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MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics.

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This commit is contained in:
matlabbe
2016-01-12 11:37:50 -05:00
parent 42e1590abe
commit 5136b38111
15 changed files with 82 additions and 34 deletions
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6
corelib/src/vertigo/g2o/edge_se2MaxMixture.cpp
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@@ -88,13 +88,13 @@ void EdgeSE2MaxMixture::computeError()
}
/*
// ================================================
#ifdef G2O_HAVE_OPENGL
EdgeSE2MaxMixtureDrawAction::EdgeSE2MaxMixtureDrawAction(): DrawAction(typeid(EdgeSE2MaxMixture).name()){}
g2o::HyperGraphElementAction* EdgeSE2MaxMixtureDrawAction::operator()(g2o::HyperGraph::HyperGraphElement* element,
g2o::HyperGraphElementAction::Parameters* /*params_*/){
g2o::HyperGraphElementAction::Parameters* ){
if (typeid(*element).name()!=_typeName)
return 0;
EdgeSE2MaxMixture* e = static_cast<EdgeSE2MaxMixture*>(element);
@@ -117,6 +117,6 @@ void EdgeSE2MaxMixture::computeError()
return this;
}
#endif
*/

6
corelib/src/vertigo/g2o/edge_se2Switchable.cpp
View File

@@ -102,12 +102,12 @@ void EdgeSE2Switchable::computeError()
_error = delta.toVector() * v3->estimate();
}
/*
#ifdef G2O_HAVE_OPENGL
EdgeSE2SwitchableDrawAction::EdgeSE2SwitchableDrawAction(): DrawAction(typeid(EdgeSE2Switchable).name()){}
g2o::HyperGraphElementAction* EdgeSE2SwitchableDrawAction::operator()(g2o::HyperGraph::HyperGraphElement* element,
g2o::HyperGraphElementAction::Parameters* /*params_*/){
g2o::HyperGraphElementAction::Parameters* ){
if (typeid(*element).name()!=_typeName)
return 0;
EdgeSE2Switchable* e = static_cast<EdgeSE2Switchable*>(element);
@@ -128,4 +128,4 @@ void EdgeSE2Switchable::computeError()
return this;
}
#endif
*/

5
corelib/src/vertigo/g2o/edge_se3Switchable.cpp
View File

@@ -92,12 +92,12 @@ void EdgeSE3Switchable::computeError()
_error = g2o::internal::toVectorMQT(delta) * v3->estimate();
}
/*
#ifdef G2O_HAVE_OPENGL
EdgeSE3SwitchableDrawAction::EdgeSE3SwitchableDrawAction(): DrawAction(typeid(EdgeSE3Switchable).name()){}
g2o::HyperGraphElementAction* EdgeSE3SwitchableDrawAction::operator()(g2o::HyperGraph::HyperGraphElement* element,
g2o::HyperGraphElementAction::Parameters* /*params_*/){
g2o::HyperGraphElementAction::Parameters* ){
if (typeid(*element).name()!=_typeName)
return 0;
EdgeSE3Switchable* e = static_cast<EdgeSE3Switchable*>(element);
@@ -118,3 +118,4 @@ void EdgeSE3Switchable::computeError()
return this;
}
#endif
*/

3
corelib/src/vertigo/g2o/types_g2o_robust.cpp
View File

@@ -14,9 +14,10 @@ G2O_REGISTER_TYPE(EDGE_SE2_SWITCHABLE, EdgeSE2Switchable);
G2O_REGISTER_TYPE(EDGE_SE3_SWITCHABLE, EdgeSE3Switchable);
G2O_REGISTER_TYPE(VERTEX_SWITCH, VertexSwitchLinear);
/*
#ifdef G2O_HAVE_OPENGL
G2O_REGISTER_ACTION(EdgeSE2SwitchableDrawAction);
//G2O_REGISTER_ACTION(EdgeSE2MaxMixtureDrawAction);
G2O_REGISTER_ACTION(EdgeSE3SwitchableDrawAction);
#endif
*/