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DbViewer/info tool: Updated number of links to report unique links. Added statistics about length of loop closures in info tool.

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This commit is contained in:
matlabbe
2023-12-18 16:27:18 -08:00
parent ec8f9fdcfd
commit 933d26f005
3 changed files with 48 additions and 12 deletions
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tools/Info/main.cpp
+17 -2
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@@ -347,7 +347,9 @@ int main(int argc, char * argv[])
driver->getAllLinks(links, true, true);
bool reducedGraph = false;
std::vector<int> linkTypes(Link::kEnd, 0);
for(std::multimap<int, Link>::iterator iter=links.begin(); iter!=links.end(); ++iter)
std::vector<std::vector<float> > linkLengths(Link::kEnd);
std::multimap<int, Link> uniqueLinks = graph::filterDuplicateLinks(links);
for(std::multimap<int, Link>::iterator iter=uniqueLinks.begin(); iter!=uniqueLinks.end(); ++iter)
{
if(iter->second.type() == Link::kNeighborMerged)
{
@@ -356,6 +358,7 @@ int main(int argc, char * argv[])
if(iter->second.type()>=0 && iter->second.type()<Link::kEnd)
{
++linkTypes[iter->second.type()];
linkLengths[iter->second.type()].push_back(iter->second.transform().getNorm());
}
}
if(reducedGraph)
@@ -408,7 +411,19 @@ int main(int argc, char * argv[])
std::cout << (uFormat("Links:\n"));
for(size_t i=0; i<linkTypes.size(); ++i)
{
std::cout << (uFormat("%s%d\n", pad(uFormat(" %s:", Link::typeName((Link::Type)i).c_str())).c_str(), linkTypes[i]));
float avg = uMean(linkLengths[i]);
float std = uVariance(linkLengths[i], avg);
float max = uMax(linkLengths[i]);
if(std>0)
{
std = std::sqrt(std);
}
std::cout << (uFormat("%s%d\t(length avg: %.2fm, std: %.2fm, max: %.2fm)\n",
pad(uFormat(" %s:", Link::typeName((Link::Type)i).c_str())).c_str(),
linkTypes[i],
avg,
std,
max));
}
std::cout << ("\n");
long total = 0;