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rtabmap: Saving more odometry statistics to database

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matlabbe
2019-11-26 18:33:05 -05:00
parent cf2f16dd38
commit 954836c58b
3 changed files with 45 additions and 34 deletions
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src/CoreWrapper.cpp
+2 -34
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@@ -1713,23 +1713,7 @@ void CoreWrapper::process(
if(iter->second.timeEstimation != 0.0f)
{
OdometryInfo info = odomInfoFromROS(iter->second);
externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", info.localBundleTime*1000.0f));
externalStats.insert(std::make_pair("Odometry/LocalBundleConstraints/", info.localBundleConstraints));
externalStats.insert(std::make_pair("Odometry/LocalBundleOutliers/", info.localBundleOutliers));
externalStats.insert(std::make_pair("Odometry/TotalTime/ms", info.timeEstimation*1000.0f));
externalStats.insert(std::make_pair("Odometry/Registration/ms", info.reg.totalTime*1000.0f));
float speed = 0.0f;
if(info.interval>0.0)
speed = info.transform.x()/info.interval*3.6;
externalStats.insert(std::make_pair("Odometry/Speed/kph", speed));
externalStats.insert(std::make_pair("Odometry/Inliers/", info.reg.inliers));
externalStats.insert(std::make_pair("Odometry/Features/", info.features));
externalStats.insert(std::make_pair("Odometry/DistanceTravelled/m", info.distanceTravelled));
externalStats.insert(std::make_pair("Odometry/KeyFrameAdded/", info.keyFrameAdded));
externalStats.insert(std::make_pair("Odometry/LocalKeyFrames/", info.localKeyFrames));
externalStats.insert(std::make_pair("Odometry/LocalMapSize/", info.localMapSize));
externalStats.insert(std::make_pair("Odometry/LocalScanMapSize/", info.localScanMapSize));
externalStats.insert(std::make_pair("Odometry/RAM_usage/MB", info.memoryUsage));
externalStats = rtabmap_ros::odomInfoToStatistics(info);
if(info.interval>0.0)
{
@@ -1876,23 +1860,7 @@ void CoreWrapper::process(
std::vector<float> odomVelocity;
if(odomInfo.timeEstimation != 0.0f)
{
externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", odomInfo.localBundleTime*1000.0f));
externalStats.insert(std::make_pair("Odometry/LocalBundleConstraints/", odomInfo.localBundleConstraints));
externalStats.insert(std::make_pair("Odometry/LocalBundleOutliers/", odomInfo.localBundleOutliers));
externalStats.insert(std::make_pair("Odometry/TotalTime/ms", odomInfo.timeEstimation*1000.0f));
externalStats.insert(std::make_pair("Odometry/Registration/ms", odomInfo.reg.totalTime*1000.0f));
float speed = 0.0f;
if(odomInfo.interval>0.0)
speed = odomInfo.transform.x()/odomInfo.interval*3.6;
externalStats.insert(std::make_pair("Odometry/Speed/kph", speed));
externalStats.insert(std::make_pair("Odometry/Inliers/", odomInfo.reg.inliers));
externalStats.insert(std::make_pair("Odometry/Features/", odomInfo.features));
externalStats.insert(std::make_pair("Odometry/DistanceTravelled/m", odomInfo.distanceTravelled));
externalStats.insert(std::make_pair("Odometry/KeyFrameAdded/", odomInfo.keyFrameAdded));
externalStats.insert(std::make_pair("Odometry/LocalKeyFrames/", odomInfo.localKeyFrames));
externalStats.insert(std::make_pair("Odometry/LocalMapSize/", odomInfo.localMapSize));
externalStats.insert(std::make_pair("Odometry/LocalScanMapSize/", odomInfo.localScanMapSize));
externalStats.insert(std::make_pair("Odometry/RAM_usage/MB", odomInfo.memoryUsage));
externalStats = rtabmap_ros::odomInfoToStatistics(odomInfo);
if(odomInfo.interval>0.0)
{