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rtabmapviz: fixed FATAL error on null variance

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This commit is contained in:
Mathieu Labbe
2015-04-01 18:22:54 -04:00
parent 8522391bb6
commit 231a4f2706
2 changed files with 49 additions and 19 deletions
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src/GuiWrapper.cpp
+48 -19
View File
@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/ParamEvent.h>
#include <rtabmap/core/OdometryEvent.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/utilite/UTimer.h>
#include "rtabmap_ros/MsgConversion.h"
#include "rtabmap_ros/GetMap.h"
@@ -70,6 +71,7 @@ GuiWrapper::GuiWrapper(int & argc, char** argv) :
frameId_("base_link"),
waitForTransform_(false),
cameraNodeName_(""),
lastOdomInfoUpdateTime_(0),
depthScanSync_(0),
depthSync_(0),
depthOdomInfoSync_(0),
@@ -387,7 +389,9 @@ void GuiWrapper::defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg)
rtabmap::SensorData data(cv::Mat(), odomMsg->header.seq);
float transVariance = max3(odomMsg->pose.covariance[0], odomMsg->pose.covariance[7], odomMsg->pose.covariance[14]);
float rotVariance = max3(odomMsg->pose.covariance[21], odomMsg->pose.covariance[28], odomMsg->pose.covariance[35]);
data.setPose(odom, rotVariance, transVariance);
data.setPose(odom,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1);
rtabmap::OdometryInfo info;
QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::SensorData, data), Q_ARG(rtabmap::OdometryInfo, info));
@@ -400,8 +404,13 @@ void GuiWrapper::depthCallback(
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
// TF ready?
Transform localTransform;
try
@@ -447,8 +456,8 @@ void GuiWrapper::depthCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -464,8 +473,12 @@ void GuiWrapper::depthOdomInfoCallback(
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
// TF ready?
Transform localTransform;
try
@@ -511,8 +524,8 @@ void GuiWrapper::depthOdomInfoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -528,8 +541,12 @@ void GuiWrapper::depthScanCallback(
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
// TF ready?
Transform localTransform;
sensor_msgs::PointCloud2 scanOut;
@@ -585,8 +602,8 @@ void GuiWrapper::depthScanCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -603,8 +620,12 @@ void GuiWrapper::stereoScanCallback(
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
if(!(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
@@ -683,8 +704,8 @@ void GuiWrapper::stereoScanCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -701,8 +722,12 @@ void GuiWrapper::stereoOdomInfoCallback(
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
if(!(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
@@ -771,8 +796,8 @@ void GuiWrapper::stereoOdomInfoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -788,8 +813,12 @@ void GuiWrapper::stereoCallback(
const sensor_msgs::CameraInfoConstPtr& leftCameraInfoMsg,
const sensor_msgs::CameraInfoConstPtr& rightCameraInfoMsg)
{
if(!mainWindow_->isProcessingOdometry() && !mainWindow_->isProcessingStatistics())
// limit 10 Hz max
if(UTimer::now() - lastOdomInfoUpdateTime_ > 0.1 &&
!mainWindow_->isProcessingOdometry() &&
!mainWindow_->isProcessingStatistics())
{
lastOdomInfoUpdateTime_ = UTimer::now();
if(!(leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0 ||
leftImageMsg->encoding.compare(sensor_msgs::image_encodings::BGR8) == 0 ||
@@ -858,8 +887,8 @@ void GuiWrapper::stereoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance,
transVariance,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
src/GuiWrapper.h
+1
View File
@@ -117,6 +117,7 @@ private:
QApplication * app_;
rtabmap::MainWindow * mainWindow_;
std::string cameraNodeName_;
double lastOdomInfoUpdateTime_;
// odometry subscription stuffs
std::string frameId_;