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

TORO: added warnings when prior or landmark links are detected

Browse Source
This commit is contained in:
matlabbe
2020-08-21 11:26:22 -04:00
parent 8d63e9eae1
commit 729f96f467
1 changed files with 16 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
corelib/src/optimizer/OptimizerTORO.cpp
View File

@@ -146,7 +146,14 @@ std::map<int, Transform> OptimizerTORO::optimize(
UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2);
}
}
//else // not supporting pose prior and landmarks
else if(id1 == id2)
{
UWARN("TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter %s). Link %d ignored...", Parameters::kOptimizerStrategy().c_str(), id1);
}
else if(id1 < 0 || id2 < 0)
{
UWARN("TORO optimizer doesn't support landmark links, use GTSAM or g2o optimizers (see parameter %s). Link %d->%d ignored...", Parameters::kOptimizerStrategy().c_str(), id1, id2);
}
}
}
else
@@ -178,7 +185,14 @@ std::map<int, Transform> OptimizerTORO::optimize(
UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2);
}
}
//else // not supporting pose prior and landmarks
else if(id1 == id2)
{
UWARN("TORO optimizer doesn't support prior or gravity links, use GTSAM or g2o optimizers (see parameter %s). Link %d ignored...", Parameters::kOptimizerStrategy().c_str(), id1);
}
else if(id1 < 0 || id2 < 0)
{
UWARN("TORO optimizer doesn't support landmark links, use GTSAM or g2o optimizers (see parameter %s). Link %d->%d ignored...", Parameters::kOptimizerStrategy().c_str(), id1, id2);
}
}
}
UDEBUG("buildMST... root=%d", rootId);