i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

warn odom high variance only one time

Browse Source
This commit is contained in:
matlabbe
2018-10-02 15:32:26 -04:00
parent 711184c465
commit ae08adb8bd
1 changed files with 10 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
corelib/src/Memory.cpp
View File

@@ -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)); 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) if(maxAngVar != 1.0 && maxAngVar > 0.1)
{ {
UWARN("Very large angular variance (%f) detected! Please fix odometry " static bool warned = false;
"twist covariance, otherwise poor graph optimizations are " if(!warned)
"expected and wrong loop closure detections creating a lot " {
"of errors in the map could be accepted.", maxAngVar); 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; cv::Mat infMatrix;