From dd3f387f5719fd73f522de7f5bf9ac6e5f3d7be8 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Mon, 29 Mar 2021 09:53:26 +0200 Subject: [PATCH] hotfix --- src/processor/processor_motion.cpp | 3 +-- test/gtest_processor_motion.cpp | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp index 894507c17..11dee8587 100644 --- a/src/processor/processor_motion.cpp +++ b/src/processor/processor_motion.cpp @@ -60,7 +60,6 @@ void ProcessorMotion::mergeCaptures(CaptureMotionConstPtr cap_prev, { assert(cap_prev != nullptr); assert(cap_target != nullptr); - assert(cap_target->getOriginCapture() != nullptr); assert(cap_prev == cap_target->getOriginCapture() && "merging not consecutive capture motions"); // add prev buffer (discarding the first zero motion) @@ -88,7 +87,7 @@ void ProcessorMotion::mergeCaptures(CaptureMotionConstPtr cap_prev, } // emplace new feature and factor (if origin has frame) - if (cap_prev->getOriginCapture()->getFrame()) + if (cap_prev->getOriginCapture() and cap_prev->getOriginCapture()->getFrame()) { auto new_feature = emplaceFeature(cap_target); emplaceFactor(new_feature, cap_prev->getOriginCapture()); diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp index e531defd5..92bf678d4 100644 --- a/test/gtest_processor_motion.cpp +++ b/test/gtest_processor_motion.cpp @@ -315,7 +315,7 @@ TEST_F(ProcessorMotion_test, mergeCaptures) FrameBasePtr F_target = problem->emplaceFrame(t_target); CaptureMotionPtr C_source = std::dynamic_pointer_cast<CaptureMotion>(processor->getLast()); CaptureMotionPtr C_target = CaptureBase::emplace<CaptureMotion>(F_target, - "ODOM 2d", + "CaptureOdom2d", t_target, sensor, data, -- GitLab