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0.11.11: changed Statistics table name to Info and added new Statistics table containing detection statistics. StatisticsToolBox can cache statistics (true by default). DatabaseViewer: new Statistics panel to see all statistics contained in the database.

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This commit is contained in:
matlabbe
2016-09-20 11:19:34 -04:00
parent a0972158dc
commit 3530da935b
20 changed files with 609 additions and 219 deletions
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CMakeLists.txt
+1 -1
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@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 11)
SET(RTABMAP_PATCH_VERSION 10)
SET(RTABMAP_PATCH_VERSION 11)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
corelib/include/rtabmap/core/DBDriver.h
+7 -1
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UThreadNode.h"
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"
#include <rtabmap/core/Statistics.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Link.h>
@@ -94,7 +95,8 @@ public:
const cv::Point3f & viewpoint);
public:
void addStatisticsAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
void addStatistics(const Statistics & statistics) const;
public:
// Mutex-protected methods of abstract versions below
@@ -114,6 +116,7 @@ public:
int getTotalNodesSize() const;
int getTotalDictionarySize() const;
ParametersMap getLastParameters() const;
std::map<std::string, float> getStatistics(int nodeId, double & stamp) const;
void executeNoResult(const std::string & sql) const;
@@ -157,6 +160,7 @@ 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 void executeNoResultQuery(const std::string & sql) const = 0;
@@ -177,6 +181,8 @@ private:
float cellSize,
const cv::Point3f & viewpoint) const = 0;
virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const = 0;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
corelib/include/rtabmap/core/Memory.h
+1
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@@ -90,6 +90,7 @@ public:
std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
int cleanup();
void saveStatistics(const Statistics & statistics);
void emptyTrash();
void joinTrashThread();
bool addLink(const Link & link, bool addInDatabase = false);
corelib/include/rtabmap/core/Statistics.h
+2 -1
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@@ -134,10 +134,11 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Keypoint, Dictionary_size, words);
RTABMAP_STATS(Keypoint, Indexed_words, words);
RTABMAP_STATS(Keypoint, Index_memory_usage, KB);
RTABMAP_STATS(Keypoint, Response_threshold,);
public:
static const std::map<std::string, float> & defaultData();
static std::string serializeData(const std::map<std::string, float> & data);
static std::map<std::string, float> deserializeData(const std::string & data);
public:
Statistics();
corelib/src/DBDriver.cpp
+37 -8
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@@ -197,6 +197,15 @@ ParametersMap DBDriver::getLastParameters() const
return parameters;
}
std::map<std::string, float> DBDriver::getStatistics(int nodeId, double & stamp) const
{
std::map<std::string, float> statistics;
_dbSafeAccessMutex.lock();
statistics = getStatisticsQuery(nodeId, stamp);
_dbSafeAccessMutex.unlock();
return statistics;
}
std::string DBDriver::getDatabaseVersion() const
{
std::string version = "0.0.0";
@@ -866,7 +875,7 @@ void DBDriver::getAllLabels(std::map<int, std::string> & labels) const
_dbSafeAccessMutex.unlock();
}
void DBDriver::addStatisticsAfterRun(
void DBDriver::addInfoAfterRun(
int stMemSize,
int lastSignAdded,
int processMemUsed,
@@ -881,13 +890,26 @@ void DBDriver::addStatisticsAfterRun(
if(uStrNumCmp(this->getDatabaseVersion(), "0.11.8") >= 0)
{
std::string param = Parameters::serialize(parameters);
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
<< databaseMemUsed << ","
<< dictionarySize << ","
"\"" << param.c_str() << "\");";
if(uStrNumCmp(this->getDatabaseVersion(), "0.11.11") >= 0)
{
query << "INSERT INTO Info(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
<< databaseMemUsed << ","
<< dictionarySize << ","
"\"" << param.c_str() << "\");";
}
else
{
query << "INSERT INTO Statistics(STM_size,last_sign_added,process_mem_used,database_mem_used,dictionary_size,parameters) values("
<< stMemSize << ","
<< lastSignAdded << ","
<< processMemUsed << ","
<< databaseMemUsed << ","
<< dictionarySize << ","
"\"" << param.c_str() << "\");";
}
}
else
{
@@ -903,6 +925,13 @@ void DBDriver::addStatisticsAfterRun(
}
}
void DBDriver::addStatistics(const Statistics & statistics) const
{
_dbSafeAccessMutex.lock();
addStatisticsQuery(statistics);
_dbSafeAccessMutex.unlock();
}
void DBDriver::generateGraph(
const std::string & fileName,
const std::set<int> & idsInput,
corelib/src/DBDriverSqlite3.cpp
+143 -13
View File
@@ -617,7 +617,15 @@ int DBDriverSqlite3::getLastNodesSizeQuery() const
int size = 0;
if(_ppDb)
{
std::string query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT count(id) from Node WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -641,7 +649,15 @@ int DBDriverSqlite3::getLastDictionarySizeQuery() const
int size = 0;
if(_ppDb)
{
std::string query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT count(id) from Word WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -716,9 +732,19 @@ ParametersMap DBDriverSqlite3::getLastParametersQuery() const
{
if(uStrNumCmp(_version, "0.11.8") >= 0)
{
std::string query = "SELECT parameters "
"FROM Statistics "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
std::string query;
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT parameters "
"FROM Info "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Info);";
}
else
{
query = "SELECT parameters "
"FROM Statistics "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics);";
}
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
@@ -744,6 +770,44 @@ ParametersMap DBDriverSqlite3::getLastParametersQuery() const
return parameters;
}
std::map<std::string, float> DBDriverSqlite3::getStatisticsQuery(int nodeId, double & stamp) const
{
UDEBUG("");
std::map<std::string, float> data;
if(_ppDb)
{
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
std::stringstream query;
