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Added statistics for incremental flann index size

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matlabbe
2015-09-09 12:08:51 -04:00
parent 3be4b9a3f5
commit beab2271f0
5 changed files with 93 additions and 19 deletions
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corelib/src/Rtabmap.cpp
+8 -2
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@@ -230,6 +230,8 @@ void Rtabmap::setupLogFiles(bool overwrite)
fprintf(_foutInt, " 17-Is last location merged through Weight Update?\n");
fprintf(_foutInt, " 18-Local graph size\n");
fprintf(_foutInt, " 19-Sensor data id\n");
fprintf(_foutInt, " 20-Indexed words\n");
fprintf(_foutInt, " 21-Index memory usage (KB)\n");
}
ULOGGER_DEBUG("Log file (int)=%s", (_wDir+"/"+LOG_I).c_str());
@@ -2270,6 +2272,8 @@ bool Rtabmap::process(
// Surf specific parameters
statistics_.addStatistic(Statistics::kKeypointDictionary_size(), dictionarySize);
statistics_.addStatistic(Statistics::kKeypointIndexed_words(), _memory->getVWDictionary()->getIndexedWordsCount());
statistics_.addStatistic(Statistics::kKeypointIndex_memory_usage(), _memory->getVWDictionary()->getIndexMemoryUsed());
//Epipolar geometry constraint
statistics_.addStatistic(Statistics::kLoopRejectedHypothesis(), rejectedHypothesis?1.0f:0);
@@ -2514,7 +2518,7 @@ bool Rtabmap::process(
timeLocalTimeDetection,
timeLocalSpaceDetection,
timeMapOptimization);
std::string logI = uFormat("%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,
_highestHypothesis.first,
(int)signaturesRemoved.size(),
@@ -2533,7 +2537,9 @@ bool Rtabmap::process(
rehearsalMaxId,
rehearsalMaxId>0?1:0,
localGraphSize,
data.id());
data.id(),
_memory->getVWDictionary()->getIndexedWordsCount(),
_memory->getVWDictionary()->getIndexMemoryUsed());
if(_statisticLogsBufferedInRAM)
{
_bufferedLogsF.push_back(logF);