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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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22
guilib/src/MainWindow.cpp
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@@ -664,7 +664,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
RtabmapEvent * rtabmapEvent = (RtabmapEvent*)anEvent;
Statistics stats = rtabmapEvent->getStats();
int highestHypothesisId = int(uValue(stats.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int localLoopClosureId = int(uValue(stats.data(), Statistics::kLocalLoopSpace_last_closure_id(), 0.0f));
int proximityClosureId = int(uValue(stats.data(), Statistics::kProximitySpace_last_detection_id(), 0.0f));
bool rejectedHyp = bool(uValue(stats.data(), Statistics::kLoopRejectedHypothesis(), 0.0f));
float highestHypothesisValue = uValue(stats.data(), Statistics::kLoopHighest_hypothesis_value(), 0.0f);
if((stats.loopClosureId() > 0 &&
@@ -676,7 +676,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
_ui->actionPause_when_a_loop_hypothesis_is_rejected->isChecked() &&
rejectedHyp)
||
(localLoopClosureId > 0 &&
(proximityClosureId > 0 &&
_ui->actionPause_on_local_loop_detection->isChecked()))
{
if(_state != kPaused && _state != kMonitoringPaused && !_processingDownloadedMap)
@@ -1219,7 +1219,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
refMapId = stat.getSignatures().at(stat.refImageId()).mapId();
}
int highestHypothesisId = static_cast<float>(uValue(stat.data(), Statistics::kLoopHighest_hypothesis_id(), 0.0f));
int loopId = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
int loopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
if(_cachedSignatures.contains(loopId))
{
loopMapId = _cachedSignatures.value(loopId).mapId();
@@ -1261,7 +1261,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int rehearsalMerged = (int)uValue(stat.data(), Statistics::kMemoryRehearsal_merged(), 0.0f);
bool rehearsedSimilarity = (float)uValue(stat.data(), Statistics::kMemoryRehearsal_id(), 0.0f) != 0.0f;
int localTimeClosures = (int)uValue(stat.data(), Statistics::kLocalLoopTime_closures(), 0.0f);
int proximityTimeDetections = (int)uValue(stat.data(), Statistics::kProximityTime_detections(), 0.0f);
bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kNeighborLinkRefiningAccepted(), 0.0f);
bool smallMovement = (bool)uValue(stat.data(), Statistics::kMemorySmall_movement(), 0.0f);
_ui->label_stats_imageNumber->setText(QString("%1 [%2]").arg(stat.refImageId()).arg(refMapId));
@@ -1270,7 +1270,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_source->setBackgroundColor(Qt::blue);
}
else if(localTimeClosures > 0)
else if(proximityTimeDetections > 0)
{
_ui->imageView_source->setBackgroundColor(Qt::darkYellow);
}
@@ -1312,7 +1312,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
int matchId = 0;
Signature loopSignature;
int shownLoopId = 0;
if(highestHypothesisId > 0 || stat.localLoopClosureId()>0)
if(highestHypothesisId > 0 || stat.proximityDetectionId()>0)
{
bool show = true;
if(stat.loopClosureId() > 0)
@@ -1326,11 +1326,11 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->label_matchId->setText(QString("Match ID = %1 [%2]").arg(stat.loopClosureId()).arg(loopMapId));
matchId = stat.loopClosureId();
}
else if(stat.localLoopClosureId())
else if(stat.proximityDetectionId())
{
_ui->imageView_loopClosure->setBackgroundColor(Qt::yellow);
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.localLoopClosureId()).arg(loopMapId));
matchId = stat.localLoopClosureId();
_ui->label_matchId->setText(QString("Local match = %1 [%2]").arg(stat.proximityDetectionId()).arg(loopMapId));
matchId = stat.proximityDetectionId();
}
else if(rejectedHyp && highestHypothesisValue >= _preferencesDialog->getLoopThr())
{
@@ -1353,7 +1353,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
if(show)
{
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.localLoopClosureId()>0?stat.localLoopClosureId():highestHypothesisId;
shownLoopId = stat.loopClosureId()>0?stat.loopClosureId():stat.proximityDetectionId()>0?stat.proximityDetectionId():highestHypothesisId;
QMap<int, Signature>::iterator iter = _cachedSignatures.find(shownLoopId);
if(iter != _cachedSignatures.end())
{
@@ -1493,7 +1493,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
_ui->statsToolBox->updateStat("GUI/RGB-D cloud/ms", stat.refImageId(), int(timerVis.elapsed()*1000.0f));
// loop closure view
if((stat.loopClosureId() > 0 || stat.localLoopClosureId() > 0) &&
if((stat.loopClosureId() > 0 || stat.proximityDetectionId() > 0) &&
!stat.loopClosureTransform().isNull() &&
!loopSignature.sensorData().imageRaw().empty())
{