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fixed #401

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matlabbe
2019-05-30 10:04:40 -04:00
parent 5b5b594f4a
commit cd6e51a968
3 changed files with 14 additions and 13 deletions
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corelib/src/Rtabmap.cpp
+2 -2
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@@ -2708,7 +2708,7 @@ bool Rtabmap::process(
targetRotation = Transform(0,0,0,roll,pitch,targetRotation.theta());
Transform error = transform.rotation().inverse() * signature->getPose().rotation().inverse() * targetRotation;
transform *= error;
u = signature->getPose() * transform;
}
Transform up = u * oldPose.inverse();
@@ -4245,7 +4245,7 @@ void Rtabmap::get3DMap(
signatures.at(*iter).setWords(words);
signatures.at(*iter).setWords3(words3);
signatures.at(*iter).setWordsDescriptors(wordsDescriptors);
if(!velocity.empty())
if(velocity.size()==6)
{
signatures.at(*iter).setVelocity(velocity[0], velocity[1], velocity[2], velocity[3], velocity[4], velocity[5]);
}