From 48e3ff6dde410f1f4da6da2e52dea7d424f7bf39 Mon Sep 17 00:00:00 2001 From: Mathieu Labbe Date: Thu, 2 Apr 2015 11:53:02 -0400 Subject: [PATCH] DataRecorder node: added check on inf variance --- src/DataRecorderNode.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/DataRecorderNode.cpp b/src/DataRecorderNode.cpp index 598032bf..c955dffc 100644 --- a/src/DataRecorderNode.cpp +++ b/src/DataRecorderNode.cpp @@ -371,8 +371,8 @@ private: cy, localTransform, rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), - rotVariance>0?rotVariance:1.0f, - transVariance>0?transVariance:1.0f, + uIsFinite(rotVariance) && rotVariance>0?rotVariance:1, + uIsFinite(transVariance) && transVariance>0?transVariance:1, 0, rtabmap_ros::timestampFromROS(imageMsg->header.stamp)); recorder_.addData(data); @@ -471,8 +471,8 @@ private: cy, localTransform, rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), - rotVariance>0?rotVariance:1.0f, - transVariance>0?transVariance:1.0f, + uIsFinite(rotVariance) && rotVariance>0?rotVariance:1, + uIsFinite(transVariance) && transVariance>0?transVariance:1, 0, rtabmap_ros::timestampFromROS(imageMsg->header.stamp)); recorder_.addData(data); @@ -529,8 +529,8 @@ private: cy, localTransform, rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), - rotVariance>0?rotVariance:1.0f, - transVariance>0?transVariance:1.0f, + uIsFinite(rotVariance) && rotVariance>0?rotVariance:1, + uIsFinite(transVariance) && transVariance>0?transVariance:1, 0, rtabmap_ros::timestampFromROS(leftImageMsg->header.stamp)); recorder_.addData(data);