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DbViewer: fixed occupancy grid color options. Reprocess: added grid total time including rtabmap stats

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matlabbe
2018-02-18 21:32:19 -05:00
parent 00559ce8d6
commit 37cbf79b4c
2 changed files with 8 additions and 6 deletions
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4
tools/Reprocess/main.cpp
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@@ -222,6 +222,7 @@ int main(int argc, char * argv[])
printf("High variance detected, triggering a new map...\n");
rtabmap.triggerNewMap();
}
UTimer t;
if(!rtabmap.process(data, info.odomPose, info.odomCovariance, info.odomVelocity, globalMapStats))
{
printf("Failed processing node %d.\n", data.id());
@@ -230,13 +231,13 @@ int main(int argc, char * argv[])
else if(assemble2dMap || assemble3dMap || assemble2dOctoMap || assemble3dOctoMap)
{
globalMapStats.clear();
double timeRtabmap = t.ticks();
double timeUpdateInit = 0.0;
double timeUpdateGrid = 0.0;
#ifdef RTABMAP_OCTOMAP
double timeUpdateOctoMap = 0.0;
#endif
const rtabmap::Statistics & stats = rtabmap.getStatistics();
UTimer t;
if(stats.poses().size() && stats.getSignatures().size())
{
int id = stats.poses().rbegin()->first;
@@ -302,6 +303,7 @@ int main(int argc, char * argv[])
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctoMapProjection/ms"), timePub2dOctoMap*1000.0f));
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/OctomapToCloud/ms"), timePub3dOctoMap*1000.0f));
#endif
globalMapStats.insert(std::make_pair(std::string("GlobalGrid/TotalWithRtabmap/ms"), (timeUpdateGrid+timeUpdateOctoMap+timePub2dOctoMap+timePub3dOctoMap+timeRtabmap)*1000.0f));
}
}