Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-10-06 18:17:47 +08:00 · 2013-02-03 22:12:02 +00:00
parent 916bafeba1
commit e8e75a9d40
11 changed files with 660 additions and 650 deletions
@@ -0,0 +1,146 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef STATISTICS_H_
+#define STATISTICS_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <list>
+#include <vector>
+
+namespace rtabmap {
+
+#define RTABMAP_STATS(PREFIX, NAME, UNIT) \
+	public: \
+		static std::string k##PREFIX##NAME() {return #PREFIX "/" #NAME "/" #UNIT;} \
+	private: \
+		class Dummy##PREFIX##NAME { \
+		public: \
+			Dummy##PREFIX##NAME() {if(!_defaultDataInitialized)_defaultData.insert(std::pair<std::string, float>(#PREFIX "/" #NAME "/" #UNIT, 0.0f));} \
+		}; \
+		Dummy##PREFIX##NAME dummy##PREFIX##NAME;
+
+class RTABMAP_EXP Statistics
+{
+	RTABMAP_STATS(Loop, RejectedHypothesis,);
+	RTABMAP_STATS(Loop, Highest_hypothesis_id,);
+	RTABMAP_STATS(Loop, Highest_hypothesis_value,);
+	RTABMAP_STATS(Loop, Vp_hypothesis,);
+	RTABMAP_STATS(Loop, ReactivateId,);
+	RTABMAP_STATS(Loop, Hypothesis_ratio,);
+
+	RTABMAP_STATS(Memory, Working_memory_size,);
+	RTABMAP_STATS(Memory, Short_time_memory_size,);
+	RTABMAP_STATS(Memory, Signatures_removed,);
+	RTABMAP_STATS(Memory, Signatures_retrieved,);
+	RTABMAP_STATS(Memory, Images_buffered,);
+
+	RTABMAP_STATS(Timing, Memory_update, ms);
+	RTABMAP_STATS(Timing, Cleaning_neighbors, ms);
+	RTABMAP_STATS(Timing, Reactivation, ms);
+	RTABMAP_STATS(Timing, Add_loop_closure_link, ms);
+	RTABMAP_STATS(Timing, Likelihood_computation, ms);
+	RTABMAP_STATS(Timing, Posterior_computation, ms);
+	RTABMAP_STATS(Timing, Hypotheses_creation, ms);
+	RTABMAP_STATS(Timing, Hypotheses_validation, ms);
+	RTABMAP_STATS(Timing, Statistics_creation, ms);
+	RTABMAP_STATS(Timing, Memory_cleanup, ms);
+	RTABMAP_STATS(Timing, Total, ms);
+	RTABMAP_STATS(Timing, Forgetting, ms);
+	RTABMAP_STATS(Timing, Joining_trash, ms);
+	RTABMAP_STATS(Timing, Emptying_trash, ms);
+
+	RTABMAP_STATS(, Hypothesis_reactivated,);
+
+	RTABMAP_STATS(Keypoint, Dictionary_size, words);
+	RTABMAP_STATS(Keypoint, Response_threshold,);
+
+public:
+	static const std::map<std::string, float> & defaultData();
+
+public:
+	Statistics();
+	virtual ~Statistics();
+
+	// name format = "Grp/Name/unit"
+	void addStatistic(const std::string & name, float value);
+
+	// setters
+	void setExtended(bool extended) {_extended = extended;}
+	void setRefImageId(int refImageId) {_refImageId = refImageId;}
+	void setLoopClosureId(int loopClosureId) {_loopClosureId = loopClosureId;}
+	void setRefImage(const cv::Mat & image);
+	void setLoopImage(const cv::Mat & image);
+	void setWeights(const std::map<int, int> & weights) {_weights = weights;}
+	void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
+	void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
+	void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
+	void setRefWords(const std::multimap<int, cv::KeyPoint> & refWords) {_refWords = refWords;}
+	void setLoopWords(const std::multimap<int, cv::KeyPoint> & loopWords) {_loopWords = loopWords;}
+
+	// getters
+	bool extended() const {return _extended;}
+	int refImageId() const {return _refImageId;}
+	int loopClosureId() const {return _loopClosureId;}
+	const cv::Mat & refImage() const {return _refImage;}
+	const cv::Mat & loopImage() const {return _loopImage;}
+	const std::map<int, int> & weights() const {return _weights;}
+	const std::map<int, float> & posterior() const {return _posterior;}
+	const std::map<int, float> & likelihood() const {return _likelihood;}
+	const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
+	const std::multimap<int, cv::KeyPoint> & refWords() const {return _refWords;}
+	const std::multimap<int, cv::KeyPoint> & loopWords() const {return _loopWords;}
+
+	const std::map<std::string, float> & data() const {return _data;}
+
+private:
+	int _extended; // 0 -> only loop closure and last signature ID fields are filled
+
+	int _refImageId;
+	int _loopClosureId;
+
+	// extended data start here...
+	cv::Mat _refImage;
+	cv::Mat _loopImage;
+
+	std::map<int, int> _weights;
+	std::map<int, float> _posterior;
+	std::map<int, float> _likelihood;
+	std::map<int, float> _rawLikelihood;
+
+	//keypoint memory
+	std::multimap<int, cv::KeyPoint> _refWords;
+	std::multimap<int, cv::KeyPoint> _loopWords;
+
+	// Format for statistics (Plottable statistics must go in that map) :
+	// {"Group/Name/Unit", value}
+	// Example : {"Timing/Total time/ms", 500.0f}
+	std::map<std::string, float> _data;
+	static std::map<std::string, float> _defaultData;
+	static bool _defaultDataInitialized;
+	// end extended data
+};
+
+}// end namespace rtabmap
+
+#endif /* STATISTICS_H_ */