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fixed a seg fault

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matlabbe
2023-02-08 18:46:02 -08:00
parent e30e6937fa
commit 724e068194
1 changed files with 1 additions and 1 deletions
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corelib/src/Rtabmap.cpp
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@@ -3717,7 +3717,7 @@ bool Rtabmap::process(
refWordsCount = (int)signature->getWords().size(); refWordsCount = (int)signature->getWords().size();
refUniqueWordsCount = (int)uUniqueKeys(signature->getWords()).size(); refUniqueWordsCount = (int)uUniqueKeys(signature->getWords()).size();
if(_graphOptimizer->isSlam2d()) if(_graphOptimizer->isSlam2d() && _localizationCovariance.total() == 36)
{ {
// set very small // set very small
_localizationCovariance.at<double>(2,2) = Registration::COVARIANCE_LINEAR_EPSILON; _localizationCovariance.at<double>(2,2) = Registration::COVARIANCE_LINEAR_EPSILON;