query << "SELECT stamp, data "
<< "FROM Statistics "
<< "WHERE id=" << nodeId << ";";
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_step(ppStmt);
if(rc == SQLITE_ROW)
{
stamp = sqlite3_column_double(ppStmt, 0);
std::string text((const char *)sqlite3_column_text(ppStmt, 1));
if(text.size())
{
data = Statistics::deserializeData(text);
}
rc = sqlite3_step(ppStmt);
}
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
}
}
return data;
}
void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
{
UDEBUG("load data for %d signatures", (int)signatures.size());
@@ -2127,10 +2191,20 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
std::string query;
std::list<int> ids;
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Info) "
"ORDER BY n.id;";
}
else
{
query = "SELECT n.id "
"FROM Node AS n "
"WHERE n.time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY n.id;";
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -2169,10 +2243,20 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary) const
std::list<VisualWord *> visualWords;
// Get the visual words
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY id;";
if(uStrNumCmp(_version, "0.11.11") >= 0)
{
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Info) "
"ORDER BY id;";
}
else
{
query = "SELECT id, descriptor_size, descriptor "
"FROM Word "
"WHERE time_enter >= (SELECT MAX(time_enter) FROM Statistics) "
"ORDER BY id;";
}
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -3077,6 +3161,52 @@ void DBDriverSqlite3::updateOccupancyGridQuery(
}
}
void DBDriverSqlite3::addStatisticsQuery(const Statistics & statistics) const
{
UDEBUG("");
if(_ppDb)
{
std::string type;
UTimer timer;
timer.start();
int rc = SQLITE_OK;
sqlite3_stmt * ppStmt = 0;
// Create query
if(uStrNumCmp(this->getDatabaseVersion(), "0.11.11") >= 0)
{
std::string param = Statistics::serializeData(statistics.data());
if(param.size() && statistics.refImageId()>0)
{
std::string query = "INSERT INTO Statistics(id, stamp, data) values(?,?,?);";
rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
int index = 1;
rc = sqlite3_bind_int(ppStmt, index++, statistics.refImageId());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_double(ppStmt, index++, statistics.stamp());
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_bind_text(ppStmt, index++, param.c_str(), -1, SQLITE_STATIC);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
//step
rc=sqlite3_step(ppStmt);
UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
rc = sqlite3_reset(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
// Finalize (delete) the statement
rc = sqlite3_finalize(ppStmt);
UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
UDEBUG("Time=%fs", timer.ticks());
}
}
}
}
std::string DBDriverSqlite3::queryStepNode() const
{
if(uStrNumCmp(_version, "0.11.1") >= 0)
corelib/src/DBDriverSqlite3.h
+3
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@@ -63,6 +63,7 @@ private:
virtual int getTotalNodesSizeQuery() const;
virtual int getTotalDictionarySizeQuery() const;
virtual ParametersMap getLastParametersQuery() const;
virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp) const;
virtual void executeNoResultQuery(const std::string & sql) const;
@@ -83,6 +84,8 @@ private:
float cellSize,
const cv::Point3f & viewpoint) const;
virtual void addStatisticsQuery(const Statistics & statistics) const;
// Load objects
virtual void loadQuery(VWDictionary * dictionary) const;
virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
corelib/src/Memory.cpp
+9 -1
View File
@@ -1285,7 +1285,7 @@ void Memory::clear()
if(_memoryChanged)
{
UDEBUG("");
_dbDriver->addStatisticsAfterRun(memSize,
_dbDriver->addInfoAfterRun(memSize,
_lastSignature?_lastSignature->id():0,
UProcessInfo::getMemoryUsage(),
_dbDriver->getMemoryUsed(),
@@ -1582,6 +1582,14 @@ int Memory::cleanup()
return signatureRemoved;
}
void Memory::saveStatistics(const Statistics & statistics)
{
if(_dbDriver)
{
_dbDriver->addStatistics(statistics);
}
}
void Memory::emptyTrash()
{
if(_dbDriver)
corelib/src/Rtabmap.cpp
+3
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@@ -2557,6 +2557,9 @@ bool Rtabmap::process(
UDEBUG("");
}
//Save statistics to database
_memory->saveStatistics(statistics_);
//Start trashing
UDEBUG("Empty trash...");
_memory->emptyTrash();
corelib/src/Statistics.cpp
+34
View File
@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/Statistics.h"
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap {
std::map<std::string, float> Statistics::_defaultData;
@@ -38,11 +39,44 @@ const std::map<std::string, float> & Statistics::defaultData()
return _defaultData;
}
std::string Statistics::serializeData(const std::map<std::string, float> & data)
{
std::stringstream output;
for(std::map<std::string, float>::const_iterator iter=data.begin(); iter!=data.end(); ++iter)
{
if(iter != data.begin())
{
output << ";";
}
// make sure there are no commas instead of dots
output << iter->first << ":" << uReplaceChar(uNumber2Str(iter->second), ',', '.');
}
return output.str();
}
std::map<std::string, float> Statistics::deserializeData(const std::string & data)
{
std::map<std::string, float> output;
std::list<std::string> tuplets = uSplit(data, ';');
for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
{
std::list<std::string> p = uSplit(*iter, ':');
if(p.size() == 2)
{
std::string key = p.front();
std::string value = p.back();
uInsert(output, std::make_pair(key, uStr2Float(value)));
}
}
return output;
}
Statistics::Statistics() :
_extended(0),
_refImageId(0),
_loopClosureId(0),
_proximiyDetectionId(0),
_stamp(0.0f),
_currentGoalId(0)
{
_defaultDataInitialized = true;
corelib/src/resources/DatabaseSchema.sql.in
+12 -4
View File
@@ -85,7 +85,7 @@ CREATE TABLE Map_Node_Word (
FOREIGN KEY (word_id) REFERENCES Word(id)
);
CREATE TABLE Statistics (
CREATE TABLE Info (
STM_size INTEGER,
last_sign_added INTEGER,
process_mem_used INTEGER,
@@ -95,6 +95,13 @@ CREATE TABLE Statistics (
time_enter DATE
);
CREATE TABLE Statistics (
id INTEGER NOT NULL,
stamp FLOAT,
data TEXT,
FOREIGN KEY (id) REFERENCES Node(id)
);
CREATE TABLE Admin (
version TEXT,
time_enter DATE
@@ -120,18 +127,19 @@ BEGIN
UPDATE Word SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
END;
