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rtabmap: odometry variance summation instead of taking largest one

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matlabbe
2017-01-05 17:32:12 -05:00
parent 3fb6a82825
commit d343e8cb71
1 changed files with 4 additions and 4 deletions
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src/CoreWrapper.cpp
+4 -4
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@@ -671,13 +671,13 @@ bool CoreWrapper::odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg)
rotVariance = uMax3(MIN(odomMsg->pose.covariance[21]/2.0,BAD_COVARIANCE), MIN(odomMsg->pose.covariance[28]/2.0, BAD_COVARIANCE), odomMsg->pose.covariance[35]/2.0);
}
if(uIsFinite(rotVariance) && rotVariance > rotVariance_)
if(uIsFinite(rotVariance) && rotVariance != 1.0f)
{
rotVariance_ = rotVariance;
rotVariance_ += rotVariance;
}
if(uIsFinite(transVariance) && transVariance > transVariance_)
if(uIsFinite(transVariance) && transVariance != 1.0f)
{
transVariance_ = transVariance;
transVariance_ += transVariance;
}
}