From e297320dd5748d7afd26f70dbb0a961a933d4913 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 20 Feb 2022 13:44:53 -0500 Subject: [PATCH] Removed backward compatibility with RGBD/OptimizeMaxError to be able to use ratio lower than 1. --- corelib/src/Rtabmap.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp index af1a80d7..2d4f9aa6 100644 --- a/corelib/src/Rtabmap.cpp +++ b/corelib/src/Rtabmap.cpp @@ -591,13 +591,6 @@ void Rtabmap::parseParameters(const ParametersMap & parameters) _optimizeFromGraphEndChanged = true; } Parameters::parse(parameters, Parameters::kRGBDOptimizeMaxError(), _optimizationMaxError); - if(_optimizationMaxError > 0.0 && _optimizationMaxError < 1.0) - { - UWARN("RGBD/OptimizeMaxError (value=%f) is smaller than 1.0, setting to default %f " - "instead (for backward compatibility issues when this parameter was previously " - "an absolute error value).", _optimizationMaxError, Parameters::defaultRGBDOptimizeMaxError()); - _optimizationMaxError = Parameters::defaultRGBDOptimizeMaxError(); - } Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnLoopClosure(), _startNewMapOnLoopClosure); Parameters::parse(parameters, Parameters::kRtabmapStartNewMapOnGoodSignature(), _startNewMapOnGoodSignature); Parameters::parse(parameters, Parameters::kRGBDGoalReachedRadius(), _goalReachedRadius);