CREATE TRIGGER insert_Statistics_timeEnter AFTER INSERT ON Statistics
CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
BEGIN
UPDATE Statistics SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
UPDATE Info SET time_enter = DATETIME('NOW') WHERE rowid = new.rowid;
END;
-- *******************************************************************
-- INDEXES
-- *******************************************************************
CREATE UNIQUE INDEX IDX_Node_id on Node (id);
CREATE INDEX IDX_Map_Node_Word_node_id on Map_Node_Word (node_id);
CREATE INDEX IDX_Link_from_id on Link (from_id);
CREATE UNIQUE INDEX IDX_node_label on Node (label);
CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
-- *******************************************************************
-- VERSION
guilib/include/rtabmap/gui/PreferencesDialog.h
+1
View File
@@ -144,6 +144,7 @@ public:
bool imageHighestHypShown() const;
bool beepOnPause() const;
bool isTimeUsedInFigures() const;
bool isCacheSavedInFigures() const;
bool notifyWhenNewGlobalPathIsReceived() const;
int getOdomQualityWarnThr() const;
bool isPosteriorGraphView() const;
guilib/include/rtabmap/gui/StatsToolBox.h
+14 -5
View File
@@ -46,12 +46,15 @@ class RTABMAPGUI_EXP StatItem : public QWidget
Q_OBJECT;
public:
StatItem(const QString & name, const std::vector<float> & x, const std::vector<float> & y, const QString & unit = QString(), const QMenu * menu = 0, QGridLayout * grid = 0, QWidget * parent = 0);
StatItem(const QString & name, bool cacheOn, const std::vector<float> & x, const std::vector<float> & y, const QString & unit = QString(), const QMenu * menu = 0, QGridLayout * grid = 0, QWidget * parent = 0);
virtual ~StatItem();
void addValue(float y);
void addValue(float x, float y);
void setValues(const std::vector<float> & x, const std::vector<float> & y);
QString value() const;
std::vector<float> xValues() const {return _x;}
std::vector<float> yValues() const {return _y;}
void setCacheOn(bool on);
public slots:
void updateMenu(const QMenu * menu);
@@ -74,6 +77,10 @@ private:
QLabel * _value;
QLabel * _unit;
QMenu * _menu;
bool _cacheOn;
std::vector<float> _x;
std::vector<float> _y;
};
@@ -88,14 +95,16 @@ public:
virtual ~StatsToolBox();
void getFiguresSetup(QList<int> & curvesPerFigure, QStringList & curveNames);
void addCurve(const QString & name, bool newFigure = true);
void addCurve(const QString & name, bool newFigure = true, bool cacheOn = false);
void setWorkingDirectory(const QString & workingDirectory);
void closeFigures();
void setCacheOn(bool on);
public slots:
void updateStat(const QString & statFullName, float y);
void updateStat(const QString & statFullName, float x, float y);
void updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y);
void updateStat(const QString & statFullName, bool cacheOn);
void updateStat(const QString & statFullName, float y, bool cacheOn);
void updateStat(const QString & statFullName, float x, float y, bool cacheOn);
void updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y, bool cacheOn);
signals:
void menuChanged(const QMenu *);
guilib/src/DatabaseViewer.cpp
+16
View File
@@ -115,6 +115,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->dockWidget_info->setVisible(false);
ui_->dockWidget_stereoView->setVisible(false);
ui_->dockWidget_view3d->setVisible(false);
ui_->dockWidget_statistics->setVisible(false);
// Create cloud viewers
constraintsViewer_ = new CloudViewer(ui_->dockWidgetContents);
@@ -159,6 +160,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->menuView->addAction(ui_->dockWidget_guiparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_coreparameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_info->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_statistics->toggleViewAction());
connect(ui_->dockWidget_graphView->toggleViewAction(), SIGNAL(triggered()), this, SLOT(updateGraphView()));
connect(ui_->parameters_toolbox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
@@ -311,6 +313,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
ui_->dockWidget_guiparameters->installEventFilter(this);
ui_->dockWidget_coreparameters->installEventFilter(this);
ui_->dockWidget_info->installEventFilter(this);
ui_->dockWidget_statistics->installEventFilter(this);
}
DatabaseViewer::~DatabaseViewer()
@@ -778,6 +781,7 @@ void DatabaseViewer::closeEvent(QCloseEvent* event)
if(event->isAccepted())
{
ui_->toolBox_statistics->closeFigures();
if(dbDriver_)
{
delete dbDriver_;
@@ -1145,6 +1149,7 @@ void DatabaseViewer::updateIds()
dbDriver_->getAllNodeIds(idsWithoutBad, false, true);
int badcountInLTM = 0;
int badCountInGraph = 0;
double firstStamp = 0.0;
for(int i=0; i<ids_.size(); ++i)
{
idToIndex_.insert(ids_[i], i);
@@ -1157,6 +1162,17 @@ void DatabaseViewer::updateIds()
dbDriver_->getNodeInfo(ids_[i], p, mapId, w, l, s, g);
mapIds_.insert(std::make_pair(ids_[i], mapId));
double stamp=0.0;
std::map<std::string, float> statistics = dbDriver_->getStatistics(ids_[i], stamp);
if(firstStamp==0.0)
{
firstStamp = stamp;
}
for(std::map<std::string, float>::iterator iter=statistics.begin(); iter!=statistics.end(); ++iter)
{
ui_->toolBox_statistics->updateStat(iter->first.c_str(), float(stamp-firstStamp), iter->second, true);
}
if(i>0)
{
if(mapIds_.at(ids_[i-1]) == mapId)
guilib/src/MainWindow.cpp
+123 -124
View File
@@ -533,58 +533,57 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
const std::map<std::string, float> & statistics = Statistics::defaultData();
for(std::map<std::string, float>::const_iterator iter = statistics.begin(); iter != statistics.end(); ++iter)
{
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), 0, (*iter).second);
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), false);
}
}
// Specific MainWindow
_ui->statsToolBox->updateStat("Planning/From/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Time/ms", 0.0f);
_ui->statsToolBox->updateStat("Planning/Goal/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Poses/", 0.0f);
_ui->statsToolBox->updateStat("Planning/Length/m", 0.0f);
_ui->statsToolBox->updateStat("Planning/From/", false);
_ui->statsToolBox->updateStat("Planning/Time/ms", false);
_ui->statsToolBox->updateStat("Planning/Goal/", false);
_ui->statsToolBox->updateStat("Planning/Poses/", false);
