Merge pull request #2 from strasdat/master

Three features: labels, stacked histograms and exp-scale on sliders

CMakeLists.txt

@@ -5,6 +5,11 @@ SET(PANGOLIN_VERSION_MINOR 1)
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
 
+IF (CMAKE_COMPILER_IS_GNUCXX )
+  MESSAGE("g++ compiler detected.")
+  ADD_DEFINITIONS("-Wall -Wno-error=deprecated-declarations -Werror")
+ENDIF()
+
 OPTION(BUILD_EXAMPLES "Build Examples" ON)
 
 # SET(BUILD_SHARED_LIBS ON)

examples/SimpleDisplay/main.cpp

@@ -54,14 +54,14 @@ int main( int /*argc*/, char* argv[] )
   // Default hooks for exiting (Esc) and fullscreen (tab).
   while( !pangolin::ShouldQuit() )
   {
-    if(HasResized())
+    if(pangolin::HasResized())
       DisplayBase().ActivateScissorAndClear();
 
     // Safe and efficient binding of named variables.
     // Specialisations mean no conversions take place for exact types
     // and conversions between scalar types are cheap.
     static Var<bool> a_button("ui.A Button",false,false);
-    static Var<double> a_double("ui.A Double",3,0,5.5);
+    static Var<double> a_double("ui.A Double",3,1,10000,true);
     static Var<int> an_int("ui.An Int",2,0,5);
     static Var<bool> a_checkbox("ui.A Checkbox",false,true);
     static Var<int> an_int_no_input("ui.An Int No Input",2);

examples/SimpleMultiDisplay/main.cpp

@@ -52,10 +52,10 @@ int main( int /*argc*/, char* argv[] )
   View& d_panel = pangolin::CreatePanel("ui")
       .SetBounds(1.0, 0.0, 0, 200);
 
-  View& d_multi = pangolin::Display("multi")
-      .SetBounds(1.0, 0.0, 200, 1.0)
-      .SetLayout(LayoutEqual)
-      .AddDisplay(d_cam);
+//  View& d_multi = pangolin::Display("multi")
+//      .SetBounds(1.0, 0.0, 200, 1.0)
+//      .SetLayout(LayoutEqual)
+//      .AddDisplay(d_cam);
 
   // Default hooks for exiting (Esc) and fullscreen (tab).
   while( !pangolin::ShouldQuit() )

examples/SimplePlot/main.cpp

@@ -27,6 +27,15 @@ int main( int /*argc*/, char* argv[] )
 
   double t = 0;
 
+  vector<std::string> labels;
+
+  labels.push_back(std::string("sin(t)"));
+  labels.push_back(std::string("cos(t)"));
+  labels.push_back(std::string("tan(t)"));
+  labels.push_back(std::string("sin(t)+cos(t)"));
+
+  log.SetLabels(labels);
+
   // Default hooks for exiting (Esc) and fullscreen (tab).
   while( !pangolin::ShouldQuit() )
   {
@@ -35,6 +44,8 @@ int main( int /*argc*/, char* argv[] )
 
     static Var<double> tinc("ui.t inc",0.01,0,0.1);
 
+
+
     log.Log(sin(t),cos(t),tan(t),sin(t)+cos(t));
     t += tinc;
 

pangolin/plotter.cpp

@@ -31,6 +31,7 @@
 #include <limits>
 #include <iostream>
 #include <iomanip>
+#include <boost/unordered_map.hpp>
 
 using namespace std;
 
@@ -74,7 +75,7 @@ void DataSequence::Clear()
 float DataSequence::operator[](unsigned int i) const
 {
   if( !HasData(i) ) {
-      throw DataUnavailableException("Out of range");
+    throw DataUnavailableException("Out of range");
   }
   return y[(i-firstn) % y.size()];
 }
@@ -106,7 +107,12 @@ void DataLog::Save(std::string filename)
   }
 }
 
-void DataLog::Log(unsigned int N, const float vals[])
+void DataLog::Log(const vector<float> & vals)
+{
+  Log(vals.size(), &vals[0]);
+}
+
+void DataLog::Log(unsigned int N, const float * vals)
 {
   // Create new plots if needed
   for( unsigned int i= sequences.size(); i < N; ++i )
@@ -123,6 +129,17 @@ void DataLog::Log(unsigned int N, const float vals[])
   ++x;
 }
 
+void DataLog::SetLabels(const std::vector<std::string> & new_labels)
+{
+  // Create new labels if needed
+  for( unsigned int i= labels.size(); i < new_labels.size(); ++i )
+    labels.push_back(std::string("N/A"));
+
+  // Add data to existing plots
+  for( unsigned int i=0; i<labels.size(); ++i )
+    labels[i] = new_labels[i];
+}
+
 void DataLog::Log(float v)
 {
   const float vs[] = {v};
@@ -157,7 +174,7 @@ void DataLog::Log(float v1, float v2, float v3, float v4, float v5, float v6)
 }
 
