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Rtabmap::addLink() removed an error log that is actually a debug log.

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matlabbe
2020-06-22 21:53:22 -04:00
parent 6e1f07e097
commit 846bd59d0b
1 changed files with 2 additions and 2 deletions
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4
corelib/src/Rtabmap.cpp
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@@ -5043,7 +5043,7 @@ bool Rtabmap::addLink(const Link & link)
} }
if(_optimizedPoses.find(oldestId) == _optimizedPoses.end()) if(_optimizedPoses.find(oldestId) == _optimizedPoses.end())
{ {
UERROR("Link's id %d is not in the optimized graph", oldestId); UERROR("Link's id %d is not in the optimized graph (_optimizedPoses=%d)", oldestId, (int)_optimizedPoses.size());
return false; return false;
} }
if(_optimizeFromGraphEnd) if(_optimizeFromGraphEnd)
@@ -5080,7 +5080,7 @@ bool Rtabmap::addLink(const Link & link)
{ {
_lastLocalizationPose = _optimizedPoses.at(link.to()) * link.transform().inverse(); _lastLocalizationPose = _optimizedPoses.at(link.to()) * link.transform().inverse();
} }
UERROR("Set _lastLocalizationPose=%s", _lastLocalizationPose.prettyPrint().c_str()); UINFO("Set _lastLocalizationPose=%s", _lastLocalizationPose.prettyPrint().c_str());
if(_graphOptimizer->isSlam2d()) if(_graphOptimizer->isSlam2d())
{ {
// transform constraint to 2D // transform constraint to 2D