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bump 0.21.10

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This commit is contained in:
matlabbe
2025-02-12 19:18:54 -08:00
parent 618e839999
commit 15be406509
3 changed files with 3 additions and 11 deletions
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10
corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -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