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Fixed g2o build error with melodic/noetic versions

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This commit is contained in:
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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11
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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;}

30
corelib/src/optimizer/OptimizerG2O.cpp
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)
{