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Statistics: added OdomCache data for debugging

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matlabbe
2021-12-18 18:53:59 -05:00
parent 33130890fd
commit 8662eb0dd7
4 changed files with 41 additions and 4 deletions
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5
corelib/src/Rtabmap.cpp
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@@ -3900,6 +3900,11 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kMemoryLocal_graph_size(), poses.size());
statistics_.setOdomCachePoses(_odomCachePoses);
statistics_.setOdomCacheConstraints(_odomCacheConstraints);
statistics_.addStatistic(Statistics::kMemoryOdom_cache_poses(), _odomCachePoses.size());
statistics_.addStatistic(Statistics::kMemoryOdom_cache_links(), _odomCacheConstraints.size());
if(_computeRMSE && _memory->getGroundTruths().size())
{
UDEBUG("Computing RMSE...");