OdometryInfo.cpp

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/*
Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
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      derived from this software without specific prior written permission.
 
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#include "rtabmap/core/OdometryInfo.h"
#include <rtabmap/utilite/UConversion.h>
 
namespace rtabmap {
 
OdometryInfo::OdometryInfo() :
        lost(true),
        features(0),
        localMapSize(0),
        localScanMapSize(0),
        localKeyFrames(0),
        localBundleOutliers(0),
        localBundleConstraints(0),
        localBundleTime(0),
        localBundleAvgInlierDistance(0.0f),
        localBundleMaxKeyFramesForInlier(0),
        keyFrameAdded(false),
        timeDeskewing(0.0f),
        timeEstimation(0.0f),
        timeParticleFiltering(0.0f),
        stamp(0),
        interval(0),
        distanceTravelled(0.0f),
        memoryUsage(0),
        gravityRollError(0.0),
        gravityPitchError(0.0),
        type(0)
{}
 
OdometryInfo OdometryInfo::copyWithoutData() const
{
        OdometryInfo output;
        output.lost = lost;
        output.reg = reg.copyWithoutData();
        output.features = features;
        output.localMapSize = localMapSize;
        output.localScanMapSize = localScanMapSize;
        output.localKeyFrames = localKeyFrames;
        output.localBundleOutliers = localBundleOutliers;
        output.localBundleConstraints = localBundleConstraints;
        output.localBundleTime = localBundleTime;
        output.localBundlePoses = localBundlePoses;
        output.localBundleModels = localBundleModels;
        output.localBundleAvgInlierDistance = localBundleAvgInlierDistance;
        output.localBundleMaxKeyFramesForInlier = localBundleMaxKeyFramesForInlier;
        output.localBundleOutliersPerCam = localBundleOutliersPerCam;
        output.keyFrameAdded = keyFrameAdded;
        output.timeDeskewing = timeDeskewing;
        output.timeEstimation = timeEstimation;
        output.timeParticleFiltering = timeParticleFiltering;
        output.stamp = stamp;
        output.interval = interval;
        output.transform = transform;
        output.transformFiltered = transformFiltered;
        output.transformGroundTruth = transformGroundTruth;
        output.guessVelocity = guessVelocity;
        output.guess = guess;
        output.distanceTravelled = distanceTravelled;
        output.memoryUsage = memoryUsage;
        output.gravityRollError = gravityRollError;
        output.gravityPitchError = gravityPitchError;
        output.type = type;
        return output;
}
 
std::map<std::string, float> OdometryInfo::statistics(const Transform & pose)
{
        std::map<std::string, float> stats;
 
        stats.insert(std::make_pair("Odometry/TimeRegistration/ms", reg.totalTime*1000.0f));
        stats.insert(std::make_pair("Odometry/RAM_usage/MB", memoryUsage));
 
        // Based on rtabmap/MainWindow.cpp
        stats.insert(std::make_pair("Odometry/Features/", features));
        stats.insert(std::make_pair("Odometry/Matches/", reg.matches));
        stats.insert(std::make_pair("Odometry/MatchesRatio/", features<=0?0.0f:float(reg.inliers)/float(features)));
        stats.insert(std::make_pair("Odometry/Inliers/", reg.inliers));
        stats.insert(std::make_pair("Odometry/InliersMeanDistance/m", reg.inliersMeanDistance));
        stats.insert(std::make_pair("Odometry/InliersDistribution/", reg.inliersDistribution));
        stats.insert(std::make_pair("Odometry/InliersRatio/", reg.inliers));
        for(size_t i=0; i<reg.matchesPerCam.size(); ++i)
        {
                stats.insert(std::make_pair(uFormat("Odometry/matchesCam%ld/", i), reg.matchesPerCam[i]));
        }
        for(size_t i=0; i<reg.inliersPerCam.size(); ++i)
        {
                stats.insert(std::make_pair(uFormat("Odometry/inliersCam%ld/", i), reg.inliersPerCam[i]));
        }
        if(reg.matchesPerCam.size() == reg.inliersPerCam.size())
        {
                for(size_t i=0; i<reg.matchesPerCam.size(); ++i)
                {
                        stats.insert(std::make_pair(uFormat("Odometry/inliersRatioCam%ld/", i), reg.matchesPerCam[i]>0 ? (float)reg.inliersPerCam[i] / (float)reg.matchesPerCam[i] : 0.0f));
                }
        }
        stats.insert(std::make_pair("Odometry/ICPInliersRatio/", reg.icpInliersRatio));
        stats.insert(std::make_pair("Odometry/ICPRotation/rad", reg.icpRotation));
        stats.insert(std::make_pair("Odometry/ICPTranslation/m", reg.icpTranslation));
        stats.insert(std::make_pair("Odometry/ICPStructuralComplexity/", reg.icpStructuralComplexity));
        stats.insert(std::make_pair("Odometry/ICPStructuralDistribution/", reg.icpStructuralDistribution));
        stats.insert(std::make_pair("Odometry/ICPCorrespondences/", reg.icpCorrespondences));
        stats.insert(std::make_pair("Odometry/StdDevLin/", sqrt((float)reg.covariance.at<double>(0,0))));
        stats.insert(std::make_pair("Odometry/StdDevAng/", sqrt((float)reg.covariance.at<double>(5,5))));
        stats.insert(std::make_pair("Odometry/VarianceLin/", (float)reg.covariance.at<double>(0,0)));
        stats.insert(std::make_pair("Odometry/VarianceAng/", (float)reg.covariance.at<double>(5,5)));
        stats.insert(std::make_pair("Odometry/TimeEstimation/ms", timeEstimation*1000.0f));
        stats.insert(std::make_pair("Odometry/TimeFiltering/ms", timeParticleFiltering*1000.0f));
        stats.insert(std::make_pair("Odometry/LocalMapSize/", localMapSize));
        stats.insert(std::make_pair("Odometry/LocalScanMapSize/", localScanMapSize));
        stats.insert(std::make_pair("Odometry/LocalKeyFrames/", localKeyFrames));
        stats.insert(std::make_pair("Odometry/LocalBundleOutliers/", localBundleOutliers));
        stats.insert(std::make_pair("Odometry/LocalBundleConstraints/", localBundleConstraints));
        stats.insert(std::make_pair("Odometry/LocalBundleTime/ms", localBundleTime*1000.0f));
        stats.insert(std::make_pair("Odometry/localBundleAvgInlierDistance/pix", localBundleAvgInlierDistance));
        stats.insert(std::make_pair("Odometry/localBundleMaxKeyFramesForInlier/", localBundleMaxKeyFramesForInlier));
        for(size_t i=0; i<localBundleOutliersPerCam.size(); ++i)
        {
                stats.insert(std::make_pair(uFormat("Odometry/localBundleOutliersCam%ld/", i), localBundleOutliersPerCam[i]));
        }
        stats.insert(std::make_pair("Odometry/KeyFrameAdded/", keyFrameAdded?1.0f:0.0f));
        stats.insert(std::make_pair("Odometry/Interval/ms", (float)interval));
        stats.insert(std::make_pair("Odometry/Distance/m", distanceTravelled));
 
