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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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8
corelib/src/toro3d/treeoptimizer3_iteration.cpp
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@@ -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();