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Merge pull request #503 from borglab/fix/nfg-check 

General check for null pointer in saveGraph
release/4.3a0
Varun Agrawal 2020-08-31 21:55:17 -04:00 committed by GitHub
parent 920eae86ec 683e8f1f92
commit 199ac63ca5
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 29 additions and 22 deletions
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41
gtsam/nonlinear/NonlinearFactorGraph.cpp
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@ -205,46 +205,53 @@ void NonlinearFactorGraph::saveGraph(std::ostream &stm, const Values& values,
// Create factors and variable connections
for(size_t i = 0; i < size(); ++i) {
const NonlinearFactor::shared_ptr& factor = at(i);
if(formatting.plotFactorPoints) {
// If null pointer, move on to the next
if (!factor) {
continue;
}
if (formatting.plotFactorPoints) {
const KeyVector& keys = factor->keys();
if (formatting.binaryEdges && keys.size()==2) {
stm << " var" << keys[0] << "--" << "var" << keys[1] << ";\n";
if (formatting.binaryEdges && keys.size() == 2) {
stm << " var" << keys[0] << "--"
<< "var" << keys[1] << ";\n";
} else {
// Make each factor a dot
stm << " factor" << i << "[label=\"\", shape=point";
{
map<size_t, Point2>::const_iterator pos = formatting.factorPositions.find(i);
if(pos != formatting.factorPositions.end())
stm << ", pos=\"" << formatting.scale*(pos->second.x() - minX) << ","
<< formatting.scale*(pos->second.y() - minY) << "!\"";
map<size_t, Point2>::const_iterator pos =
formatting.factorPositions.find(i);
if (pos != formatting.factorPositions.end())
stm << ", pos=\"" << formatting.scale * (pos->second.x() - minX)
<< "," << formatting.scale * (pos->second.y() - minY)
<< "!\"";
}
stm << "];\n";
// Make factor-variable connections
if(formatting.connectKeysToFactor && factor) {
for(Key key: *factor) {
stm << " var" << key << "--" << "factor" << i << ";\n";
if (formatting.connectKeysToFactor && factor) {
for (Key key : *factor) {
stm << " var" << key << "--"
<< "factor" << i << ";\n";
}
}
}
}
else {
if(factor) {
} else {
Key k;
bool firstTime = true;
for(Key key: *this->at(i)) {
if(firstTime) {
for (Key key : *this->at(i)) {
if (firstTime) {
k = key;
firstTime = false;
continue;
}
stm << " var" << key << "--" << "var" << k << ";\n";
stm << " var" << key << "--"
<< "var" << k << ";\n";
k = key;
}
}
}
}
}
stm << "}\n";
}