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Thirdparty/Pangolin/tools/Plotter/CMakeLists.txt

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+# Find Pangolin (https://github.com/stevenlovegrove/Pangolin)
+find_package(Pangolin 0.4 REQUIRED)
+include_directories(${Pangolin_INCLUDE_DIRS})
+
+add_executable(Plotter main.cpp)
+target_link_libraries(Plotter ${Pangolin_LIBRARIES})
+
+
+# Make file association
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux" AND ${CMAKE_MAJOR_VERSION} VERSION_GREATER "2.9.9" )
+    file( GENERATE
+        OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/pangoplot.desktop"
+        CONTENT
+"[Desktop Entry]
+Version=1.0
+Type=Application
+Categories=Utility
+Name=PangoPlotter
+GenericName=Plotter
+Comment=View CSV data series
+Exec=$<TARGET_FILE:Plotter> %U
+TryExec=$<TARGET_FILE:Plotter>
+Icon=application-x-pango
+Terminal=false
+StartupNotify=false
+MimeType=text/csv;text/comma-separated-values;application/x-pangoplot;application/csv"
+    )
+
+    add_custom_target(
+        register-mime-info-plotter
+        COMMAND mkdir -p $ENV{HOME}/.local/share/mime/packages/
+        COMMAND mkdir -p $ENV{HOME}/.local/share/applications/
+        COMMAND mkdir -p $ENV{HOME}/.local/share/icons/hicolor/scalable/mimetypes/
+        COMMAND cp "${CMAKE_CURRENT_SOURCE_DIR}/application-x-pangoplot.xml" $ENV{HOME}/.local/share/mime/packages/
+        COMMAND cp "${CMAKE_CURRENT_SOURCE_DIR}/../VideoViewer/application-x-pango.svg" $ENV{HOME}/.local/share/icons/hicolor/scalable/mimetypes/
+        COMMAND cp "${CMAKE_CURRENT_BINARY_DIR}/pangoplot.desktop"       $ENV{HOME}/.local/share/applications/
+        COMMAND gtk-update-icon-cache   $ENV{HOME}/.local/share/icons/hicolor -f -t
+        COMMAND update-mime-database    $ENV{HOME}/.local/share/mime
+        COMMAND update-desktop-database $ENV{HOME}/.local/share/applications
+        DEPENDS Plotter
+        VERBATIM
+    )
+endif()
+
+
+#######################################################
+## Install
+
+install(TARGETS Plotter
+  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+)

Thirdparty/Pangolin/tools/Plotter/application-x-pangoplot.xml

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+<?xml version="1.0" encoding="utf-8"?>
+<mime-info xmlns="http://www.freedesktop.org/standards/shared-mime-info">
+    <mime-type type="application/x-pangoplot">
+        <comment>Pangolin Video File</comment>
+        <icon name="application-x-pango"/>
+        <glob-deleteall/>
+        <glob pattern="*.csv"/>
+    </mime-type>
+</mime-info>

Thirdparty/Pangolin/tools/Plotter/csv_data_loader.h

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+#pragma once
+
+#include <pangolin/platform.h>
+#include <vector>
+#include <string>
+#include <fstream>
+#include <memory>
+
+class CsvDataLoader
+{
+public:
+    CsvDataLoader(const std::vector<std::string>& csv_files, char delim = ',')
+        : delim(delim)
+    {
+        for(const auto& f : csv_files) {
+            if(f == "-") {
+                streams.push_back(&std::cin);
+            }else{
+                std::ifstream* pFile = new std::ifstream(f);
+                owned_streams.emplace_back(pFile);
+                streams.push_back(pFile);
+                PANGO_ASSERT(pFile->is_open());
+            }
+        }
+    }
+
+    bool SkipStreamRows(const std::vector<size_t>& rows_to_skip)
+    {
+        if(rows_to_skip.size()) {
+            PANGO_ASSERT(rows_to_skip.size() == streams.size());
+            std::vector<std::string> dummy_row;
+
+            for(size_t i=0; i < streams.size(); ++i) {
+                for(size_t r=0; r < rows_to_skip[i]; ++r) {
+                    if(!AppendColumns(dummy_row, *streams[i], delim)) {
+                        return false;
+                    }
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool ReadRow(std::vector<std::string>& row)
+    {
+        row.clear();
+
+        for(auto& s : streams) {
+            if(!AppendColumns(row, *s, delim)) {
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+private:
+    static bool AppendColumns(std::vector<std::string>& cols, std::istream& s, char delim)
+    {
+        // Read line from stream
+        std::string row;
+        std::getline(s,row);
+
+        // Failure if no lines to read
+        if(!s.good()) return false;
+
+        std::stringstream row_stream(row);
+        std::string cell;
+
+        // Read cells
+        while(std::getline(row_stream, cell, delim)) {
+            cols.push_back(cell);
+        }
+
+        // Check for an empty trailing cell
+        if (!row_stream && cell.empty()) {
+            cols.push_back("");
+        }
+
+        return true;
+    }
+
+    char delim;
+    std::vector<std::istream*> streams;
+    std::vector<std::unique_ptr<std::istream>> owned_streams;
+};

