Updated default x-axis units of the figures with time stamps instead of IDs (#48).

corelib/include/rtabmap/core/CameraInfo.h

@@ -39,6 +39,7 @@ public:
 	CameraInfo() :
 		cameraName(""),
 		id(0),
+		stamp(0.0),
 		timeCapture(0.0f),
 		timeDisparity(0.0f),
 		timeMirroring(0.0f),
@@ -51,6 +52,7 @@ public:
 
 	std::string cameraName;
 	int id;
+	double stamp;
 	float timeCapture;
 	float timeDisparity;
 	float timeMirroring;

corelib/include/rtabmap/core/Statistics.h

@@ -145,6 +145,7 @@ public:
 	void setRefImageId(int refImageId) {_refImageId = refImageId;}
 	void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
 	void setProximityDetectionId(int id) {_proximiyDetectionId = id;}
+	void setStamp(double stamp) {_stamp = stamp;}
 
 	void setSignatures(const std::map<int, Signature> & signatures) {_signatures = signatures;}
 
@@ -165,6 +166,7 @@ public:
 	int refImageId() const {return _refImageId;}
 	int loopClosureId() const {return _loopClosureId;}
 	int proximityDetectionId() const {return _proximiyDetectionId;}
+	double stamp() const {return _stamp;}
 
 	const std::map<int, Signature> & getSignatures() const {return _signatures;}
 
@@ -188,6 +190,7 @@ private:
 	int _refImageId;
 	int _loopClosureId;
 	int _proximiyDetectionId;
+	double _stamp;
 
 	std::map<int, Signature> _signatures;
 

corelib/src/Camera.cpp

@@ -102,6 +102,7 @@ SensorData Camera::takeImage(CameraInfo * info)
 	if(info)
 	{
 		info->id = data.id();
+		info->stamp = data.stamp();
 		info->timeCapture = captureTime;
 	}
 	return data;

corelib/src/Rtabmap.cpp

@@ -2210,6 +2210,7 @@ bool Rtabmap::process(
 	{
 		ULOGGER_INFO("sending stats...");
 		statistics_.setRefImageId(_memory->getLastSignatureId()); // Use last id from Memory (in case of rehearsal)
+		statistics_.setStamp(data.stamp());
 		if(_loopClosureHypothesis.first != Memory::kIdInvalid)
 		{
 			statistics_.setLoopClosureId(_loopClosureHypothesis.first);