Re: Error after changing from binaries to git source

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-after-changing-from-binaries-to-git-source-tp283p299.html

Thank you. The last thing is to show exactly what is fed to TORO with the covariance used. Can you add these lines at the beginning of the TOROOptimizer::optimize(...) function? then show the logs with all these warnings.

UWARN("Poses:");
for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
{
	UWARN("Pose %d t=%s", iter->first, iter->second.prettyPrint().c_str());
}
UWARN("Links:");
for(std::map<int, Link>::const_iterator iter = edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
{
	const Link & l = iter->second;
	UWARN("Link %d->%d t=%s rotVar=%f transVar=%f", l.from(), l.to(), l.transform().prettyPrint().c_str(), l.rotVariance(), l.transVariance());
}

I was wrong, small values in the information matrices means that the covariance is very HIGH. Normally, the variance values in the links should be between >0 and 1 (these values come from the covariance matrix of the odometry).