From 3b505bc2e5c82d7598b6259f4ff7013ae1d4d8a4 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Thu, 16 Dec 2021 16:06:35 +0100 Subject: [PATCH] hotfix (only for debug) --- src/processor/processor_loop_closure_icp.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/processor/processor_loop_closure_icp.cpp b/src/processor/processor_loop_closure_icp.cpp index b7f71dc1e..b7f4b651a 100644 --- a/src/processor/processor_loop_closure_icp.cpp +++ b/src/processor/processor_loop_closure_icp.cpp @@ -164,7 +164,7 @@ MatchLoopClosurePtr ProcessorLoopClosureIcp::matchScans(CaptureLaser2dPtr cap_re double mean_error = icp_out.error / icp_out.nvalid; WOLF_DEBUG("DBG ------------------------------"); - WOLF_DEBUG("DBG valid? ", trf.valid, + WOLF_DEBUG("DBG valid? ", icp_out.valid, " m_er ", mean_error, " ", points_coeff_used * 100, "% own_id: ", frm_tar->id(), " other_id: ", frm_ref->id()); WOLF_DEBUG("DBG own_POSE: ", frm_tar->getState().vector("PO").transpose(), @@ -191,7 +191,7 @@ MatchLoopClosurePtr ProcessorLoopClosureIcp::matchScans(CaptureLaser2dPtr cap_re } else { - WOLF_DEBUG("DBG DISCARDED ", frm_tar->id(), " and ", _keyframe_ref->id()); + WOLF_DEBUG("DBG DISCARDED ", frm_tar->id(), " and ", frm_ref->id()); return nullptr; } -- GitLab