void xRawLogViewerFrame::OnMenuCompactRawlog(wxCommandEvent& event)
{
WX_START_TRY
bool onlyOnePerLabel = (wxYES==wxMessageBox( _("Keep only one observation of each label within each sensoryframe?"), _("Compact rawlog"),wxYES_NO, this ));
int progress_N = static_cast<int>(rawlog.size());
int progress_i=progress_N;
wxProgressDialog progDia(
wxT("Compacting rawlog"),
wxT("Processing..."),
progress_N, // range
this, // parent
wxPD_CAN_ABORT |
wxPD_APP_MODAL |
wxPD_SMOOTH |
wxPD_AUTO_HIDE |
wxPD_ELAPSED_TIME |
wxPD_ESTIMATED_TIME |
wxPD_REMAINING_TIME);
wxTheApp->Yield(); // Let the app. process messages
CActionRobotMovement2DPtr lastAct;
CSensoryFramePtr lastSF; // = NULL;
unsigned counter_loops = 0;
unsigned nActionsDel = 0;
unsigned nEmptySFDel = 0;
CRawlog::iterator it=rawlog.begin();
for (progress_i=0 ;it!=rawlog.end();progress_i--)
{
if (counter_loops++ % 50 == 0)
{
if (!progDia.Update( progress_N-progress_i ))
break;
wxTheApp->Yield(); // Let the app. process messages
}
bool deleteThis = false;
if (it.getType()==CRawlog::etActionCollection)
{
// Is this a part of multiple actions?
if (lastAct)
{
// Remove this one and add it to the first in the series:
CActionRobotMovement2DPtr act = CActionCollectionPtr(*it)->getMovementEstimationByType( CActionRobotMovement2D::emOdometry );
ASSERT_(act);
lastAct->computeFromOdometry( lastAct->rawOdometryIncrementReading + act->rawOdometryIncrementReading, lastAct->motionModelConfiguration);
deleteThis=true;
nActionsDel++;
}
else
{
// This is the first one:
lastAct = CActionCollectionPtr(*it)->getMovementEstimationByType( CActionRobotMovement2D::emOdometry );
ASSERT_(lastAct);
// Before leaving the last SF, leave only one observation for each sensorLabel:
if (onlyOnePerLabel && lastSF)
{
CSensoryFramePtr newSF = CSensoryFrame::Create();
set<string> knownLabels;
for (CSensoryFrame::const_iterator o=lastSF->begin();o!=lastSF->end();++o)
{
if (knownLabels.find((*o)->sensorLabel)==knownLabels.end())
newSF->insert(*o);
knownLabels.insert((*o)->sensorLabel);
}
*lastSF = *newSF;
}
// Ok, done:
lastSF.clear_unique();
}
}
else if (it.getType()==CRawlog::etSensoryFrame)
{
// Is this a part of a series?
if (lastSF)
{
// remove this one and accumulate in the first in the serie:
lastSF->moveFrom( * CSensoryFramePtr(*it) );
deleteThis = true;
nEmptySFDel++;
}
else
{
// This is the first SF:
CSensoryFramePtr sf = CSensoryFramePtr(*it);
// Only take into account if not empty!
if (sf->size())
{
lastSF = sf;
ASSERT_(lastSF);
lastAct.clear_unique();
}
else
{
deleteThis = true;
nEmptySFDel++;
}
}
}
else THROW_EXCEPTION("Unexpected class found!")
