mirror of
https://github.com/introlab/rtabmap.git
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0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.
This commit is contained in:
matlabbe
@@ -0,0 +1,36 @@
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cmake_minimum_required(VERSION 2.8)
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# inside rtabmap project (see below for external build)
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SET(RTABMap_INCLUDE_DIRS
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${PROJECT_SOURCE_DIR}/utilite/include
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${PROJECT_SOURCE_DIR}/corelib/include
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)
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SET(RTABMap_LIBRARIES
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rtabmap_core
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rtabmap_utilite
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)
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if(POLICY CMP0020)
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cmake_policy(SET CMP0020 OLD)
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endif()
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SET(INCLUDE_DIRS
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${RTABMap_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${RTABMap_LIBRARIES}
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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)
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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ADD_EXECUTABLE(report main.cpp)
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TARGET_LINK_LIBRARIES(report ${LIBRARIES})
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SET_TARGET_PROPERTIES( report
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-report)
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@@ -0,0 +1,142 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <rtabmap/core/DBDriver.h>
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#include <rtabmap/utilite/UDirectory.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UMath.h>
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#include <stdio.h>
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using namespace rtabmap;
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void showUsage()
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{
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printf("\nUsage:\n"
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"rtabmap-report path\n"
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" path Directory containing rtabmap databases.\n\n");
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exit(1);
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}
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int main(int argc, char * argv[])
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{
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if(argc < 2)
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{
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showUsage();
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}
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std::string path = argv[1];
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path = uReplaceChar(path, '~', UDirectory::homeDir());
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std::string fileName;
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std::list<std::string> paths;
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paths.push_back(path);
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while(paths.size())
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{
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std::string currentPath = paths.front();
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UDirectory currentDir(currentPath);
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paths.pop_front();
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if(!currentDir.isValid())
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{
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continue;
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}
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std::list<std::string> subDirs;
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printf("Directory: %s\n", currentPath.c_str());
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while(!(fileName = currentDir.getNextFileName()).empty())
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{
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if(UFile::getExtension(fileName).compare("db") == 0)
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{
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std::string filePath = currentPath + UDirectory::separator() + fileName;
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DBDriver * driver = DBDriver::create();
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if(driver->openConnection(filePath))
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{
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std::set<int> ids;
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driver->getAllNodeIds(ids);
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std::map<int, std::pair<std::map<std::string, float>, double> > stats = driver->getAllStatistics();
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std::vector<float> cameraTime;
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cameraTime.reserve(ids.size());
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std::vector<float> odomTime;
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odomTime.reserve(ids.size());
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std::vector<float> slamTime;
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slamTime.reserve(ids.size());
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float rmse = -1;
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for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
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{
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Transform p, gt;
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GPS gps;
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int m, w;
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std::string l;
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double s;
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std::vector<float> v;
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driver->getNodeInfo(*iter, p, m, w, l, s, gt, v, gps);
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if(uContains(stats, *iter))
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{
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const std::map<std::string, float> & stat = stats.at(*iter).first;
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if(uContains(stat, Statistics::kGtTranslational_rmse()))
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{
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rmse = stat.at(Statistics::kGtTranslational_rmse());
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}
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if(uContains(stat, std::string("Camera/TotalTime/ms")))
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{
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cameraTime.push_back(stat.at(std::string("Camera/TotalTime/ms")));
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}
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if(uContains(stat, std::string("Odometry/TotalTime/ms")))
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{
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odomTime.push_back(stat.at(std::string("Odometry/TotalTime/ms")));
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}
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if(w >= 0 && uContains(stat, Statistics::kTimingTotal()))
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{
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slamTime.push_back(stat.at(Statistics::kTimingTotal()));
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}
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}
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}
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printf(" %s (%d): %fm, slam: avg=%dms max=%dms, odom: avg=%dms max=%dms, camera: avg=%dms max=%dms\n",
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fileName.c_str(),
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(int)ids.size(),
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rmse,
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(int)uMean(slamTime), (int)uMax(slamTime),
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(int)uMean(odomTime), (int)uMax(odomTime),
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(int)uMean(cameraTime), (int)uMax(cameraTime));
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}
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driver->closeConnection();
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delete driver;
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}
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else if(uSplit(fileName, '.').size() == 1)
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{
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//sub directory
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subDirs.push_front(currentPath + UDirectory::separator() + fileName);
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}
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}
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for(std::list<std::string>::iterator iter=subDirs.begin(); iter!=subDirs.end(); ++iter)
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{
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paths.push_front(*iter);
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}
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}
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return 0;
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}
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