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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/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;