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Updated error log that should not show up if Optimizer/Robust is true (#1172)

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matlabbe
2023-11-28 13:29:33 -08:00
parent 07c24e95ba
commit 3a7f88dc6c
1 changed files with 12 additions and 12 deletions
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24
corelib/src/Rtabmap.cpp
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@@ -3241,7 +3241,7 @@ bool Rtabmap::process(
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -3283,7 +3283,7 @@ bool Rtabmap::process(
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -3390,7 +3390,7 @@ bool Rtabmap::process(
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -3432,7 +3432,7 @@ bool Rtabmap::process(
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -3726,7 +3726,7 @@ bool Rtabmap::process(
_optimizationMaxError);
reject = true;
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -3763,7 +3763,7 @@ bool Rtabmap::process(
_optimizationMaxError);
reject = true;
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -5672,7 +5672,7 @@ int Rtabmap::detectMoreLoopClosures(
Parameters::kRGBDOptimizeMaxError().c_str(),
_optimizationMaxError);
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -5704,7 +5704,7 @@ int Rtabmap::detectMoreLoopClosures(
Parameters::kRGBDOptimizeMaxError().c_str(),
_optimizationMaxError);
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -6051,7 +6051,7 @@ bool Rtabmap::addLink(const Link & link)
Parameters::kRGBDOptimizeMaxError().c_str(),
_optimizationMaxError);
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -6083,7 +6083,7 @@ bool Rtabmap::addLink(const Link & link)
Parameters::kRGBDOptimizeMaxError().c_str(),
_optimizationMaxError);
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -6246,7 +6246,7 @@ bool Rtabmap::addLink(const Link & link)
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxLinearErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Linear error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "
@@ -6282,7 +6282,7 @@ bool Rtabmap::addLink(const Link & link)
_optimizationMaxError);
rejectLocalization = true;
}
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100)
else if(_optimizationMaxError == 0.0f && maxAngularErrorRatio>100 && !_graphOptimizer->isRobust())
{
UERROR("Huge optimization error detected!"
"Angular error ratio of %f (edge %d->%d, type=%d, abs error=%f m, stddev=%f). You may consider "