_ui->statsToolBox->updateStat("Planning/Length/m", false);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", 0.0f);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", false);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", false);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", false);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", false);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", false);
_ui->statsToolBox->updateStat("Odometry/ID/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Features/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Matches/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Inliers/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/StdDev/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Variance/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Distance/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tx/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Ty/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tz/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Troll/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Px/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Py/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Pz/m", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Proll/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", 0.0f);
_ui->statsToolBox->updateStat("Odometry/ID/", false);
_ui->statsToolBox->updateStat("Odometry/Features/", false);
_ui->statsToolBox->updateStat("Odometry/Matches/", false);
_ui->statsToolBox->updateStat("Odometry/Inliers/", false);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", false);
_ui->statsToolBox->updateStat("Odometry/StdDev/", false);
_ui->statsToolBox->updateStat("Odometry/Variance/", false);
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", false);
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", false);
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", false);
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", false);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", false);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", false);
_ui->statsToolBox->updateStat("Odometry/Distance/m", false);
_ui->statsToolBox->updateStat("Odometry/Tx/m", false);
_ui->statsToolBox->updateStat("Odometry/Ty/m", false);
_ui->statsToolBox->updateStat("Odometry/Tz/m", false);
_ui->statsToolBox->updateStat("Odometry/Troll/deg", false);
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", false);
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", false);
_ui->statsToolBox->updateStat("Odometry/Px/m", false);
_ui->statsToolBox->updateStat("Odometry/Py/m", false);
_ui->statsToolBox->updateStat("Odometry/Pz/m", false);
_ui->statsToolBox->updateStat("Odometry/Proll/deg", false);
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", false);
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", false);
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/RGB-D closure_view/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", 0.0f);
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", 0.0f);
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", 0.0f);
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", 0.0f);
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", false);
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", false);
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", false);
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", false);
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", false);
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", false);
#ifdef RTABMAP_OCTOMAP
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", 0.0f);
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", false);
#endif
this->loadFigures();
@@ -857,13 +856,13 @@ void MainWindow::processCameraInfo(const rtabmap::CameraInfo & info)
{
_firstStamp = info.stamp;
}
_ui->statsToolBox->updateStat("Camera/Time total/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeTotal*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeCapture*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time undistort depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeUndistortDepth*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeImageDecimation*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeDisparity*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeMirroring*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f);
_ui->statsToolBox->updateStat("Camera/Time total/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeTotal*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time capturing/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeCapture*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time undistort depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeUndistortDepth*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time decimation/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeImageDecimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time disparity/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeDisparity*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time mirroring/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeMirroring*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Camera/Time scan from depth/ms", _preferencesDialog->isTimeUsedInFigures()?info.stamp-_firstStamp:(float)info.id, info.timeScanFromDepth*1000.0f, _preferencesDialog->isCacheSavedInFigures());
}
void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataIgnored)
@@ -1303,85 +1302,85 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
}
//Process info
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().inliers);
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().icpInliersRatio);
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().matches);
_ui->statsToolBox->updateStat("Odometry/StdDev/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().variance));
_ui->statsToolBox->updateStat("Odometry/Variance/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().variance);
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f);
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f);
