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Fixed #149

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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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cmake_modules/FindG2O.cmake
+9 -7
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@@ -18,8 +18,7 @@ FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
PATHS "C:\\Program Files\\g2o\\include") PATHS "C:\\Program Files\\g2o\\include")
# Macro to unify finding both the debug and release versions of the # Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY # libraries; this is adapted from the rtabmap config
# macro.
MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME) MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
@@ -31,11 +30,14 @@ MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
NAMES "g2o_${MYLIBRARYNAME}" NAMES "g2o_${MYLIBRARYNAME}"
PATHS "C:\\Program Files\\g2o\\lib") PATHS "C:\\Program Files\\g2o\\lib")
IF(NOT ${MYLIBRARY}_DEBUG) IF(${MYLIBRARY}_DEBUG AND ${MYLIBRARY})
IF(MYLIBRARY) SET(${MYLIBRARY}
SET(${MYLIBRARY}_DEBUG ${MYLIBRARY}) debug ${${MYLIBRARY}_DEBUG}
ENDIF(MYLIBRARY) optimized ${${MYLIBRARY}}
ENDIF( NOT ${MYLIBRARY}_DEBUG) )
ELSEIF(${MYLIBRARY}_DEBUG)
SET(${MYLIBRARY} ${${MYLIBRARY}_DEBUG})
ENDIF()
ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME) ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
corelib/src/OptimizerG2O.cpp
-4
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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) else if(poses.size() == 1 || iterations() <= 0)
{ {
corelib/src/vertigo/g2o/edge_se2Switchable.cpp
+4 -3
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@@ -19,9 +19,10 @@ using namespace Eigen;
EdgeSE2Switchable::EdgeSE2Switchable() : g2o::BaseMultiEdge<3, g2o::SE2>() EdgeSE2Switchable::EdgeSE2Switchable() : g2o::BaseMultiEdge<3, g2o::SE2>()
{ {
resize(3); resize(3);
_jacobianOplus[0].resize(3,3); _jacobianOplus.clear();
_jacobianOplus[1].resize(3,3); _jacobianOplus.push_back(JacobianType(0, 3, 3));
_jacobianOplus[2].resize(3,1); _jacobianOplus.push_back(JacobianType(0, 3, 3));
_jacobianOplus.push_back(JacobianType(0, 3, 1));
} }
// ================================================ // ================================================
corelib/src/vertigo/g2o/edge_se3Switchable.cpp
+4 -3
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@@ -22,9 +22,10 @@ using namespace Eigen;
EdgeSE3Switchable::EdgeSE3Switchable() : g2o::BaseMultiEdge<6, Eigen::Isometry3d>() EdgeSE3Switchable::EdgeSE3Switchable() : g2o::BaseMultiEdge<6, Eigen::Isometry3d>()
{ {
resize(3); resize(3);
_jacobianOplus[0].resize(6,6); _jacobianOplus.clear();
_jacobianOplus[1].resize(6,6); _jacobianOplus.push_back(JacobianType(0, 6, 6));
_jacobianOplus[2].resize(6,1); _jacobianOplus.push_back(JacobianType(0, 6, 6));
_jacobianOplus.push_back(JacobianType(0, 6, 1));
} }
// ================================================ // ================================================