remove pose_number optionality

prime-slam · Nov 12, 2023 · 3186b2d · 3186b2d
1 parent 9b61e4f
commit 3186b2d
Showing 1 changed file with 2 additions and 8 deletions.
diff --git a/octreelib/octree_manager/octree_manager.py b/octreelib/octree_manager/octree_manager.py
@@ -113,24 +113,18 @@ def n_points(self, pose_number: Optional[int] = None) -> int:
             return sum(octree.n_points() for octree in self._octrees.values())
         return self._octrees.get(pose_number, self._empty_octree).n_points
 
-    def n_leaves(self, pose_number: Optional[int] = None) -> int:
+    def n_leaves(self, pose_number: int) -> int:
         """
         :param pose_number: Desired pose number.
         :return: Number of leaves which store points for this pose.
         """
-        if pose_number is None:
-            raise NotImplementedError
-            # return sum(octree.n_leaves for octree in self._octrees.values())
         return self._octrees.get(pose_number, self._empty_octree).n_leaves
 
-    def n_nodes(self, pose_number: Optional[int] = None) -> int:
+    def n_nodes(self, pose_number: int) -> int:
         """
         :param pose_number: Desired pose number.
         :return: Number of nodes (both leaves and not) which store points for this pose.
         """
-        if pose_number is None:
-            raise NotImplementedError
-            # return sum(octree.n_nodes for octree in self._octrees.values())
         return self._octrees.get(pose_number, self._empty_octree).n_nodes
 
     def insert_points(self, pose_number: int, points: PointCloud):