i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removed assert when data.id = 0 (only requirement for odom is that id >=0)

Browse Source
This commit is contained in:
matlabbe
2017-02-23 15:57:50 -05:00
parent 526fdb495b
commit 45ca3500c6
2 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Odometry.cpp
View File

@@ -203,6 +203,8 @@ Transform Odometry::process(SensorData & data, OdometryInfo * info)
Transform Odometry::process(SensorData & data, const Transform & guessIn, OdometryInfo * info) Transform Odometry::process(SensorData & data, const Transform & guessIn, OdometryInfo * info)
{ {
UASSERT_MSG(data.id() >= 0, uFormat("Input data should have ID greater or equal than 0 (id=%d)!", data.id()).c_str());
// Ground alignment // Ground alignment
if(_pose.isIdentity() && _alignWithGround) if(_pose.isIdentity() && _alignWithGround)
{ {

2
corelib/src/OdometryF2M.cpp
View File

@@ -804,8 +804,6 @@ Transform OdometryF2M::computeTransform(
UFATAL("invalid camera model!"); UFATAL("invalid camera model!");
} }
bundleModels_.insert(std::make_pair(lastFrame_->id(), model)); bundleModels_.insert(std::make_pair(lastFrame_->id(), model));
UASSERT_MSG(lastFrame_->id() > 0, uFormat("Input data should have ID greater than 0 when odometry bundle adjustment is enabled!").c_str());
bundlePoses_.insert(std::make_pair(lastFrame_->id(), newFramePose)); bundlePoses_.insert(std::make_pair(lastFrame_->id(), newFramePose));
} }