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Updated how local scan matching is done (doing it on segmented local paths)

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Mathieu Labbe
2015-04-27 02:43:06 -04:00
parent 2e706ed01f
commit db90da7303
16 changed files with 532 additions and 226 deletions
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corelib/include/rtabmap/core/Statistics.h
+5 -3
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@@ -53,6 +53,7 @@ namespace rtabmap {
class RTABMAP_EXP Statistics
{
RTABMAP_STATS(Loop, RejectedHypothesis,);
RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
RTABMAP_STATS(Loop, Highest_hypothesis_id,);
RTABMAP_STATS(Loop, Highest_hypothesis_value,);
RTABMAP_STATS(Loop, Vp_hypothesis,);
@@ -64,9 +65,10 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(LocalLoop, Odom_corrected,);
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_closure_id,);
RTABMAP_STATS(LocalLoop, Space_nearest_id,);
RTABMAP_STATS(LocalLoop, Space_neighbors,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,);
RTABMAP_STATS(LocalLoop, Space_paths,);
RTABMAP_STATS(LocalLoop, Space_closures_added,);
RTABMAP_STATS(LocalLoop, Space_closures_added_icp_only,);
RTABMAP_STATS(Memory, Working_memory_size,);
RTABMAP_STATS(Memory, Short_time_memory_size,);