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Added uPad function for convenience
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@matlabbe
matlabbe committed Jun 19, 2024
1 parent 4c18226 commit 1ab0133
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Showing 3 changed files with 43 additions and 43 deletions.
74 changes: 32 additions & 42 deletions tools/Info/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -64,16 +64,6 @@ void showUsage()
exit(1);
}

std::string pad(const std::string & title, int padding = 20)
{
int emptySize = padding - (int)title.size();
if(emptySize>0)
{
return title + std::string(emptySize, ' ');
}
return title;
}

int main(int argc, char * argv[])
{
if(argc < 2)
Expand Down Expand Up @@ -205,7 +195,7 @@ int main(int argc, char * argv[])
#else
printf("%s", COLOR_YELLOW);
#endif
std::cout << (uFormat("%s%s (%s=%s)\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str(), defaultValue.c_str()));
std::cout << (uFormat("%s%s (%s=%s)\n", uPad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str(), defaultValue.c_str()));
}
else if(!diff)
{
Expand All @@ -215,7 +205,7 @@ int main(int argc, char * argv[])
#else
printf("%s", COLOR_NORMAL);
#endif
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
std::cout << (uFormat("%s%s\n", uPad(iter->first + "=", padding).c_str(), iter->second.c_str()));
}
}
else if(!defaultValueSet)
Expand All @@ -226,7 +216,7 @@ int main(int argc, char * argv[])
#else
printf("%s", COLOR_RED);
#endif
std::cout << (uFormat("%s%s (%s=NA)\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str()));
std::cout << (uFormat("%s%s (%s=NA)\n", uPad(iter->first + "=", padding).c_str(), iter->second.c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str()));
}
else if(!diff)
{
Expand All @@ -236,7 +226,7 @@ int main(int argc, char * argv[])
#else
printf("%s", COLOR_NORMAL);
#endif
std::cout << (uFormat("%s%s\n", pad(iter->first + "=", padding).c_str(), iter->second.c_str()));
std::cout << (uFormat("%s%s\n", uPad(iter->first + "=", padding).c_str(), iter->second.c_str()));
}
#ifdef _WIN32
SetConsoleTextAttribute(H,COLOR_NORMAL);
Expand All @@ -256,7 +246,7 @@ int main(int argc, char * argv[])
#else
printf("%s", COLOR_RED);
#endif
std::cout << (uFormat("%sNA (%s=\"%s\")\n", pad(iter->first + "=", padding).c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str(), iter->second.c_str()));
std::cout << (uFormat("%sNA (%s=\"%s\")\n", uPad(iter->first + "=", padding).c_str(), otherDatabasePath.empty()?"default":otherDatabasePathName.c_str(), iter->second.c_str()));

#ifdef _WIN32
SetConsoleTextAttribute(H,COLOR_NORMAL);
Expand Down Expand Up @@ -340,9 +330,9 @@ int main(int argc, char * argv[])
previousStamp=s;
previousPose=p;
}
std::cout << (uFormat("%s%s\n", pad("Path:").c_str(), driver->getUrl().c_str()));
std::cout << (uFormat("%s%s\n", pad("Version:").c_str(), driver->getDatabaseVersion().c_str()));
std::cout << (uFormat("%s%d\n", pad("Sessions:").c_str(), sessions));
std::cout << (uFormat("%s%s\n", uPad("Path:").c_str(), driver->getUrl().c_str()));
std::cout << (uFormat("%s%s\n", uPad("Version:").c_str(), driver->getDatabaseVersion().c_str()));
std::cout << (uFormat("%s%d\n", uPad("Sessions:").c_str(), sessions));
std::multimap<int, Link> links;
driver->getAllLinks(links, true, true);
bool reducedGraph = false;
Expand All @@ -363,11 +353,11 @@ int main(int argc, char * argv[])
}
if(reducedGraph)
{
std::cout << (uFormat("%s%f m (approx. as graph has been reduced)\n", pad("Total odom:").c_str(), infoTotalOdom));
std::cout << (uFormat("%s%f m (approx. as graph has been reduced)\n", uPad("Total odom:").c_str(), infoTotalOdom));
}
else
{
std::cout << (uFormat("%s%f m\n", pad("Total odometry length:").c_str(), infoTotalOdom));
std::cout << (uFormat("%s%f m\n", uPad("Total odometry length:").c_str(), infoTotalOdom));
}

std::stringstream sessionsInOptGraphStr;
Expand Down Expand Up @@ -400,14 +390,14 @@ int main(int argc, char * argv[])
}
}

