The config: Relocalization outputs an ExwayzStatus that contains, among other metrics and results, a state indicating how the process is behaving.
| Name | Value | Description |
|---|---|---|
INIT |
0 | The Relocalization is initializing, meaning its output is not yet reliable. The relocalization can switch to INIT to ERROR if it doesn’t succeed in initializing. |
FIX |
1 | The Relocalization is converging and working correctly without any error. |
ERROR |
2 | Relocalization stopped because of one of the following error |
| a. Too many consecutive frames were ignored because of point dropping | ||
| b. Initialization took too long | ||
| c. scan-to-map registration convergence criterion wasn't met | ||
IGNORED_FRAME |
3 | Relocalization ignored the incoming frame because it has apparently too few points compared to previous frames (due to sensor malfunction, driver issue, network overflow etc) |