rtabmap::Statistics Class Reference

Collects and manages runtime statistics for RTAB-Map. More...

#include <Statistics.h>

Public Member Functions
	Statistics ()
	Default constructor.
virtual	~Statistics ()
	Virtual destructor.
void	addStatistic (const std::string &name, float value)
	Adds a statistic value to the data map.
void	setExtended (bool extended)
	Sets whether extended statistics mode is enabled.
void	setRefImageId (int id)
	Sets the reference image ID (current/last processed signature ID)
void	setRefImageMapId (int id)
	Sets the reference image map ID.
void	setLoopClosureId (int id)
	Sets the loop closure detection ID.
void	setLoopClosureMapId (int id)
	Sets the loop closure map ID.
void	setProximityDetectionId (int id)
	Sets the proximity detection ID.
void	setProximityDetectionMapId (int id)
	Sets the proximity detection map ID.
void	setStamp (double stamp)
	Sets the timestamp for these statistics.
RTABMAP_DEPRECATED void	setLastSignatureData (const Signature &data)
	Sets the last signature data (deprecated)
void	addSignatureData (const Signature &data)
	Adds signature data to the statistics.
void	setSignaturesData (const std::map< int, Signature > &data)
	Sets all signature data at once.
void	setPoses (const std::map< int, Transform > &poses)
	Sets the pose graph (node poses)
void	setConstraints (const std::multimap< int, Link > &constraints)
	Sets the constraint graph (links between nodes)
void	setMapCorrection (const Transform &mapCorrection)
	Sets the map correction transform.
void	setLoopClosureTransform (const Transform &loopClosureTransform)
	Sets the loop closure transform.
void	setLocalizationCovariance (const cv::Mat &covariance)
	Sets the localization covariance matrix.
void	setLabels (const std::map< int, std::string > &labels)
	Sets node labels.
void	setWeights (const std::map< int, int > &weights)
	Sets node weights.
void	setPosterior (const std::map< int, float > &posterior)
	Sets posterior probabilities for loop closure hypotheses.
void	setLikelihood (const std::map< int, float > &likelihood)
	Sets likelihood values for loop closure hypotheses.
void	setRawLikelihood (const std::map< int, float > &rawLikelihood)
	Sets raw likelihood values (before normalization)
void	setLocalPath (const std::vector< int > &localPath)
	Sets the local path (sequence of node IDs)
void	setCurrentGoalId (int goal)
	Sets the current goal node ID.
void	setReducedIds (const std::map< int, int > &reducedIds)
	Sets the reduced IDs mapping.
void	setWmState (const std::vector< int > &state)
	Sets the working memory state.
void	setOdomCachePoses (const std::map< int, Transform > &poses)
	Sets odometry cache poses.
void	setOdomCacheConstraints (const std::multimap< int, Link > &constraints)
	Sets odometry cache constraints.
bool	extended () const
	Returns whether extended statistics mode is enabled.
int	refImageId () const
	Returns the reference image ID.
int	refImageMapId () const
	Returns the reference image map ID.
int	loopClosureId () const
	Returns the loop closure detection ID.
int	loopClosureMapId () const
	Returns the loop closure map ID.
int	proximityDetectionId () const
	Returns the proximity detection ID.
int	proximityDetectionMapId () const
	Returns the proximity detection map ID.
double	stamp () const
	Returns the timestamp.
const Signature &	getLastSignatureData () const
	Returns the last signature data.
const std::map< int, Signature > &	getSignaturesData () const
	Returns all signature data.
const std::map< int, Transform > &	poses () const
	Returns the pose graph.
const std::multimap< int, Link > &	constraints () const
	Returns the constraint graph.
const Transform &	mapCorrection () const
	Returns the map correction transform.
const Transform &	loopClosureTransform () const
	Returns the loop closure transform.
const cv::Mat &	localizationCovariance () const
	Returns the localization covariance matrix.
const std::map< int, std::string > &	labels () const
	Returns node labels.
const std::map< int, int > &	weights () const
	Returns node weights.
const std::map< int, float > &	posterior () const
	Returns posterior probabilities.
const std::map< int, float > &	likelihood () const
	Returns likelihood values.
const std::map< int, float > &	rawLikelihood () const
	Returns raw likelihood values.
const std::vector< int > &	localPath () const
	Returns the local path.
int	currentGoalId () const
	Returns the current goal node ID.
const std::map< int, int > &	reducedIds () const
	Returns the reduced IDs mapping.
const std::vector< int > &	wmState () const
	Returns the working memory state.
const std::map< int, Transform > &	odomCachePoses () const
	Returns odometry cache poses.
const std::multimap< int, Link > &	odomCacheConstraints () const
	Returns odometry cache constraints.
const std::map< std::string, float > &	data () const
	Returns the statistics data map.

