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android: fixed g2o seg fault (CACHE_SE3_OFFSET not registered)

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This commit is contained in:
matlabbe
2022-01-02 23:30:55 -05:00
parent f3ace6c86a
commit b2f13c2772
6 changed files with 110 additions and 36 deletions
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16
corelib/src/CMakeLists.txt
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@@ -376,15 +376,25 @@ IF(G2O_FOUND)
SET(LIBRARIES
${LIBRARIES}
g2o::core
g2o::solver_cholmod
g2o::solver_eigen
g2o::solver_pcg
g2o::solver_csparse
g2o::csparse_extension
g2o::types_slam2d
g2o::types_slam3d
g2o::types_sba
)
IF(TARGET g2o::solver_csparse)
SET(LIBRARIES
${LIBRARIES}
g2o::solver_csparse
g2o::csparse_extension
)
ENDIF(TARGET g2o::solver_csparse)
IF(TARGET g2o::solver_cholmod)
SET(LIBRARIES
${LIBRARIES}
g2o::solver_cholmod
)
ENDIF(TARGET g2o::solver_csparse)
ELSE()
SET(INCLUDE_DIRS
${INCLUDE_DIRS}

71
corelib/src/optimizer/OptimizerG2O.cpp
View File

@@ -149,6 +149,16 @@ void OptimizerG2O::parseParameters(const ParametersMap & parameters)
UASSERT(pixelVariance_ > 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
if(solver_ != 3)
{
@@ -322,7 +332,9 @@ std::map<int, Transform> OptimizerG2O::optimize(
rootId = 0;
break;
}
else if(iter->second.type() == Link::kGravity)
else if(!isSlam2d() &&
gravitySigma() > 0 &&
iter->second.type() == Link::kGravity)
{
hasGravityConstraints = true;
if(priorsIgnored())
@@ -454,32 +466,41 @@ std::map<int, Transform> OptimizerG2O::optimize(
{
vertex->setId(id);
UASSERT_MSG(optimizer.addVertex(vertex), uFormat("cannot insert vertex %d!?", iter->first).c_str());
if(!isSlam2d() && id == rootId && hasGravityConstraints)
}
}
// Setup root prior (fixed x,y,z,yaw)
if(!isSlam2d() && rootId !=0 && hasGravityConstraints)
{
g2o::VertexSE3* v1 = dynamic_cast<g2o::VertexSE3*>(optimizer.vertex(rootId));
if(v1)
{
g2o::EdgeSE3Prior * e = new g2o::EdgeSE3Prior();
e->setVertex(0, v1);
Eigen::Affine3d a = poses.at(rootId).toEigen3d();
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
e->setMeasurement(pose);
e->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix<double, 6, 6>::Identity()*10e6;
// pitch and roll not fixed
information(3,3) = information(4,4) = 1;
e->setInformation(information);
if (!optimizer.addEdge(e))
{
g2o::EdgeSE3Prior * priorEdge = new g2o::EdgeSE3Prior();
g2o::VertexSE3* v1 = (g2o::VertexSE3*)vertex;
priorEdge->setVertex(0, v1);
Eigen::Affine3d a = iter->second.toEigen3d();
Eigen::Isometry3d pose;
pose = a.linear();
pose.translation() = a.translation();
priorEdge->setMeasurement(pose);
priorEdge->setParameterId(0, PARAM_OFFSET);
Eigen::Matrix<double, 6, 6> information = Eigen::Matrix<double, 6, 6>::Identity()*10e6;
// pitch and roll not fixed
information(3,3) = information(4,4) = 1;
priorEdge->setInformation(information);
if (priorEdge && !optimizer.addEdge(priorEdge))
{
delete priorEdge;
UERROR("Map: Failed adding fixed constraint of rootid %d, set as fixed instead", id);
v1->setFixed(true);
}
else
{
UDEBUG("Set %d fixed with prior (have gravity constraints)", id);
}
delete e;
UERROR("Map: Failed adding fixed constraint of rootid %d, set as fixed instead", rootId);
v1->setFixed(true);
}
else
{
UDEBUG("Set %d fixed with prior (have gravity constraints)", rootId);
}
}
else
{
UERROR("Map: Failed adding fixed constraint of rootid %d (not found in added vertices)", rootId);
}
}