New parameter: OdomF2M/ValidDepthRatio

2026-10-05 01:27:46 +08:00 · 2019-03-06 12:35:54 -05:00
parent d85c1c3bcf
commit cf4db63226
8 changed files with 292 additions and 124 deletions
@@ -176,6 +176,11 @@ Transform estimateMotion3DTo2D(
 				{
 					UWARN("Not enough close points to compute covariance!");
 				}
+
+				if(float(oi) / float(inliers.size()) < 0.2f)
+				{
+					UWARN("A very low number of inliers have valid depth (%d/%d), the transform returned may be wrong!", oi, (int)inliers.size());
+				}
 			}
 			else if(covariance)
 			{