Static Public Member Functions
static const std::map< std::string, float > &	defaultData ()
	Returns the default statistics data map.
static std::string	serializeData (const std::map< std::string, float > &data)
	Serializes a statistics data map to a string.
static std::map< std::string, float >	deserializeData (const std::string &data)
	Deserializes a statistics data map from a string.

Detailed Description

Collects and manages runtime statistics for RTAB-Map.

The Statistics class provides a comprehensive system for collecting, storing, and managing various runtime statistics about RTAB-Map's operation. Statistics are organized into groups such as:

• Loop: Loop closure detection, hypothesis validation, optimization errors
• Proximity: Proximity-based detection statistics
• Memory: Working memory size, database usage, signature management
• Timing: Performance measurements for various operations
• Keypoint: Visual word dictionary and feature statistics
• Gt: Ground truth comparison statistics

Statistics are stored in a map with keys in the format "Group/Name/Unit" (e.g., "Timing/Total time/ms"). This hierarchical naming allows for easy categorization and plotting.

The class supports two modes:

• Basic mode (extended() == false): Only stores loop closure and last signature ID fields
• Extended mode (extended() == true): Stores all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information

Statistics can be serialized to/from strings for storage in databases or transmission over networks.

Note

Statistics are typically created by RTAB-Map's core components (Rtabmap, Memory, etc.) and can be retrieved for analysis, visualization, or debugging purposes.

Definition at line 107 of file Statistics.h.

Constructor & Destructor Documentation

Statistics()

rtabmap::Statistics::Statistics

(

)

Default constructor.

Creates a new Statistics object in basic mode (extended = false). Initializes all ID fields to 0 or -1, and timestamp to 0.0.

Note

The first Statistics object constructed will initialize the default data map.

Member Function Documentation

defaultData()

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

static

Returns the default statistics data map.

Returns a map containing all predefined statistics with their default values (0.0). This map is initialized when the first Statistics object is constructed.

Returns

Const reference to the default statistics data map

serializeData()

static std::string rtabmap::Statistics::serializeData ( const std::map< std::string, float > &  data )

static

Serializes a statistics data map to a string.

Converts a statistics data map into a serialized string format suitable for storage or transmission. The format is: "key1:value1;key2:value2;..." where values are formatted as numbers with dots (not commas) as decimal separators (independent of the system's locale).

Parameters

data	The statistics data map to serialize

Returns

Serialized string representation of the data

Note

Empty maps result in empty strings

See also

deserializeData()

deserializeData()

static std::map< std::string, float > rtabmap::Statistics::deserializeData ( const std::string &  data )

static

Deserializes a statistics data map from a string.

Parses a serialized statistics string back into a data map. The string format should be: "key1:value1;key2:value2;..." as produced by serializeData().

Parameters

data	The serialized string to parse

Returns

Deserialized statistics data map

Note

Invalid entries (missing colons, malformed values) are silently skipped

See also

serializeData()

addStatistic()

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

Adds a statistic value to the data map.

Adds or updates a statistic in the internal data map. The name should follow the format "Group/Name/Unit" (e.g., "Timing/Total time/ms").

Parameters

name	The statistic name in the format "Group/Name/Unit"
value	The statistic value to store

Note

If a statistic with the same name already exists, it will be overwritten.

Use the static methods generated by RTABMAP_STATS() to get standardized names:

statistics.addStatistic(Statistics::kTimingTotal(), 500.0f);

setExtended()

void rtabmap::Statistics::setExtended ( bool  extended )

inline

Sets whether extended statistics mode is enabled.

In basic mode (extended = false), only loop closure and last signature ID fields are filled. In extended mode (extended = true), all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information are stored.