_ui->statsToolBox->updateStat("Odometry/Features/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().features);
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localMapSize);
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localScanMapSize);
_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.data().id());
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().inliers, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ICPInliersRatio/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().icpInliersRatio, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Matches/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().matches, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/StdDev/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), sqrt((float)odom.info().variance), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Variance/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().variance, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeEstimation/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeEstimation*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TimeFiltering/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().timeParticleFiltering*1000.0f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Features/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().features, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/LocalScanMapSize/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.info().localScanMapSize, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/ID/", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), (float)odom.data().id(), _preferencesDialog->isCacheSavedInFigures());
float x=0.0f,y,z, roll,pitch,yaw;
if(!odom.info().transform.isNull())
{
odom.info().transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/Tx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/Ty/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/Tz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/Troll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Tx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ty/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Troll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Tyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.info().transformFiltered.isNull())
{
odom.info().transformFiltered.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/TFx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/TFy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/TFz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TFx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TFyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(odom.info().interval > 0)
{
_ui->statsToolBox->updateStat("Odometry/Interval/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().interval*1000.f);
_ui->statsToolBox->updateStat("Odometry/Speed/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval*3.6f);
_ui->statsToolBox->updateStat("Odometry/Interval/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().interval*1000.f, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Speed/kph", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x/odom.info().interval*3.6f, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.info().transformGroundTruth.isNull())
{
odom.info().transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/TGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/TGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/TGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/TGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/TGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
//cumulative pose
if(!odom.pose().isNull())
{
odom.pose().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/Px/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/Py/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/Pz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/Proll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/Px/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Py/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Proll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Ppitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/Pyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(!odom.data().groundTruth().isNull())
{
odom.data().groundTruth().getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
_ui->statsToolBox->updateStat("Odometry/PGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x);
_ui->statsToolBox->updateStat("Odometry/PGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y);
_ui->statsToolBox->updateStat("Odometry/PGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z);
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI);
_ui->statsToolBox->updateStat("Odometry/PGx/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), x, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGy/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), y, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGz/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), z, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGroll/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), roll*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGpitch/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), pitch*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Odometry/PGyaw/deg", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), yaw*180.0/CV_PI, _preferencesDialog->isCacheSavedInFigures());
}
if(odom.info().distanceTravelled > 0)
{
_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().distanceTravelled);
_ui->statsToolBox->updateStat("Odometry/Distance/m", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), odom.info().distanceTravelled, _preferencesDialog->isCacheSavedInFigures());
}
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), time.elapsed()*1000.0);
_ui->statsToolBox->updateStat("GUI/Refresh odom/ms", _preferencesDialog->isTimeUsedInFigures()?odom.data().stamp()-_firstStamp:(float)odom.data().id(), time.elapsed()*1000.0, _preferencesDialog->isCacheSavedInFigures());
_processingOdometry = false;
}
