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Refactoring: changed Statistics name "OdometryCorrection" to "NeighborLinkRefining"

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matlabbe
2015-11-26 16:22:46 -05:00
parent 148504dabd
commit 93326ab1fe
3 changed files with 29 additions and 29 deletions
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16
corelib/include/rtabmap/core/Statistics.h
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@@ -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);

40
corelib/src/Rtabmap.cpp
View File

@@ -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,