From 4e99155df858ed0c7917e3a958073565c9a7dd1f Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 28 Nov 2018 17:37:14 +0100
Subject: [PATCH] Fix small bug related to a state_block nullptr test --
probably it was not producing any faults
---
src/ceres_wrapper/ceres_manager.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index b00edf0e3..d1305cb53 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -105,7 +105,7 @@ void CeresManager::computeCovariances(const CovarianceBlocksToBeComputed _blocks
for (auto sb : fr_ptr->getStateBlockVec())
if (sb)
for(auto sb2 : fr_ptr->getStateBlockVec())
- if (sb)
+ if (sb2)
{
state_block_pairs.emplace_back(sb, sb2);
double_pairs.emplace_back(getAssociatedMemBlockPtr(sb), getAssociatedMemBlockPtr(sb2));
--
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