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Fixed #149

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This commit is contained in:
matlabbe
2016-11-30 14:25:01 -05:00
parent 4d585cbb11
commit d879491a58
4 changed files with 17 additions and 17 deletions
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4
corelib/src/OptimizerG2O.cpp
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@@ -523,10 +523,6 @@ std::map<int, Transform> OptimizerG2O::optimize(
}
}
}
optimizer.clear();
g2o::Factory::destroy();
g2o::OptimizationAlgorithmFactory::destroy();
g2o::HyperGraphActionLibrary::destroy();
}
else if(poses.size() == 1 || iterations() <= 0)
{

7
corelib/src/vertigo/g2o/edge_se2Switchable.cpp
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@@ -19,9 +19,10 @@ using namespace Eigen;
EdgeSE2Switchable::EdgeSE2Switchable() : g2o::BaseMultiEdge<3, g2o::SE2>()
{
resize(3);
_jacobianOplus[0].resize(3,3);
_jacobianOplus[1].resize(3,3);
_jacobianOplus[2].resize(3,1);
_jacobianOplus.clear();
_jacobianOplus.push_back(JacobianType(0, 3, 3));
_jacobianOplus.push_back(JacobianType(0, 3, 3));
_jacobianOplus.push_back(JacobianType(0, 3, 1));
}
// ================================================

7
corelib/src/vertigo/g2o/edge_se3Switchable.cpp
View File

@@ -22,9 +22,10 @@ using namespace Eigen;
EdgeSE3Switchable::EdgeSE3Switchable() : g2o::BaseMultiEdge<6, Eigen::Isometry3d>()
{
resize(3);
_jacobianOplus[0].resize(6,6);
_jacobianOplus[1].resize(6,6);
_jacobianOplus[2].resize(6,1);
_jacobianOplus.clear();
_jacobianOplus.push_back(JacobianType(0, 6, 6));
_jacobianOplus.push_back(JacobianType(0, 6, 6));
_jacobianOplus.push_back(JacobianType(0, 6, 1));
}
// ================================================