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

guilib/src/DatabaseViewer.cpp

@@ -7290,15 +7290,25 @@ void DatabaseViewer::updateGraphView()
 		int totalPriors = 0;
 		int totalLandmarks = 0;
 		int totalGravity = 0;
+		std::multimap<int, int> uniqueLinks;
 		for(std::multimap<int, rtabmap::Link>::iterator iter=links.begin(); iter!=links.end();)
 		{
+			bool isUnique = iter->second.from() ==  iter->second.to(); // Count all self-reference links
+			if(graph::findLink(uniqueLinks, iter->second.from(), iter->second.to(), true) == uniqueLinks.end())
+			{
+				uniqueLinks.insert(std::make_pair(iter->second.from(), iter->second.to()));
+				isUnique = true;
+			}
+
 			if(iter->second.type() == Link::kNeighbor)
 			{
-				++totalNeighbor;
+				if(isUnique)
+					++totalNeighbor;
 			}
 			else if(iter->second.type() == Link::kNeighborMerged)
 			{
-				++totalNeighborMerged;
+				if(isUnique)
+					++totalNeighborMerged;
 			}
 			else if(iter->second.type() == Link::kGlobalClosure)
 			{
@@ -7308,7 +7318,8 @@ void DatabaseViewer::updateGraphView()
 					continue;
 				}
 				loopLinks_.push_back(iter->second);
-				++totalGlobal;
+				if(isUnique)
+					++totalGlobal;
 			}
 			else if(iter->second.type() == Link::kLocalSpaceClosure)
 			{
@@ -7318,7 +7329,8 @@ void DatabaseViewer::updateGraphView()
 					continue;
 				}
 				loopLinks_.push_back(iter->second);
-				++totalLocalSpace;
+				if(isUnique)
+					++totalLocalSpace;
 			}
 			else if(iter->second.type() == Link::kLocalTimeClosure)
 			{
@@ -7328,7 +7340,8 @@ void DatabaseViewer::updateGraphView()
 					continue;
 				}
 				loopLinks_.push_back(iter->second);
-				++totalLocalTime;
+				if(isUnique)
+					++totalLocalTime;
 			}
 			else if(iter->second.type() == Link::kUserClosure)
 			{
@@ -7338,7 +7351,8 @@ void DatabaseViewer::updateGraphView()
 					continue;
 				}
 				loopLinks_.push_back(iter->second);
-				++totalUser;
+				if(isUnique)
+					++totalUser;
 			}
 			else if(iter->second.type() == Link::kLandmark)
 			{
@@ -7353,7 +7367,8 @@ void DatabaseViewer::updateGraphView()
 					poses.insert(std::make_pair(iter->second.to(), poses.at(iter->second.from())*iter->second.transform()));
 				}
 				loopLinks_.push_back(iter->second);
-				++totalLandmarks;
+				if(isUnique)
+					++totalLandmarks;
 
 				// add landmark priors if there are some
 				int markerId = iter->second.to();
@@ -7365,16 +7380,19 @@ void DatabaseViewer::updateGraphView()
 					links.insert(std::make_pair(markerId, Link(markerId, markerId, Link::kPosePrior, markerPriors.at(markerId), infMatrix)));
 					UDEBUG("Added prior %d : %s (variance: lin=%f ang=%f)", markerId, markerPriors.at(markerId).prettyPrint().c_str(),
 							markerPriorsLinearVariance, markerPriorsAngularVariance);
-					++totalPriors;
+					if(isUnique)
+						++totalPriors;
 				}
 			}
 			else if(iter->second.type() == Link::kPosePrior)
 			{
-				++totalPriors;
+				if(isUnique)
+					++totalPriors;
 			}
 			else if(iter->second.type() == Link::kGravity)
 			{
-				++totalGravity;
+				if(isUnique)
+					++totalGravity;
 			}
 			else
 			{

guilib/src/ui/DatabaseViewer.ui

@@ -1393,6 +1393,9 @@
        </item>
        <item row="10" column="1">
         <widget class="QLabel" name="label_41">
+         <property name="toolTip">
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;N: Neighbor&lt;/p&gt;&lt;p&gt;NM: Neighbor Merged&lt;/p&gt;&lt;p&gt;G: Global&lt;/p&gt;&lt;p&gt;LS: Local by Space (Proximity)&lt;/p&gt;&lt;p&gt;LT: Local by Time (Proximity)&lt;/p&gt;&lt;p&gt;U: User&lt;/p&gt;&lt;p&gt;P: Prior&lt;/p&gt;&lt;p&gt;LM: Landmark&lt;/p&gt;&lt;p&gt;GR: Gravity&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
          <property name="text">
           <string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
          </property>

tools/Info/main.cpp

@@ -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;