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fixed TOROOptimizer::loadGraph(), added some assert to make usre that rotational and transitional variances are not null

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Mathieu Labbe
2015-04-01 12:50:29 -04:00
parent 3eb103f239
commit f847bb9f9f
4 changed files with 29 additions and 14 deletions
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corelib/src/SensorData.cpp
+2
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@@ -103,6 +103,7 @@ 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)");
}
// Metric constructor + 2d depth
@@ -143,6 +144,7 @@ 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)");
}
bool SensorData::empty() const