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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)
master
Martin Schwörer 2018-04-24 16:32:31 +02:00 committed by Wally B. Feed
parent f51e4f4f05
commit d9ada58710
1 changed files with 0 additions and 1 deletions
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cartographer/mapping/internal/optimization/optimization_problem_3d.cc
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@ -278,7 +278,6 @@ void OptimizationProblem3D::Solve(
// Set the starting point. // Set the starting point.
CHECK(!submap_data_.empty()); CHECK(!submap_data_.empty());
CHECK(submap_data_.Contains(SubmapId{0, 0}));
MapById<SubmapId, CeresPose> C_submaps; MapById<SubmapId, CeresPose> C_submaps;
MapById<NodeId, CeresPose> C_nodes; MapById<NodeId, CeresPose> C_nodes;
std::map<std::string, CeresPose> C_landmarks; std::map<std::string, CeresPose> C_landmarks;