@@ -1618,8 +1617,8 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), signature.getWords().size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), loopSignature.getWords().size());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the last signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), signature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Keypoint/Keypoints count in the loop signature/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), loopSignature.getWords().size(), _preferencesDialog->isCacheSavedInFigures());
// PDF AND LIKELIHOOD
if(!stat.posterior().empty() && _ui->dockWidget_posterior->isVisible())
@@ -1647,7 +1646,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
for(std::map<std::string, float>::const_iterator iter = statistics.begin(); iter != statistics.end(); ++iter)
{
//ULOGGER_DEBUG("Updating stat \"%s\"", (*iter).first.c_str());
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), (*iter).second);
_ui->statsToolBox->updateStat(QString((*iter).first.c_str()).replace('_', ' '), _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), (*iter).second, _preferencesDialog->isCacheSavedInFigures());
}
UDEBUG("time= %d ms", time.restart());
@@ -1717,7 +1716,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_odometryCorrection = groundTruthOffset * stat.mapCorrection();
UDEBUG("time= %d ms", time.restart());
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(timerVis.elapsed()*1000.0f));
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(timerVis.elapsed()*1000.0f), _preferencesDialog->isCacheSavedInFigures());
// loop closure view
if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0) &&
@@ -1733,7 +1732,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UTimer loopTimer;
_loopClosureViewer->updateView(Transform(), _preferencesDialog->getAllParameters());
UINFO("Updating loop closure cloud view time=%fs", loopTimer.elapsed());
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(loopTimer.elapsed()*1000.0f));
_ui->statsToolBox->updateStat("GUI/RGB-D closure view/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), int(loopTimer.elapsed()*1000.0f), _preferencesDialog->isCacheSavedInFigures());
}
UDEBUG("time= %d ms", time.restart());
@@ -1828,19 +1827,19 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
UINFO("rotational_min=%f", rotational_min);
UINFO("rotational_max=%f", rotational_max);
_ui->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_rmse);
_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_mean);
_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_median);
_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_std);
_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_min);
_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_max);
_ui->statsToolBox->updateStat("GT/translational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/translational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), translational_max, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_rmse);
_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_mean);
_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_median);
_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_std);
_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_min);
_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_max);
_ui->statsToolBox->updateStat("GT/rotational_rmse/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_rmse, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_mean/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_mean, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_median/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_median, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_std/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_std, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_min/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_min, _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GT/rotational_max/", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), rotational_max, _preferencesDialog->isCacheSavedInFigures());
}
}
UDEBUG("time= %d ms", time.restart());
@@ -1896,7 +1895,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
}
float elapsedTime = static_cast<float>(totalTime.elapsed());
UINFO("Updating GUI time = %fs", elapsedTime/1000.0f);
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), elapsedTime);
_ui->statsToolBox->updateStat("GUI/Refresh stats/ms", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), elapsedTime, _preferencesDialog->isCacheSavedInFigures());
if(_ui->actionAuto_screen_capture->isChecked() && !_autoScreenCaptureOdomSync)
{
this->captureScreen(_autoScreenCaptureRAM);
@@ -1907,11 +1906,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_cachedSignatures.clear();
_cachedMemoryUsage = 0;
}
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedMemoryUsage/(1024*1024));
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024));
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedGridsMemoryUsage/(1024*1024));
_ui->statsToolBox->updateStat("GUI/Cache Data Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GUI/Cache Clouds Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _createdCloudsMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("GUI/Cache Grids Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _cachedGridsMemoryUsage/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
#ifdef RTABMAP_OCTOMAP
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _octomap->octree()->memoryUsage()/(1024*1024));
_ui->statsToolBox->updateStat("GUI/Octomap Size/MB", _preferencesDialog->isTimeUsedInFigures()?stat.stamp()-_firstStamp:stat.refImageId(), _octomap->octree()->memoryUsage()/(1024*1024), _preferencesDialog->isCacheSavedInFigures());
#endif
if(_state != kMonitoring && _state != kDetecting)
{
@@ -3310,11 +3309,11 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
_ui->graphicsView_graphView->setGlobalPath(event.getPoses());
}
_ui->statsToolBox->updateStat("Planning/From/", float(event.getPoses().size()?event.getPoses().begin()->first:0));
_ui->statsToolBox->updateStat("Planning/Time/ms", float(event.getPlanningTime()*1000.0));
_ui->statsToolBox->updateStat("Planning/Goal/", float(event.getGoal()));
_ui->statsToolBox->updateStat("Planning/Poses/", float(event.getPoses().size()));
_ui->statsToolBox->updateStat("Planning/Length/m", float(graph::computePathLength(event.getPoses())));
