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Reprocess: added --skip option (to skip frames when reprocessing). Rtabmap: always save Loop/Map_id/ stat. UPlot: export NaN insted of NA for invalid values (compatible with octave). GraphViewer and ImageView: added support for PDF output format, also changed default directory to User's Pictures standard folder.

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matlabbe
2020-09-21 19:32:48 -04:00
parent 3d33370e4c
commit eef0a23b1b
5 changed files with 181 additions and 78 deletions
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corelib/src/Rtabmap.cpp
+3 -2
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@@ -3180,7 +3180,9 @@ bool Rtabmap::process(
statistics_.setProximityDetectionId(lastProximitySpaceClosureId);
statistics_.setProximityDetectionMapId(_memory->getMapId(lastProximitySpaceClosureId));
statistics_.addStatistic(Statistics::kLoopId(), _loopClosureHypothesis.first>0?_loopClosureHypothesis.first:lastProximitySpaceClosureId);
int loopId = _loopClosureHypothesis.first>0?_loopClosureHypothesis.first:lastProximitySpaceClosureId;
statistics_.addStatistic(Statistics::kLoopId(), loopId);
statistics_.addStatistic(Statistics::kLoopMap_id(), (loopId>0 && sLoop)?sLoop->mapId():-1);
float x,y,z,roll,pitch,yaw;
if(_loopClosureHypothesis.first || lastProximitySpaceClosureId)
@@ -3192,7 +3194,6 @@ bool Rtabmap::process(
UINFO("Set loop closure transform = %s", loopIter->second.transform().prettyPrint().c_str());
statistics_.setLoopClosureTransform(loopIter->second.transform());
statistics_.addStatistic(Statistics::kLoopMap_id(), sLoop->mapId());
statistics_.addStatistic(Statistics::kLoopVisual_words(), sLoop->getWords().size());
statistics_.addStatistic(Statistics::kLoopDistance_since_last_loc(), _distanceTravelledSinceLastLocalization);
_distanceTravelledSinceLastLocalization = 0.0f;