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Added some asserts to chaeck inf variances

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This commit is contained in:
Mathieu Labbe
2015-04-02 11:32:58 -04:00
parent 8458b25292
commit 653248bde8
2 changed files with 10 additions and 4 deletions
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5
corelib/src/SensorData.cpp
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@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/SensorData.h"
#include "rtabmap/utilite/ULogger.h"
#include <rtabmap/utilite/UMath.h>
namespace rtabmap
{
@@ -103,7 +104,7 @@ SensorData::SensorData(const cv::Mat & image,
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
UASSERT_MSG(_poseRotVariance>0 && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
// Metric constructor + 2d depth
@@ -144,7 +145,7 @@ SensorData::SensorData(const cv::Mat & laserScan,
depthOrRightImage.type() == CV_8U); // Right stereo image
UASSERT(!depthOrRightImage.empty() && _fx>0.0f && _fyOrBaseline>0.0f && _cx>=0.0f && _cy>=0.0f);
UASSERT(!_localTransform.isNull());
UASSERT_MSG(_poseRotVariance>0 && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
UASSERT_MSG(uIsFinite(_poseRotVariance) && _poseRotVariance>0 && uIsFinite(_poseTransVariance) && _poseTransVariance>0, "Rotational and transitional variances should not be null! (set to 1 if unknown)");
}
bool SensorData::empty() const