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0.16.2: Added wm_state field to database's Statistics table. New parameter "Rtabmap/SaveWMState" (default false). DbViewer: added option in GraphView to show only poses of the root id that were in WM at that time

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This commit is contained in:
matlabbe
2018-02-21 18:19:20 -05:00
parent 93e1d732c9
commit 297cf3f51e
16 changed files with 208 additions and 159 deletions
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4
corelib/include/rtabmap/core/DBDriver.h
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@@ -146,7 +146,7 @@ public:
int getTotalNodesSize() const;
int getTotalDictionarySize() const;
ParametersMap getLastParameters() const;
std::map<std::string, float> getStatistics(int nodeId, double & stamp) const;
std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
void executeNoResult(const std::string & sql) const;
@@ -198,7 +198,7 @@ private:
virtual int getTotalNodesSizeQuery() const = 0;
virtual int getTotalDictionarySizeQuery() const = 0;
virtual ParametersMap getLastParametersQuery() const = 0;
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp) const = 0;
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
virtual void executeNoResultQuery(const std::string & sql) const = 0;

1
corelib/include/rtabmap/core/Parameters.h
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@@ -174,6 +174,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
RTABMAP_PARAM(Rtabmap, PublishRAMUsage, bool, false, "Publishing RAM usage in statistics (may add a small overhead to get info from the system).");
RTABMAP_PARAM(Rtabmap, ComputeRMSE, bool, true, "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.");
RTABMAP_PARAM(Rtabmap, SaveWMState, bool, false, "Save working memory state after each update in statistics.");
RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for the detector (ms) (0 means infinity).");
RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, "Maximum signatures in the Working Memory (ms) (0 means infinity).");
RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -214,6 +214,7 @@ private:
bool _publishLikelihood;
bool _publishRAMUsage;
bool _computeRMSE;
bool _saveWMState;
float _maxTimeAllowed; // in ms
unsigned int _maxMemoryAllowed; // signatures count in WM
float _loopThr;

4
corelib/include/rtabmap/core/Statistics.h
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@@ -189,6 +189,7 @@ public:
void setLocalPath(const std::vector<int> & localPath) {_localPath=localPath;}
void setCurrentGoalId(int goal) {_currentGoalId=goal;}
void setReducedIds(const std::map<int, int> & reducedIds) {_reducedIds = reducedIds;}
void setWmState(const std::vector<int> & state) {_wmState = state;}
// getters
bool extended() const {return _extended;}
@@ -210,6 +211,7 @@ public:
const std::vector<int> & localPath() const {return _localPath;}
int currentGoalId() const {return _currentGoalId;}
const std::map<int, int> & reducedIds() const {return _reducedIds;}
const std::vector<int> & wmState() const {return _wmState;}
const std::map<std::string, float> & data() const {return _data;}
@@ -238,6 +240,8 @@ private:
std::map<int, int> _reducedIds;
std::vector<int> _wmState;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}
// Example : {"Timing/Total time/ms", 500.0f}