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Statistics: Updated "LocalLoop" to "Proximity"

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This commit is contained in:
matlabbe
2016-03-11 17:54:01 -05:00
parent 56bf2b788f
commit 48644a17f0
4 changed files with 53 additions and 55 deletions
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16
corelib/include/rtabmap/core/Statistics.h
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@@ -66,11 +66,11 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Optimization_error, );
RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,);
RTABMAP_STATS(LocalLoop, Space_paths,);
RTABMAP_STATS(LocalLoop, Space_closures_added_visually,);
RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,);
RTABMAP_STATS(Proximity, Time_detections,);
RTABMAP_STATS(Proximity, Space_last_detection_id,);
RTABMAP_STATS(Proximity, Space_paths,);
RTABMAP_STATS(Proximity, Space_detections_added_visually,);
RTABMAP_STATS(Proximity, Space_detections_added_icp_only,);
RTABMAP_STATS(NeighborLinkRefining, Accepted,);
RTABMAP_STATS(NeighborLinkRefining, Inliers,);
@@ -144,7 +144,7 @@ public:
void setExtended(bool extended) {_extended = extended;}
void setRefImageId(int refImageId) {_refImageId = refImageId;}
void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
void setLocalLoopClosureId(int localLoopClosureId) {_localLoopClosureId = localLoopClosureId;}
void setProximityDetectionId(int id) {_proximiyDetectionId = id;}
void setSignatures(const std::map<int, Signature> & signatures) {_signatures = signatures;}
@@ -164,7 +164,7 @@ public:
bool extended() const {return _extended;}
int refImageId() const {return _refImageId;}
int loopClosureId() const {return _loopClosureId;}
int localLoopClosureId() const {return _localLoopClosureId;}
int proximityDetectionId() const {return _proximiyDetectionId;}
const std::map<int, Signature> & getSignatures() const {return _signatures;}
@@ -187,7 +187,7 @@ private:
int _refImageId;
int _loopClosureId;
int _localLoopClosureId;
int _proximiyDetectionId;
std::map<int, Signature> _signatures;

68
corelib/src/Rtabmap.cpp
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@@ -377,6 +377,10 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
ULOGGER_DEBUG("");
ParametersMap::const_iterator iter;
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
Parameters::parse(parameters, Parameters::kRtabmapPublishStats(), _publishStats);
Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignatureData);
@@ -484,12 +488,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{
_bayesFilter->parseParameters(parameters);
}
// update working directory at the end
if((iter=parameters.find(Parameters::kRtabmapWorkingDirectory())) != parameters.end())
{
this->setWorkingDirectory(iter->second.c_str());
}
}
int Rtabmap::getLastLocationId() const
@@ -846,7 +844,7 @@ bool Rtabmap::process(
std::map<int, int> childCount;
std::set<int> signaturesRetrieved;
int localLoopClosuresInTimeFound = 0;
int proximityDetectionsInTimeFound = 0;
const Signature * signature = 0;
const Signature * sLoop = 0;
@@ -1192,7 +1190,7 @@ bool Rtabmap::process(
UASSERT(info.variance > 0.0);
if(_memory->addLink(Link(signature->id(), *iter, Link::kLocalTimeClosure, transform, info.variance, info.variance)))
{
++localLoopClosuresInTimeFound;
++proximityDetectionsInTimeFound;
UINFO("Local loop closure found between %d and %d with t=%s",
*iter, signature->id(), transform.prettyPrint().c_str());
}
@@ -1762,10 +1760,10 @@ bool Rtabmap::process(
timeAddLoopClosureLink = timer.ticks();
ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink);
int localSpaceClosuresAddedVisually = 0;
int localSpaceClosuresAddedByICPOnly = 0;
int lastLocalSpaceClosureId = 0;
int localSpacePaths = 0;
int proximityDetectionsAddedVisually = 0;
int proximityDetectionsAddedByICPOnly = 0;
int lastProximitySpaceClosureId = 0;
int proximitySpacePaths = 0;
if(_proximityBySpace &&
_localRadius > 0 &&
_rgbdSlamMode &&
@@ -1817,7 +1815,7 @@ bool Rtabmap::process(
UDEBUG("nearestPaths=%d", (int)nearestPaths.size());
for(std::list<std::map<int, Transform> >::const_iterator iter=nearestPaths.begin();
iter!=nearestPaths.end() && (_memory->isIncremental() || lastLocalSpaceClosureId == 0);
iter!=nearestPaths.end() && (_memory->isIncremental() || lastProximitySpaceClosureId == 0);
++iter)
{
std::map<int, Transform> path = *iter;
@@ -1855,8 +1853,8 @@ bool Rtabmap::process(
if(_loopClosureHypothesis.first == 0)
{
++localSpaceClosuresAddedVisually;
lastLocalSpaceClosureId = nearestId;
++proximityDetectionsAddedVisually;
lastProximitySpaceClosureId = nearestId;
}
}
else
@@ -1875,16 +1873,16 @@ bool Rtabmap::process(
//
UDEBUG("Proximity detection (local loop closure in SPACE with scan matching)");
if( !signature->sensorData().laserScanCompressed().empty() &&
(_memory->isIncremental() || lastLocalSpaceClosureId == 0))
(_memory->isIncremental() || lastProximitySpaceClosureId == 0))
{
// In localization mode, no need to check local loop
// closures if we are already localized by at least one
// local visual closure above.
localSpacePaths = (int)nearestPaths.size();
proximitySpacePaths = (int)nearestPaths.size();
for(std::list<std::map<int, Transform> >::iterator iter=nearestPaths.begin();
iter!=nearestPaths.end() && (_memory->isIncremental() || lastLocalSpaceClosureId == 0);
iter!=nearestPaths.end() && (_memory->isIncremental() || lastProximitySpaceClosureId == 0);
++iter)
{
std::map<int, Transform> & path = *iter;
@@ -1979,12 +1977,12 @@ bool Rtabmap::process(
_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, sqrtVar, sqrtVar, scanMatchingIds));
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));
++localSpaceClosuresAddedByICPOnly;
++proximityDetectionsAddedByICPOnly;
// no local loop closure added visually
if(localSpaceClosuresAddedVisually == 0 && _loopClosureHypothesis.first == 0)
if(proximityDetectionsAddedVisually == 0 && _loopClosureHypothesis.first == 0)
{
lastLocalSpaceClosureId = nearestId;
lastProximitySpaceClosureId = nearestId;
}
}
else
@@ -2043,9 +2041,9 @@ bool Rtabmap::process(
int optimizationIterations = 0;
if(_rgbdSlamMode &&
(_loopClosureHypothesis.first>0 ||
lastLocalSpaceClosureId>0 || // can be different map of the current one
lastProximitySpaceClosureId>0 || // can be different map of the current one
statistics_.reducedIds().size() ||
localLoopClosuresInTimeFound>0 ||
proximityDetectionsInTimeFound>0 ||
((_memory->isIncremental() || signature->getLinks().size()) && // In localization mode, the new node should be linked
signaturesRetrieved.size()))) // can be different map of the current one
{
@@ -2115,7 +2113,7 @@ bool Rtabmap::process(
}
updateConstraints = false;
_loopClosureHypothesis.first = 0;
lastLocalSpaceClosureId = 0;
lastProximitySpaceClosureId = 0;
rejectedHypothesis = true;
}
else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode
@@ -2164,7 +2162,7 @@ bool Rtabmap::process(
}
updateConstraints = false;
_loopClosureHypothesis.first = 0;
lastLocalSpaceClosureId = 0;
lastProximitySpaceClosureId = 0;
rejectedHypothesis = true;
}
}
