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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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CMakeLists.txt
+1
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@@ -817,6 +817,7 @@ ENDIF()
IF(NOT G2O_FOUND) IF(NOT G2O_FOUND)
SET(G2O "//") SET(G2O "//")
SET(G2O_CPP_CONF "//")
ELSE() ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES}) SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
IF(NOT G2O_CPP11) IF(NOT G2O_CPP11)
corelib/src/optimizer/OptimizerG2O.cpp
+2
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@@ -145,6 +145,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()), robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline()) baseline_(Parameters::defaultg2oBaseline())
{ {
#ifdef RTABMAP_G2O
// Issue on android, have to explicitly register this type when using fixed root prior below // Issue on android, have to explicitly register this type when using fixed root prior below
if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET")) 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>); g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>);
#endif #endif
} }
#endif
parseParameters(parameters); parseParameters(parameters);
} }