Parameters

extended

True to enable extended mode, false for basic mode

Definition at line 367 of file Statistics.h.

setRefImageId()

void rtabmap::Statistics::setRefImageId ( int  id )

inline

Sets the reference image ID (current/last processed signature ID)

Parameters

id	The signature ID

Definition at line 373 of file Statistics.h.

setRefImageMapId()

void rtabmap::Statistics::setRefImageMapId ( int  id )

inline

Sets the reference image map ID.

Parameters

id	The map ID associated with the reference image

Definition at line 379 of file Statistics.h.

setLoopClosureId()

void rtabmap::Statistics::setLoopClosureId ( int  id )

inline

Sets the loop closure detection ID.

Parameters

id	The signature ID where a loop closure was detected (0 if none)

Definition at line 385 of file Statistics.h.

setLoopClosureMapId()

void rtabmap::Statistics::setLoopClosureMapId ( int  id )

inline

Sets the loop closure map ID.

Parameters

id	The map ID associated with the loop closure

Definition at line 391 of file Statistics.h.

setProximityDetectionId()

void rtabmap::Statistics::setProximityDetectionId ( int  id )

inline

Sets the proximity detection ID.

Parameters

id	The signature ID where proximity was detected (0 if none)

Definition at line 397 of file Statistics.h.

setProximityDetectionMapId()

void rtabmap::Statistics::setProximityDetectionMapId ( int  id )

inline

Sets the proximity detection map ID.

Parameters

id	The map ID associated with the proximity detection

Definition at line 403 of file Statistics.h.

setStamp()

void rtabmap::Statistics::setStamp ( double  stamp )

inline

Sets the timestamp for these statistics.

Parameters

stamp

The timestamp (typically in seconds since epoch)

Definition at line 409 of file Statistics.h.

setLastSignatureData()

RTABMAP_DEPRECATED void rtabmap::Statistics::setLastSignatureData

(

const Signature &

data

)

Sets the last signature data (deprecated)

Deprecated:

Use addSignatureData() instead

This method is deprecated. Use addSignatureData() instead, which allows storing multiple signatures.

addSignatureData()

void rtabmap::Statistics::addSignatureData ( const Signature &  data )

inline

Adds signature data to the statistics.

Adds a signature to the internal signatures data map. Multiple signatures can be stored, indexed by their ID.

Parameters

data	The signature to add

Note

If a signature with the same ID already exists, it will be overwritten.

Definition at line 430 of file Statistics.h.

setSignaturesData()

void rtabmap::Statistics::setSignaturesData ( const std::map< int, Signature > &  data )

inline

Sets all signature data at once.

Parameters

data	Map of signature IDs to Signature objects

Definition at line 436 of file Statistics.h.

setPoses()

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

inline

Sets the pose graph (node poses)

Sets the complete pose graph, mapping node IDs to their Transform poses. Used in extended mode for visualization and analysis.

Parameters

poses

Map of node IDs to their poses

Definition at line 446 of file Statistics.h.

setConstraints()

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

inline

Sets the constraint graph (links between nodes)

Sets the complete constraint graph, mapping node IDs to their Link constraints. Used in extended mode for visualization and analysis.

Parameters

constraints

Multimap of node IDs to their links (a node can have multiple links)

Definition at line 456 of file Statistics.h.

setMapCorrection()

void rtabmap::Statistics::setMapCorrection ( const Transform &  mapCorrection )

inline

Sets the map correction transform.

The map correction transform represents the transformation from the map fixed frame to the odometry fixed frame. This transform is typically updated after graph optimization to transform the odometry pose in map frame.

Parameters

mapCorrection

The pose of odometry frame in map coordinate system

Definition at line 467 of file Statistics.h.

setLoopClosureTransform()

void rtabmap::Statistics::setLoopClosureTransform ( const Transform &  loopClosureTransform )

inline

Sets the loop closure transform.

The transform between the current pose and the loop closure pose.

Parameters

loopClosureTransform

The loop closure transform

Definition at line 476 of file Statistics.h.

setLocalizationCovariance()

void rtabmap::Statistics::setLocalizationCovariance ( const cv::Mat &  covariance )

inline

Sets the localization covariance matrix.

The covariance matrix representing the uncertainty in the current localization estimate.

Parameters

covariance

The covariance matrix (typically 6x6 for 3D pose)

Definition at line 485 of file Statistics.h.

setLabels()

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

inline

Sets node labels.

