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Fixed build without g2o

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This commit is contained in:
matlabbe
2022-01-15 13:00:12 -05:00
parent 29a2b64a0c
commit 03a106ea36
2 changed files with 3 additions and 0 deletions
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2
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -145,6 +145,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline())
{
#ifdef RTABMAP_G2O
// Issue on android, have to explicitly register this type when using fixed root prior below
if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET"))
{
@@ -154,6 +155,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>);
#endif
}
#endif
parseParameters(parameters);
}