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warn odom high variance only one time

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matlabbe
2018-10-02 15:32:26 -04:00
parent 711184c465
commit ae08adb8bd
1 changed files with 10 additions and 4 deletions
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14
corelib/src/Memory.cpp
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@@ -827,10 +827,16 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
double maxAngVar = uMax3(covariance.at<double>(3,3), covariance.at<double>(4,4), covariance.at<double>(5,5));
if(maxAngVar != 1.0 && maxAngVar > 0.1)
{
UWARN("Very large angular variance (%f) detected! Please fix odometry "
"twist covariance, otherwise poor graph optimizations are "
"expected and wrong loop closure detections creating a lot "
"of errors in the map could be accepted.", maxAngVar);
static bool warned = false;
if(!warned)
{
UWARN("Very large angular variance (%f) detected! Please fix odometry "
"twist covariance, otherwise poor graph optimizations are "
"expected and wrong loop closure detections creating a lot "
"of errors in the map could be accepted. This message is only "
"printed once.", maxAngVar);
warned = true;
}
}
cv::Mat infMatrix;