i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

RegVis: updated error msg on 2D-2D estimation when there are not enough features (https://github.com/introlab/rtabmap_ros/issues/1381)

Browse Source
This commit is contained in:
matlabbe
2025-12-03 21:52:47 -08:00
parent c7da53ac3d
commit 65867c47ae
1 changed files with 3 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
corelib/src/RegistrationVis.cpp
View File

@@ -1670,14 +1670,10 @@ Transform RegistrationVis::computeTransformationImpl(
UINFO(msg.c_str());
}
}
else if(fromSignature.getWords().size() == 0)
else
{
msg = uFormat("No enough features (%d)", (int)fromSignature.getWords().size());
UWARN(msg.c_str());
}
else
{
msg = uFormat("No camera model");
msg = uFormat("No enough features < %s=%d (from=%d to=%d)",
Parameters::kVisMinInliers().c_str(), _minInliers, (int)fromSignature.getWords().size(), (int)toSignature.getWords().size());
UWARN(msg.c_str());
}
}