#include <Statistics.h>

Public Member Functions
void	addStatistic (const std::string &name, float value)
const std::multimap< int, Link > &	constraints () const
int	currentGoalId () const
const std::map< std::string, float > &	data () const
bool	extended () const
const std::map< int, std::string > &	getLabels () const
const std::map< int, int > &	getMapIds () const
const Signature &	getSignature () const
const std::map< int, double > &	getStamps () const
const std::map< int, std::vector< unsigned char > > &	getUserDatas () const
const std::map< int, float > &	likelihood () const
int	localLoopClosureId () const
const std::vector< int > &	localPath () const
int	loopClosureId () const
const Transform &	loopClosureTransform () const
const Transform &	mapCorrection () const
const std::map< int, Transform > &	poses () const
const std::map< int, float > &	posterior () const
const std::map< int, float > &	rawLikelihood () const
int	refImageId () const
void	setConstraints (const std::multimap< int, Link > &constraints)
void	setCurrentGoalId (int goal)
void	setExtended (bool extended)
void	setLabels (const std::map< int, std::string > &labels)
void	setLikelihood (const std::map< int, float > &likelihood)
void	setLocalLoopClosureId (int localLoopClosureId)
void	setLocalPath (const std::vector< int > &localPath)
void	setLoopClosureId (int loopClosureId)
void	setLoopClosureTransform (const Transform &loopClosureTransform)
void	setMapCorrection (const Transform &mapCorrection)
void	setMapIds (const std::map< int, int > &mapIds)
void	setPoses (const std::map< int, Transform > &poses)
void	setPosterior (const std::map< int, float > &posterior)
void	setRawLikelihood (const std::map< int, float > &rawLikelihood)
void	setRefImageId (int refImageId)
void	setSignature (const Signature &s)
void	setStamps (const std::map< int, double > &stamps)
void	setUserDatas (const std::map< int, std::vector< unsigned char > > &userDatas)
void	setWeights (const std::map< int, int > &weights)
	Statistics ()
const std::map< int, int > &	weights () const
virtual	~Statistics ()
Static Public Member Functions
static const std::map < std::string, float > &	defaultData ()
Private Member Functions
	RTABMAP_STATS (Loop, RejectedHypothesis,)
	RTABMAP_STATS (Loop, Accepted_hypothesis_id,)
	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 (Loop, Hypothesis_reactivated,)
	RTABMAP_STATS (Loop, VisualInliers,)
	RTABMAP_STATS (Loop, Last_id,)
	RTABMAP_STATS (LocalLoop, Time_closures,)
	RTABMAP_STATS (LocalLoop, Space_last_closure_id,)
	RTABMAP_STATS (LocalLoop, Space_paths,)
	RTABMAP_STATS (LocalLoop, Space_closures_added_visually,)
	RTABMAP_STATS (LocalLoop, Space_closures_added_icp_only,)
	RTABMAP_STATS (OdomCorrection, Accepted,)
	RTABMAP_STATS (OdomCorrection, Inliers,)
	RTABMAP_STATS (OdomCorrection, Inliers_ratio,)
	RTABMAP_STATS (OdomCorrection, Variance,)
	RTABMAP_STATS (Memory, Working_memory_size,)
	RTABMAP_STATS (Memory, Short_time_memory_size,)
	RTABMAP_STATS (Memory, Signatures_removed,)
	RTABMAP_STATS (Memory, Immunized_globally,)
	RTABMAP_STATS (Memory, Immunized_locally,)
	RTABMAP_STATS (Memory, Immunized_locally_max,)
	RTABMAP_STATS (Memory, Signatures_retrieved,)
	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)
	RTABMAP_STATS (Timing, Local_detection_TIME, ms)
	RTABMAP_STATS (Timing, Local_detection_SPACE, ms)
	RTABMAP_STATS (Timing, Cleaning_neighbors, ms)
	RTABMAP_STATS (Timing, Reactivation, ms)
	RTABMAP_STATS (Timing, Add_loop_closure_link, ms)
	RTABMAP_STATS (Timing, Map_optimization, 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 (TimingMem, Pre_update, ms)
	RTABMAP_STATS (TimingMem, Signature_creation, ms)
	RTABMAP_STATS (TimingMem, Rehearsal, ms)
	RTABMAP_STATS (TimingMem, Keypoints_detection, ms)
	RTABMAP_STATS (TimingMem, Subpixel, ms)
	RTABMAP_STATS (TimingMem, Stereo_correspondences, ms)
	RTABMAP_STATS (TimingMem, Descriptors_extraction, ms)
	RTABMAP_STATS (TimingMem, Keypoints_3D, ms)
	RTABMAP_STATS (TimingMem, Joining_dictionary_update, ms)
	RTABMAP_STATS (TimingMem, Add_new_words, ms)
	RTABMAP_STATS (TimingMem, Compressing_data, ms)
	RTABMAP_STATS (Keypoint, Dictionary_size, words)
	RTABMAP_STATS (Keypoint, Response_threshold,)
Private Attributes
std::multimap< int, Link >	_constraints
int	_currentGoalId
std::map< std::string, float >	_data
bool	_extended
std::map< int, std::string >	_labels
std::map< int, float >	_likelihood
int	_localLoopClosureId
std::vector< int >	_localPath
int	_loopClosureId
Transform	_loopClosureTransform
Transform	_mapCorrection
std::map< int, int >	_mapIds
std::map< int, Transform >	_poses
std::map< int, float >	_posterior
std::map< int, float >	_rawLikelihood
int	_refImageId
Signature	_signature
std::map< int, double >	_stamps
std::map< int, std::vector < unsigned char > >	_userDatas
std::map< int, int >	_weights
Static Private Attributes
static std::map< std::string, float >	_defaultData
static bool	_defaultDataInitialized = false

