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Increased database version to 0.8.11 (new Depth.data2d_max_pts column). Updated how local loop closure detection in space is done. Update GraphViewer with local radius ellipse and current goal node color. MainWindow saving/loading figures automatically accordingly to the previous session saved.

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This commit is contained in:
Mathieu Labbe
2015-05-03 18:16:55 -04:00
parent abb7eb15ac
commit d7030e0e38
28 changed files with 927 additions and 366 deletions
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corelib/include/rtabmap/core/Statistics.h
+5 -1
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@@ -66,7 +66,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,);
RTABMAP_STATS(LocalLoop, Space_paths,);
RTABMAP_STATS(LocalLoop, Space_closures_added,);
RTABMAP_STATS(LocalLoop, Space_closures_added_visually,);
RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,);
RTABMAP_STATS(OdomCorrection, Accepted,);
@@ -81,6 +81,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Images_buffered,);
RTABMAP_STATS(Memory, Rehearsal_sim,);
RTABMAP_STATS(Memory, Rehearsal_merged,);
RTABMAP_STATS(Memory, Local_graph_size,);
RTABMAP_STATS(Timing, Memory_update, ms);
RTABMAP_STATS(Timing, Scan_matching, ms);
@@ -147,6 +148,7 @@ public:
void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
void setLocalPath(const std::vector<int> & localPath) {_localPath=localPath;}
void setCurrentGoalId(int goal) {_currentGoalId=goal;}
// getters
bool extended() const {return _extended;}
@@ -169,6 +171,7 @@ public:
const std::map<int, float> & likelihood() const {return _likelihood;}
const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
const std::vector<int> & localPath() const {return _localPath;}
int currentGoalId() const {return _currentGoalId;}
const std::map<std::string, float> & data() const {return _data;}
@@ -199,6 +202,7 @@ private:
std::map<int, float> _rawLikelihood;
std::vector<int> _localPath;
int _currentGoalId;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}