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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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2
guilib/include/rtabmap/gui/MainWindow.h
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@@ -262,6 +262,8 @@ private:
const std::map<int, int> & mapIds,
const std::map<int, std::string> & labels,
const std::map<int, Transform> & groundTruths,
const std::map<int, Transform> & odomCachePoses = std::map<int, Transform>(),
const std::multimap<int, Link> & odomCacheConstraints = std::multimap<int, Link>(),
bool verboseProgress = false,
std::map<std::string, float> * stats = 0);
std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::IndicesPtr> createAndAddCloudToMap(int nodeId, const Transform & pose, int mapId);