Parameters

labels

Map of node IDs to their string labels

Definition at line 491 of file Statistics.h.

setWeights()

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

inline

Sets node weights.

Parameters

weights

Map of node IDs to their integer weights

Definition at line 497 of file Statistics.h.

setPosterior()

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

inline

Sets posterior probabilities for loop closure hypotheses.

Parameters

posterior

Map of node IDs to their posterior probabilities

Definition at line 504 of file Statistics.h.

setLikelihood()

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

inline

Sets likelihood values for loop closure hypotheses.

Likelihood values represent how well each hypothesis matches the current observation.

Parameters

likelihood

Map of node IDs to their likelihood values

Definition at line 513 of file Statistics.h.

setRawLikelihood()

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

inline

Sets raw likelihood values (before normalization)

Parameters

rawLikelihood

Map of node IDs to their raw likelihood values

Definition at line 519 of file Statistics.h.

setLocalPath()

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

inline

Sets the local path (sequence of node IDs)

The local path represents the sequence of next nodes to visit for path planning.

Parameters

localPath

Vector of node IDs in order of next nodes to visit

Definition at line 528 of file Statistics.h.

setCurrentGoalId()

void rtabmap::Statistics::setCurrentGoalId ( int  goal )

inline

Sets the current goal node ID.

Parameters

goal	The goal node ID (0 if no goal)

Definition at line 534 of file Statistics.h.

setReducedIds()

void rtabmap::Statistics::setReducedIds ( const std::map< int, int > &  reducedIds )

inline

Sets the reduced IDs mapping.

Maps original node IDs to reduced IDs, used for memory optimization.

Parameters

reducedIds

Map of original IDs to reduced IDs

Definition at line 543 of file Statistics.h.

setWmState()

void rtabmap::Statistics::setWmState ( const std::vector< int > &  state )

inline

Sets the working memory state.

The working memory state is a vector of node IDs currently in working memory.

Parameters

state

Vector of node IDs in working memory

Definition at line 552 of file Statistics.h.

setOdomCachePoses()

void rtabmap::Statistics::setOdomCachePoses ( const std::map< int, Transform > &  poses )

inline

Sets odometry cache poses.

Cached odometry poses during localization mode.

Parameters

poses

Map of node IDs to their cached odometry poses

Definition at line 561 of file Statistics.h.

setOdomCacheConstraints()

void rtabmap::Statistics::setOdomCacheConstraints ( const std::multimap< int, Link > &  constraints )

inline

Sets odometry cache constraints.

Cached odometry constraints (links) between nodes.

Parameters

constraints

Multimap of node IDs to their cached odometry links

Definition at line 570 of file Statistics.h.

extended()

bool rtabmap::Statistics::extended ( ) const

inline

Returns whether extended statistics mode is enabled.

Returns

True if extended mode, false if basic mode

Definition at line 578 of file Statistics.h.

refImageId()

int rtabmap::Statistics::refImageId ( ) const

inline

Returns the reference image ID.

Returns

The signature ID (0 if not set)

Definition at line 584 of file Statistics.h.

refImageMapId()

int rtabmap::Statistics::refImageMapId ( ) const

inline

Returns the reference image map ID.

Returns

The map ID (-1 if not set)

Definition at line 590 of file Statistics.h.

loopClosureId()

int rtabmap::Statistics::loopClosureId ( ) const

inline

Returns the loop closure detection ID.

Returns

The signature ID where loop closure was detected (0 if none)

Definition at line 596 of file Statistics.h.

loopClosureMapId()

int rtabmap::Statistics::loopClosureMapId ( ) const

inline

Returns the loop closure map ID.

Returns

The map ID associated with the loop closure (-1 if not set)

Definition at line 602 of file Statistics.h.

proximityDetectionId()

int rtabmap::Statistics::proximityDetectionId ( ) const

inline

Returns the proximity detection ID.

Returns

The signature ID where proximity was detected (0 if none)

Definition at line 608 of file Statistics.h.

proximityDetectionMapId()

int rtabmap::Statistics::proximityDetectionMapId ( ) const

inline

Returns the proximity detection map ID.

Returns

The map ID associated with the proximity detection (-1 if not set)

Definition at line 614 of file Statistics.h.

stamp()

double rtabmap::Statistics::stamp ( ) const

inline

Returns the timestamp.