_ui->statsToolBox->updateStat("Planning/From/", float(event.getPoses().size()?event.getPoses().begin()->first:0), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Planning/Time/ms", float(event.getPlanningTime()*1000.0), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Planning/Goal/", float(event.getGoal()), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Planning/Poses/", float(event.getPoses().size()), _preferencesDialog->isCacheSavedInFigures());
_ui->statsToolBox->updateStat("Planning/Length/m", float(graph::computePathLength(event.getPoses())), _preferencesDialog->isCacheSavedInFigures());
if(_preferencesDialog->notifyWhenNewGlobalPathIsReceived())
{
guilib/src/PreferencesDialog.cpp
+8
View File
@@ -279,6 +279,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
connect(_ui->checkBox_imageHighestHypShown, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_beep, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_stamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_cacheStatistics, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_notifyWhenNewGlobalPathIsReceived, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->spinBox_odomQualityWarnThr, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
connect(_ui->checkBox_posteriorGraphView, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteGeneralPanel()));
@@ -1188,6 +1189,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
_ui->general_checkBox_cloudsKept->setChecked(true);
_ui->checkBox_beep->setChecked(false);
_ui->checkBox_stamps->setChecked(true);
_ui->checkBox_cacheStatistics->setChecked(true);
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(false);
_ui->checkBox_verticalLayoutUsed->setChecked(true);
_ui->checkBox_imageRejectedShown->setChecked(true);
@@ -1563,6 +1565,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
_ui->checkBox_imageHighestHypShown->setChecked(settings.value("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked()).toBool());
_ui->checkBox_beep->setChecked(settings.value("beep", _ui->checkBox_beep->isChecked()).toBool());
_ui->checkBox_stamps->setChecked(settings.value("figure_time", _ui->checkBox_stamps->isChecked()).toBool());
_ui->checkBox_cacheStatistics->setChecked(settings.value("figure_cache", _ui->checkBox_cacheStatistics->isChecked()).toBool());
_ui->checkBox_notifyWhenNewGlobalPathIsReceived->setChecked(settings.value("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked()).toBool());
_ui->spinBox_odomQualityWarnThr->setValue(settings.value("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value()).toInt());
_ui->checkBox_posteriorGraphView->setChecked(settings.value("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked()).toBool());
@@ -1989,6 +1992,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
settings.setValue("imageHighestHypShown", _ui->checkBox_imageHighestHypShown->isChecked());
settings.setValue("beep", _ui->checkBox_beep->isChecked());
settings.setValue("figure_time", _ui->checkBox_stamps->isChecked());
settings.setValue("figure_cache", _ui->checkBox_cacheStatistics->isChecked());
settings.setValue("notifyNewGlobalPath", _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked());
settings.setValue("odomQualityThr", _ui->spinBox_odomQualityWarnThr->value());
settings.setValue("posteriorGraphView", _ui->checkBox_posteriorGraphView->isChecked());
@@ -3769,6 +3773,10 @@ bool PreferencesDialog::isTimeUsedInFigures() const
{
return _ui->checkBox_stamps->isChecked();
}
bool PreferencesDialog::isCacheSavedInFigures() const
{
return _ui->checkBox_cacheStatistics->isChecked();
}
bool PreferencesDialog::notifyWhenNewGlobalPathIsReceived() const
{
return _ui->checkBox_notifyWhenNewGlobalPathIsReceived->isChecked();
guilib/src/StatsToolBox.cpp
+103 -13
View File
@@ -44,24 +44,30 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
StatItem::StatItem(const QString & name, const std::vector<float> & x, const std::vector<float> & y, const QString & unit, const QMenu * menu, QGridLayout * grid, QWidget * parent) :
StatItem::StatItem(const QString & name, bool cacheOn, const std::vector<float> & x, const std::vector<float> & y, const QString & unit, const QMenu * menu, QGridLayout * grid, QWidget * parent) :
QWidget(parent),
_button(0),
_name(0),
_value(0),
_unit(0),
_menu(0)
_menu(0),
_cacheOn(cacheOn)
{
this->setupUi(grid);
_name->setText(name);
if(y.size() == 1)
if(y.size() == 1 || (y.size() > 1 && _cacheOn))
{
_value->setNum(y[0]);
_value->setNum(y[y.size()-1]);
}
else if(y.size() > 1)
{
_value->setText("*");
}
if(cacheOn)
{
_x = x;
_y = y;
}
_unit->setText(unit);
this->updateMenu(menu);
}
@@ -73,19 +79,53 @@ StatItem::~StatItem()
void StatItem::addValue(float y)
{
if(_cacheOn)
{
if(_y.size() % 100)
{
_y.reserve(_y.size()+100);
}
_y.push_back(y);
}
_value->setText(QString::number(y, 'g', 3));
emit valueAdded(y);
}
void StatItem::addValue(float x, float y)
{
if(_cacheOn)
{
if(_y.size() % 100)
{
_y.reserve(_y.size()+100);
}
_y.push_back(y);
if(_x.size() % 100)
{
_x.reserve(_x.size()+100);
}
_x.push_back(x);
}
_value->setText(QString::number(y, 'g', 3));
emit valueAdded(x,y);
}
void StatItem::setValues(const std::vector<float> & x, const std::vector<float> & y)
{
_value->setText("*");
if(_cacheOn)
{
_x = x;
_y = y;
if(y.size())
{
_value->setNum(y[y.size()-1]);
}
}
else
{
_value->setText("*");
}
emit valuesChanged(x,y);
}
@@ -132,6 +172,16 @@ void StatItem::setupUi(QGridLayout * grid)
}
}
void StatItem::setCacheOn(bool on)
{
_cacheOn = on;
if(!on)
{
_x.clear();
_y.clear();
}
}
void StatItem::updateMenu(const QMenu * menu)
{
_menu->clear();
@@ -190,22 +240,37 @@ void StatsToolBox::closeFigures()
}
}
void StatsToolBox::updateStat(const QString & statFullName, float y)
void StatsToolBox::setCacheOn(bool on)
{
QList<StatItem *> items = _statBox->findChildren<StatItem *>();
for(int i=0; i<items.size(); ++i)
{
items[i]->setCacheOn(on);
}
}
void StatsToolBox::updateStat(const QString & statFullName, bool cacheOn)
{
std::vector<float> vx,vy;
updateStat(statFullName, vx, vy, cacheOn);
}
void StatsToolBox::updateStat(const QString & statFullName, float y, bool cacheOn)
{
std::vector<float> vx,vy(1);
vy[0] = y;
updateStat(statFullName, vx, vy);
updateStat(statFullName, vx, vy, cacheOn);
