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Statistics: Updated "LocalLoop" to "Proximity"

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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_error, );
RTABMAP_STATS(Loop, Optimization_iterations, ); RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(LocalLoop, Time_closures,); RTABMAP_STATS(Proximity, Time_detections,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,); RTABMAP_STATS(Proximity, Space_last_detection_id,);
RTABMAP_STATS(LocalLoop, Space_paths,); RTABMAP_STATS(Proximity, Space_paths,);
RTABMAP_STATS(LocalLoop, Space_closures_added_visually,); RTABMAP_STATS(Proximity, Space_detections_added_visually,);
RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,); RTABMAP_STATS(Proximity, Space_detections_added_icp_only,);
RTABMAP_STATS(NeighborLinkRefining, Accepted,); RTABMAP_STATS(NeighborLinkRefining, Accepted,);
RTABMAP_STATS(NeighborLinkRefining, Inliers,); RTABMAP_STATS(NeighborLinkRefining, Inliers,);
@@ -144,7 +144,7 @@ public:
void setExtended(bool extended) {_extended = extended;} void setExtended(bool extended) {_extended = extended;}
void setRefImageId(int refImageId) {_refImageId = refImageId;} void setRefImageId(int refImageId) {_refImageId = refImageId;}
void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;} 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;} void setSignatures(const std::map<int, Signature> & signatures) {_signatures = signatures;}
@@ -164,7 +164,7 @@ public:
bool extended() const {return _extended;} bool extended() const {return _extended;}
int refImageId() const {return _refImageId;} int refImageId() const {return _refImageId;}
int loopClosureId() const {return _loopClosureId;} int loopClosureId() const {return _loopClosureId;}
int localLoopClosureId() const {return _localLoopClosureId;} int proximityDetectionId() const {return _proximiyDetectionId;}
const std::map<int, Signature> & getSignatures() const {return _signatures;} const std::map<int, Signature> & getSignatures() const {return _signatures;}
@@ -187,7 +187,7 @@ private:
int _refImageId; int _refImageId;
int _loopClosureId; int _loopClosureId;
int _localLoopClosureId; int _proximiyDetectionId;
std::map<int, Signature> _signatures; 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(""); ULOGGER_DEBUG("");
ParametersMap::const_iterator iter; 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::kRtabmapPublishStats(), _publishStats);
Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignatureData); Parameters::parse(parameters, Parameters::kRtabmapPublishLastSignature(), _publishLastSignatureData);
@@ -484,12 +488,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
{ {
_bayesFilter->parseParameters(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 int Rtabmap::getLastLocationId() const
@@ -846,7 +844,7 @@ bool Rtabmap::process(
std::map<int, int> childCount; std::map<int, int> childCount;
std::set<int> signaturesRetrieved; std::set<int> signaturesRetrieved;
int localLoopClosuresInTimeFound = 0; int proximityDetectionsInTimeFound = 0;
const Signature * signature = 0; const Signature * signature = 0;
const Signature * sLoop = 0; const Signature * sLoop = 0;
@@ -1192,7 +1190,7 @@ bool Rtabmap::process(
UASSERT(info.variance > 0.0); UASSERT(info.variance > 0.0);
if(_memory->addLink(Link(signature->id(), *iter, Link::kLocalTimeClosure, transform, info.variance, info.variance))) 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", UINFO("Local loop closure found between %d and %d with t=%s",
*iter, signature->id(), transform.prettyPrint().c_str()); *iter, signature->id(), transform.prettyPrint().c_str());
} }
@@ -1762,10 +1760,10 @@ bool Rtabmap::process(
timeAddLoopClosureLink = timer.ticks(); timeAddLoopClosureLink = timer.ticks();
ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink); ULOGGER_INFO("timeAddLoopClosureLink=%fs", timeAddLoopClosureLink);
int localSpaceClosuresAddedVisually = 0; int proximityDetectionsAddedVisually = 0;
int localSpaceClosuresAddedByICPOnly = 0; int proximityDetectionsAddedByICPOnly = 0;
int lastLocalSpaceClosureId = 0; int lastProximitySpaceClosureId = 0;
int localSpacePaths = 0; int proximitySpacePaths = 0;
if(_proximityBySpace && if(_proximityBySpace &&
_localRadius > 0 && _localRadius > 0 &&
_rgbdSlamMode && _rgbdSlamMode &&
@@ -1817,7 +1815,7 @@ bool Rtabmap::process(
UDEBUG("nearestPaths=%d", (int)nearestPaths.size()); UDEBUG("nearestPaths=%d", (int)nearestPaths.size());
for(std::list<std::map<int, Transform> >::const_iterator iter=nearestPaths.begin(); 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) ++iter)
{ {
std::map<int, Transform> path = *iter; std::map<int, Transform> path = *iter;
@@ -1855,8 +1853,8 @@ bool Rtabmap::process(
if(_loopClosureHypothesis.first == 0) if(_loopClosureHypothesis.first == 0)
{ {
++localSpaceClosuresAddedVisually; ++proximityDetectionsAddedVisually;
lastLocalSpaceClosureId = nearestId; lastProximitySpaceClosureId = nearestId;
} }
} }
else else
@@ -1875,16 +1873,16 @@ bool Rtabmap::process(
// //
UDEBUG("Proximity detection (local loop closure in SPACE with scan matching)"); UDEBUG("Proximity detection (local loop closure in SPACE with scan matching)");
if( !signature->sensorData().laserScanCompressed().empty() && if( !signature->sensorData().laserScanCompressed().empty() &&
(_memory->isIncremental() || lastLocalSpaceClosureId == 0)) (_memory->isIncremental() || lastProximitySpaceClosureId == 0))
{ {
// In localization mode, no need to check local loop // In localization mode, no need to check local loop
// closures if we are already localized by at least one // closures if we are already localized by at least one
// local visual closure above. // local visual closure above.
localSpacePaths = (int)nearestPaths.size(); proximitySpacePaths = (int)nearestPaths.size();
for(std::list<std::map<int, Transform> >::iterator iter=nearestPaths.begin(); 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) ++iter)
{ {
std::map<int, Transform> & path = *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)); _memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, sqrtVar, sqrtVar, scanMatchingIds));
loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId)); loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));
++localSpaceClosuresAddedByICPOnly; ++proximityDetectionsAddedByICPOnly;
// no local loop closure added visually // no local loop closure added visually
if(localSpaceClosuresAddedVisually == 0 && _loopClosureHypothesis.first == 0) if(proximityDetectionsAddedVisually == 0 && _loopClosureHypothesis.first == 0)
{ {
lastLocalSpaceClosureId = nearestId; lastProximitySpaceClosureId = nearestId;
} }
} }
else else
@@ -2043,9 +2041,9 @@ bool Rtabmap::process(
int optimizationIterations = 0; int optimizationIterations = 0;
if(_rgbdSlamMode && if(_rgbdSlamMode &&
(_loopClosureHypothesis.first>0 || (_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() || statistics_.reducedIds().size() ||
localLoopClosuresInTimeFound>0 || proximityDetectionsInTimeFound>0 ||
((_memory->isIncremental() || signature->getLinks().size()) && // In localization mode, the new node should be linked ((_memory->isIncremental() || signature->getLinks().size()) && // In localization mode, the new node should be linked
signaturesRetrieved.size()))) // can be different map of the current one signaturesRetrieved.size()))) // can be different map of the current one
{ {
@@ -2115,7 +2113,7 @@ bool Rtabmap::process(
} }
updateConstraints = false; updateConstraints = false;
_loopClosureHypothesis.first = 0; _loopClosureHypothesis.first = 0;
lastLocalSpaceClosureId = 0; lastProximitySpaceClosureId = 0;
