From d2f3c1ea31755bbdc6dde775888dba7e3c97739d Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Tue, 3 Jul 2018 16:35:58 +0200 Subject: [PATCH] Fix the local SLAM latency metric. (#1231) Before, the metric was in integer seconds and since measurements are usually quite small, it was mostly outputting 0. --- .../mapping/internal/2d/local_trajectory_builder_2d.cc | 3 ++- .../mapping/internal/3d/local_trajectory_builder_3d.cc | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc index 40459ec..90d884d 100644 --- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc +++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc @@ -241,7 +241,8 @@ LocalTrajectoryBuilder2D::AddAccumulatedRangeData( pose_estimate, gravity_alignment.rotation()); auto duration = std::chrono::steady_clock::now() - accumulation_started_; kLocalSlamLatencyMetric->Set( - std::chrono::duration_cast(duration).count()); + std::chrono::duration_cast>(duration) + .count()); return common::make_unique( MatchingResult{time, pose_estimate, std::move(range_data_in_local), std::move(insertion_result)}); diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc index d332663..7612e16 100644 --- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc +++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc @@ -241,7 +241,8 @@ LocalTrajectoryBuilder3D::AddAccumulatedRangeData( low_resolution_point_cloud_in_tracking, pose_estimate, gravity_alignment); auto duration = std::chrono::steady_clock::now() - accumulation_started_; kLocalSlamLatencyMetric->Set( - std::chrono::duration_cast(duration).count()); + std::chrono::duration_cast>(duration) + .count()); return common::make_unique(MatchingResult{ time, pose_estimate, std::move(filtered_range_data_in_local), std::move(insertion_result)});