Detailed Description

Definition at line 53 of file Statistics.h.

Constructor & Destructor Documentation

rtabmap::Statistics::Statistics ( )

Definition at line 41 of file Statistics.cpp.

rtabmap::Statistics::~Statistics ( ) [virtual]

Definition at line 51 of file Statistics.cpp.

Member Function Documentation

void rtabmap::Statistics::addStatistic	(	const std::string &	name,
		float	value
	)

Definition at line 56 of file Statistics.cpp.

const std::multimap<int, Link>& rtabmap::Statistics::constraints ( ) const [inline]

Definition at line 169 of file Statistics.h.

int rtabmap::Statistics::currentGoalId ( ) const [inline]

Definition at line 177 of file Statistics.h.

const std::map<std::string, float>& rtabmap::Statistics::data ( ) const [inline]

Definition at line 179 of file Statistics.h.

const std::map< std::string, float > & rtabmap::Statistics::defaultData ( ) [static]

Definition at line 35 of file Statistics.cpp.

bool rtabmap::Statistics::extended ( ) const [inline]

Definition at line 157 of file Statistics.h.

const std::map<int, std::string>& rtabmap::Statistics::getLabels ( ) const [inline]

Definition at line 163 of file Statistics.h.

const std::map<int, int>& rtabmap::Statistics::getMapIds ( ) const [inline]

Definition at line 162 of file Statistics.h.

const Signature& rtabmap::Statistics::getSignature ( ) const [inline]

Definition at line 166 of file Statistics.h.

const std::map<int, double>& rtabmap::Statistics::getStamps ( ) const [inline]

Definition at line 164 of file Statistics.h.

const std::map<int, std::vector<unsigned char> >& rtabmap::Statistics::getUserDatas ( ) const [inline]

Definition at line 165 of file Statistics.h.

const std::map<int, float>& rtabmap::Statistics::likelihood ( ) const [inline]

Definition at line 174 of file Statistics.h.

int rtabmap::Statistics::localLoopClosureId ( ) const [inline]

Definition at line 160 of file Statistics.h.

const std::vector<int>& rtabmap::Statistics::localPath ( ) const [inline]

Definition at line 176 of file Statistics.h.

int rtabmap::Statistics::loopClosureId ( ) const [inline]

Definition at line 159 of file Statistics.h.

