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fixed relocalizer and state machine. pose doesn't jump around anymore when flashed with a camera.

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This commit is contained in:
Christian Forster
2014-05-23 15:32:15 +02:00
parent 4bc234e490
commit ab121434e4
2 changed files with 13 additions and 11 deletions
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svo/src/frame_handler_base.cpp
+2 -7
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@@ -160,17 +160,12 @@ void FrameHandlerBase::setTrackingQuality(const size_t num_observations)
if(num_observations < Config::qualityMinFts())
{
SVO_WARN_STREAM_THROTTLE(0.5, "Tracking less than "<< Config::qualityMinFts() <<" features!");
tracking_quality_ = TRACKING_BAD;
tracking_quality_ = TRACKING_INSUFFICIENT;
}
const int feature_drop = static_cast<int>(num_obs_last_) - num_observations;
const int feature_drop = static_cast<int>(std::min(num_obs_last_, Config::maxFts())) - num_observations;
if(feature_drop > Config::qualityMaxFtsDrop())
{
SVO_WARN_STREAM("Lost "<< feature_drop <<" features!");
tracking_quality_ = TRACKING_BAD;
}
if(num_observations < 20)
{
SVO_ERROR_STREAM("Tracking less than 20 features!");
tracking_quality_ = TRACKING_INSUFFICIENT;
}
}