i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 09:07:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added util3d::laserScanFomrDepthImage() and some refactoring

Browse Source
This commit is contained in:
Mathieu Labbe
2015-05-31 01:26:57 -04:00
parent 9e13642a47
commit bd9fb1027b
14 changed files with 177 additions and 226 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Rtabmap.cpp
+15 -11
View File
@@ -1413,17 +1413,21 @@ bool Rtabmap::process(
{
if(immunizedLocally >= maxLocalLocationsImmunized)
{
UWARN("Could not immunize the whole local path (%d) between "
"%d and %d (max location immunized=%d). You may want "
"to increase RGBD/LocalImmunizationRatio (current=%f (%d of WM=%d)) "
"to be able to immunize longer paths.",
(int)path.size(),
nearestId,
signature->id(),
maxLocalLocationsImmunized,
_localImmunizationRatio,
maxLocalLocationsImmunized,
(int)_memory->getWorkingMem().size());
// set 20 to avoid this warning when starting mapping
if(maxLocalLocationsImmunized > 20)
{
UWARN("Could not immunize the whole local path (%d) between "
"%d and %d (max location immunized=%d). You may want "
"to increase RGBD/LocalImmunizationRatio (current=%f (%d of WM=%d)) "
"to be able to immunize longer paths.",
(int)path.size(),
nearestId,
signature->id(),
maxLocalLocationsImmunized,
_localImmunizationRatio,
maxLocalLocationsImmunized,
(int)_memory->getWorkingMem().size());
}
break;
}
else if(!_memory->isInSTM(iter->first))