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Commit 28f5ec1f authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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hotfix: small bug in assertion

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src/ceres_wrapper/solver_ceres.cpp
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...@@ -558,7 +558,7 @@ const Eigen::SparseMatrixd SolverCeres::computeHessian() const ...@@ -558,7 +558,7 @@ const Eigen::SparseMatrixd SolverCeres::computeHessian() const
StateBlockPtr sb = fac_ptr->getStateBlockPtrVector()[i]; StateBlockPtr sb = fac_ptr->getStateBlockPtrVector()[i];
if (!sb->isFixed()) if (!sb->isFixed())
{ {
assert(state_blocks_local_param_.count(sb) != 0 && "factor involving a state block not added"); assert(state_blocks_.count(sb) != 0 && "factor involving a state block not added");
assert((A.cols() >= sb->getLocalSize() + jacobians[i].cols() - 1) && "bad A number of cols"); assert((A.cols() >= sb->getLocalSize() + jacobians[i].cols() - 1) && "bad A number of cols");
// insert since A_block_row has just been created so it's empty for sure // insert since A_block_row has just been created so it's empty for sure
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