const Transform& rtabmap::Statistics::loopClosureTransform ( ) const [inline]

Definition at line 171 of file Statistics.h.

const Transform& rtabmap::Statistics::mapCorrection ( ) const [inline]

Definition at line 170 of file Statistics.h.

const std::map<int, Transform>& rtabmap::Statistics::poses ( ) const [inline]

Definition at line 168 of file Statistics.h.

const std::map<int, float>& rtabmap::Statistics::posterior ( ) const [inline]

Definition at line 173 of file Statistics.h.

const std::map<int, float>& rtabmap::Statistics::rawLikelihood ( ) const [inline]

Definition at line 175 of file Statistics.h.

int rtabmap::Statistics::refImageId ( ) const [inline]

Definition at line 158 of file Statistics.h.

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		RejectedHypothesis
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Accepted_hypothesis_id
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Highest_hypothesis_id
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Highest_hypothesis_value
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Vp_hypothesis
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		ReactivateId
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Hypothesis_ratio
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Hypothesis_reactivated
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		VisualInliers
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Loop	,
		Last_id
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	LocalLoop	,
		Time_closures
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	LocalLoop	,
		Space_last_closure_id
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	LocalLoop	,
		Space_paths
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	LocalLoop	,
		Space_closures_added_visually
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	LocalLoop	,
		Space_closures_added_icp_only
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	OdomCorrection	,
		Accepted
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	OdomCorrection	,
		Inliers
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	OdomCorrection	,
		Inliers_ratio
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	OdomCorrection	,
		Variance
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Working_memory_size
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Short_time_memory_size
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Signatures_removed
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Immunized_globally
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Immunized_locally
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Immunized_locally_max
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Signatures_retrieved
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Images_buffered
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Rehearsal_sim
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Rehearsal_merged
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Memory	,
		Local_graph_size
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Memory_update	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Scan_matching	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Local_detection_TIME	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Local_detection_SPACE	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Cleaning_neighbors	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Reactivation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Add_loop_closure_link	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Map_optimization	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Likelihood_computation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Posterior_computation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Hypotheses_creation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Hypotheses_validation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Statistics_creation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Memory_cleanup	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Total	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Forgetting	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Joining_trash	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Timing	,
		Emptying_trash	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Pre_update	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Signature_creation	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Rehearsal	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Keypoints_detection	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Subpixel	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Stereo_correspondences	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Descriptors_extraction	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Keypoints_3D	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Joining_dictionary_update	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Add_new_words	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	TimingMem	,
		Compressing_data	,
		ms
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Keypoint	,
		Dictionary_size	,
		words
	)		`[private]`

rtabmap::Statistics::RTABMAP_STATS	(	Keypoint	,
		Response_threshold
	)		`[private]`

void rtabmap::Statistics::setConstraints ( const std::multimap< int, Link > & constraints ) [inline]

Definition at line 146 of file Statistics.h.

void rtabmap::Statistics::setCurrentGoalId ( int goal ) [inline]

Definition at line 154 of file Statistics.h.

void rtabmap::Statistics::setExtended ( bool extended ) [inline]

Definition at line 134 of file Statistics.h.

void rtabmap::Statistics::setLabels ( const std::map< int, std::string > & labels ) [inline]

Definition at line 140 of file Statistics.h.

void rtabmap::Statistics::setLikelihood ( const std::map< int, float > & likelihood ) [inline]

Definition at line 151 of file Statistics.h.

void rtabmap::Statistics::setLocalLoopClosureId ( int localLoopClosureId ) [inline]

Definition at line 137 of file Statistics.h.

void rtabmap::Statistics::setLocalPath ( const std::vector< int > & localPath ) [inline]

Definition at line 153 of file Statistics.h.

void rtabmap::Statistics::setLoopClosureId ( int loopClosureId ) [inline]

Definition at line 136 of file Statistics.h.

void rtabmap::Statistics::setLoopClosureTransform ( const Transform & loopClosureTransform ) [inline]

Definition at line 148 of file Statistics.h.

