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added some debug infos

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Mathieu Labbe
2015-02-03 17:20:17 -05:00
parent b2e5b7fbfc
commit 09625b766e
2 changed files with 6 additions and 1 deletions
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3
corelib/src/Graph.cpp
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h> #include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h> #include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h> #include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <pcl/search/kdtree.h> #include <pcl/search/kdtree.h>
#include <pcl/common/eigen.h> #include <pcl/common/eigen.h>
#include <pcl/common/common.h> #include <pcl/common/common.h>
@@ -169,7 +170,7 @@ void optimizeTOROGraph(
{ {
if(uContains(depthGraph, iter->first)) if(uContains(depthGraph, iter->first))
{ {
UASSERT(!iter->second.isNull()); UASSERT_MSG(!iter->second.isNull(), uFormat("Poses should not be null! Id=%d", iter->first).c_str());
posesToro.insert(std::make_pair(rtabmapToToro.at(iter->first), iter->second)); posesToro.insert(std::make_pair(rtabmapToToro.at(iter->first), iter->second));
} }
} }

4
guilib/src/DatabaseViewer.cpp
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@@ -416,6 +416,10 @@ void DatabaseViewer::updateIds()
if((!iter->second.isNull() && nullPoses) || if((!iter->second.isNull() && nullPoses) ||
(iter->second.isNull() && !nullPoses)) (iter->second.isNull() && !nullPoses))
{ {
if(iter->second.isNull())
{
UWARN("Pose %d is null!", iter->first);
}
UWARN("Mixed valid and null poses! Ignoring graph..."); UWARN("Mixed valid and null poses! Ignoring graph...");
poses_.clear(); poses_.clear();
links_.clear(); links_.clear();