cartographer-project/cartographer

Instrument metrics in optimization and collator

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#1,010 opened on Mar 20, 2018

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 (0 comments) (0 reactions) (0 assignees)C++ (2,188 forks)batch import
enhancementhelp wanted

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Description

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

Contributor guide

Research direction
Examine the optimization and collator components to identify insertion points for timing measurements. Look for existing profiling or logging utilities in the codebase.
Tech stack
cpp
Domain
backend
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++Cartographer codebase familiarity
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30