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Statistics: added variance info of the loop closure/localization. GUI: Graph view option to show nodes on which loop closures/localizations happened

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matlabbe
2018-07-26 14:40:16 -04:00
parent 60499e895f
commit cfdee23d33
8 changed files with 161 additions and 136 deletions
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2
corelib/include/rtabmap/core/Statistics.h
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@@ -67,6 +67,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Optimization_max_error_ratio, );
RTABMAP_STATS(Loop, Optimization_error, );
RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(Loop, Linear_variance,);
RTABMAP_STATS(Loop, Angular_variance,);
RTABMAP_STATS(Proximity, Time_detections,);
RTABMAP_STATS(Proximity, Space_last_detection_id,);