From d0f84f946022d03dd8c7d425e0ccb4c05678272a Mon Sep 17 00:00:00 2001
From: shovington <41121311+shovington@users.noreply.github.com>
Date: Thu, 27 Feb 2020 16:28:02 -0500
Subject: [PATCH] add option to create a report.csv file in /tools/Report
 (#512)

Co-authored-by: John <john.bobzwik@gmail.com>
---
 tools/Report/main.cpp | 41 ++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 40 insertions(+), 1 deletion(-)

diff --git a/tools/Report/main.cpp b/tools/Report/main.cpp
index a52f22a3..de2f18b2 100644
--- a/tools/Report/main.cpp
+++ b/tools/Report/main.cpp
@@ -36,6 +36,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <QApplication>
 #include <stdio.h>
+#include <iostream>
+#include <fstream>
 
 using namespace rtabmap;
 
@@ -50,7 +52,8 @@ void showUsage()
 			"  --scale            Find the best scale for the map against the ground truth\n"
 			"                       and compute error based on the scaled path.\n"
 			"  --poses            Export poses to [path]_poses.txt, ground truth to [path]_gt.txt\n"
-			"                       and valid ground truth indices to [path]_indices.txt \n\n");
+			"                       and valid ground truth indices to [path]_indices.txt \n"
+			"  --report               Export all statistics values in report.txt \n\n");
 	exit(1);
 }
 
@@ -71,6 +74,7 @@ int main(int argc, char * argv[])
 	bool outputPoses = false;
 	bool outputKittiError = false;
 	bool outputRelativeError = false;
+	bool outputReport = false;
 	std::map<std::string, UPlot*> figures;
 	for(int i=1; i<argc-1; ++i)
 	{
@@ -94,6 +98,10 @@ int main(int argc, char * argv[])
 		{
 			outputPoses = true;
 		}
+		else if(strcmp(argv[i],"--report") == 0)
+		{
+			outputReport = true;
+		}
 		else
 		{
 			std::string figureTitle = argv[i];
@@ -550,6 +558,37 @@ int main(int argc, char * argv[])
 									}
 								}
 							}
+
+							if (outputReport)
+							{
+								bool fillHeader = false;
+								std::ifstream f("report.csv");
+    							if(!f.good())
+								{
+									fillHeader = true;
+								}
+
+								std::ofstream myfile;
+								myfile.open("report.csv", std::fstream::in | std::fstream::out | std::fstream::app);
+								if(fillHeader)
+								{
+									myfile 	<< "Rosbag name"<<";"<<"error linear (m)"<<";"<<"error linear max (m)"<<";"<<"error linear odom (m)"<<";"
+											<<"error angular"<<";"
+											<<"Slam avg (hz)"<<";"<<"Slam max (hz)"<<";"
+											<<"Odom avg (hz)"<<";"<<"Odom max (hz)"<<std::endl;
+								}
+
+								myfile 	<<fileName.c_str()<<";"
+										<<bestRMSE<< ";"
+										<<maxRMSE<<";"
+										<<bestVoRMSE<<";"
+										<<bestRMSEAng<<";"
+										<<(1/(uMean(slamTime)/1000.0))<<";"
+										<<(1/(uMax(slamTime)/1000.0))<<";"
+										<<(1/(uMean(odomTime)/1000.0))<<";"
+										<<(1/(uMax(odomTime)/1000.0))<<";"<<std::endl;
+								myfile.close();
+							}
 						}
 					}
 					printf("   %s (%d, s=%.3f):\terror lin=%.3fm (max=%.3fm, odom=%.3fm) ang=%.1fdeg%s%s, slam: avg=%dms (max=%dms) loops=%d, odom: avg=%dms (max=%dms), camera: avg=%dms, %smap=%dMB\n",