i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-09 19:39:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Memory: compute scan max range if not set on signature creation.

Browse Source
This commit is contained in:
matlabbe
2018-02-23 15:52:59 -05:00
parent 215eff3212
commit 39b363d0b5
3 changed files with 70 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/RegistrationIcp.cpp
+8 -5
View File
@@ -604,7 +604,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
catch(const std::exception & e)
{
UWARN("libpointmatcher has failed: %s", e.what());
msg = uFormat("libpointmatcher has failed: %s", e.what());
}
}
else
@@ -827,7 +827,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
catch(const std::exception & e)
{
UWARN("libpointmatcher has failed: %s", e.what());
msg = uFormat("libpointmatcher has failed: %s", e.what());
}
}
else
@@ -965,7 +965,7 @@ Transform RegistrationIcp::computeTransformationImpl(
}
catch(const std::exception & e)
{
UWARN("libpointmatcher has failed: %s", e.what());
msg = uFormat("libpointmatcher has failed: %s", e.what());
}
}
else
@@ -1112,8 +1112,11 @@ Transform RegistrationIcp::computeTransformationImpl(
}
else
{
msg = uFormat("Cannot compute transform (converged=%s var=%f)",
hasConverged?"true":"false", variance);
if(msg.empty())
{
msg = uFormat("Cannot compute transform (converged=%s var=%f)",
hasConverged?"true":"false", variance);
}
UINFO(msg.c_str());
}
}