Thirdparty/Pangolin/tools/Plotter/main.cpp

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+#include <pangolin/pangolin.h>
+#include <pangolin/utils/argagg.hpp>
+#include <pangolin/utils/file_utils.h>
+
+#include <functional>
+#include <thread>
+
+#include "csv_data_loader.h"
+
+namespace argagg{ namespace convert {
+
+template<>
+pangolin::Rangef arg<pangolin::Rangef>(char const* str)
+{
+    std::stringstream ss(str);
+    pangolin::Rangef r;
+    ss >> r.min; ss.get(); ss >> r.max;
+    return r;
+}
+}}
+
+int main( int argc, char* argv[] )
+{
+    // Parse command line
+    argagg::parser argparser {{
+        { "help", {"-h", "--help"}, "Print usage information and exit.", 0},
+        { "header", {"-H","--header"}, "Treat 1st row as column titles", 0},
+        { "x", {"-x"}, "X-axis series to plot, seperated by commas (default: '$i')", 1},
+        { "y", {"-y"}, "Y-axis series to plot, seperated by commas (eg: '$0,sin($1),sqrt($2+$3)' )", 1},
+        { "delim", {"-d"}, "Expected column delimitter (default: ',')", 1},
+        { "xrange", {"-X","--x-range"}, "X-Axis min:max view (default: '0:100')", 1},
+        { "yrange", {"-Y","--y-range"}, "Y-Axis min:max view (default: '0:100')", 1},
+        { "skip", {"-s","--skip"}, "Skip n rows of file, seperated by commas per file (default: '0,...')", 1},
+    }};
+
+    argagg::parser_results args = argparser.parse(argc, argv);
+    if ( (bool)args["help"] || !args.pos.size()) {
+        std::cerr << "Usage: Plotter [options] file1.csv [fileN.csv]*" << std::endl
+                  << argparser << std::endl
+                  << "    where: $i is a placeholder for the datum index," << std::endl
+                  << "           $0, $1, ... are placeholders for the 0th, 1st, ... sequential datum values over the input files" << std::endl;
+        return 0;
+    }
+
+    // Default values
+    const std::string xs = args["x"].as<std::string>("$i");
+    const std::string ys = args["y"].as<std::string>("$0");
+    const char delim = args["delim"].as<char>(',');
+    const pangolin::Rangef xrange = args["xrange"].as<>(pangolin::Rangef(0.0f,100.0f));
+    const pangolin::Rangef yrange = args["yrange"].as<>(pangolin::Rangef(0.0f,100.0f));
+    const std::string skips = args["skip"].as<std::string>("");
+    const std::vector<std::string> skipvecstr = pangolin::Split(skips,',');
+    std::vector<size_t> skipvec;
+    for(const std::string& s : skipvecstr) {
+        skipvec.push_back(std::stoul(s));
+    }
+    if( !(skipvec.size() == 0 || skipvec.size() == args.count()) )
+    {
+        std::cerr << "Skip argument must be empty or correspond to the number of files specified (" << args.count() << ")" << std::endl;
+        return -1;
+    }
+
+    pangolin::DataLog log;
+
+    CsvDataLoader csv_loader(args.all_as<std::string>(), delim);
+
+    if(args["header"]) {
+        std::vector<std::string> labels;
+        csv_loader.ReadRow(labels);
+        log.SetLabels(labels);
+    }
+
+    // Load asynchronously incase the file is large or is being read interactively from stdin
+    bool keep_loading = true;
+    std::thread data_thread([&](){
+        if(!csv_loader.SkipStreamRows(skipvec)) {
+            return;
+        }
+
+        std::vector<std::string> row;
+
+        while(keep_loading && csv_loader.ReadRow(row)) {
+            std::vector<float> row_num(row.size(), std::numeric_limits<float>::quiet_NaN() );
+            for(size_t i=0; i< row_num.size(); ++i) {
+                try{
+                    row_num[i] = std::stof(row[i]);
+                }catch(const std::invalid_argument& e){
+                    std::cerr << "Warning: couldn't parse '" << row[i] << "' as numeric data (use -H option to include header)" << std::endl;
+                }
+            }
+            log.Log(row_num);
+        }
+    });
+
+    pangolin::CreateWindowAndBind("Plotter", 640, 480);
+
+    pangolin::Plotter plotter(&log, xrange.min, xrange.max, yrange.min, yrange.max, 0.001, 0.001);
+    if( (bool)args["x"] || (bool)args["y"]) {
+        plotter.ClearSeries();
+        std::vector<std::string> xvec = pangolin::Split(xs,',');
+        std::vector<std::string> yvec = pangolin::Split(ys,',');
+
+        if( !(xvec.size() == 1 || xvec.size() == yvec.size()) ) {
+            std::cout << "x-series dimensions must be one, or equal to y-series dimensions" << std::endl;
+            return -1;
+        }
+
+        for(size_t i=0; i < yvec.size(); ++i) {
+            plotter.AddSeries( (xvec.size()==1) ? xvec[0] : xvec[i],yvec[i]);
+        }
+    }
+
+    plotter.SetBounds(0.0, 1.0, 0.0, 1.0);
+    pangolin::DisplayBase().AddDisplay(plotter);
+
+    while( !pangolin::ShouldQuit() )
+    {
+      glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+      pangolin::FinishFrame();
+    }
+
+    keep_loading = false;
+    data_thread.join();
+
+    return 0;
+}