void rtabmap::Statistics::setMapCorrection ( const Transform & mapCorrection ) [inline]

Definition at line 147 of file Statistics.h.

void rtabmap::Statistics::setMapIds ( const std::map< int, int > & mapIds ) [inline]

Definition at line 139 of file Statistics.h.

void rtabmap::Statistics::setPoses ( const std::map< int, Transform > & poses ) [inline]

Definition at line 145 of file Statistics.h.

void rtabmap::Statistics::setPosterior ( const std::map< int, float > & posterior ) [inline]

Definition at line 150 of file Statistics.h.

void rtabmap::Statistics::setRawLikelihood ( const std::map< int, float > & rawLikelihood ) [inline]

Definition at line 152 of file Statistics.h.

void rtabmap::Statistics::setRefImageId ( int refImageId ) [inline]

Definition at line 135 of file Statistics.h.

void rtabmap::Statistics::setSignature ( const Signature & s ) [inline]

Definition at line 143 of file Statistics.h.

void rtabmap::Statistics::setStamps ( const std::map< int, double > & stamps ) [inline]

Definition at line 141 of file Statistics.h.

void rtabmap::Statistics::setUserDatas ( const std::map< int, std::vector< unsigned char > > & userDatas ) [inline]

Definition at line 142 of file Statistics.h.

void rtabmap::Statistics::setWeights ( const std::map< int, int > & weights ) [inline]

Definition at line 149 of file Statistics.h.

const std::map<int, int>& rtabmap::Statistics::weights ( ) const [inline]

Definition at line 172 of file Statistics.h.

Member Data Documentation

std::multimap<int, Link> rtabmap::Statistics::_constraints [private]

Definition at line 198 of file Statistics.h.

int rtabmap::Statistics::_currentGoalId [private]

Definition at line 208 of file Statistics.h.

std::map<std::string, float> rtabmap::Statistics::_data [private]

Definition at line 213 of file Statistics.h.

std::map< std::string, float > rtabmap::Statistics::_defaultData [static, private]

Definition at line 214 of file Statistics.h.

bool rtabmap::Statistics::_defaultDataInitialized = false [static, private]

Definition at line 215 of file Statistics.h.

bool rtabmap::Statistics::_extended [private]

Definition at line 182 of file Statistics.h.

std::map<int, std::string> rtabmap::Statistics::_labels [private]

Definition at line 190 of file Statistics.h.

std::map<int, float> rtabmap::Statistics::_likelihood [private]

Definition at line 204 of file Statistics.h.

int rtabmap::Statistics::_localLoopClosureId [private]

Definition at line 186 of file Statistics.h.

std::vector<int> rtabmap::Statistics::_localPath [private]

Definition at line 207 of file Statistics.h.

int rtabmap::Statistics::_loopClosureId [private]

Definition at line 185 of file Statistics.h.

Transform rtabmap::Statistics::_loopClosureTransform [private]

Definition at line 200 of file Statistics.h.

Transform rtabmap::Statistics::_mapCorrection [private]

Definition at line 199 of file Statistics.h.

std::map<int, int> rtabmap::Statistics::_mapIds [private]

Definition at line 189 of file Statistics.h.

std::map<int, Transform> rtabmap::Statistics::_poses [private]

Definition at line 197 of file Statistics.h.

std::map<int, float> rtabmap::Statistics::_posterior [private]

Definition at line 203 of file Statistics.h.

std::map<int, float> rtabmap::Statistics::_rawLikelihood [private]

Definition at line 205 of file Statistics.h.

int rtabmap::Statistics::_refImageId [private]

Definition at line 184 of file Statistics.h.

Signature rtabmap::Statistics::_signature [private]

Definition at line 195 of file Statistics.h.

std::map<int, double> rtabmap::Statistics::_stamps [private]

Definition at line 191 of file Statistics.h.

std::map<int, std::vector<unsigned char> > rtabmap::Statistics::_userDatas [private]

Definition at line 192 of file Statistics.h.

std::map<int, int> rtabmap::Statistics::_weights [private]

Definition at line 202 of file Statistics.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation