i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Increased version to 0.20.5

Browse Source 
Refactored how features are stored in Signature (significative memory optimization, causing major refactoring in Memory, RegistrationVis, OdometryF2M)
FLANN: optimized memory usage when Kp/IncrementalFlann is false
Added memory usage functions
Added statistics Loop/Visual_inliers_ratio/ and Memory/RAM_estimated/MB
EpipolarGeometry: templated findPairs functions
graph::filterLinks: added inverted option
LocalBundleOnLoopClosure: Force to use only neighbor links
MainWindow: fixed max depth filtering for map's features
Rtabmap::getSignatureCopy() fixed links not returned
Added UPlot::getAllCurveDataAsText() function.
DbViewer: fixed features not rendered in right view when failing ro refine a constraint
report: added --export and --export_prefix options (to export figures data)
This commit is contained in:
matlabbe
2020-10-05 17:34:32 -04:00
parent bedc771fa4
commit bbccbd63e4
41 changed files with 1456 additions and 898 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
tools/Report/main.cpp
View File

@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifdef WITH_QT
#include <rtabmap/utilite/UPlot.h>
#include <QApplication>
#include <QFile>
#endif
using namespace rtabmap;
@@ -69,6 +70,8 @@ void showUsage()
" database, the inverse will be done. \n"
" --ids Use IDs for x axis instead of time in the figures. \n"
" --start # Start from this node ID for the figures.\n"
" --export Export figures' data to txt files.\n"
" --export_prefix Prefix to filenames of exported figures' data (default is \"Stat\").\n"
#endif
" --report Export all evaluation statistics values in report.txt \n"
" --loc # Show localization statistics for each \"Statistic/Id\" per\n"
@@ -134,6 +137,8 @@ int main(int argc, char * argv[])
bool invertFigures = false;
bool useIds = false;
int startId = 0;
bool exportFigures = false;
std::string exportPrefix = "Stat";
int showLoc = 0;
float locDelay = 60;
std::vector<std::string> statsToShow;
@@ -186,6 +191,24 @@ int main(int argc, char * argv[])
{
useIds = true;
}
else if(strcmp(argv[i],"--export") == 0)
{
exportFigures = true;
}
else if(strcmp(argv[i],"--export_prefix") == 0)
{
++i;
if(i<argc-1)
{
exportPrefix = argv[i];
printf("Export prefix=%s (--export_prefix)\n", exportPrefix.c_str());
}
else
{
printf("Missing value for \"--export_prefix\" option.\n");
showUsage();
}
}
else if(strcmp(argv[i],"--loc") == 0)
{
++i;
@@ -518,14 +541,14 @@ int main(int argc, char * argv[])
if(uContains(stat, std::string("RtabmapROS/TotalTime/ms")))
{
if(w>=0)
if(w!=-1)
{
slamTime.push_back(stat.at("RtabmapROS/TotalTime/ms"));
}
}
else if(uContains(stat, Statistics::kTimingTotal()))
{
if(w>=0)
if(w!=-1)
{
slamTime.push_back(stat.at(Statistics::kTimingTotal()));
}
@@ -1171,9 +1194,34 @@ int main(int argc, char * argv[])
{
iter->second->frameData();
}
iter->second->show();
if(exportFigures)
{
QString data = iter->second->getAllCurveDataAsText();
if(!data.isEmpty())
{
QString filePath = QString(exportPrefix.c_str()) + (exportPrefix.empty()?"":"-") + iter->second->windowTitle().replace('/', "-") + ".txt";
QFile file(filePath);
if(file.open(QIODevice::Text | QIODevice::WriteOnly))
{
file.write(data.toUtf8());
file.close();
printf("Exported \"%s\".\n", filePath.toStdString().c_str());
}
else
{
printf("ERROR: could not open file \"%s\" for writing!\n", filePath.toStdString().c_str());
}
}
}
else
{
iter->second->show();
}
}
if(!exportFigures)
{
return app.exec();
}
return app.exec();
}
#endif
return 0;