more rawlog info

Author: jlblancoc

doc/source/doxygen-docs/changelog.md

@@ -2,6 +2,8 @@
 
 # Version 2.11.8: UNRELEASED
 - Changes in apps:
+  - RawLogViewer: Show pointcloud ring, intensity, and time min/max ranges.
+  - rawlog-edit: Show dataset duration as formatted time interval.
   - rosbag2rawlog (ROS 1):
     - Added support for XYZIRT point clouds.
     - Finally, implemented automatic detection of sensor poses wrt `base_link` from `tf` messages, with an option to manually override sensor poses from YAML config.

libs/apps/src/rawlog-edit_info.cpp

@@ -149,6 +149,11 @@ DECLARE_OP_FUNCTION(op_info)
 				mrpt::Clock::fromDouble(proc.lastTimestamp))
 		 << " UTC)\n";
 
+	cout << "Duration                          : "
+		 << mrpt::system::intervalFormat(
+				proc.lastTimestamp - proc.firstTimestamp)
+		 << "\n";
+
 	// By sensor labels:
 	cout << "All sensor labels                 : ";
 	for (auto it = proc.infoPerSensorLabel.begin();

libs/maps/src/obs/CObservationPointCloud.cpp

@@ -17,6 +17,7 @@
 #include <mrpt/maps/CColouredPointsMap.h>
 #include <mrpt/maps/CPointsMapXYZI.h>
 #include <mrpt/maps/CSimplePointsMap.h>
+#include <mrpt/math/ops_containers.h>  // minimum_maximum()
 #include <mrpt/obs/CObservation3DRangeScan.h>
 #include <mrpt/obs/CObservationPointCloud.h>
 #include <mrpt/serialization/CArchive.h>
@@ -58,6 +59,31 @@ void CObservationPointCloud::getDescriptionAsText(std::ostream& o) const
 	{
 		o << pointcloud->GetRuntimeClass()->className << "\n";
 		o << "Number of points: " << pointcloud->size() << "\n";
+
+		// Special cases: show IRT stats:
+		if (auto* ptrIs = pointcloud->getPointsBufferRef_intensity();
+			ptrIs && !ptrIs->empty())
+		{
+			float Imin, Imax;
+			mrpt::math::minimum_maximum(*ptrIs, Imin, Imax);
+			o << "Intensity channel values: min=" << Imin << " max=" << Imax
+			  << "\n";
+		}
+		if (auto* ptrTs = pointcloud->getPointsBufferRef_timestamp();
+			ptrTs && !ptrTs->empty())
+		{
+			float Tmin, Tmax;
+			mrpt::math::minimum_maximum(*ptrTs, Tmin, Tmax);
+			o << "Timestamp channel values: min=" << Tmin << " max=" << Tmax
+			  << "\n";
+		}
+		if (auto* ptrRs = pointcloud->getPointsBufferRef_ring();
+			ptrRs && !ptrRs->empty())
+		{
+			uint16_t Rmin, Rmax;
+			mrpt::math::minimum_maximum(*ptrRs, Rmin, Rmax);
+			o << "Ring channel values: min=" << Rmin << " max=" << Rmax << "\n";
+		}
 	}
 
 	if (m_externally_stored != ExternalStorageFormat::None)

libs/math/include/mrpt/math/ops_containers.h

@@ -255,8 +255,9 @@ inline double mean(const CONTAINER& v)
 }
 
 /** Return the maximum and minimum values of a std::vector */
-template <typename T>
-inline void minimum_maximum(const std::vector<T>& V, T& curMin, T& curMax)
+template <typename T, typename Alloc>
+inline void minimum_maximum(
+	const std::vector<T, Alloc>& V, T& curMin, T& curMax)
 {
 	ASSERT_(V.size() != 0);
 	const size_t N = V.size();