From d9ada58710d6b077e18240e03baaaa3e87c01447 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20Schw=C3=B6rer?= <schwoere@users.noreply.github.com>
Date: Tue, 24 Apr 2018 16:32:31 +0200
Subject: [PATCH] Removed check for existence of first submap of first
 trajectory in pose graph optimization (#1099)

Removed check for existence of first submap of first trajectory.

This check is equivalent to the original implementation which got changed in [#584](https://github.com/googlecartographer/cartographer/pull/584/files)
---
 .../mapping/internal/optimization/optimization_problem_3d.cc     | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cartographer/mapping/internal/optimization/optimization_problem_3d.cc b/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
index 4bd40f9..3854bf5 100644
--- a/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
+++ b/cartographer/mapping/internal/optimization/optimization_problem_3d.cc
@@ -278,7 +278,6 @@ void OptimizationProblem3D::Solve(
 
   // Set the starting point.
   CHECK(!submap_data_.empty());
-  CHECK(submap_data_.Contains(SubmapId{0, 0}));
   MapById<SubmapId, CeresPose> C_submaps;
   MapById<NodeId, CeresPose> C_nodes;
   std::map<std::string, CeresPose> C_landmarks;