenience
|
||||
void addValues(const std::vector<int> & ys); // for convenience
|
||||
|
||||
signals:
|
||||
/**
|
||||
*
|
||||
* emitted when data is changed.
|
||||
*/
|
||||
void dataChanged(const UPlotCurve *);
|
||||
|
||||
protected:
|
||||
friend class UPlot;
|
||||
void attach(UPlot * plot);
|
||||
void detach(UPlot * plot);
|
||||
void updateMinMax();
|
||||
int removeItem(int index);
|
||||
void _addValue(UPlotItem * data);;
|
||||
virtual bool isMinMaxValid() const {return _minMax.size();}
|
||||
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept);
|
||||
QList<QGraphicsItem *> _items;
|
||||
UPlot * _plot;
|
||||
|
||||
private:
|
||||
void removeItem(UPlotItem * item);
|
||||
|
||||
private:
|
||||
QString _name;
|
||||
QPen _pen;
|
||||
QBrush _brush;
|
||||
float _xIncrement;
|
||||
float _xStart;
|
||||
bool _visible;
|
||||
bool _valuesShown;
|
||||
QVector<float> _minMax; // minX, maxX, minY, maxY
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* A special UPlotCurve that shows as a line at the specified value, spanning all the UPlot.
|
||||
*/
|
||||
class UPlotCurveThreshold : public UPlotCurve
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UPlotCurveThreshold(const QString & name, float thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
|
||||
virtual ~UPlotCurveThreshold();
|
||||
|
||||
public slots:
|
||||
/**
|
||||
* Set threshold value.
|
||||
*/
|
||||
void setThreshold(float threshold);
|
||||
/**
|
||||
* Set orientation (Qt::Horizontal or Qt::Vertical).
|
||||
*/
|
||||
void setOrientation(Qt::Orientation orientation);
|
||||
|
||||
protected:
|
||||
friend class UPlot;
|
||||
virtual void update(float scaleX, float scaleY, float offsetX, float offsetY, float xDir, float yDir, bool allDataKept);
|
||||
virtual bool isMinMaxValid() const {return false;}
|
||||
|
||||
private:
|
||||
Qt::Orientation _orientation;
|
||||
};
|
||||
|
||||
/**
|
||||
* The UPlot axis object.
|
||||
*/
|
||||
class UPlotAxis : public QWidget
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UPlotAxis(Qt::Orientation orientation = Qt::Horizontal, float min=0, float max=1, QWidget * parent = 0);
|
||||
virtual ~UPlotAxis();
|
||||
|
||||
public:
|
||||
/**
|
||||
* Set axis minimum and maximum values, compute the resulting
|
||||
* intervals depending on the size of the axis.
|
||||
*/
|
||||
void setAxis(float & min, float & max);
|
||||
/**
|
||||
* Size of the border between the first line and the beginning of the widget.
|
||||
*/
|
||||
int border() const {return _border;}
|
||||
/**
|
||||
* Interval step value.
|
||||
*/
|
||||
int step() const {return _step;}
|
||||
/**
|
||||
* Number of intervals.
|
||||
*/
|
||||
int count() const {return _count;}
|
||||
/**
|
||||
* Reverse the axis (for vertical :bottom->up, for horizontal :right->left)
|
||||
*/
|
||||
void setReversed(bool reversed); // Vertical :bottom->up, horizontal :right->left
|
||||
|
||||
protected:
|
||||
virtual void paintEvent(QPaintEvent * event);
|
||||
|
||||
private:
|
||||
Qt::Orientation _orientation;
|
||||
float _min;
|
||||
float _max;
|
||||
int _count;
|
||||
int _step;
|
||||
bool _reversed;
|
||||
int _gradMaxDigits;
|
||||
int _border;
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* The UPlot legend item. Used internally by UPlot.
|
||||
*/
|
||||
class UPlotLegendItem : public QPushButton
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UPlotLegendItem(const UPlotCurve * curve, QWidget * parent = 0);
|
||||
virtual ~UPlotLegendItem();
|
||||
const UPlotCurve * curve() const {return _curve;}
|
||||
|
||||
signals:
|
||||
void legendItemRemoved(const UPlotCurve *);
|
||||
|
||||
protected:
|
||||
virtual void contextMenuEvent(QContextMenuEvent * event);
|
||||
|
||||
private:
|
||||
const UPlotCurve * _curve;
|
||||
QMenu * _menu;
|
||||
QAction * _aChangeText;
|
||||
QAction * _aResetText;
|
||||
QAction * _aRemoveCurve;
|
||||
QAction * _aCopyToClipboard;
|
||||
};
|
||||
|
||||
/**
|
||||
* The UPlot legend. Used internally by UPlot.