 Plotter::Plotter(DataLog* log, float left, float right, float bottom, float top, float tickx, float ticky)
-  : log(log), track_front(true), draw_mode(0), xy(false)
+  : log(log), track_front(true), draw_mode(0), plot_mode(TIME_SERIES)
 {
   this->handler = this;
   int_x[0] = int_x_dflt[0] = left;
@@ -229,6 +246,47 @@ void Plotter::DrawSequence(const DataSequence& seq)
   glEnd();
 }
 
+void Plotter::DrawSequenceHistogram(const std::vector<DataSequence>& seq)
+{
+  size_t vec_size
+      = std::min((unsigned)log->x, log->buffer_size);
+  int idx_subtract
+      = std::max(0,(int)(log->x)-(int)(log->buffer_size));
+  vector<float> accum_vec(vec_size,0);
+
+  for(int s=log->sequences.size()-1; s >=0; --s )
+  {
+    if( (s > 9) ||  show[s] )
+    {
+
+      const int seqint_x[2] = {seq.at(s).firstn, seq.at(s).n };
+      const int valid_int_x[2] = {
+        std::max(seqint_x[0],(int)int_x[0]),
+        std::min(seqint_x[1],(int)int_x[1])
+      };
+
+
+      glBegin(GL_TRIANGLE_STRIP);
+      glColor3fv(plot_colours[s%num_plot_colours]);
+
+
+      for( int x=valid_int_x[0]; x<valid_int_x[1]; ++x )
+      {
+        float val = seq.at(s)[x];
+
+        float & accum = accum_vec.at(x-idx_subtract);
+        float before_val = accum;
+        accum += val;
+        glVertex2f(x-0.5,before_val);
+        glVertex2f(x-0.5,accum);
+        glVertex2f(x+0.5,before_val);
+        glVertex2f(x+0.5,accum);
+      }
+      glEnd();
+    }
+  }
+}
+
 void Plotter::DrawSequence(const DataSequence& x,const DataSequence& y)
 {
   const unsigned minn = max(x.firstn,y.firstn);
@@ -240,7 +298,6 @@ void Plotter::DrawSequence(const DataSequence& x,const DataSequence& y)
   glEnd();
 }
 
-
 void Plotter::Render()
 {
   if( track_front )
@@ -262,17 +319,19 @@ void Plotter::Render()
 
   if( log && log->sequences.size() > 0 )
   {
-    if( xy )
+    if( plot_mode==XY )
     {
       for( unsigned int s=0; s < log->sequences.size() / 2; ++s )
       {
         if( (s > 9) ||  show[s] )
         {
-          glColor3fv(plot_colours[s]);
+          glColor3fv(plot_colours[s%num_plot_colours]);
           DrawSequence(log->sequences[2*s],log->sequences[2*s+1]);
         }
       }
-    }else{
+    }
+    else if( plot_mode==TIME_SERIES)
+    {
       for( unsigned int s=0; s < log->sequences.size(); ++s )
       {
         if( (s > 9) ||  show[s] )
@@ -282,11 +341,35 @@ void Plotter::Render()
         }
       }
     }
+    else if( plot_mode==STACKED_HISTOGRAM )
+    {
+
+
+      DrawSequenceHistogram(log->sequences);
+
+    }
+    else
+    {
+      assert(false);
+    }
+  }
+
+
+  float ty = v.h-15;
+  for (size_t i=0; i<log->labels.size(); ++i)
+  {
+    glColor3fv(plot_colours[i%num_plot_colours]);
+
+    OpenGlRenderState::ApplyWindowCoords();
+    glRasterPos2f( v.l+5,ty);
+    glutBitmapString(font,(unsigned char*)log->labels[i].c_str());
+    ty -= 15;
   }
 
+
   if( mouse_state & MouseButtonLeft )
   {
-    if( xy )
+    if( plot_mode==XY )
     {
       glColor3fv(colour_ms);
       glBegin(GL_LINE_STRIP);
@@ -360,9 +443,9 @@ void Plotter::Keyboard(View&, unsigned char key, int x, int y, bool pressed)
     }else if( key == 'm' ) {
       draw_mode = (draw_mode+1)%draw_modes_n;
     }else if( key == 'p' ) {
-      xy = !xy;
+      plot_mode = (plot_mode+1)%modes_n;
       ResetView();
-      if( xy ) {
+      if( plot_mode==XY ) {
         int_x[0] = int_y[0];
         int_x[1] = int_y[1];
         track_front = false;
@@ -372,7 +455,7 @@ void Plotter::Keyboard(View&, unsigned char key, int x, int y, bool pressed)
       ResetView();
     }else if( key == 'a' || key == ' ' ) {
       cout << "Plotter: Auto scale" << endl;
-      if( xy && log->sequences.size() >= 2)
+      if( plot_mode==XY && log->sequences.size() >= 2)
       {
         int_x[0] = log->sequences[0].min_y;
         int_x[1] = log->sequences[0].max_y;
@@ -415,10 +498,12 @@ void Plotter::Mouse(View&, MouseButton button, int x, int y, bool pressed, int b
 
