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Added Statisics: Loop/Optimization_max_error_from_id and Loop/Optimization_max_error_to_id to help with debugging rejected loop closures

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matlabbe
2026-04-16 17:39:58 -07:00
parent aa7546ec62
commit 79ff91d293
2 changed files with 12 additions and 0 deletions
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corelib/include/rtabmap/core/Statistics.h
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@@ -76,6 +76,8 @@ class RTABMAP_CORE_EXPORT Statistics
RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );
RTABMAP_STATS(Loop, Optimization_error, );
RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(Loop, Optimization_max_error_from_id, );
RTABMAP_STATS(Loop, Optimization_max_error_to_id, );
RTABMAP_STATS(Loop, Linear_variance,);
RTABMAP_STATS(Loop, Angular_variance,);
RTABMAP_STATS(Loop, Landmark_detected,);