Remove bvh intialization from assert. (#50)

strayrobots · Mar 29, 2022 · e8f3173 · e8f3173
1 parent 3608950
commit e8f3173
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/include/camera.h b/include/camera.h
@@ -6,9 +6,9 @@ using namespace Eigen;
 
 class SceneCamera {
 public:
+  Eigen::Matrix3f cameraMatrix;
   int imageWidth;
   int imageHeight;
-  Eigen::Matrix3f cameraMatrix;
 
   SceneCamera(const std::filesystem::path intrinsicsPath);
   SceneCamera(const Eigen::Matrix3f cameraMatrix, double width, double height);

diff --git a/src/controllers/studio_view_controller.cc b/src/controllers/studio_view_controller.cc
@@ -178,6 +178,7 @@ bool StudioViewController::keypress(char character, const InputModifier mod) {
   } else if (mod == ModShift && character == '2') {
     pointCloudView.loadPointCloud();
     sceneModel.activeView = active_view::PointCloudView;
+    return true;
   } else if (character == 'K') {
     sceneModel.activeToolId = AddKeypointToolId;
     return true;

diff --git a/src/geometry/ray_trace_cloud.cc b/src/geometry/ray_trace_cloud.cc
@@ -1,4 +1,5 @@
 #include "geometry/ray_trace_cloud.h"
+#include <iostream>
 
 using namespace geometry;
 using namespace particle_tracing;
@@ -11,7 +12,11 @@ RayTraceCloud::RayTraceCloud(std::shared_ptr<geometry::PointCloud> pc, float& si
   RowMatrixf vertices = pointCloud->points;
   SphereGeometry sphereGeometry(vertices.data(), 0.01);
   SpherePred spherePredicate(vertices.data());
-  assert(bvh.Build(vertices.rows(), sphereGeometry, spherePredicate, options));
+  bool ret = bvh.Build(vertices.rows(), sphereGeometry, spherePredicate, options);
+  if (!ret) {
+    std::cout << "Failed to initialize bounding volume hierarchy" << std::endl;
+    exit(1);
+  }
 }
 
 Intersection RayTraceCloud::traceRayIntersection(const Vector3f& origin, const Vector3f& direction) const {