if (deleteThis)
{
it = rawlog.erase(it);
progress_i--; // Extra count
}
else it++;
}
progDia.Update( progress_N );
string str= format( "%u actions deleted\n%u sensory frames deleted", nActionsDel, nEmptySFDel );
::wxMessageBox( _U( str.c_str() ) );
rebuildTreeView();
WX_END_TRY
}
/* ------------------------------------------------------------
reloadFromRawlog
------------------------------------------------------------ */
void CRawlogTreeView::reloadFromRawlog( int hint_rawlog_items )
{
// Recompute the total height of the scroll area:
// We also compute a list for each index with:
// - Pointer to data
// - level in the hierarchy (0,1,2)
// --------------------------------------------------------
if (m_rawlog)
{
if (hint_rawlog_items<0)
m_tree_nodes.reserve( m_rawlog->size()+100 );
else m_tree_nodes.reserve( hint_rawlog_items+100 );
}
// Create a "tree node" for each element in the rawlog:
// ---------------------------------------------------------
m_tree_nodes.clear();
m_rawlog_start = INVALID_TIMESTAMP;
m_rawlog_last = INVALID_TIMESTAMP;
// Root:
m_tree_nodes.push_back( TNodeData() );
TNodeData &d = m_tree_nodes.back();
d.level = 0;
// CVectorDouble tims;
if (m_rawlog)
{
CRawlog::iterator end_it = m_rawlog->end();
size_t rawlog_index = 0;
for (CRawlog::iterator it=m_rawlog->begin();it!=end_it;it++,rawlog_index++)
{
m_tree_nodes.push_back( TNodeData() );
TNodeData &d = m_tree_nodes.back();
d.level = 1;
d.data = (*it);
d.index = rawlog_index;
// For containers, go recursively:
if ( (*it)->GetRuntimeClass()==CLASS_ID(CSensoryFrame))
{
CSensoryFramePtr sf = CSensoryFramePtr( *it );
for (CSensoryFrame::iterator o=sf->begin();o!=sf->end();++o)
{
m_tree_nodes.push_back( TNodeData() );
TNodeData &d = m_tree_nodes.back();
d.level = 2;
d.data = (*o);
if ((*o)->timestamp!=INVALID_TIMESTAMP)
{
m_rawlog_last = (*o)->timestamp;
if (m_rawlog_start == INVALID_TIMESTAMP)
m_rawlog_start = (*o)->timestamp;
}
}
}
else
if ( (*it)->GetRuntimeClass()==CLASS_ID(CActionCollection))
{
CActionCollectionPtr acts = CActionCollectionPtr( *it );
for (CActionCollection::iterator a=acts->begin();a!=acts->end();++a)
{
m_tree_nodes.push_back( TNodeData() );
TNodeData &d = m_tree_nodes.back();
d.level = 2;
d.data = (*a);
if ((*a)->timestamp!=INVALID_TIMESTAMP)
{
m_rawlog_last = (*a)->timestamp;
if (m_rawlog_start == INVALID_TIMESTAMP)
m_rawlog_start = (*a)->timestamp;
}
}
}
else
if ( (*it)->GetRuntimeClass()->derivedFrom( CLASS_ID(CObservation) ))
{
CObservationPtr o = CObservationPtr(*it);
if (o->timestamp!=INVALID_TIMESTAMP)
{
m_rawlog_last = o->timestamp;
if (m_rawlog_start == INVALID_TIMESTAMP)
m_rawlog_start = o->timestamp;
//tims.push_back( mrpt::system::timeDifference(m_rawlog_start, o->timestamp));
}
}
}
}
// mrpt::system::vectorToTextFile(tims,"tims.txt");
// Set new size:
int ly = m_tree_nodes.size();
SetScrollbars(ROW_HEIGHT, ROW_HEIGHT, 50, ly);
}
void xRawLogViewerFrame::OnMenuRegenerateGPSTimestamps(wxCommandEvent& event)
{
WX_START_TRY
wxBusyCursor waitCursor;
vector_string the_labels = AskForObservationByLabelMultiple("Choose the GPS(s) to consider:");
vector_double time_changes; // all the shifts
std::map<std::string,double> DeltaTimes;
// First, build an ordered list of "times"->"indexes":
// ------------------------------------------------------
std::map<TTimeStamp,size_t> ordered_times;
size_t i, n = rawlog.size();
for (i=0;i<n;i++)
{
switch ( rawlog.getType(i) )
{
default:
wxMessageBox(_("Error: this command is for rawlogs without sensory frames."));
return;
break;
case CRawlog::etSensoryFrame:
{
CSensoryFramePtr sf = rawlog.getAsObservations(i);
for (CSensoryFrame::iterator it=sf->begin();it!=sf->end();++it)
{
if ( (*it)->GetRuntimeClass()==CLASS_ID(CObservationGPS) && find_in_vector( (*it)->sensorLabel, the_labels)!=string::npos )
{
CObservationGPSPtr obs = CObservationGPSPtr(*it);
fixGPStimestamp(obs, time_changes, DeltaTimes);
}
}
}
break;
case CRawlog::etObservation:
{
CObservationPtr o = rawlog.getAsObservation(i);
if (IS_CLASS(o,CObservationGPS) && find_in_vector( o->sensorLabel, the_labels)!=string::npos)
{
CObservationGPSPtr obs = CObservationGPSPtr(o);
fixGPStimestamp(obs, time_changes, DeltaTimes);
}
}
break;
} // end switch type
} // end for i
unsigned int nChanges = time_changes.size();
double average_time_change = 0, std_time_change = 0;
mrpt::math::meanAndStd(time_changes,average_time_change, std_time_change );
if (wxYES==wxMessageBox( wxString::Format(_("%u changes, average/std time shift is: %f/%f sec. Do you want to re-order by timestamp?"),nChanges, average_time_change, std_time_change ), _("Done"),wxYES_NO, this ))
{
OnMenuResortByTimestamp(event);
}
WX_END_TRY
}