@@ -2185,7 +2183,7 @@ bool Rtabmap::process(
UERROR("Map correction should be identity when optimizing from the last node. T=%s", _mapCorrection.prettyPrint().c_str());
}
}
_lastLocalizationNodeId = _loopClosureHypothesis.first>0?_loopClosureHypothesis.first:lastLocalSpaceClosureId>0?lastLocalSpaceClosureId:_lastLocalizationNodeId;
_lastLocalizationNodeId = _loopClosureHypothesis.first>0?_loopClosureHypothesis.first:lastProximitySpaceClosureId>0?lastProximitySpaceClosureId:_lastLocalizationNodeId;
timeMapOptimization = timer.ticks();
ULOGGER_INFO("timeMapOptimization=%fs", timeMapOptimization);
@@ -2200,7 +2198,7 @@ bool Rtabmap::process(
int lcHypothesisReactivated = 0;
float rehearsalValue = uValue(statistics_.data(), Statistics::kMemoryRehearsal_sim(), 0.0f);
int rehearsalMaxId = (int)uValue(statistics_.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
sLoop = _memory->getSignature(_loopClosureHypothesis.first?_loopClosureHypothesis.first:lastLocalSpaceClosureId?lastLocalSpaceClosureId:_highestHypothesis.first);
sLoop = _memory->getSignature(_loopClosureHypothesis.first?_loopClosureHypothesis.first:lastProximitySpaceClosureId?lastProximitySpaceClosureId:_highestHypothesis.first);
if(sLoop)
{
lcHypothesisReactivated = sLoop->isSaved()?1.0f:0.0f;
@@ -2240,13 +2238,13 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError);
statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations);
statistics_.addStatistic(Statistics::kLocalLoopTime_closures(), localLoopClosuresInTimeFound);
statistics_.addStatistic(Statistics::kLocalLoopSpace_closures_added_visually(), localSpaceClosuresAddedVisually);
statistics_.addStatistic(Statistics::kLocalLoopSpace_closures_added_icp_only(), localSpaceClosuresAddedByICPOnly);
statistics_.addStatistic(Statistics::kLocalLoopSpace_paths(), localSpacePaths);
statistics_.addStatistic(Statistics::kLocalLoopSpace_last_closure_id(), lastLocalSpaceClosureId);
statistics_.setLocalLoopClosureId(lastLocalSpaceClosureId);
if(_loopClosureHypothesis.first || lastLocalSpaceClosureId)
statistics_.addStatistic(Statistics::kProximityTime_detections(), proximityDetectionsInTimeFound);
statistics_.addStatistic(Statistics::kProximitySpace_detections_added_visually(), proximityDetectionsAddedVisually);
statistics_.addStatistic(Statistics::kProximitySpace_detections_added_icp_only(), proximityDetectionsAddedByICPOnly);
statistics_.addStatistic(Statistics::kProximitySpace_paths(), proximitySpacePaths);
statistics_.addStatistic(Statistics::kProximitySpace_last_detection_id(), lastProximitySpaceClosureId);
statistics_.setProximityDetectionId(lastProximitySpaceClosureId);
if(_loopClosureHypothesis.first || lastProximitySpaceClosureId)
{
UASSERT(uContains(sLoop->getLinks(), signature->id()));
UINFO("Set loop closure transform = %s", sLoop->getLinks().at(signature->id()).transform().prettyPrint().c_str());
@@ -2343,7 +2341,7 @@ bool Rtabmap::process(
signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(signature->id());
}
else if(smallDisplacement && _loopClosureHypothesis.first == 0 && lastLocalSpaceClosureId == 0)
else if(smallDisplacement && _loopClosureHypothesis.first == 0 && lastProximitySpaceClosureId == 0)
{
// Don't delete the location if a loop closure is detected
UINFO("Ignoring location %d because the displacement is too small! (d=%f a=%f)",

2
corelib/src/Statistics.cpp
View File

@@ -42,7 +42,7 @@ Statistics::Statistics() :
_extended(0),
_refImageId(0),
_loopClosureId(0),
_localLoopClosureId(0),
_proximiyDetectionId(0),
_currentGoalId(0)
{
_defaultDataInitialized = true;