i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-10 03:49:50 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build with gtsam 4.3.0 (#1033)

Browse Source
This commit is contained in:
matlabbe
2023-05-14 13:14:53 -07:00
committed by GitHub
parent ba33c080bc
commit 682d54725a
8 changed files with 113 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/optimizer/gtsam/XYZFactor.h
+12 -2
View File
@@ -41,14 +41,24 @@ public:
// error function
// @param p the pose in Pose
// @param H the optional Jacobian matrix, which use boost optional and has default null pointer
gtsam::Vector evaluateError(const gtsam::Pose3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
gtsam::Vector evaluateError(const gtsam::Pose3& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H = boost::none) const {
#endif
if(H)
{
p.translation(H);
}
return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
}
gtsam::Vector evaluateError(const gtsam::Point3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
gtsam::Vector evaluateError(const gtsam::Point3& p,
#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
OptionalMatrixType H = OptionalNone) const {
#else
boost::optional<gtsam::Matrix&> H = boost::none) const {
#endif
return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
}
};