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fixed runtime errors for single depth camera and stereo

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This commit is contained in:
Mathieu Labbe
2015-05-30 20:05:35 -04:00
parent c5046df226
commit 9e13642a47
20 changed files with 232 additions and 275 deletions
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corelib/src/RtabmapThread.cpp
+3 -8
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@@ -295,7 +295,7 @@ void RtabmapThread::handleEvent(UEvent* event)
{
UDEBUG("OdometryEvent");
OdometryEvent * e = (OdometryEvent*)event;
if(e->isValid())
if(!e->pose().isNull())
{
this->addData(*e);
}
@@ -476,7 +476,7 @@ void RtabmapThread::process()
{
OdometryEvent data;
getData(data);
if(data.isValid() && _state.empty())
if(data.data().isValid() && _state.empty())
{
if(_rtabmap->getMemory())
{
@@ -499,12 +499,6 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
{
if(!_paused)
{
if(!odomEvent.isValid())
{
ULOGGER_ERROR("data not valid !?");
return;
}
if(_rate>0.0f)
{
if(_frameRateTimer->getElapsedTime() < 1.0f/_rate)
@@ -552,6 +546,7 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
{
_transVariance = 1.0;
}
UDEBUG("Added data %d", odomEvent.data().id());
_dataBuffer.push_back(OdometryEvent(odomEvent.data(), odomEvent.pose(), _rotVariance, _transVariance));
_rotVariance = 0;
_transVariance = 0;