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reprocess: fixed crash when odometry returns empty covariance. Also added more checks about that in the code in general.

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matlabbe
2025-10-09 14:44:13 -07:00
parent d60c15593d
commit 059cda85dc
7 changed files with 18 additions and 14 deletions
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corelib/src/RtabmapThread.cpp
+3 -2
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@@ -506,9 +506,10 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
ignoreFrame = true;
}
}
UASSERT(!odomEvent.info().reg.covariance.empty());
if(!lastPose_.isIdentity() &&
(odomEvent.pose().isIdentity() ||
odomEvent.info().reg.covariance.at<double>(0,0)>=9999))
(odomEvent.pose().isIdentity() ||
odomEvent.info().reg.covariance.at<double>(0,0)>=9999))
{
if(odomEvent.pose().isIdentity())
{