From 93326ab1fe2caf52999e011b80076f6ac60c82a5 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 26 Nov 2015 16:22:46 -0500 Subject: [PATCH] Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining" --- corelib/include/rtabmap/core/Statistics.h | 16 ++++----- corelib/src/Rtabmap.cpp | 40 +++++++++++------------ guilib/src/MainWindow.cpp | 2 +- 3 files changed, 29 insertions(+), 29 deletions(-) diff --git a/corelib/include/rtabmap/core/Statistics.h b/corelib/include/rtabmap/core/Statistics.h index 52153cc8..679ef8b8 100644 --- a/corelib/include/rtabmap/core/Statistics.h +++ b/corelib/include/rtabmap/core/Statistics.h @@ -72,11 +72,11 @@ class RTABMAP_EXP Statistics RTABMAP_STATS(LocalLoop, Space_closures_added_visually,); RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,); - RTABMAP_STATS(OdomCorrection, Accepted,); - RTABMAP_STATS(OdomCorrection, Inliers,); - RTABMAP_STATS(OdomCorrection, Inliers_ratio,); - RTABMAP_STATS(OdomCorrection, Variance,); - RTABMAP_STATS(OdomCorrection, Pts,); + RTABMAP_STATS(NeighborLinkRefining, Accepted,); + RTABMAP_STATS(NeighborLinkRefining, Inliers,); + RTABMAP_STATS(NeighborLinkRefining, Inliers_ratio,); + RTABMAP_STATS(NeighborLinkRefining, Variance,); + RTABMAP_STATS(NeighborLinkRefining, Pts,); RTABMAP_STATS(Memory, Working_memory_size,); RTABMAP_STATS(Memory, Short_time_memory_size,); @@ -94,9 +94,9 @@ class RTABMAP_EXP Statistics RTABMAP_STATS(Memory, Distance_travelled, m); RTABMAP_STATS(Timing, Memory_update, ms); - RTABMAP_STATS(Timing, Odom_correction, ms); - RTABMAP_STATS(Timing, Local_detection_TIME, ms); - RTABMAP_STATS(Timing, Local_detection_SPACE, ms); + RTABMAP_STATS(Timing, Neighbor_link_refining, ms); + RTABMAP_STATS(Timing, Proximity_by_time, ms); + RTABMAP_STATS(Timing, Proximity_by_space, ms); RTABMAP_STATS(Timing, Cleaning_neighbors, ms); RTABMAP_STATS(Timing, Reactivation, ms); RTABMAP_STATS(Timing, Add_loop_closure_link, ms); diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index 940dcef6..c2e338ff 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -807,9 +807,9 @@ bool Rtabmap::process( UTimer timer; UTimer timerTotal; double timeMemoryUpdate = 0; - double timeScanMatching = 0; - double timeLocalTimeDetection = 0; - double timeLocalSpaceDetection = 0; + double timeNeighborLinkRefining = 0; + double timeProximityByTimeDetection = 0; + double timeProximityBySpaceDetection = 0; double timeCleaningNeighbors = 0; double timeReactivations = 0; double timeAddLoopClosureLink = 0; @@ -1039,14 +1039,14 @@ bool Rtabmap::process( _memory->updateLink(signature->id(), oldId, guess, sqrtVar, sqrtVar); } } - statistics_.addStatistic(Statistics::kOdomCorrectionAccepted(), !t.isNull()?1.0f:0); - statistics_.addStatistic(Statistics::kOdomCorrectionInliers(), inliers); - statistics_.addStatistic(Statistics::kOdomCorrectionInliers_ratio(), inliersRatio); - statistics_.addStatistic(Statistics::kOdomCorrectionVariance(), variance); - statistics_.addStatistic(Statistics::kOdomCorrectionPts(), signature->sensorData().laserScanRaw().cols); + statistics_.addStatistic(Statistics::kNeighborLinkRefiningAccepted(), !t.isNull()?1.0f:0); + statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers(), inliers); + statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers_ratio(), inliersRatio); + statistics_.addStatistic(Statistics::kNeighborLinkRefiningVariance(), variance); + statistics_.addStatistic(Statistics::kNeighborLinkRefiningPts(), signature->sensorData().laserScanRaw().cols); } - timeScanMatching = timer.ticks(); - ULOGGER_INFO("timeScanMatching=%fs", timeScanMatching); + timeNeighborLinkRefining = timer.ticks(); + ULOGGER_INFO("timeScanMatching=%fs", timeNeighborLinkRefining); UASSERT(oldS->hasLink(signature->id())); UASSERT(uContains(_optimizedPoses, oldId)); @@ -1186,8 +1186,8 @@ bool Rtabmap::process( } } - timeLocalTimeDetection = timer.ticks(); - UINFO("timeLocalTimeDetection=%fs", timeLocalTimeDetection); + timeProximityByTimeDetection = timer.ticks(); + UINFO("timeLocalTimeDetection=%fs", timeProximityByTimeDetection); //============================================================ // Bayes filter update @@ -1980,8 +1980,8 @@ bool Rtabmap::process( } } } - timeLocalSpaceDetection = timer.ticks(); - ULOGGER_INFO("timeLocalSpaceDetection=%fs", timeLocalSpaceDetection); + timeProximityBySpaceDetection = timer.ticks(); + ULOGGER_INFO("timeProximityBySpaceDetection=%fs", timeProximityBySpaceDetection); //============================================================ // Add virtual links if a path is activated @@ -2209,9 +2209,9 @@ bool Rtabmap::process( // timings... statistics_.addStatistic(Statistics::kTimingMemory_update(), timeMemoryUpdate*1000); - statistics_.addStatistic(Statistics::kTimingOdom_correction(), timeScanMatching*1000); - statistics_.addStatistic(Statistics::kTimingLocal_detection_TIME(), timeLocalTimeDetection*1000); - statistics_.addStatistic(Statistics::kTimingLocal_detection_SPACE(), timeLocalSpaceDetection*1000); + statistics_.addStatistic(Statistics::kTimingNeighbor_link_refining(), timeNeighborLinkRefining*1000); + statistics_.addStatistic(Statistics::kTimingProximity_by_time(), timeProximityByTimeDetection*1000); + statistics_.addStatistic(Statistics::kTimingProximity_by_space(), timeProximityBySpaceDetection*1000); statistics_.addStatistic(Statistics::kTimingReactivation(), timeReactivations*1000); statistics_.addStatistic(Statistics::kTimingAdd_loop_closure_link(), timeAddLoopClosureLink*1000); statistics_.addStatistic(Statistics::kTimingMap_optimization(), timeMapOptimization*1000); @@ -2506,9 +2506,9 @@ bool Rtabmap::process( timeRetrievalDbAccess, timeAddLoopClosureLink, timeMemoryCleanup, - timeScanMatching, - timeLocalTimeDetection, - timeLocalSpaceDetection, + timeNeighborLinkRefining, + timeProximityByTimeDetection, + timeProximityBySpaceDetection, timeMapOptimization); std::string logI = uFormat("%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n", _loopClosureHypothesis.first, diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp index f1eefca6..d8bdc5cf 100644 --- a/guilib/src/MainWindow.cpp +++ b/guilib/src/MainWindow.cpp @@ -1098,7 +1098,7 @@ 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); - bool scanMatchingSuccess = (bool)uValue(stat.data(), Statistics::kOdomCorrectionAccepted(), 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));