From 6fe5e6375f3f18dd9715b1f98c2617b3599547ad Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 13 Mar 2023 22:10:24 -0700
Subject: [PATCH] Fixed g2o version not correctly used, D400: set default to
 IR+Depth

---
 corelib/src/optimizer/OptimizerG2O.cpp | 6 +++---
 guilib/src/PreferencesDialog.cpp       | 6 +++++-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/corelib/src/optimizer/OptimizerG2O.cpp b/corelib/src/optimizer/OptimizerG2O.cpp
index 753e548f..405882e4 100644
--- a/corelib/src/optimizer/OptimizerG2O.cpp
+++ b/corelib/src/optimizer/OptimizerG2O.cpp
@@ -153,7 +153,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
 	// 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
+#if defined(RTABMAP_G2O_CPP11) && 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>);
@@ -1414,7 +1414,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 	{
 		g2o::SparseOptimizer optimizer;
 		//optimizer.setVerbose(ULogger::level()==ULogger::kDebug);
-#if defined(RTABMAP_G2O_CPP11) and not defined(RTABMAP_ORB_SLAM)
+#if defined(RTABMAP_G2O_CPP11) && !defined(RTABMAP_ORB_SLAM)
 		std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver;
 #else
 		g2o::BlockSolver_6_3::LinearSolverType * linearSolver = 0;
@@ -1478,7 +1478,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		else
 #endif
 		{
-#if defined(RTABMAP_G2O_CPP11) and not defined(RTABMAP_ORB_SLAM)
+#if defined(RTABMAP_G2O_CPP11) && !defined(RTABMAP_ORB_SLAM)
 			optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(
 					g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
 #else
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index fed95e78..4910410e 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -3921,12 +3921,16 @@ void PreferencesDialog::selectSourceDriver(Src src, int variant)
 				_ui->spinBox_rs2_width->setValue(1280);
 				_ui->spinBox_rs2_height->setValue(720);
 				_ui->spinBox_rs2_rate->setValue(30);
+				_ui->checkbox_rs2_irMode->setChecked(false);
+				_ui->checkbox_rs2_emitter->setChecked(true);
 			}
-			else
+			else // D400
 			{
 				_ui->spinBox_rs2_width->setValue(848);
 				_ui->spinBox_rs2_height->setValue(480);
 				_ui->spinBox_rs2_rate->setValue(60);
+				_ui->checkbox_rs2_irMode->setChecked(true);
+				_ui->checkbox_rs2_emitter->setChecked(false);
 			}
 		}
 	}