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Statistics: added LoopOptimization_max_ang_error stats

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matlabbe
2021-05-27 13:00:29 -04:00
parent 127a41a53e
commit 8b1b874bf3
2 changed files with 4 additions and 0 deletions
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2
corelib/include/rtabmap/core/Statistics.h
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@@ -71,6 +71,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Last_id,); RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(Loop, Optimization_max_error, m); RTABMAP_STATS(Loop, Optimization_max_error, m);
RTABMAP_STATS(Loop, Optimization_max_error_ratio, ); RTABMAP_STATS(Loop, Optimization_max_error_ratio, );
RTABMAP_STATS(Loop, Optimization_max_ang_error, deg);
RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );
RTABMAP_STATS(Loop, Optimization_error, ); RTABMAP_STATS(Loop, Optimization_error, );
RTABMAP_STATS(Loop, Optimization_iterations, ); RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(Loop, Linear_variance,); RTABMAP_STATS(Loop, Linear_variance,);

2
corelib/src/Rtabmap.cpp
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@@ -3215,6 +3215,8 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kLoopLast_id(), _memory->getLastGlobalLoopClosureId()); statistics_.addStatistic(Statistics::kLoopLast_id(), _memory->getLastGlobalLoopClosureId());
statistics_.addStatistic(Statistics::kLoopOptimization_max_error(), maxLinearError); statistics_.addStatistic(Statistics::kLoopOptimization_max_error(), maxLinearError);
statistics_.addStatistic(Statistics::kLoopOptimization_max_error_ratio(), maxLinearErrorRatio); statistics_.addStatistic(Statistics::kLoopOptimization_max_error_ratio(), maxLinearErrorRatio);
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error(), maxAngularError*180.0f/M_PI);
statistics_.addStatistic(Statistics::kLoopOptimization_max_ang_error_ratio(), maxAngularErrorRatio);
statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError); statistics_.addStatistic(Statistics::kLoopOptimization_error(), optimizationError);
statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations); statistics_.addStatistic(Statistics::kLoopOptimization_iterations(), optimizationIterations);
statistics_.addStatistic(Statistics::kLoopLandmark_detected(), -landmarkDetected); statistics_.addStatistic(Statistics::kLoopLandmark_detected(), -landmarkDetected);