bump 0.21.10

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 21)
-SET(RTABMAP_PATCH_VERSION 9)
+SET(RTABMAP_PATCH_VERSION 10)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/src/optimizer/OptimizerGTSAM.cpp

@@ -926,20 +926,12 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
 			double errorDelta = lastError - error;
 			if(this->epsilon() > 0.0 && fabs(error) > 1000000000000.0)
 			{
-				UERROR("Error computed (%e) is very huge! There could be an issue with too small "
-				       "variance set in some factors (set log level to debug to print the values). Aborting! "
+				UWARN("Error computed (%e) is very huge and/or diverging! Aborting! "
 					   "Set %s to 0 to ignore that check and keep iterating up to %s (%d).",
 					   error,
 					   Parameters::kOptimizerEpsilon().c_str(),
 					   Parameters::kOptimizerIterations().c_str(),
 					   this->iterations());
-				if(ULogger::level() == ULogger::kDebug)
-				{
-					if(optimizer)
-						graph.printErrors(optimizer->values());
-					else if(isam2_)
-						graph.printErrors(isam2_->calculateEstimate());
-				}
 				return optimizedPoses;
 			}
 			else

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>rtabmap</name>
-  <version>0.21.9</version>
+  <version>0.21.10</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>