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DataRecorder node: added check on inf variance

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Mathieu Labbe
2015-04-02 11:53:02 -04:00
parent ba80c887b4
commit 48e3ff6dde
1 changed files with 6 additions and 6 deletions
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src/DataRecorderNode.cpp
+6 -6
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@@ -371,8 +371,8 @@ private:
cy, cy,
localTransform, localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1.0f, uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1.0f, uIsFinite(transVariance) && transVariance>0?transVariance:1,
0, 0,
rtabmap_ros::timestampFromROS(imageMsg->header.stamp)); rtabmap_ros::timestampFromROS(imageMsg->header.stamp));
recorder_.addData(data); recorder_.addData(data);
@@ -471,8 +471,8 @@ private:
cy, cy,
localTransform, localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1.0f, uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1.0f, uIsFinite(transVariance) && transVariance>0?transVariance:1,
0, 0,
rtabmap_ros::timestampFromROS(imageMsg->header.stamp)); rtabmap_ros::timestampFromROS(imageMsg->header.stamp));
recorder_.addData(data); recorder_.addData(data);
@@ -529,8 +529,8 @@ private:
cy, cy,
localTransform, localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose), rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1.0f, uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1.0f, uIsFinite(transVariance) && transVariance>0?transVariance:1,
0, 0,
rtabmap_ros::timestampFromROS(leftImageMsg->header.stamp)); rtabmap_ros::timestampFromROS(leftImageMsg->header.stamp));
recorder_.addData(data); recorder_.addData(data);