|
||||
*/
|
||||
class UPlotLegend : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UPlotLegend(QWidget * parent = 0);
|
||||
virtual ~UPlotLegend();
|
||||
|
||||
void setFlat(bool on);
|
||||
bool isFlat() const {return _flat;}
|
||||
void addItem(const UPlotCurve * curve);
|
||||
QPixmap createSymbol(const QPen & pen, const QBrush & brush);
|
||||
bool remove(const UPlotCurve * curve);
|
||||
|
||||
public slots:
|
||||
void removeLegendItem(const UPlotCurve * curve);
|
||||
|
||||
signals:
|
||||
void legendItemRemoved(const UPlotCurve * curve);
|
||||
void legendItemToggled(const UPlotCurve * curve, bool toggled);
|
||||
|
||||
protected:
|
||||
virtual void contextMenuEvent(QContextMenuEvent * event);
|
||||
|
||||
private slots:
|
||||
void redirectToggled(bool);
|
||||
|
||||
private:
|
||||
bool _flat;
|
||||
QMenu * _menu;
|
||||
QAction * _aUseFlatButtons;
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* Orientable QLabel. Inherit QLabel and let you to specify the orientation.
|
||||
*/
|
||||
class UOrientableLabel : public QLabel
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UOrientableLabel(const QString & text, Qt::Orientation orientation = Qt::Horizontal, QWidget * parent = 0);
|
||||
virtual ~UOrientableLabel();
|
||||
/**
|
||||
* Get orientation.
|
||||
*/
|
||||
Qt::Orientation orientation() const {return _orientation;}
|
||||
/**
|
||||
* Set orientation (Qt::Vertical or Qt::Horizontal).
|
||||
*/
|
||||
void setOrientation(Qt::Orientation orientation);
|
||||
QSize sizeHint() const;
|
||||
QSize minimumSizeHint() const;
|
||||
protected:
|
||||
virtual void paintEvent(QPaintEvent* event);
|
||||
private:
|
||||
Qt::Orientation _orientation;
|
||||
};
|
||||
|
||||
/**
|
||||
* UPlot is a QWidget to create a plot like MATLAB, and
|
||||
* incrementally add new values like a scope using Qt signals/slots.
|
||||
* Many customizations can be done at runtime with the right-click menu.
|
||||
* @image html UPlot.gif
|
||||
* @image html UPlotMenu.png
|
||||
*
|
||||
* Example:
|
||||
* @code
|
||||
* #include "utilite/UPlot.h"
|
||||
* #include <QApplication>
|
||||
*
|
||||
* int main(int argc, char * argv[])
|
||||
* {
|
||||
* QApplication app(argc, argv);
|
||||
* UPlot plot;
|
||||
* UPlotCurve * curve = plot.addCurve("My curve");
|
||||
* float y[10] = {0, 1, 2, 3, -3, -2, -1, 0, 1, 2};
|
||||
* curve->addValues(std::vector<float>(y, y+10));
|
||||
* plot.showGrid(true);
|
||||
* plot.setGraphicsView(true);
|
||||
* plot.show();
|
||||
* app.exec();
|
||||
* return 0;
|
||||
* }
|
||||
* @endcode
|
||||
* @image html SimplePlot.tiff
|
||||
*
|
||||
*
|
||||
*/
|
||||
class UPlot : public QWidget
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
/**
|
||||
* Constructor.
|
||||
*/
|
||||
UPlot(QWidget * parent = 0);
|
||||
virtual ~UPlot();
|
||||
|
||||
/**
|
||||
* Add a curve. The returned curve doesn't need to be deallocated (UPlot keeps the ownership).
|
||||
*/
|
||||
UPlotCurve * addCurve(const QString & curveName, const QColor & color = QColor());
|
||||
/**
|
||||
* Add a curve. Ownership is transferred to UPlot.
|
||||
* If you add the curve to more than one UPlot, the ownership is transferred
|
||||
* to the last UPlot.
|
||||
*/
|
||||
bool addCurve(UPlotCurve * curve);
|
||||
/**
|
||||
* Get all curve names.
|
||||
*/
|
||||
QStringList curveNames();
|
||||
bool contains(const QString & curveName);
|
||||
void removeCurves();
|
||||
/**
|
||||
* Add a threshold to the plot.
