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TORO: added warnings when prior or landmark links are detected

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matlabbe
2020-08-21 11:26:22 -04:00
parent 8d63e9eae1
commit 729f96f467
1 changed files with 16 additions and 2 deletions
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18
corelib/src/optimizer/OptimizerTORO.cpp
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@@ -146,7 +146,14 @@ std::map<int, Transform> OptimizerTORO::optimize(
UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2); 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 else
@@ -178,7 +185,14 @@ std::map<int, Transform> OptimizerTORO::optimize(
UERROR("Map: Edge already exits between nodes %d and %d, skipping", id1, id2); 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); UDEBUG("buildMST... root=%d", rootId);