Returns

The timestamp (0.0 if not set)

Definition at line 620 of file Statistics.h.

getLastSignatureData()

const Signature & rtabmap::Statistics::getLastSignatureData ( ) const

inline

Returns the last signature data.

Returns the most recently added signature (by ID). If no signatures are stored, returns a dummy empty signature.

Returns

Reference to the last signature data

Definition at line 630 of file Statistics.h.

getSignaturesData()

const std::map< int, Signature > & rtabmap::Statistics::getSignaturesData ( ) const

inline

Returns all signature data.

Returns

Const reference to the map of signature IDs to Signature objects

Definition at line 636 of file Statistics.h.

poses()

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

inline

Returns the pose graph.

Returns

Const reference to the map of node IDs to poses

Definition at line 642 of file Statistics.h.

constraints()

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

inline

Returns the constraint graph.

Returns

Const reference to the multimap of node IDs to links

Definition at line 648 of file Statistics.h.

mapCorrection()

const Transform & rtabmap::Statistics::mapCorrection ( ) const

inline

Returns the map correction transform.

Returns the transform from the map fixed frame to the odometry fixed frame.

Returns

Const reference to the map correction transform

Definition at line 657 of file Statistics.h.

loopClosureTransform()

const Transform & rtabmap::Statistics::loopClosureTransform ( ) const

inline

Returns the loop closure transform.

Returns

Const reference to the loop closure transform

Definition at line 663 of file Statistics.h.

localizationCovariance()

const cv::Mat & rtabmap::Statistics::localizationCovariance ( ) const

inline

Returns the localization covariance matrix.

Returns

Const reference to the covariance matrix (may be empty)

Definition at line 669 of file Statistics.h.

labels()

const std::map< int, std::string > & rtabmap::Statistics::labels ( ) const

inline

Returns node labels.

Returns

Const reference to the map of node IDs to labels

Definition at line 675 of file Statistics.h.

weights()

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

inline

Returns node weights.

Returns

Const reference to the map of node IDs to weights

Definition at line 681 of file Statistics.h.

posterior()

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

inline

Returns posterior probabilities.

Returns

Const reference to the map of node IDs to posterior probabilities

Definition at line 687 of file Statistics.h.

likelihood()

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

inline

Returns likelihood values.

Returns

Const reference to the map of node IDs to likelihood values

Definition at line 693 of file Statistics.h.

rawLikelihood()

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

inline

Returns raw likelihood values.

Returns

Const reference to the map of node IDs to raw likelihood values

Definition at line 699 of file Statistics.h.

localPath()

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

inline

Returns the local path.

Returns

Const reference to the vector of node IDs

Definition at line 705 of file Statistics.h.

currentGoalId()

int rtabmap::Statistics::currentGoalId ( ) const

inline

Returns the current goal node ID.

Returns

The goal node ID (0 if no goal)

Definition at line 711 of file Statistics.h.

reducedIds()

const std::map< int, int > & rtabmap::Statistics::reducedIds ( ) const

inline

Returns the reduced IDs mapping.

Returns

Const reference to the map of original IDs to reduced IDs

Definition at line 717 of file Statistics.h.

wmState()

const std::vector< int > & rtabmap::Statistics::wmState ( ) const

inline

Returns the working memory state.

Returns

Const reference to the vector of node IDs in working memory

Definition at line 723 of file Statistics.h.

odomCachePoses()

const std::map< int, Transform > & rtabmap::Statistics::odomCachePoses ( ) const

inline

Returns odometry cache poses.

Returns

Const reference to the map of node IDs to cached odometry poses

Definition at line 729 of file Statistics.h.

odomCacheConstraints()

const std::multimap< int, Link > & rtabmap::Statistics::odomCacheConstraints ( ) const

inline

Returns odometry cache constraints.

Returns

Const reference to the multimap of node IDs to cached odometry links

Definition at line 735 of file Statistics.h.

data()

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

inline

Returns the statistics data map.

Returns the map containing all plottable statistics in the format "Group/Name/Unit" -> value. This is the main data structure for storing numeric statistics.

Returns

Const reference to the statistics data map

Note

Use addStatistic() to add values to this map

Use serializeData() to convert this map to a string for storage

Definition at line 748 of file Statistics.h.

---

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

• corelib/include/rtabmap/core/Statistics.h