cartographer-project/cartographer
Instrument metrics in optimization and collator
開放
#1,010 建立於 2018年3月20日
enhancementhelp wanted
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描述
Measure time delay metrics to estimate possible drift components of (pure) localization.
- time delay between node creation and a constraint between the current trajectory and the frozen map was optimized
- time when such node was created
- time delay between range data enters and leaves Collator
- time delay between range data enters LocalTrajectoryBuilder and LocalSlamResult is returned
- time when oldest such range data entered latest LocalSlamResult