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Fixed g2o version not correctly used, D400: set default to IR+Depth

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This commit is contained in:
matlabbe
2023-03-13 22:10:24 -07:00
parent 92b9cc89e0
commit 6fe5e6375f
2 changed files with 8 additions and 4 deletions
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6
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -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