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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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guilib/src/DatabaseViewer.cpp
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@@ -8603,6 +8603,7 @@ void DatabaseViewer::refineConstraint(int from, int to, Registration * reg, Regi
if(!transform.isNull())
{
UASSERT(!info.covariance.empty());
if(!transform.isIdentity())
{
if(info.covariance.at<double>(0,0)<=0.0)