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Added check to make sure input odometry poses are invertible. Source/DB: added stereo to depth option.

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matlabbe
2020-11-06 21:37:59 -05:00
parent 4b527f9c36
commit 7be22d1b67
7 changed files with 96 additions and 13 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -886,7 +886,7 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
// add signature on top of the short-term memory
if(signature)
{
UDEBUG("adding %d", signature->id());
UDEBUG("adding %d (pose=%s)", signature->id(), signature->getPose().prettyPrint().c_str());
// Update neighbors
if(_stMem.size())
{