   if(button == MouseWheelUp || button == MouseWheelDown)
   {
-    const float mean = (int_y[0] + int_y[1])/2.0;
+    //const float mean = (int_y[0] + int_y[1])/2.0;
     const float scale = 1.0f + ((button == MouseWheelDown) ? 0.1 : -0.1);
-    int_y[0] = scale*(int_y[0] - mean) + mean;
-    int_y[1] = scale*(int_y[1] - mean) + mean;
+//    int_y[0] = scale*(int_y[0] - mean) + mean;
+//    int_y[1] = scale*(int_y[1] - mean) + mean;
+    int_y[0] = scale*(int_y[0]) ;
+    int_y[1] = scale*(int_y[1]) ;
   }
 
   ScreenToPlot(x,y);
@@ -436,8 +521,8 @@ void Plotter::MouseMotion(View&, int x, int y, int button_state)
     track_front = false;
     int_x[0] -= df[0];
     int_x[1] -= df[0];
-//    interval_y[0] -= df[1];
-//    interval_y[1] -= df[1];
+    //    interval_y[0] -= df[1];
+    //    interval_y[1] -= df[1];
   }else if(button_state == MouseButtonMiddle )
   {
     int_y[0] -= df[1];
@@ -464,10 +549,10 @@ void Plotter::MouseMotion(View&, int x, int y, int button_state)
 
 Plotter& CreatePlotter(const string& name, DataLog* log)
 {
-    Plotter* v = new Plotter(log);
-    context->all_views[name] = v;
-    context->base.views.push_back(v);
-    return *v;
+  Plotter* v = new Plotter(log);
+  context->all_views[name] = v;
+  context->base.views.push_back(v);
+  return *v;
 }
 
 } // namespace pangolin

pangolin/plotter.h

@@ -83,25 +83,36 @@ struct DataLog
   void Log(float v1, float v2, float v3, float v4);
   void Log(float v1, float v2, float v3, float v4, float v5);
   void Log(float v1, float v2, float v3, float v4, float v5, float v6);
-  void Log(unsigned int N, const float vals[]);
+  void Log(unsigned int N, const float * vals);
+  void Log(const std::vector<float> & vals);
+  void SetLabels(const std::vector<std::string> & labels);
   void Clear();
   void Save(std::string filename);
 
   unsigned int buffer_size;
   int x;
   std::vector<DataSequence> sequences;
+  std::vector<std::string> labels;
 };
 
-const static int num_plot_colours = 6;
+const static int num_plot_colours = 12;
 const static float plot_colours[][3] =
 {
   {1.0, 0.0, 0.0},
   {0.0, 1.0, 0.0},
   {0.0, 0.0, 1.0},
   {1.0, 0.0, 1.0},
-  {0.0, 1.0, 1.0},
-  {1.0, 1.0, 0.0}
+  {0.5, 0.5, 0.0},
+  {0.5, 0.0, 0.0},
+  {0.0, 0.5, 0.0},
+  {0.0, 0.0, 0.5},
+  {0.5, 0.0, 1.0},
+  {0.0, 1.0, 0.5},
+  {1.0, 0.0, 0.5},
+  {0.0, 0.5, 1.0}
 };
+
+
 const static float colour_bg[3] = {0.0,0.0,0.0};
 const static float colour_tk[3] = {0.1,0.1,0.1};
 const static float colour_ms[3] = {0.3,0.3,0.3};
@@ -116,6 +127,7 @@ struct Plotter : public View, Handler
   void Render();
   void DrawSequence(const DataSequence& seq);
   void DrawSequence(const DataSequence& x,const DataSequence& y);
+  void DrawSequenceHistogram(const std::vector<DataSequence>& seq);
   void DrawTicks();
 
   void ResetView();
@@ -138,7 +150,10 @@ struct Plotter : public View, Handler
   float mouse_xy[2];
 
   int draw_mode;
-  bool xy;
+
+  enum PLOT_MODES { TIME_SERIES, XY, STACKED_HISTOGRAM};
+  static const unsigned modes_n = 3;
+  unsigned plot_mode;
   const static unsigned int show_n = 9;
   bool show[show_n];
 };