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rtabmap: use largest odom covariance instead of summation

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matlabbe
2017-07-13 11:39:19 -04:00
parent e944786ee5
commit 7f392f3796
3 changed files with 24 additions and 15 deletions
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src/GuiWrapper.cpp
+8 -2
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@@ -302,7 +302,10 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
if(!cameraNodeName_.empty())
{
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause true", cameraNodeName_.c_str());
system(str.c_str());
if(system(str.c_str()) !=0)
{
ROS_ERROR("Command \"%s\" returned non zero value.", str.c_str());
}
}
// Pause visual_odometry
@@ -329,7 +332,10 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
if(!cameraNodeName_.empty())
{
std::string str = uFormat("rosrun dynamic_reconfigure dynparam set %s pause false", cameraNodeName_.c_str());
system(str.c_str());
if(system(str.c_str()) !=0)
{
ROS_ERROR("Command \"%s\" returned non zero value.", str.c_str());
}
}
}
else if(cmd == rtabmap::RtabmapEventCmd::kCmdTriggerNewMap)