i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Odom F2M always report 9999 when lost (#1589)

Browse Source
This commit is contained in:
matlabbe
2025-10-02 09:07:58 -07:00
committed by GitHub
parent 11577fb553
commit 5f1eccb2cd
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/src/odometry/OdometryF2M.cpp
View File

@@ -1560,6 +1560,10 @@ Transform OdometryF2M::computeTransform(
{
info->reg = regInfo.copyWithoutData();
}
if(output.isNull())
{
info->reg.covariance = cv::Mat::eye(6,6,CV_64FC1)*9999.0; // Lost
}
}
UINFO("Odom update time = %fs lost=%s features=%d inliers=%d/%d variance:lin=%f, ang=%f local_map=%d local_scan_map=%d",