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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_visually,);
RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,); RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,);
RTABMAP_STATS(OdomCorrection, Accepted,); RTABMAP_STATS(NeighborLinkRefining, Accepted,);
RTABMAP_STATS(OdomCorrection, Inliers,); RTABMAP_STATS(NeighborLinkRefining, Inliers,);
RTABMAP_STATS(OdomCorrection, Inliers_ratio,); RTABMAP_STATS(NeighborLinkRefining, Inliers_ratio,);
RTABMAP_STATS(OdomCorrection, Variance,); RTABMAP_STATS(NeighborLinkRefining, Variance,);
RTABMAP_STATS(OdomCorrection, Pts,); RTABMAP_STATS(NeighborLinkRefining, Pts,);
RTABMAP_STATS(Memory, Working_memory_size,); RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_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(Memory, Distance_travelled, m);
RTABMAP_STATS(Timing, Memory_update, ms); RTABMAP_STATS(Timing, Memory_update, ms);
RTABMAP_STATS(Timing, Odom_correction, ms); RTABMAP_STATS(Timing, Neighbor_link_refining, ms);
RTABMAP_STATS(Timing, Local_detection_TIME, ms); RTABMAP_STATS(Timing, Proximity_by_time, ms);
RTABMAP_STATS(Timing, Local_detection_SPACE, ms); RTABMAP_STATS(Timing, Proximity_by_space, ms);
RTABMAP_STATS(Timing, Cleaning_neighbors, ms); RTABMAP_STATS(Timing, Cleaning_neighbors, ms);
RTABMAP_STATS(Timing, Reactivation, ms); RTABMAP_STATS(Timing, Reactivation, ms);
RTABMAP_STATS(Timing, Add_loop_closure_link, ms); RTABMAP_STATS(Timing, Add_loop_closure_link, ms);

40
corelib/src/Rtabmap.cpp
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@@ -807,9 +807,9 @@ bool Rtabmap::process(
UTimer timer; UTimer timer;
UTimer timerTotal; UTimer timerTotal;
double timeMemoryUpdate = 0; double timeMemoryUpdate = 0;
double timeScanMatching = 0; double timeNeighborLinkRefining = 0;
double timeLocalTimeDetection = 0; double timeProximityByTimeDetection = 0;
double timeLocalSpaceDetection = 0; double timeProximityBySpaceDetection = 0;
double timeCleaningNeighbors = 0; double timeCleaningNeighbors = 0;
double timeReactivations = 0; double timeReactivations = 0;
double timeAddLoopClosureLink = 0; double timeAddLoopClosureLink = 0;
@@ -1039,14 +1039,14 @@ bool Rtabmap::process(
_memory->updateLink(signature->id(), oldId, guess, sqrtVar, sqrtVar); _memory->updateLink(signature->id(), oldId, guess, sqrtVar, sqrtVar);
} }
} }
statistics_.addStatistic(Statistics::kOdomCorrectionAccepted(), !t.isNull()?1.0f:0); statistics_.addStatistic(Statistics::kNeighborLinkRefiningAccepted(), !t.isNull()?1.0f:0);
statistics_.addStatistic(Statistics::kOdomCorrectionInliers(), inliers); statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers(), inliers);
statistics_.addStatistic(Statistics::kOdomCorrectionInliers_ratio(), inliersRatio); statistics_.addStatistic(Statistics::kNeighborLinkRefiningInliers_ratio(), inliersRatio);
statistics_.addStatistic(Statistics::kOdomCorrectionVariance(), variance); statistics_.addStatistic(Statistics::kNeighborLinkRefiningVariance(), variance);
statistics_.addStatistic(Statistics::kOdomCorrectionPts(), signature->sensorData().laserScanRaw().cols); statistics_.addStatistic(Statistics::kNeighborLinkRefiningPts(), signature->sensorData().laserScanRaw().cols);
} }
timeScanMatching = timer.ticks(); timeNeighborLinkRefining = timer.ticks();
ULOGGER_INFO("timeScanMatching=%fs", timeScanMatching); ULOGGER_INFO("timeScanMatching=%fs", timeNeighborLinkRefining);
UASSERT(oldS->hasLink(signature->id())); UASSERT(oldS->hasLink(signature->id()));
UASSERT(uContains(_optimizedPoses, oldId)); UASSERT(uContains(_optimizedPoses, oldId));
@@ -1186,8 +1186,8 @@ bool Rtabmap::process(
} }
} }
timeLocalTimeDetection = timer.ticks(); timeProximityByTimeDetection = timer.ticks();
UINFO("timeLocalTimeDetection=%fs", timeLocalTimeDetection); UINFO("timeLocalTimeDetection=%fs", timeProximityByTimeDetection);
//============================================================ //============================================================
// Bayes filter update // Bayes filter update
@@ -1980,8 +1980,8 @@ bool Rtabmap::process(
} }
} }
} }
timeLocalSpaceDetection = timer.ticks(); timeProximityBySpaceDetection = timer.ticks();
ULOGGER_INFO("timeLocalSpaceDetection=%fs", timeLocalSpaceDetection); ULOGGER_INFO("timeProximityBySpaceDetection=%fs", timeProximityBySpaceDetection);
//============================================================ //============================================================
// Add virtual links if a path is activated // Add virtual links if a path is activated
@@ -2209,9 +2209,9 @@ bool Rtabmap::process(
// timings... // timings...
statistics_.addStatistic(Statistics::kTimingMemory_update(), timeMemoryUpdate*1000); statistics_.addStatistic(Statistics::kTimingMemory_update(), timeMemoryUpdate*1000);
statistics_.addStatistic(Statistics::kTimingOdom_correction(), timeScanMatching*1000); statistics_.addStatistic(Statistics::kTimingNeighbor_link_refining(), timeNeighborLinkRefining*1000);
statistics_.addStatistic(Statistics::kTimingLocal_detection_TIME(), timeLocalTimeDetection*1000); statistics_.addStatistic(Statistics::kTimingProximity_by_time(), timeProximityByTimeDetection*1000);
statistics_.addStatistic(Statistics::kTimingLocal_detection_SPACE(), timeLocalSpaceDetection*1000); statistics_.addStatistic(Statistics::kTimingProximity_by_space(), timeProximityBySpaceDetection*1000);
statistics_.addStatistic(Statistics::kTimingReactivation(), timeReactivations*1000); statistics_.addStatistic(Statistics::kTimingReactivation(), timeReactivations*1000);
statistics_.addStatistic(Statistics::kTimingAdd_loop_closure_link(), timeAddLoopClosureLink*1000); statistics_.addStatistic(Statistics::kTimingAdd_loop_closure_link(), timeAddLoopClosureLink*1000);
statistics_.addStatistic(Statistics::kTimingMap_optimization(), timeMapOptimization*1000); statistics_.addStatistic(Statistics::kTimingMap_optimization(), timeMapOptimization*1000);
@@ -2506,9 +2506,9 @@ bool Rtabmap::process(
timeRetrievalDbAccess, timeRetrievalDbAccess,
timeAddLoopClosureLink, timeAddLoopClosureLink,
timeMemoryCleanup, timeMemoryCleanup,
timeScanMatching, timeNeighborLinkRefining,
timeLocalTimeDetection, timeProximityByTimeDetection,
timeLocalSpaceDetection, timeProximityBySpaceDetection,
timeMapOptimization); 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", 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, _loopClosureHypothesis.first,

2
guilib/src/MainWindow.cpp
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@@ -1098,7 +1098,7 @@ 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 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); 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));