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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/MainWindow.cpp
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@@ -1797,6 +1797,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
//Process info
if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
{
UASSERT(odom.info().reg.covariance.total() == 36 && odom.info().reg.covariance.type() == CV_64FC1);
double linVar = uMax3(odom.info().reg.covariance.at<double>(0,0), odom.info().reg.covariance.at<double>(1,1)>=9999?0:odom.info().reg.covariance.at<double>(1,1), odom.info().reg.covariance.at<double>(2,2)>=9999?0:odom.info().reg.covariance.at<double>(2,2));
double angVar = uMax3(odom.info().reg.covariance.at<double>(3,3)>=9999?0:odom.info().reg.covariance.at<double>(3,3), odom.info().reg.covariance.at<double>(4,4)>=9999?0:odom.info().reg.covariance.at<double>(4,4), odom.info().reg.covariance.at<double>(5,5));
_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliers, _preferencesDialog->isCacheSavedInFigures());