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Ignore invalid GPS values (NaN #570)

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matlabbe
2020-07-29 10:39:34 -04:00
parent 1460c56254
commit 6741355842
1 changed files with 16 additions and 10 deletions
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26
corelib/src/Memory.cpp
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@@ -5222,16 +5222,22 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
} }
else if(data.gps().stamp() > 0.0) else if(data.gps().stamp() > 0.0)
{ {
if(_gpsOrigin.stamp() <= 0.0) if(uIsFinite(data.gps().altitude()) &&
{ uIsFinite(data.gps().latitude()) &&
_gpsOrigin = data.gps(); uIsFinite(data.gps().longitude()) &&
UINFO("Added GPS origin: long=%f lat=%f alt=%f bearing=%f error=%f", data.gps().longitude(), data.gps().latitude(), data.gps().altitude(), data.gps().bearing(), data.gps().error()); uIsFinite(data.gps().bearing()) &&
} uIsFinite(data.gps().error()) &&
cv::Point3f pt = data.gps().toGeodeticCoords().toENU_WGS84(_gpsOrigin.toGeodeticCoords()); data.gps().error() > 0.0)
Transform gpsPose(pt.x, pt.y, pose.z(), 0, 0, -(data.gps().bearing()-90.0)*180.0/M_PI);
cv::Mat gpsInfMatrix = cv::Mat::eye(6,6,CV_64FC1)/9999.0; // variance not used >= 9999
if(data.gps().error() > 0.0)
{ {
if(_gpsOrigin.stamp() <= 0.0)
{
_gpsOrigin = data.gps();
UINFO("Added GPS origin: long=%f lat=%f alt=%f bearing=%f error=%f", data.gps().longitude(), data.gps().latitude(), data.gps().altitude(), data.gps().bearing(), data.gps().error());
}
cv::Point3f pt = data.gps().toGeodeticCoords().toENU_WGS84(_gpsOrigin.toGeodeticCoords());
Transform gpsPose(pt.x, pt.y, pose.z(), 0, 0, -(data.gps().bearing()-90.0)*180.0/M_PI);
cv::Mat gpsInfMatrix = cv::Mat::eye(6,6,CV_64FC1)/9999.0; // variance not used >= 9999
UDEBUG("Added GPS prior: x=%f y=%f z=%f yaw=%f", gpsPose.x(), gpsPose.y(), gpsPose.z(), gpsPose.theta()); UDEBUG("Added GPS prior: x=%f y=%f z=%f yaw=%f", gpsPose.x(), gpsPose.y(), gpsPose.z(), gpsPose.theta());
// only set x, y as we don't know variance for other degrees of freedom. // only set x, y as we don't know variance for other degrees of freedom.
gpsInfMatrix.at<double>(0,0) = gpsInfMatrix.at<double>(1,1) = 1.0/data.gps().error(); gpsInfMatrix.at<double>(0,0) = gpsInfMatrix.at<double>(1,1) = 1.0/data.gps().error();
@@ -5240,7 +5246,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
} }
else else
{ {
UERROR("Invalid GPS error value (%f m), must be > 0 m.", data.gps().error()); UERROR("Invalid GPS value: long=%f lat=%f alt=%f bearing=%f error=%f", data.gps().longitude(), data.gps().latitude(), data.gps().altitude(), data.gps().bearing(), data.gps().error());
} }
} }