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fixed multi scans matching with normals, removed some debug logs

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This commit is contained in:
matlabbe
2017-08-28 16:40:08 -04:00
parent 423b47a5ff
commit b70ffb6331
8 changed files with 135 additions and 103 deletions
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corelib/src/Rtabmap.cpp
+7 -9
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@@ -1228,9 +1228,7 @@ bool Rtabmap::process(
//============================================================
if(_proximityByTime &&
rehearsedId == 0 && // don't do it if rehearsal happened
signature->getWords3().size() &&
_memory->isIncremental() && // don't do it in localization mode
!signature->isBadSignature() &&
signature->getWeight()>=0)
{
const std::set<int> & stm = _memory->getStMem();
@@ -1511,7 +1509,7 @@ bool Rtabmap::process(
++immunizedGlobally;
}
UDEBUG("nt=%d m=%d immunized=1", iter->first, iter->second);
//UDEBUG("nt=%d m=%d immunized=1", iter->first, iter->second);
}
neighbors.erase(iter++);
}
@@ -1557,7 +1555,7 @@ bool Rtabmap::process(
{
++nbDirectNeighborsInDb;
}
UDEBUG("nt=%d m=%d", iter->first, iter->second);
//UDEBUG("nt=%d m=%d", iter->first, iter->second);
}
neighbors.erase(iter++);
}
@@ -1698,7 +1696,7 @@ bool Rtabmap::process(
{
++immunizedLocally;
}
UDEBUG("local node %d on path immunized=1", iter->first);
//UDEBUG("local node %d on path immunized=1", iter->first);
}
}
}
@@ -1745,7 +1743,7 @@ bool Rtabmap::process(
{
++immunizedLocally;
}
UDEBUG("local node %d (%f m) immunized=1", iter->second, iter->first);
//UDEBUG("local node %d (%f m) immunized=1", iter->second, iter->first);
}
}
}
@@ -2006,7 +2004,7 @@ bool Rtabmap::process(
//find the nearest pose on the path
int nearestId = rtabmap::graph::findNearestNode(path, _optimizedPoses.at(signature->id()));
UASSERT(nearestId > 0);
UDEBUG("Path %d (size=%d) distance=%fm", nearestId, (int)path.size(), _optimizedPoses.at(signature->id()).getDistance(_optimizedPoses.at(nearestId)));
//UDEBUG("Path %d (size=%d) distance=%fm", nearestId, (int)path.size(), _optimizedPoses.at(signature->id()).getDistance(_optimizedPoses.at(nearestId)));
// nearest pose must be close and not linked to current location
if(!signature->hasLink(nearestId) &&
@@ -2101,7 +2099,7 @@ bool Rtabmap::process(
}
else
{
UDEBUG("Path %d ignored", nearestId);
//UDEBUG("Path %d ignored", nearestId);
}
}
}
@@ -2996,7 +2994,7 @@ std::map<int, std::map<int, Transform> > Rtabmap::getPaths(std::map<int, Transfo
if(valid)
{
UDEBUG("%d <- %d", nearestId, jter->first);
//UDEBUG("%d <- %d", nearestId, jter->first);
path.insert(*jter);
poses.erase(jter);
}