From e072d03aff366b64a2c699e9df22cca745b775b3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 18 Jan 2022 20:15:24 +0100
Subject: [PATCH] fixing rare clashes
---
src/publisher_graph.cpp | 8 ++++++--
src/publisher_pose.cpp | 2 +-
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 2eeb823..2c9373f 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.cpp
@@ -316,12 +316,12 @@ void PublisherGraph::publishFactors()
// Iterate over the list of factors
for (auto fac : fac_list)
{
- std::string fac_str = factorString(fac);
-
// Try to fill marker
if (not fillFactorMarker(fac, factor_marker, factor_text_marker))
continue;
+ std::string fac_str = factorString(fac);
+
// markers id
factor_marker.id = fac->id();
factor_text_marker.id = fac->id();
@@ -740,6 +740,10 @@ bool PublisherGraph::fillFrameMarker(FrameBaseConstPtr frm,
std::string PublisherGraph::factorString(FactorBaseConstPtr fac) const
{
std::string factor_string;
+
+ if (not fac or not fac->getCapture() or not fac->getCapture()->getFrame())
+ return "invalid factor" + std::to_string(fac->id());
+
factor_string = "F" + std::to_string(fac->getCapture()->getFrame()->id());
// FRAME
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index aec2e21..d1ba471 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -47,7 +47,7 @@ PublisherPose::PublisherPose(const std::string& _unique_name,
max_points_ = getParamWithDefault<int>(_server,
prefix_ + "/max_points",
- 1e3);
+ 1e4);
line_size_ = getParamWithDefault<double>(_server,
prefix_ + "/line_size",
0.1);
--
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