From 0056f469931cf8b7879a5e350415bc9c3db2d30c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 17 Jun 2019 10:14:19 +0200
Subject: [PATCH] implemented exception of unlink a capture in case of non-KF
---
src/capture/capture_base.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index db12b5847..5f0ce6880 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -291,7 +291,11 @@ void CaptureBase::setCalibration(const VectorXs& _calib)
void CaptureBase::link(FrameBasePtr _frm_ptr)
{
- assert(this->getFrame() == nullptr && "linking an already linked capture");
+ assert((this->getFrame() == nullptr || !this->getFrame()->isKey()) && "linking a capture already linked to a KF");
+
+ // unlink from previous non-key frame
+ if (this->getFrame())
+ this->getFrame()->removeCapture(shared_from_this());
if(_frm_ptr)
{
--
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