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Update OptimizerG2O.cpp

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#323
This commit is contained in:
matlabbe
2018-10-24 06:18:10 +12:00
committed by GitHub
parent d2c406f019
commit 8701ae6de0
1 changed files with 5 additions and 3 deletions
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8
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util3d_motion_estimation.h> #include <rtabmap/core/util3d_motion_estimation.h>
#include <rtabmap/core/util3d.h> #include <rtabmap/core/util3d.h>
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2) #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
#include "g2o/core/sparse_optimizer.h" #include "g2o/core/sparse_optimizer.h"
#include "g2o/core/block_solver.h" #include "g2o/core/block_solver.h"
@@ -66,9 +67,6 @@ typedef Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::ColMajor> Matr
#include "g2o/solvers/cholmod/linear_solver_cholmod.h" #include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#endif #endif
#endif // RTABMAP_G2O #endif // RTABMAP_G2O
enum {
PARAM_OFFSET=0,
};
#ifdef RTABMAP_ORB_SLAM2 #ifdef RTABMAP_ORB_SLAM2
#include "g2o/types/types_sba.h" #include "g2o/types/types_sba.h"
@@ -97,6 +95,10 @@ typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearChol
#endif // end defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2) #endif // end defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
enum {
PARAM_OFFSET=0,
};
namespace rtabmap { namespace rtabmap {
bool OptimizerG2O::available() bool OptimizerG2O::available()