message: rtabmap: odometry variance summation instead of taking largest one
diff: @@ -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;
  }
  }
  