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Converted an assert to an error.

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matlabbe
2021-12-26 14:53:22 -05:00
parent 3071da42f3
commit a3823594a4
1 changed files with 5 additions and 1 deletions
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6
corelib/src/Rtabmap.cpp
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@@ -2592,7 +2592,11 @@ bool Rtabmap::process(
cv::Mat covariance;
path = optimizeGraph(nearestId, uKeysSet(path), std::map<int, Transform>(), false, covariance);
// transform local poses in optimized graph referential
UASSERT(uContains(path, nearestId));
if(!uContains(path, nearestId))
{
UERROR("Proximity path not containing nearest ID ?! Skipping this path.");
continue;
}
Transform t = _optimizedPoses.at(nearestId) * path.at(nearestId).inverse();
for(std::map<int, Transform>::iterator jter=path.lower_bound(1); jter!=path.end(); ++jter)