i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-03 16:47:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Handling intial odometry pose in all odometry approaches. For VIO approaches, gravity initialization is handled too. (#298)

Browse Source
This commit is contained in:
matlabbe
2018-07-19 14:10:36 -04:00
parent 9ae47b79f9
commit 173bd49a26
12 changed files with 124 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+1 -1
View File
@@ -2361,7 +2361,7 @@ bool Rtabmap::process(
}
if(maxLinearLink)
{
UINFO("Max optimization error = %f m (link %d->%d, var=%f, %f)", maxLinearError, maxLinearLink->from(), maxLinearLink->to(), maxLinearLink->transVariance(), maxLinearError/sqrt(maxLinearLink->transVariance()));
UINFO("Max optimization error = %f m (link %d->%d, var=%f, ratio error/std=%f)", maxLinearError, maxLinearLink->from(), maxLinearLink->to(), maxLinearLink->transVariance(), maxLinearError/sqrt(maxLinearLink->transVariance()));
float stddev = sqrt(maxLinearLink->transVariance());
maxLinearErrorRatio = maxLinearError/stddev;