From fc9e34c0797b735964e057958c239c8532f102a4 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Sat, 13 Jun 2020 21:02:54 +0200
Subject: [PATCH] added assertions in getCalibration()
---
src/processor/processor_imu.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 42361d86e..bf1fe72b6 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -87,6 +87,8 @@ FeatureBasePtr ProcessorImu::emplaceFeature(CaptureMotionPtr _capture_motion)
VectorXd ProcessorImu::getCalibration (const CaptureBasePtr _capture) const
{
+ assert(_capture && "called with a null capture");
+ assert(_capture->getSensorIntrinsic() && "null sensor intrinsics state block");
return _capture->getSensorIntrinsic()->getState();
}
--
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