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.

2026-09-02 01:20:25 +08:00 · 2016-09-20 11:19:34 -04:00
parent a0972158dc
commit 3530da935b
20 changed files with 609 additions and 219 deletions
--- a/corelib/src/DBDriver.cpp
+++ b/corelib/src/DBDriver.cpp
@@ -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,
--- a/corelib/src/DBDriverSqlite3.cpp
+++ b/corelib/src/DBDriverSqlite3.cpp
@@ -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)
--- a/corelib/src/DBDriverSqlite3.h
+++ b/corelib/src/DBDriverSqlite3.h
@@ -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;
--- a/corelib/src/Memory.cpp
+++ b/corelib/src/Memory.cpp
@@ -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)
--- a/corelib/src/Rtabmap.cpp
+++ b/corelib/src/Rtabmap.cpp
@@ -2557,6 +2557,9 @@ bool Rtabmap::process(
 		UDEBUG("");
 	}

+	//Save statistics to database
+	_memory->saveStatistics(statistics_);
+
 	//Start trashing
 	UDEBUG("Empty trash...");
 	_memory->emptyTrash();
--- a/corelib/src/Statistics.cpp
+++ b/corelib/src/Statistics.cpp
@@ -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;
--- a/corelib/src/resources/DatabaseSchema.sql.in
+++ b/corelib/src/resources/DatabaseSchema.sql.in
@@ -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