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Statistics: Added Memory/New_landmark. Rtabmap: don't remove node on small movements when a new landmark has been just detected. DbViewer: fixed missing statistics when ignored nodes are not saved in database.

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This commit is contained in:
matlabbe
2022-04-25 12:19:22 -04:00
parent dc58266eda
commit 190071678f
3 changed files with 17 additions and 12 deletions
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1
corelib/include/rtabmap/core/Statistics.h
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@@ -151,6 +151,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Odom_cache_links,);
RTABMAP_STATS(Memory, Small_movement,);
RTABMAP_STATS(Memory, Fast_movement,);
RTABMAP_STATS(Memory, New_landmark,);
RTABMAP_STATS(Memory, Odometry_variance_ang,);
RTABMAP_STATS(Memory, Odometry_variance_lin,);
RTABMAP_STATS(Memory, Distance_travelled, m);

13
corelib/src/Rtabmap.cpp
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@@ -1375,6 +1375,7 @@ bool Rtabmap::process(
bool tooFastMovement = false;
std::list<int> signaturesRemoved;
bool neighborLinkRefined = false;
bool addedNewLandmark = false;
if(_rgbdSlamMode)
{
statistics_.addStatistic(Statistics::kMemoryOdometry_variance_lin(), odomCovariance.empty()?1.0f:(float)odomCovariance.at<double>(0,0));
@@ -1553,6 +1554,7 @@ bool Rtabmap::process(
if(_optimizedPoses.find(iter->first) == _optimizedPoses.end())
{
_optimizedPoses.insert(std::make_pair(iter->first, newPose*iter->second.transform()));
addedNewLandmark = true;
}
_constraints.insert(std::make_pair(iter->first, iter->second.inverse()));
}
@@ -3777,6 +3779,8 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
statistics_.addStatistic(Statistics::kMemoryDistance_travelled(), _distanceTravelled);
statistics_.addStatistic(Statistics::kMemoryFast_movement(), tooFastMovement?1.0f:0);
statistics_.addStatistic(Statistics::kMemoryNew_landmark(), addedNewLandmark?1.0f:0);
if(_publishRAMUsage)
{
UTimer ramTimer;
@@ -3875,7 +3879,11 @@ bool Rtabmap::process(
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id());
}
else if((smallDisplacement || tooFastMovement) && _loopClosureHypothesis.first == 0 && lastProximitySpaceClosureId == 0)
else if((smallDisplacement || tooFastMovement) &&
_loopClosureHypothesis.first == 0 &&
lastProximitySpaceClosureId == 0 &&
(rejectedLandmark || landmarksDetected.empty()) &&
!addedNewLandmark)
{
// Don't delete the location if a loop closure is detected
UINFO("Ignoring location %d because the displacement is too small! (d=%f a=%f)",
@@ -3892,7 +3900,8 @@ bool Rtabmap::process(
else if(!_memory->isIncremental() &&
(smallDisplacement || tooFastMovement) &&
_loopClosureHypothesis.first == 0 &&
lastProximitySpaceClosureId == 0)
lastProximitySpaceClosureId == 0 &&
(rejectedLandmark || landmarksDetected.empty()))
{
_odomCachePoses.erase(signatureRemoved);
_odomCacheConstraints.erase(signatureRemoved);