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Rtabmap: added ebug info when proximity scan matching is disabled

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matlabbe
2018-02-23 10:47:07 -05:00
parent 69d28db660
commit e1a0fc42ea
1 changed files with 6 additions and 3 deletions
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9
corelib/src/Rtabmap.cpp
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@@ -2016,9 +2016,12 @@ bool Rtabmap::process(
// 2) compare locally with nearest locations by scan matching
//
UDEBUG("Proximity detection (local loop closure in SPACE with scan matching)");
if( _proximityMaxNeighbors > 0 &&
!signature->sensorData().laserScanCompressed().isEmpty() &&
(_memory->isIncremental() || lastProximitySpaceClosureId == 0))
if( _proximityMaxNeighbors <= 0)
{
UDEBUG("Proximity by scan matching is disabled (%s=%d).", Parameters::kRGBDProximityPathMaxNeighbors().c_str(), _proximityMaxNeighbors);
}
else if(!signature->sensorData().laserScanCompressed().isEmpty() &&
(_memory->isIncremental() || lastProximitySpaceClosureId == 0))
{
// In localization mode, no need to check local loop
// closures if we are already localized by at least one