rejectedHypothesis = true; rejectedHypothesis = true;
} }
else if(_memory->isIncremental() && // FIXME: not tested in localization mode, so do it only in mapping mode 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; updateConstraints = false;
_loopClosureHypothesis.first = 0; _loopClosureHypothesis.first = 0;
lastLocalSpaceClosureId = 0; lastProximitySpaceClosureId = 0;
rejectedHypothesis = true; 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()); 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(); timeMapOptimization = timer.ticks();
ULOGGER_INFO("timeMapOptimization=%fs", timeMapOptimization); ULOGGER_INFO("timeMapOptimization=%fs", timeMapOptimization);
@@ -2200,7 +2198,7 @@ bool Rtabmap::process(
int lcHypothesisReactivated = 0; int lcHypothesisReactivated = 0;
float rehearsalValue = uValue(statistics_.data(), Statistics::kMemoryRehearsal_sim(), 0.0f); float rehearsalValue = uValue(statistics_.data(), Statistics::kMemoryRehearsal_sim(), 0.0f);
int rehearsalMaxId = (int)uValue(statistics_.data(), Statistics::kMemoryRehearsal_merged(), 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) if(sLoop)
{ {
lcHypothesisReactivated = sLoop->isSaved()?1.0f:0.0f; lcHypothesisReactivated = sLoop->isSaved()?1.0f:0.0f;
@@ -2240,13 +2238,13 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError); statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError);
statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations); statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations);
statistics_.addStatistic(Statistics::kLocalLoopTime_closures(), localLoopClosuresInTimeFound); statistics_.addStatistic(Statistics::kProximityTime_detections(), proximityDetectionsInTimeFound);
statistics_.addStatistic(Statistics::kLocalLoopSpace_closures_added_visually(), localSpaceClosuresAddedVisually); statistics_.addStatistic(Statistics::kProximitySpace_detections_added_visually(), proximityDetectionsAddedVisually);
statistics_.addStatistic(Statistics::kLocalLoopSpace_closures_added_icp_only(), localSpaceClosuresAddedByICPOnly); statistics_.addStatistic(Statistics::kProximitySpace_detections_added_icp_only(), proximityDetectionsAddedByICPOnly);
statistics_.addStatistic(Statistics::kLocalLoopSpace_paths(), localSpacePaths); statistics_.addStatistic(Statistics::kProximitySpace_paths(), proximitySpacePaths);
statistics_.addStatistic(Statistics::kLocalLoopSpace_last_closure_id(), lastLocalSpaceClosureId); statistics_.addStatistic(Statistics::kProximitySpace_last_detection_id(), lastProximitySpaceClosureId);
statistics_.setLocalLoopClosureId(lastLocalSpaceClosureId); statistics_.setProximityDetectionId(lastProximitySpaceClosureId);
if(_loopClosureHypothesis.first || lastLocalSpaceClosureId) if(_loopClosureHypothesis.first || lastProximitySpaceClosureId)
{ {
UASSERT(uContains(sLoop->getLinks(), signature->id())); UASSERT(uContains(sLoop->getLinks(), signature->id()));
UINFO("Set loop closure transform = %s", sLoop->getLinks().at(signature->id()).transform().prettyPrint().c_str()); 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()); signaturesRemoved.push_back(signature->id());
_memory->deleteLocation(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 // 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)", UINFO("Ignoring location %d because the displacement is too small! (d=%f a=%f)",

2
corelib/src/Statistics.cpp
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@@ -42,7 +42,7 @@ Statistics::Statistics() :
_extended(0), _extended(0),
_refImageId(0), _refImageId(0),
_loopClosureId(0), _loopClosureId(0),
_localLoopClosureId(0), _proximiyDetectionId(0),
_currentGoalId(0) _currentGoalId(0)
{ {
_defaultDataInitialized = true; _defaultDataInitialized = true;

22
guilib/src/MainWindow.cpp
View File

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