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max optimization error checked on link with variance <=1 instead of <1 (to make it work also when TF odom is used, for which variance of 1 is set)

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matlabbe
2016-10-03 17:11:20 -04:00
parent 6f00cba872
commit 33501fdb0f
1 changed files with 5 additions and 1 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -2141,7 +2141,7 @@ bool Rtabmap::process(
for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter) for(std::multimap<int, Link>::iterator iter=constraints.begin(); iter!=constraints.end(); ++iter)
{ {
// ignore links with high variance // ignore links with high variance
if(iter->second.transVariance() < 1.0) if(iter->second.transVariance() <= 1.0)
{ {
Transform t1 = uValue(poses, iter->second.from(), Transform()); Transform t1 = uValue(poses, iter->second.from(), Transform());
Transform t2 = uValue(poses, iter->second.to(), Transform()); Transform t2 = uValue(poses, iter->second.to(), Transform());
@@ -2157,6 +2157,10 @@ bool Rtabmap::process(
} }
} }
} }
if(maxLinearLink)
{
UINFO("Max optimization error = %f m (link %d->%d)", maxLinearError, maxLinearLink->from(), maxLinearLink->to());
}
if(maxLinearError > _optimizationMaxLinearError) if(maxLinearError > _optimizationMaxLinearError)
{ {