        float x,y,z,roll,pitch,yaw;
        if(!pose.isNull())
        {
                pose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                stats.insert(std::make_pair("Odometry/Px/m", x));
                stats.insert(std::make_pair("Odometry/Py/m", y));
                stats.insert(std::make_pair("Odometry/Pz/m", z));
                stats.insert(std::make_pair("Odometry/Proll/deg", roll*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/Ppitch/deg", pitch*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/Pyaw/deg", yaw*180.0/CV_PI));
        }
 
        float dist = 0.0f, speed=0.0f;
        if(!transform.isNull())
        {
                transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                dist = transform.getNorm();
                stats.insert(std::make_pair("Odometry/T/m", dist));
                stats.insert(std::make_pair("Odometry/Tx/m", x));
                stats.insert(std::make_pair("Odometry/Ty/m", y));
                stats.insert(std::make_pair("Odometry/Tz/m", z));
                stats.insert(std::make_pair("Odometry/Troll/deg", roll*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/Tpitch/deg", pitch*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/Tyaw/deg", yaw*180.0/CV_PI));
 
                if(interval>0.0)
                {
                        speed = dist/interval;
                        stats.insert(std::make_pair("Odometry/Speed/kph", speed*3.6));
                        stats.insert(std::make_pair("Odometry/Speed/mph", speed*2.237));
                        stats.insert(std::make_pair("Odometry/Speed/mps", speed));
                        stats.insert(std::make_pair("Odometry/Vx/mps", x/interval));
                        stats.insert(std::make_pair("Odometry/Vy/mps", y/interval));
                        stats.insert(std::make_pair("Odometry/Vz/mps", z/interval));
                        stats.insert(std::make_pair("Odometry/Vroll/degps", (roll*180.0/CV_PI)/interval));
                        stats.insert(std::make_pair("Odometry/Vpitch/degps", (pitch*180.0/CV_PI)/interval));
                        stats.insert(std::make_pair("Odometry/Vyaw/degps", (yaw*180.0/CV_PI)/interval));
                }
        }
        if(!transformGroundTruth.isNull())
        {
                if(!transform.isNull())
                {
                        rtabmap::Transform diff = transformGroundTruth.inverse()*transform;
                        stats.insert(std::make_pair("Odometry/TG_error_lin/m", diff.getNorm()));
                        stats.insert(std::make_pair("Odometry/TG_error_ang/deg", diff.getAngle()*180.0/CV_PI));
                }
 
                transformGroundTruth.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
                dist = transformGroundTruth.getNorm();
                stats.insert(std::make_pair("Odometry/TG/m", dist));
                stats.insert(std::make_pair("Odometry/TGx/m", x));
                stats.insert(std::make_pair("Odometry/TGy/m", y));
                stats.insert(std::make_pair("Odometry/TGz/m", z));
                stats.insert(std::make_pair("Odometry/TGroll/deg", roll*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/TGpitch/deg", pitch*180.0/CV_PI));
                stats.insert(std::make_pair("Odometry/TGyaw/deg", yaw*180.0/CV_PI));
 
                if(interval>0.0)
                {
                        speed = dist/interval;
                        stats.insert(std::make_pair("Odometry/SpeedG/kph", speed*3.6));
                        stats.insert(std::make_pair("Odometry/SpeedG/mph", speed*2.237));
                        stats.insert(std::make_pair("Odometry/SpeedG/mps", speed));
                }
        }
        return stats;
}
 
} // namespace rtabmap