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Made Freenect dependency optional

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fixed some toro3d warnings

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1327 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-04 20:24:54 +00:00
parent 0d437d22d7
commit bb5e5c0084
10 changed files with 110 additions and 27 deletions
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4
corelib/src/toro3d/posegraph.hxx
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@@ -63,7 +63,7 @@ template <class Ops>
typename TreePoseGraph<Ops>::Edge* TreePoseGraph<Ops>::edge(int id1, int id2){
Vertex* v1=vertex(id1);
if (!v1)
return false;
return 0;
typename EdgeList::iterator it=v1->edges.begin();
while(it!=v1->edges.end()){
if ((*it)->v1->id==id1 && (*it)->v2->id==id2)
@@ -117,7 +117,7 @@ typename TreePoseGraph<Ops>::Vertex* TreePoseGraph<Ops>::removeVertex (int id){
Vertex* v=it->second;
if (v==0)
return false;
return 0;
typename TreePoseGraph<Ops>::EdgeList el=v->edges;
for(typename EdgeList::iterator it=el.begin(); it!=el.end(); it++){

4
corelib/src/toro3d/posegraph3.cpp
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@@ -326,7 +326,7 @@ void TreePoseGraph3::collapseEdge(Edge* e){
Transformation T12=e->transformation;
Pose p12=T12.toPoseType();
Transformation iT12=T12.inv();
//Transformation iT12=T12.inv();
//compute the marginal information of the nodes in the path v1-v2-v*
for (EdgeList::iterator it2=v2->edges.begin(); it2!=v2->edges.end(); it2++){
@@ -339,7 +339,7 @@ void TreePoseGraph3::collapseEdge(Edge* e){
//compute the estimate of the vertex based on the path v1-v2-vx
Transformation tr=iT12*T2x;
//Transformation tr=iT12*T2x;
CovarianceMatrix CM=C2x;

8
corelib/src/toro3d/treeoptimizer3_iteration.cpp
View File

@@ -98,7 +98,7 @@ void TreeOptimizer3::computePreconditioner(){
DEBUG(1) << "m";
Edge* e=*it;
Transformation t=e->transformation;
//Transformation t=e->transformation;
InformationMatrix W=e->informationMatrix;
Vertex* top=e->top;
@@ -189,8 +189,8 @@ void TreeOptimizer3::propagateErrors(bool usePreconditioner){
}
//store the transformations relative to the top node
Transformation topTransformation=top->transformation;
Transformation topParameters=top->parameters;
//Transformation topTransformation=top->transformation;
//Transformation topParameters=top->parameters;
//END: Path and weight computation
@@ -258,7 +258,7 @@ void TreeOptimizer3::propagateErrors(bool usePreconditioner){
recomputeTransformations(v2,top);
//BEGIN: Translational Error
Translation topTranslation=top->transformation.translation();
//Translation topTranslation=top->transformation.translation();
Transformation tr12=v1->transformation*e->transformation;
Translation tR=tr12.translation()-v2->transformation.translation();