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Updated variance check for Inf too

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matlabbe
2015-11-26 10:42:04 -05:00
parent b44b8ca732
commit 542437c135
1 changed files with 4 additions and 4 deletions
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src/CoreWrapper.cpp
+4 -4
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@@ -929,8 +929,8 @@ void CoreWrapper::commonDepthCallback(
rtabmap_ros::timestampFromROS(stamp)), rtabmap_ros::timestampFromROS(stamp)),
lastPose_, lastPose_,
odomFrameId, odomFrameId,
rotVariance_>0?rotVariance_:1.0, uIsFinite(rotVariance_) && rotVariance_>0?rotVariance_:1.0,
transVariance_>0?transVariance_:1.0); uIsFinite(transVariance_) && transVariance_>0?transVariance_:1.0);
rotVariance_ = 0; rotVariance_ = 0;
transVariance_ = 0; transVariance_ = 0;
} }
@@ -1067,8 +1067,8 @@ void CoreWrapper::commonStereoCallback(
rtabmap_ros::timestampFromROS(stamp)), rtabmap_ros::timestampFromROS(stamp)),
lastPose_, lastPose_,
odomFrameId, odomFrameId,
rotVariance_>0?rotVariance_:1.0, uIsFinite(rotVariance_) && rotVariance_>0?rotVariance_:1.0,
transVariance_>0?transVariance_:1.0); uIsFinite(transVariance_) && transVariance_>0?transVariance_:1.0);
rotVariance_ = 0; rotVariance_ = 0;
transVariance_ = 0; transVariance_ = 0;