std::cout << (uFormat("%s%fs\n", pad("Total time:").c_str(), infoTotalTime));
std::cout << (uFormat("%s%d nodes and %d words (dim=%d type=%s)\n", pad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize(), wordsDim, wordsType==CV_8UC1?"8U":wordsType==CV_32FC1?"32F":uNumber2Str(wordsType).c_str()));
std::cout << (uFormat("%s%d nodes and %d words\n", pad("WM:").c_str(), driver->getLastNodesSize(), driver->getLastDictionarySize()));
std::cout << (uFormat("%s%d poses and %d links\n", pad("Global graph:").c_str(), odomPoses, links.size()));
std::cout << (uFormat("%s%d poses (x=%d->%d, y=%d->%d, z=%d->%d)\n", pad("Optimized graph:").c_str(), (int)optimizedPoses.size(), links.size(), (int)min[0], (int)max[0], (int)min[1], (int)max[1], min[2], (int)max[2]));
std::cout << (uFormat("%s%d/%d [%s]\n", pad("Maps in graph:").c_str(), (int)mapsLinkedToLastGraph.size(), sessions, sessionsInOptGraphStr.str().c_str()));
std::cout << (uFormat("%s%d poses\n", pad("Ground truth:").c_str(), gtPoses));
std::cout << (uFormat("%s%d poses\n", pad("GPS:").c_str(), gpsValues));
std::cout << (uFormat("%s%fs\n", uPad("Total time:").c_str(), infoTotalTime));
std::cout << (uFormat("%s%d nodes and %d words (dim=%d type=%s)\n", uPad("LTM:").c_str(), (int)ids.size(), driver->getTotalDictionarySize(), wordsDim, wordsType==CV_8UC1?"8U":wordsType==CV_32FC1?"32F":uNumber2Str(wordsType).c_str()));
std::cout << (uFormat("%s%d nodes and %d words\n", uPad("WM:").c_str(), driver->getLastNodesSize(), driver->getLastDictionarySize()));
std::cout << (uFormat("%s%d poses and %d links\n", uPad("Global graph:").c_str(), odomPoses, links.size()));
std::cout << (uFormat("%s%d poses (x=%d->%d, y=%d->%d, z=%d->%d)\n", uPad("Optimized graph:").c_str(), (int)optimizedPoses.size(), links.size(), (int)min[0], (int)max[0], (int)min[1], (int)max[1], min[2], (int)max[2]));
std::cout << (uFormat("%s%d/%d [%s]\n", uPad("Maps in graph:").c_str(), (int)mapsLinkedToLastGraph.size(), sessions, sessionsInOptGraphStr.str().c_str()));
std::cout << (uFormat("%s%d poses\n", uPad("Ground truth:").c_str(), gtPoses));
std::cout << (uFormat("%s%d poses\n", uPad("GPS:").c_str(), gpsValues));
std::cout << (uFormat("Links:\n"));
for(size_t i=0; i<linkTypes.size(); ++i)
{
Expand All @@ -419,7 +409,7 @@ int main(int argc, char * argv[])
std = std::sqrt(std);
}
std::cout << (uFormat("%s%d\t(length avg: %.2fm, std: %.2fm, max: %.2fm)\n",
pad(uFormat(" %s:", Link::typeName((Link::Type)i).c_str())).c_str(),
uPad(uFormat(" %s:", Link::typeName((Link::Type)i).c_str())).c_str(),
linkTypes[i],
avg,
std,
Expand All @@ -429,42 +419,42 @@ int main(int argc, char * argv[])
long total = 0;
long dbSize = UFile::length(driver->getUrl());
long mem = dbSize;
std::cout << (uFormat("%s%d %s\n", pad("Database size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes"));
std::cout << (uFormat("%s%d %s\n", uPad("Database size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes"));
mem = driver->getNodesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Nodes size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Nodes size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getLinksMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Links size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Links size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getImagesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("RGB Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("RGB Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getDepthImagesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Depth Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Depth Images size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getCalibrationsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Calibrations size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Calibrations size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getGridsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Grids size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Grids size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getLaserScansMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Scans size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Scans size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getUserDataMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("User data size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("User data size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getWordsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Dictionary size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Dictionary size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getFeaturesMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Features size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Features size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = driver->getStatisticsMemoryUsed();
total+=mem;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Statistics size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Statistics size:").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
mem = dbSize - total;
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", pad("Other (indexing, unused):").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << (uFormat("%s%d %s\t(%.2f%%)\n", uPad("Other (indexing, unused):").c_str(), mem>1000000?mem/1000000:mem>1000?mem/1000:mem, mem>1000000?"MB":mem>1000?"KB":"Bytes", dbSize>0?double(mem)/double(dbSize)*100.0:0.0));
std::cout << ("\n");
}

Expand Down
2 changes: 1 addition & 1 deletion tools/Reprocess/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -600,7 +600,7 @@ int main(int argc, char * argv[])
printf("Custom parameters:\n");
for(ParametersMap::iterator iter=customParameters.begin(); iter!=customParameters.end(); ++iter)
{
printf(" %s\t= %s\n", iter->first.c_str(), iter->second.c_str());
printf(" %s %s\n", uPad(iter->first+" =", 25).c_str(), iter->second.c_str());
}
}

Expand Down
10 changes: 10 additions & 0 deletions utilite/include/rtabmap/utilite/UStl.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -809,4 +809,14 @@ inline int uCompareVersion(const std::string & version, int major, int minor=-1,
return -1;
}

inline std::string uPad(const std::string & title, int padding = 20)
{
int emptySize = padding - (int)title.size();
if(emptySize>0)
{
return title + std::string(emptySize, ' ');
}
return title;
}

#endif /* USTL_H */

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