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Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw).

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matlabbe
2022-01-12 16:59:03 -05:00
parent fcec98105d
commit 12c2dd707c
4 changed files with 12 additions and 7 deletions
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corelib/src/Rtabmap.cpp
+4 -2
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@@ -2957,7 +2957,8 @@ bool Rtabmap::process(
maxLinearError,
maxAngularError,
&maxLinearLink,
&maxAngularLink);
&maxAngularLink,
_graphOptimizer->isSlam2d());
if(maxLinearLink == 0 && maxAngularLink==0 && _maxOdomCacheSize>0)
{
UWARN("Could not compute graph errors! Wrong loop closures could be accepted!");
@@ -5568,7 +5569,8 @@ bool Rtabmap::addLink(const Link & link)
maxLinearError,
maxAngularError,
&maxLinearLink,
&maxAngularLink);
&maxAngularLink,
_graphOptimizer->isSlam2d());
if(maxLinearLink == 0 && maxAngularLink==0)
{
UWARN("Could not compute graph errors! Wrong loop closures could be accepted!");