}
void StatsToolBox::updateStat(const QString & statFullName, float x, float y)
void StatsToolBox::updateStat(const QString & statFullName, float x, float y, bool cacheOn)
{
std::vector<float> vx(1),vy(1);
vx[0] = x;
vy[0] = y;
updateStat(statFullName, vx, vy);
updateStat(statFullName, vx, vy, cacheOn);
}
void StatsToolBox::updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y)
void StatsToolBox::updateStat(const QString & statFullName, const std::vector<float> & x, const std::vector<float> & y, bool cacheOn)
{
// round float to max 2 numbers after the dot
//x = (float(int(100*x)))/100;
@@ -214,6 +279,7 @@ void StatsToolBox::updateStat(const QString & statFullName, const std::vector<fl
StatItem * item = _statBox->findChild<StatItem *>(statFullName);
if(item)
{
item->setCacheOn(cacheOn);
if(y.size() == 1 && x.size() == 1)
{
item->addValue(x[0], y[0]);
@@ -296,7 +362,7 @@ void StatsToolBox::updateStat(const QString & statFullName, const std::vector<fl
return;
}
item = new StatItem(name, x, y, unit, _plotMenu, grid, _statBox->widget(index));
item = new StatItem(name, cacheOn, x, y, unit, _plotMenu, grid, _statBox->widget(index));
item->setObjectName(statFullName);
//layout->insertWidget(layout->count()-1, item);
@@ -327,6 +393,17 @@ void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
{
plot->setMaxVisibleItems(0);
}
if(!stat->yValues().empty())
{
if(stat->xValues().size() == stat->yValues().size())
{
curve->setData(stat->xValues(),stat->yValues());
}
else
{
curve->setData(stat->yValues());
}
}
if(!plot->addCurve(curve))
{
ULOGGER_WARN("Already added to the figure");
@@ -376,6 +453,19 @@ void StatsToolBox::plot(const StatItem * stat, const QString & plotName)
{
newPlot->setMaxVisibleItems(0);
}
if(!stat->yValues().empty())
{
if(stat->xValues().size() == stat->yValues().size())
{
curve->setData(stat->xValues(),stat->yValues());
}
else
{
curve->setData(stat->yValues());
}
}
if(!newPlot->addCurve(curve))
{
ULOGGER_ERROR("Not supposed to be here !?!");
@@ -493,12 +583,12 @@ void StatsToolBox::getFiguresSetup(QList<int> & curvesPerFigure, QStringList & c
}
}
}
void StatsToolBox::addCurve(const QString & name, bool newFigure)
void StatsToolBox::addCurve(const QString & name, bool newFigure, bool cacheOn)
{
StatItem * item = _statBox->findChild<StatItem *>(name);
if(!item)
{
this->updateStat(name, 0, 0);
this->updateStat(name, cacheOn);
item = _statBox->findChild<StatItem *>(name);
}
guilib/src/ui/DatabaseViewer.ui
+31 -7
View File
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1285</width>
<height>857</height>
<height>965</height>
</rect>
</property>
<property name="windowTitle">
@@ -52,7 +52,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>204</width>
<width>203</width>
<height>208</height>
</rect>
</property>
@@ -1125,7 +1125,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-32</y>
<y>0</y>
<width>280</width>
<height>584</height>
</rect>
@@ -1443,8 +1443,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>282</width>
<height>163</height>
<width>201</width>
<height>126</height>
</rect>
</property>
<attribute name="label">
@@ -1543,8 +1543,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>267</width>
<height>168</height>
<width>181</width>
<height>200</height>
</rect>
</property>
<attribute name="label">
@@ -1876,6 +1876,24 @@
</layout>
</widget>
</widget>
<widget class="QDockWidget" name="dockWidget_statistics">
<property name="windowTitle">
<string>Statistics</string>
</property>
<attribute name="dockWidgetArea">
<number>1</number>
</attribute>
<widget class="QWidget" name="dockWidgetContents_5">
<layout class="QVBoxLayout" name="verticalLayout_7">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="rtabmap::StatsToolBox" name="toolBox_statistics" native="true"/>
</item>
</layout>
</widget>
</widget>
<action name="actionOpen_database">
<property name="text">
<string>Open database</string>
@@ -2019,6 +2037,12 @@
<header>ParametersToolBox.h</header>
<container>1</container>
</customwidget>
<customwidget>
<class>rtabmap::StatsToolBox</class>
<extends>QWidget</extends>
<header>rtabmap/gui/StatsToolBox.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
guilib/src/ui/preferencesDialog.ui
+60 -40
View File
@@ -63,7 +63,7 @@
<property name="geometry">
<rect>
<x>0</x>
<y>-179</y>
<y>0</y>
<width>673</width>
<height>2496</height>
</rect>
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>5</number>
<number>0</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,1">
@@ -108,6 +108,42 @@
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Notify when a new global path is received.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_313">
<property name="text">
<string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_cloudsKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_59">
<property name="text">
@@ -141,20 +177,7 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_102">
<property name="text">
<string>Notify when a new global path is received.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_notifyWhenNewGlobalPathIsReceived">
<property name="text">
<string/>
@@ -164,29 +187,6 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_313">
<property name="text">
<string>Insert created clouds in the GUI cache to avoid regenerating clouds on export.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QCheckBox" name="general_checkBox_cloudsKept">
<property name="text">
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_stamps">
<property name="text">
@@ -207,6 +207,26 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_342">
<property name="text">
<string>Cache statistics.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_cacheStatistics">
<property name="text">
<string/>
</property>
</widget>
</item>
</layout>
</item>
<item>
@@ -2384,7 +2404,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,0,1,0">
<layout class="QGridLayout" name="gridLayout_55" columnstretch="0,0,0,1">
<item row="0" column="1">
<widget class="QComboBox" name="comboBox_cameraRGBD">
<property name="sizeAdjustPolicy">
package.xml
+1 -1
View File
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>rtabmap</name>
<version>0.11.10</version>
<version>0.11.11</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>