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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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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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15
guilib/src/DatabaseViewer.cpp
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@@ -2254,15 +2254,10 @@ void DatabaseViewer::updateStatistics()
std::map<std::string, std::pair<std::vector<qreal>, std::vector<qreal> > > allData;
std::map<std::string, int > allDataOi;
for(int i=0; i<ids_.size(); ++i)
for(std::map<int, std::pair<std::map<std::string, float>, double> >::iterator jter=allStats.begin(); jter!=allStats.end(); ++jter)
{
double stamp=0.0;
std::map<std::string, float> statistics;
if(allStats.find(ids_[i]) != allStats.end())
{
statistics = allStats.at(ids_[i]).first;
stamp = allStats.at(ids_[i]).second;
}
double stamp=jter->second.second;
std::map<std::string, float> & statistics = jter->second.first;
if(firstStamp==0.0)
{
firstStamp = stamp;
@@ -2272,12 +2267,12 @@ void DatabaseViewer::updateStatistics()
if(allData.find(iter->first) == allData.end())
{
//initialize data vectors
allData.insert(std::make_pair(iter->first, std::make_pair(std::vector<qreal>(ids_.size(), 0.0f), std::vector<qreal>(ids_.size(), 0.0f) )));
allData.insert(std::make_pair(iter->first, std::make_pair(std::vector<qreal>(allStats.size(), 0.0f), std::vector<qreal>(allStats.size(), 0.0f) )));
allDataOi.insert(std::make_pair(iter->first, 0));
}
int & oi = allDataOi.at(iter->first);
allData.at(iter->first).first[oi] = ui_->checkBox_timeStats->isChecked()?qreal(stamp-firstStamp):ids_[i];
allData.at(iter->first).first[oi] = ui_->checkBox_timeStats->isChecked()?qreal(stamp-firstStamp):jter->first;
allData.at(iter->first).second[oi] = iter->second;
++oi;
}