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Fixed a debug information

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matlabbe
2022-01-11 15:59:53 -05:00
parent 49353b134c
commit a4ec95963e
2 changed files with 3 additions and 3 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -385,7 +385,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph."); RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection."); RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection."); RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str(), kRGBDProximityPathRawPosesUsed().c_str())); RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
// Graph optimization // Graph optimization
#ifdef RTABMAP_GTSAM #ifdef RTABMAP_GTSAM

4
corelib/src/Rtabmap.cpp
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@@ -6346,11 +6346,11 @@ void Rtabmap::createGlobalScanMap()
} }
UINFO("Global scan map has been assembled (size=%d points, %d poses) " UINFO("Global scan map has been assembled (size=%d points, %d poses) "
"for proximity detection (only in localization mode %s=false and with %s=false)", "for proximity detection (only in localization mode %s=false and with %s=true)",
(int)_globalScanMap.size(), (int)_globalScanMap.size(),
(int)_globalScanMapPoses.size(), (int)_globalScanMapPoses.size(),
Parameters::kMemIncrementalMemory().c_str(), Parameters::kMemIncrementalMemory().c_str(),
Parameters::kRGBDProximityPathRawPosesUsed().c_str()); Parameters::kRGBDProximityGlobalScanMap().c_str());
//for debugging... //for debugging...
if(!_globalScanMap.empty() && ULogger::level() == ULogger::kDebug) if(!_globalScanMap.empty() && ULogger::level() == ULogger::kDebug)