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Fixed 2d multi-scan matching fatal error

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matlabbe
2018-02-16 20:23:42 -05:00
parent 6e131dcd7e
commit a947f8c783
2 changed files with 22 additions and 23 deletions
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corelib/src/LaserScan.cpp
+7 -6
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@@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/LaserScan.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap {
@@ -139,12 +140,12 @@ LaserScan::LaserScan(const cv::Mat & data, int maxPoints, float maxRange, Format
}
else // verify that format corresponds to expected number of channels
{
UASSERT(data.channels() != 2 || (data.channels() == 2 && format == kXY));
UASSERT(data.channels() != 3 || (data.channels() == 3 && (format == kXYZ || format == kXYI)));
UASSERT(data.channels() != 4 || (data.channels() == 4 && (format == kXYZI || format == kXYZRGB)));
UASSERT(data.channels() != 5 || (data.channels() == 5 && (format == kXYNormal)));
UASSERT(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal)));
UASSERT(data.channels() != 7 || (data.channels() == 7 && (format == kXYZRGBNormal || format == kXYZINormal)));
UASSERT_MSG(data.channels() != 2 || (data.channels() == 2 && format == kXY), uFormat("format=%d", format).c_str());
UASSERT_MSG(data.channels() != 3 || (data.channels() == 3 && (format == kXYZ || format == kXYI)), uFormat("format=%d", format).c_str());
UASSERT_MSG(data.channels() != 4 || (data.channels() == 4 && (format == kXYZI || format == kXYZRGB)), uFormat("format=%d", format).c_str());
UASSERT_MSG(data.channels() != 5 || (data.channels() == 5 && (format == kXYNormal)), uFormat("format=%d", format).c_str());
UASSERT_MSG(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal)), uFormat("format=%d", format).c_str());
UASSERT_MSG(data.channels() != 7 || (data.channels() == 7 && (format == kXYZRGBNormal || format == kXYZINormal)), uFormat("format=%d", format).c_str());
}
}
}