i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed g2o build error with melodic/noetic versions

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
Version.h.in
View File

@@ -40,7 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@NONFREE@#define RTABMAP_NONFREE @NONFREE@#define RTABMAP_NONFREE
@TORO@#define RTABMAP_TORO @TORO@#define RTABMAP_TORO
@G2O@#define RTABMAP_G2O @G2O@#define RTABMAP_G2O
@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
@GTSAM@#define RTABMAP_GTSAM @GTSAM@#define RTABMAP_GTSAM
@CERES@#define RTABMAP_CERES @CERES@#define RTABMAP_CERES
@VERTIGO@#define RTABMAP_VERTIGO @VERTIGO@#define RTABMAP_VERTIGO

18
cmake_modules/FindG2O.cmake
View File

@@ -22,6 +22,10 @@ FIND_FILE(G2O_CONFIG_FILE g2o/config.h
PATHS ${G2O_INCLUDE_DIR} PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH) NO_DEFAULT_PATH)
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH)
#ifdef G2O_NUMBER_FORMAT_STR #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 #define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
#endif #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 # G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO") 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_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
SET(G2O_LIBRARIES SET(G2O_LIBRARIES
${G2O_CORE_LIBRARY} ${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) SET(G2O_CPP11 0)
ELSE() 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.") 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() ENDIF()
SET(G2O_FOUND "YES") 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)

11
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
View File

@@ -42,16 +42,7 @@ public:
static bool isCholmodAvailable(); static bool isCholmodAvailable();
public: public:
OptimizerG2O(const ParametersMap & parameters = ParametersMap()) : OptimizerG2O(const ParametersMap & parameters = ParametersMap());
Optimizer(parameters),
solver_(Parameters::defaultg2oSolver()),
optimizer_(Parameters::defaultg2oOptimizer()),
pixelVariance_(Parameters::defaultg2oPixelVariance()),
robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
baseline_(Parameters::defaultg2oBaseline())
{
parseParameters(parameters);
}
virtual ~OptimizerG2O() {} virtual ~OptimizerG2O() {}
virtual Type type() const {return kTypeG2O;} virtual Type type() const {return kTypeG2O;}

30
corelib/src/optimizer/OptimizerG2O.cpp
View File

@@ -137,6 +137,26 @@ bool OptimizerG2O::isCholmodAvailable()
#endif #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) void OptimizerG2O::parseParameters(const ParametersMap & parameters)
{ {
Optimizer::parseParameters(parameters); Optimizer::parseParameters(parameters);
@@ -149,16 +169,6 @@ void OptimizerG2O::parseParameters(const ParametersMap & parameters)
UASSERT(pixelVariance_ > 0.0); UASSERT(pixelVariance_ > 0.0);
UASSERT(baseline_ >= 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 #ifdef RTABMAP_ORB_SLAM
if(solver_ != 3) if(solver_ != 3)
{ {