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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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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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8
corelib/include/rtabmap/core/DBDriver.h
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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;

1
corelib/include/rtabmap/core/Memory.h
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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);

3
corelib/include/rtabmap/core/Statistics.h
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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();