|
||||
*/
|
||||
UPlotCurveThreshold * addThreshold(const QString & name, float value, Qt::Orientation orientation = Qt::Horizontal);
|
||||
QString title() const {return this->objectName();}
|
||||
QPen getRandomPenColored();
|
||||
void showLegend(bool shown);
|
||||
void showGrid(bool shown);
|
||||
void showRefreshRate(bool shown);
|
||||
void keepAllData(bool kept);
|
||||
void showXAxis(bool shown) {_horizontalAxis->setVisible(shown);}
|
||||
void showYAxis(bool shown) {_verticalAxis->setVisible(shown);}
|
||||
void setVariableXAxis() {_fixedAxis[0] = false;}
|
||||
void setVariableYAxis() {_fixedAxis[1] = false;}
|
||||
void setFixedXAxis(float x1, float x2);
|
||||
void setFixedYAxis(float y1, float y2);
|
||||
void setMaxVisibleItems(int maxVisibleItems);
|
||||
void setTitle(const QString & text);
|
||||
void setXLabel(const QString & text);
|
||||
void setYLabel(const QString & text, Qt::Orientation orientation = Qt::Vertical);
|
||||
void setWorkingDirectory(const QString & workingDirectory);
|
||||
void setGraphicsView(bool on);
|
||||
QRectF sceneRect() const;
|
||||
|
||||
public slots:
|
||||
/**
|
||||
*
|
||||
* Remove a curve. If UPlot is the parent of the curve, the curve is deleted.
|
||||
*/
|
||||
void removeCurve(const UPlotCurve * curve);
|
||||
void showCurve(const UPlotCurve * curve, bool shown);
|
||||
void updateAxis(); //reset axis and recompute it with all curves minMax
|
||||
/**
|
||||
*
|
||||
* Clear all curves' data.
|
||||
*/
|
||||
void clearData();
|
||||
|
||||
private slots:
|
||||
void captureScreen();
|
||||
void updateAxis(const UPlotCurve * curve);
|
||||
|
||||
protected:
|
||||
virtual void contextMenuEvent(QContextMenuEvent * event);
|
||||
virtual void paintEvent(QPaintEvent * event);
|
||||
virtual void resizeEvent(QResizeEvent * event);
|
||||
|
||||
private:
|
||||
friend class UPlotCurve;
|
||||
void addItem(QGraphicsItem * item);
|
||||
|
||||
private:
|
||||
void replot(QPainter * painter);
|
||||
bool updateAxis(float x, float y);
|
||||
bool updateAxis(float x1, float x2, float y1, float y2);
|
||||
void setupUi();
|
||||
void createActions();
|
||||
void createMenus();
|
||||
void selectScreenCaptureFormat();
|
||||
|
||||
private:
|
||||
UPlotLegend * _legend;
|
||||
QGraphicsView * _view;
|
||||
QGraphicsItem * _sceneRoot;
|
||||
QWidget * _graphicsViewHolder;
|
||||
float _axisMaximums[4]; // {x1->x2, y1->y2}
|
||||
bool _axisMaximumsSet[4]; // {x1->x2, y1->y2}
|
||||
bool _fixedAxis[2];
|
||||
UPlotAxis * _verticalAxis;
|
||||
UPlotAxis * _horizontalAxis;
|
||||
int _penStyleCount;
|
||||
int _maxVisibleItems;
|
||||
QList<QGraphicsLineItem *> hGridLines;
|
||||
QList<QGraphicsLineItem *> vGridLines;
|
||||
QList<UPlotCurve*> _curves;
|
||||
QLabel * _title;
|
||||
QLabel * _xLabel;
|
||||
UOrientableLabel * _yLabel;
|
||||
QLabel * _refreshRate;
|
||||
QString _workingDirectory;
|
||||
QTime _refreshIntervalTime;
|
||||
int _lowestRefreshRate;
|
||||
QTime _refreshStartTime;
|
||||
QString _autoScreenCaptureFormat;
|
||||
|
||||
QMenu * _menu;
|
||||
QAction * _aShowLegend;
|
||||
QAction * _aShowGrid;
|
||||
QAction * _aKeepAllData;
|
||||
QAction * _aLimit0;
|
||||
QAction * _aLimit10;
|
||||
QAction * _aLimit50;
|
||||
QAction * _aLimit100;
|
||||
QAction * _aLimit500;
|
||||
QAction * _aLimit1000;
|
||||
QAction * _aLimitCustom;
|
||||
QAction * _aAddVerticalLine;
|
||||
QAction * _aAddHorizontalLine;
|
||||
QAction * _aChangeTitle;
|
||||
QAction * _aChangeXLabel;
|
||||
QAction * _aChangeYLabel;
|
||||
QAction * _aYLabelVertical;
|
||||
QAction * _aShowRefreshRate;
|
||||
QAction * _aSaveFigure;
|
||||
QAction * _aAutoScreenCapture;
|
||||
QAction * _aClearData;
|
||||
QAction * _aGraphicsView;
|
||||
};
|
||||
|
||||
#endif /* UPLOT_H_ */
|
||||
Reference in New Issue
Block a user