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reprocess: fixing lost odom recovery when -odom_guess_input option is used

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matlabbe
2025-10-09 15:39:19 -07:00
parent 059cda85dc
commit ad8bbdc4b2
2 changed files with 30 additions and 8 deletions
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3
corelib/src/DBReader.cpp
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@@ -856,9 +856,10 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
if(info)
{
info->odomPose = pose;
UASSERT(!infMatrix.empty());
info->odomCovariance = infMatrix.inv();
info->odomVelocity = s->getVelocity();
UDEBUG("odom variance = %f/%f", info->odomCovariance.empty()?0:info->odomCovariance.at<double>(0,0), info->odomCovariance.empty()?0:info->odomCovariance.at<double>(5,5));
UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));
}
}
delete s;