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fixed rtabmapviz error on inf variance

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This commit is contained in:
Mathieu Labbe
2015-04-02 11:44:21 -04:00
parent 282adbfedf
commit ba80c887b4
1 changed files with 14 additions and 14 deletions
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src/GuiWrapper.cpp
+14 -14
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@@ -390,8 +390,8 @@ void GuiWrapper::defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg)
float transVariance = max3(odomMsg->pose.covariance[0], odomMsg->pose.covariance[7], odomMsg->pose.covariance[14]);
float rotVariance = max3(odomMsg->pose.covariance[21], odomMsg->pose.covariance[28], odomMsg->pose.covariance[35]);
data.setPose(odom,
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1);
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1);
rtabmap::OdometryInfo info;
QMetaObject::invokeMethod(mainWindow_, "processOdometry", Q_ARG(rtabmap::SensorData, data), Q_ARG(rtabmap::OdometryInfo, info));
@@ -456,8 +456,8 @@ void GuiWrapper::depthCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -524,8 +524,8 @@ void GuiWrapper::depthOdomInfoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -602,8 +602,8 @@ void GuiWrapper::depthScanCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -704,8 +704,8 @@ void GuiWrapper::stereoScanCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -796,8 +796,8 @@ void GuiWrapper::stereoOdomInfoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));
@@ -887,8 +887,8 @@ void GuiWrapper::stereoCallback(
cy,
localTransform,
rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose),
rotVariance>0?rotVariance:1,
transVariance>0?transVariance:1,
uIsFinite(rotVariance) && rotVariance>0?rotVariance:1,
uIsFinite(transVariance) && transVariance>0?transVariance:1,
odomMsg->header.seq,
rtabmap_ros::timestampFromROS(odomMsg->header.stamp));