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Added Memory/Distance_travelled/m to Statistics

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matlabbe
2015-10-13 16:57:02 -04:00
parent 88a3f425c1
commit 5f488ed269
4 changed files with 10 additions and 1 deletions
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1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -214,6 +214,7 @@ private:
std::pair<int, float> _highestHypothesis; std::pair<int, float> _highestHypothesis;
double _lastProcessTime; double _lastProcessTime;
bool _someNodesHaveBeenTransferred; bool _someNodesHaveBeenTransferred;
float _distanceTravelled;
// Abstract classes containing all loop closure // Abstract classes containing all loop closure
// strategies for a type of signature or configuration. // strategies for a type of signature or configuration.

1
corelib/include/rtabmap/core/Statistics.h
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@@ -88,6 +88,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Rehearsal_merged,); RTABMAP_STATS(Memory, Rehearsal_merged,);
RTABMAP_STATS(Memory, Local_graph_size,); RTABMAP_STATS(Memory, Local_graph_size,);
RTABMAP_STATS(Memory, Small_movement,); RTABMAP_STATS(Memory, Small_movement,);
RTABMAP_STATS(Memory, Distance_travelled, m);
RTABMAP_STATS(Timing, Memory_update, ms); RTABMAP_STATS(Timing, Memory_update, ms);
RTABMAP_STATS(Timing, Scan_matching, ms); RTABMAP_STATS(Timing, Scan_matching, ms);

7
corelib/src/Rtabmap.cpp
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@@ -119,6 +119,7 @@ Rtabmap::Rtabmap() :
_highestHypothesis(0,0.0f), _highestHypothesis(0,0.0f),
_lastProcessTime(0.0), _lastProcessTime(0.0),
_someNodesHaveBeenTransferred(false), _someNodesHaveBeenTransferred(false),
_distanceTravelled(0.0f),
_epipolarGeometry(0), _epipolarGeometry(0),
_bayesFilter(0), _bayesFilter(0),
_graphOptimizer(0), _graphOptimizer(0),
@@ -335,6 +336,7 @@ void Rtabmap::close()
_mapCorrection.setIdentity(); _mapCorrection.setIdentity();
_lastLocalizationPose.setNull(); _lastLocalizationPose.setNull();
_lastLocalizationNodeId = 0; _lastLocalizationNodeId = 0;
_distanceTravelled = 0.0f;
this->clearPath(0); this->clearPath(0);
flushStatisticLogs(); flushStatisticLogs();
@@ -661,6 +663,7 @@ int Rtabmap::triggerNewMap()
_optimizedPoses.clear(); _optimizedPoses.clear();
_constraints.clear(); _constraints.clear();
_lastLocalizationNodeId = 0; _lastLocalizationNodeId = 0;
_distanceTravelled = 0.0f;
} }
return mapId; return mapId;
} }
@@ -851,6 +854,7 @@ void Rtabmap::resetMemory()
_mapCorrection.setIdentity(); _mapCorrection.setIdentity();
_lastLocalizationPose.setNull(); _lastLocalizationPose.setNull();
_lastLocalizationNodeId = 0; _lastLocalizationNodeId = 0;
_distanceTravelled = 0.0f;
this->clearPath(0); this->clearPath(0);
if(_memory) if(_memory)
@@ -1155,6 +1159,8 @@ bool Rtabmap::process(
Link tmp = signature->getLinks().begin()->second.inverse(); Link tmp = signature->getLinks().begin()->second.inverse();
_distanceTravelled += tmp.transform().getNorm();
// if the previous node is an intermediate node, remove it from the local graph // if the previous node is an intermediate node, remove it from the local graph
if(_constraints.size() && if(_constraints.size() &&
_constraints.rbegin()->second.to() == signature->getLinks().begin()->second.to()) _constraints.rbegin()->second.to() == signature->getLinks().begin()->second.to())
@@ -2371,6 +2377,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0); statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0);
statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0); statistics_.addStatistic(Statistics::kMemorySmall_movement(), smallDisplacement?1.0f:0);
statistics_.addStatistic(Statistics::kMemoryDistance_travelled(), _distanceTravelled);
if(_publishLikelihood || _publishPdf) if(_publishLikelihood || _publishPdf)
{ {

2
package.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<package> <package>
<name>rtabmap</name> <name>rtabmap</name>
<version>0.10.4</version> <version>0.10.10</version>
<description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description> <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer> <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author> <author>Mathieu Labbe</author>