Fix bugged exception in lst_sq_computer.

5 years ago · c4d89699d9
parent 86674c9497
commit c4d89699d9
1 changed files with 0 additions and 3 deletions
--- a/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
+++ b/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
@ -109,9 +109,6 @@ class LstSqComputer():

    depth = 1 / param[2]
    if debug:
-      if not self.debug:
-        raise NotImplementedError("This is not a debug computer")
-
      # orient_err_jac = self.orient_error_jac(param, poses, img_positions, np.zeros(3)).reshape((-1,2,3))
      jac = self.residual_jac(param, poses, img_positions).reshape((-1, 2, 3))
      res = self.residual(param, poses, img_positions).reshape((-1, 2))