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fixed gtsam 4.3 build error (https://github.com/introlab/rtabmap/pull/1033#issuecomment-2031002034)

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matlabbe
2024-04-01 23:05:16 -07:00
parent 11adbdcc9f
commit 063ca9c8ee
1 changed files with 8 additions and 0 deletions
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8
corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -701,7 +701,11 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
float x,y,z,roll,pitch,yaw;
std::map<int, Transform> tmpPoses;
Values values = isam2_?isam2_->calculateEstimate():optimizer->values();
#if GTSAM_VERSION_NUMERIC >= 40200
for(gtsam::Values::deref_iterator iter=values.begin(); iter!=values.end(); ++iter)
#else
for(gtsam::Values::iterator iter=values.begin(); iter!=values.end(); ++iter)
#endif
{
int key = (int)iter->key;
if(iter->value.dim() > 1 && uContains(newPoses, key))
@@ -869,7 +873,11 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
float x,y,z,roll,pitch,yaw;
gtsam::Values values = isam2_?isam2_->calculateEstimate():optimizer->values();
#if GTSAM_VERSION_NUMERIC >= 40200
for(gtsam::Values::deref_iterator iter=values.begin(); iter!=values.end(); ++iter)
#else
for(gtsam::Values::iterator iter=values.begin(); iter!=values.end(); ++iter)
#endif
{
int key = (int)iter->key;
if(iter->value.dim() > 1 && uContains(poses, key))