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OdometryThread: fixed data buffer ignored if imu is always set

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matlabbe
2018-12-01 00:53:36 -05:00
parent abbcc4f8a9
commit f0ea8ab076
1 changed files with 1 additions and 1 deletions
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corelib/src/OdometryThread.cpp
+1 -1
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@@ -150,7 +150,7 @@ void OdometryThread::addData(const SensorData & data)
bool notify = true; bool notify = true;
_dataMutex.lock(); _dataMutex.lock();
{ {
if(data.imu().empty()) if(!data.imageRaw().empty() || !data.laserScanRaw().isEmpty() || data.imu().empty())
{ {
_dataBuffer.push_back(data); _dataBuffer.push_back(data);
while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize) while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)