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Fixed g2o build error with melodic/noetic versions

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matlabbe
2022-01-03 15:37:06 -05:00
parent 129bbf8f98
commit 5194f40794
4 changed files with 37 additions and 24 deletions
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Version.h.in
+1 -1
View File
@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@NONFREE@#define RTABMAP_NONFREE
@TORO@#define RTABMAP_TORO
@G2O@#define RTABMAP_G2O
@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11
@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
@GTSAM@#define RTABMAP_GTSAM
@CERES@#define RTABMAP_CERES
@VERTIGO@#define RTABMAP_VERTIGO
cmake_modules/FindG2O.cmake
+15 -3
View File
@@ -22,6 +22,10 @@ FIND_FILE(G2O_CONFIG_FILE g2o/config.h
PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH)
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH)
#ifdef G2O_NUMBER_FORMAT_STR
#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
#endif
@@ -84,7 +88,7 @@ ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER
# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
SET(G2O_LIBRARIES
${G2O_CORE_LIBRARY}
@@ -121,8 +125,16 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
SET(G2O_CPP11 0)
ELSE()
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
SET(G2O_CPP11 1)
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
IF(${matchres} EQUAL -1)
MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 2)
ELSE()
MESSAGE(WARNING "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
ENDIF()
SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
+1 -10
View File
@@ -42,16 +42,7 @@ public:
static bool isCholmodAvailable();
public:
OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()),
pixelVariance_(Parameters::defaultg2oPixelVariance()),
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline())
{
parseParameters(parameters);
}
OptimizerG2O(const ParametersMap & parameters = ParametersMap());
virtual ~OptimizerG2O() {}
virtual Type type() const {return kTypeG2O;}
corelib/src/optimizer/OptimizerG2O.cpp
+20 -10
View File
@@ -137,6 +137,26 @@ bool OptimizerG2O::isCholmodAvailable()
#endif
}
OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()),
pixelVariance_(Parameters::defaultg2oPixelVariance()),
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline())
{
// Issue on android, have to explicitly register this type when using fixed root prior below
if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET"))
{
#if defined(RTABMAP_G2O_CPP11) and RTABMAP_G2O_CPP11 == 1
g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", g2o::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >());
#else
g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>);
#endif
}
parseParameters(parameters);
}
void OptimizerG2O::parseParameters(const ParametersMap & parameters)
{
Optimizer::parseParameters(parameters);
@@ -149,16 +169,6 @@ void OptimizerG2O::parseParameters(const ParametersMap & parameters)
UASSERT(pixelVariance_ > 0.0);
UASSERT(baseline_ >= 0.0);
// Issue on android, have to explicitly register this type when using fixed root prior below
if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET"))
{
#ifdef RTABMAP_G2O_CPP11
g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", g2o::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >());
#else
g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>);
#endif
}
#ifdef RTABMAP_ORB_SLAM
if(solver_ != 3)
{