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Statistics: Added Odometry_correction_acc_*

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matlabbe
2020-06-18 14:47:00 -04:00
parent a2b0de2a4d
commit 554b08256b
3 changed files with 43 additions and 1 deletions
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1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -339,6 +339,7 @@ private:
std::map<int, Transform> _odomCachePoses; // used in localization mode to reject loop closures
std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
std::map<int, Transform> _odomCacheAddLink; // used in localization mode when adding external link
std::vector<float> _odomCorrectionAcc;
// Planning stuff
int _pathStatus;

10
corelib/include/rtabmap/core/Statistics.h
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@@ -52,6 +52,7 @@ namespace rtabmap {
class RTABMAP_EXP Statistics
{
RTABMAP_STATS(Loop, Id,); // Combined loop or proximity detection
RTABMAP_STATS(Loop, RejectedHypothesis,);
RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);
@@ -85,6 +86,15 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Odom_correction_roll, deg);
RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
//Odom correction
RTABMAP_STATS(Loop, Odom_correction_acc_norm, m);
RTABMAP_STATS(Loop, Odom_correction_acc_angle, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_x, m);
RTABMAP_STATS(Loop, Odom_correction_acc_y, m);
RTABMAP_STATS(Loop, Odom_correction_acc_z, m);
RTABMAP_STATS(Loop, Odom_correction_acc_roll, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_pitch, deg);
RTABMAP_STATS(Loop, Odom_correction_acc_yaw, deg);
// Map to Odom
RTABMAP_STATS(Loop, MapToOdom_norm, m);
RTABMAP_STATS(Loop, MapToOdom_angle, deg);