i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed a crash when posterior is empty (on bad signature)

Browse Source 
MainWindow: Show in console a neato example with the generated map

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@665 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-12-11 20:21:22 +00:00
parent 1efc675521
commit 23384182c1
2 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/Rtabmap.cpp
View File

@@ -1021,7 +1021,8 @@ void Rtabmap::process()
refWordsCount = signature->getWords().size();
refUniqueWordsCount = uUniqueKeys(signature->getWords()).size();
float vpHypothesis = posterior.at(Memory::kIdVirtual);
// Posterior is empty if a bad signature is detected
float vpHypothesis = posterior.size()?posterior.at(Memory::kIdVirtual):0.0f;
// only prepare statistics if required or when there is a loop closure
Statistics * stat = 0;