changed statistics export

added statistics to frequency filter

source/RobotAPI/libraries/armem/server/ltm/detail/MemoryBase.h

@@ -218,7 +218,7 @@ namespace armarx::armem::server::ltm::detail
         std::map<std::string, processor::SnapshotFilter::FilterStatistics>
         getFilterStatistics(){
             auto stats = processors->getSnapshotFilterStatistics();
-            test::save_statistics(stats);
+            test::save_statistics(stats, this->name());
             return stats;
         }
 

source/RobotAPI/libraries/armem/server/ltm/processors/filter/equalityFilter/EqualityFilter.cpp

@@ -58,7 +58,7 @@ namespace armarx::armem::server::ltm::processor::filter
             stats.additional_time += (end - start);
             return true;
         }
-        if (similarity > 0.5 || std::isnan(similarity)){
+        if (similarity < this->threshold || std::isnan(similarity)){
             images.pop_back(); //the last image was rejected, so we do not save it and also not compare future images with it
             stats.rejected += 1;
             auto end = std::chrono::high_resolution_clock::now();
@@ -99,13 +99,12 @@ namespace armarx::armem::server::ltm::processor::filter
                 stats.similarity_type = aron::similarity::NDArraySimilarity::Type::CHERNOFF;
             } else {
                 ARMARX_WARNING << "Undefined similarity measure detected in JSON file";
+                stats.similarity_type = aron::similarity::NDArraySimilarity::Type::NONE;
             }
         }
         if(json.find(PARAM_MAX_OBJECTS) != json.end()){
             max_images = json.at(PARAM_MAX_OBJECTS);
             ARMARX_INFO << VAROUT(max_images);
-            //stats.additional_info += "max objects to compare: ";
-            //stats.additional_info += std::to_string(max_images);
             stats.number_of_compared_objects = max_images;
         }
 

source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.cpp

@@ -29,6 +29,7 @@ namespace armarx::armem::server::ltm::processor::filter
     SnapshotFrequencyFilter::accept(const armem::wm::EntitySnapshot& e)
     {
         ARMARX_INFO << deactivateSpam() << "Checking Snapshot frequency filter";
+        auto start = std::chrono::high_resolution_clock::now();
         auto entityID = e.id().getEntityID();
         auto genMs = e.time().toMilliSecondsSinceEpoch();
 
@@ -44,8 +45,16 @@ namespace armarx::armem::server::ltm::processor::filter
             std::cout << "gen: " << (dataGeneratedInMs) << std::endl;
             std::cout << "last: " << (timestampLastCommitInMs) << std::endl;*/
             timestampLastCommitInMs[entityID] = genMs;
+            auto end = std::chrono::high_resolution_clock::now();
+            stats.end_time = end;
+            stats.additional_time += (end - start);
+            stats.accepted += 1;
             return true;
         }
+        auto end = std::chrono::high_resolution_clock::now();
+        stats.end_time = end;
+        stats.additional_time += (end - start);
+        stats.rejected += 1;
         return false;
     }
 
@@ -57,6 +66,9 @@ namespace armarx::armem::server::ltm::processor::filter
             waitingTimeInMs = json.at(PARAM_WAITING_TIME);
             ARMARX_INFO << VAROUT(waitingTimeInMs);
         }
+        stats.start_time = std::chrono::high_resolution_clock::now();
+        stats.number_of_compared_objects = 1;
+        stats.similarity_type = aron::similarity::NDArraySimilarity::Type::NONE;
     }
 
     SnapshotFilter::FilterStatistics SnapshotFrequencyFilter::getFilterStatistics()

source/RobotAPI/libraries/armem/server/ltm/processors/filter/frequencyFilter/FrequencyFilter.h

@@ -5,6 +5,8 @@
 // Base Class
 #include "../Filter.h"
 
+#include <chrono>
+
 namespace armarx::armem::server::ltm::processor::filter
 {
     class MemoryFrequencyFilter : public MemoryFilter

source/RobotAPI/libraries/armem/server/ltm/processors/filter/importanceFilter/ImportanceFilter.h

@@ -3,6 +3,8 @@
 // Base Class
 #include "../Filter.h"
 
+#include <chrono>
+
 namespace armarx::armem::server::ltm::processor::filter
 {
 

source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.cpp

@@ -8,13 +8,30 @@
 namespace armarx::armem::server::test
 {
 
-void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats)
+void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName)
 {
 
-    std::string directory_path = "Experiments";
-    if(!std::filesystem::is_directory(directory_path)){
-        std::filesystem::create_directory(directory_path);
+    auto now = std::chrono::high_resolution_clock::now();
+    auto now_time = std::chrono::high_resolution_clock::to_time_t(now);
+    auto time = localtime(&now_time);
+
+    auto month = time->tm_mon;
+    auto day = time->tm_mday;
+
+    std::filesystem::path d_p = "Experiments";
+    if(!std::filesystem::is_directory(d_p)){
+        std::filesystem::create_directory(d_p);
+    }
+    d_p /= std::to_string(month);
+    if(!std::filesystem::is_directory(d_p)){
+        std::filesystem::create_directory(d_p);
     }
+    d_p /= std::to_string(day);
+    if(!std::filesystem::is_directory(d_p)){
+        std::filesystem::create_directory(d_p);
+    }
+
+    ARMARX_INFO << "Experiments will be saved at: " << d_p.string();
 
     for(auto f : stats){
         ARMARX_INFO << f.first << ": " << f.second.additional_time.count() << " sec; " << f.second.accepted << " accepted";
@@ -22,10 +39,6 @@ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::Filte
     nlohmann::json jsonData;
     bool ended_without_recording = false;
 
-    auto now = std::chrono::high_resolution_clock::now();
-    auto now_time = std::chrono::high_resolution_clock::to_time_t(now);
-    auto time = localtime(&now_time);
-
 
     for(const auto& pair: stats){
         if(pair.second.accepted + pair.second.rejected < 1){
@@ -33,6 +46,7 @@ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::Filte
             ARMARX_INFO << "Trying to not add JSON file because accepted + rejected < 1";
         }
         std::map<std::string, std::string> information;
+        information["Memory Name: "] = memoryName;
         information["additional time needed: "] = (std::to_string(pair.second.additional_time.count()) + " sec");
         information["number of accepted elements: "] = std::to_string(pair.second.accepted);
         information["number of rejected elements: "] = std::to_string(pair.second.rejected);
@@ -67,7 +81,7 @@ void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::Filte
     s << std::put_time(time, "%Y%m%d%H%M%S");
     std::string timeID = s.str();
     jsonData["Time "] = timeString;
-    std::string path = directory_path;
+    std::string path = d_p.string();
     path += "/tmp_wm_";
     path += timeID;
     path += ".json";

source/RobotAPI/libraries/armem/server/test/ForgettingExperiments.h

@@ -30,6 +30,6 @@
 
 namespace armarx::armem::server::test
 {
-    void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats);
+    void save_statistics(std::map<std::string, ltm::processor::SnapshotFilter::FilterStatistics> stats, std::string memoryName = "");
 
 }