From 3c20ccdf3ceebb26eea5671a949872ffecc1ffe5 Mon Sep 17 00:00:00 2001 From: jvallve <jvallve@iri.upc.edu> Date: Thu, 9 Jun 2022 14:54:40 +0200 Subject: [PATCH] [skip ci] allow non-default extrinsic sizes --- src/sensor/sensor_base.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp index b8fab4928..ab2e921d8 100644 --- a/src/sensor/sensor_base.cpp +++ b/src/sensor/sensor_base.cpp @@ -169,11 +169,6 @@ void SensorBase::loadPriors(const Priors& _priors, toString(prior.getState()) + " and should be of size: " + toString(state_spec.size) + "\nDoc:\n" + state_spec.doc); - // additional size checks for P, O, V - if ((key == 'P' or key == 'V') and prior.getState().size() != _dim) - throw std::runtime_error("Prior state for P or V has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D")); - if (key == '0' and prior.getState().size() != (_dim == 2 ? 1 : 4)) - throw std::runtime_error("Prior state for O has wrong size: " + toString(prior.getState().size()) + " in " + (_dim == 2 ? "2D" : "3D")); // --- CREATE STATE BLOCK --- auto sb = FactoryStateBlock::create(prior.getType(), prior.getState(), prior.isFixed()); -- GitLab