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{rolling} rtabmap: Allow rtabmap to be build without graphic support.
Signed-off-by: Windel Bouwman <[email protected]> Signed-off-by: Rob Woolley <[email protected]>
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51
...bbappends/rtabmap/rtabmap/0001-Use-cmake-Thread-package-to-find-proper-threading-li.patch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| Upstream-Status: Pending | ||
|
|
||
| Signed-off-by: Windel Bouwman <[email protected]> | ||
|
|
||
| From 3c219390cf625a8c838c42151f86098559030dfb Mon Sep 17 00:00:00 2001 | ||
| From: Windel Bouwman <[email protected]> | ||
| Date: Fri, 13 May 2022 13:44:09 +0200 | ||
| Subject: [PATCH] Use cmake Thread package to find proper threading library. | ||
|
|
||
| --- | ||
| utilite/CMakeLists.txt | 2 +- | ||
| utilite/src/CMakeLists.txt | 5 ++--- | ||
| 2 files changed, 3 insertions(+), 4 deletions(-) | ||
|
|
||
| Index: git/utilite/CMakeLists.txt | ||
| =================================================================== | ||
| --- git.orig/utilite/CMakeLists.txt | ||
| +++ git/utilite/CMakeLists.txt | ||
| @@ -2,7 +2,7 @@ SET(UTILITE_VERSION "0.3.0") | ||
| ADD_DEFINITIONS(-DUTILITE_VERSION="${UTILITE_VERSION}") | ||
|
|
||
| if(UNIX AND NOT ANDROID) | ||
| - FIND_PACKAGE(Pthreads REQUIRED) | ||
| + FIND_PACKAGE(Threads REQUIRED) | ||
| ENDIF(UNIX AND NOT ANDROID) | ||
|
|
||
| ADD_SUBDIRECTORY( src ) | ||
| Index: git/utilite/src/CMakeLists.txt | ||
| =================================================================== | ||
| --- git.orig/utilite/src/CMakeLists.txt | ||
| +++ git/utilite/src/CMakeLists.txt | ||
| @@ -20,16 +20,16 @@ generate_export_header(rtabmap_utilite | ||
| BASE_NAME utilite) | ||
|
|
||
| target_include_directories(rtabmap_utilite PUBLIC | ||
| - "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PTHREADS_INCLUDE_DIR}>" | ||
| + "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include>" | ||
| "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PTHREADS_INCLUDE_DIR}>") | ||
|
|
||
| IF(MINGW) | ||
| - TARGET_LINK_LIBRARIES(rtabmap_utilite PRIVATE ${PTHREADS_LIBRARY} "-lpsapi") | ||
| + TARGET_LINK_LIBRARIES(rtabmap_utilite Threads::Threads "-lpsapi") | ||
| ELSEIF(WIN32 OR MSVC) | ||
| FIND_LIBRARY(PSAPI_LIBRARIES NAMES psapi libpsapi.dll.a libpsapi.a libpsapi.lib ) | ||
| TARGET_LINK_LIBRARIES(rtabmap_utilite PRIVATE ${PSAPI_LIBRARIES}) | ||
| ELSE() | ||
| - TARGET_LINK_LIBRARIES(rtabmap_utilite PRIVATE ${PTHREADS_LIBRARY}) | ||
| + TARGET_LINK_LIBRARIES(rtabmap_utilite Threads::Threads) | ||
| ENDIF() | ||
|
|
||
| SET_TARGET_PROPERTIES( |
328 changes: 328 additions & 0 deletions
328
meta-ros2-rolling/recipes-bbappends/rtabmap/rtabmap/fixed-build-with-latest-g2o-cpp17.patch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,328 @@ | ||
| From 85cc6fe3c742855ad16c8442895e12dbb10b6e8b Mon Sep 17 00:00:00 2001 | ||
| From: matlabbe <[email protected]> | ||
| Date: Wed, 22 Mar 2023 20:42:33 -0700 | ||
| Subject: [PATCH] fixed build with latest g2o c++17 (#999) | ||
|
|
||
| --- | ||
| CMakeLists.txt | 130 ++++++++++++------------- | ||
| corelib/src/optimizer/OptimizerG2O.cpp | 31 +++--- | ||
| 2 files changed, 80 insertions(+), 81 deletions(-) | ||
|
|
||
| diff --git a/CMakeLists.txt b/CMakeLists.txt | ||
| index 047c2f38e7..4d78f05904 100644 | ||
| --- a/CMakeLists.txt | ||
| +++ b/CMakeLists.txt | ||
| @@ -314,8 +314,8 @@ IF(WITH_QT) | ||
| IF("${VTK_MAJOR_VERSION}" GREATER 5) | ||
| IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5") | ||
| FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg) | ||
| - ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5") | ||
| - ENDIF("${VTK_MAJOR_VERSION}" GREATER 5) | ||
| + ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5") | ||
| + ENDIF("${VTK_MAJOR_VERSION}" GREATER 5) | ||
|
|
||
| IF(NOT Qt5_FOUND) | ||
| IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4") | ||
| @@ -328,8 +328,8 @@ IF(WITH_QT) | ||
| IF("${VTK_MAJOR_VERSION}" EQUAL 5) | ||
| FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5 | ||
| ELSE() | ||
| - list(FIND PCL_LIBRARIES VTK::GUISupportQt value) | ||
| - IF(value EQUAL -1) | ||
| + list(FIND PCL_LIBRARIES VTK::GUISupportQt value) | ||
| + IF(value EQUAL -1) | ||
| list(FIND PCL_LIBRARIES vtkGUISupportQt value) | ||
| IF(value EQUAL -1) | ||
| IF(NOT(${VTK_MAJOR_VERSION} LESS 9)) | ||
| @@ -339,8 +339,8 @@ IF(WITH_QT) | ||
| ENDIF() | ||
| SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE) | ||
| ENDIF(value EQUAL -1) | ||
| - ENDIF(value EQUAL -1) | ||
| - | ||
| + ENDIF(value EQUAL -1) | ||
| + | ||
| MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}") | ||
|
|
||
| IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2") | ||
| @@ -358,12 +358,12 @@ IF(WITH_QT) | ||
| ENDIF(value EQUAL -1) | ||
| ELSEIF("${VTK_MAJOR_VERSION}" EQUAL 9) | ||
| list(FIND PCL_LIBRARIES VTK::RenderingOpenGL2 value) | ||
| - IF(NOT value EQUAL -1) | ||
| - list(FIND PCL_LIBRARIES VTK::RenderingVolumeOpenGL2 value) | ||
| + IF(NOT value EQUAL -1) | ||
| + list(FIND PCL_LIBRARIES VTK::RenderingVolumeOpenGL2 value) | ||
| IF(value EQUAL -1) | ||
| SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::RenderingVolumeOpenGL2") | ||
| ENDIF(value EQUAL -1) | ||
| - ENDIF(NOT value EQUAL -1) | ||
| + ENDIF(NOT value EQUAL -1) | ||
| ENDIF() | ||
|
|
||
| ENDIF() | ||
| @@ -426,7 +426,7 @@ ENDIF(WITH_FREENECT2) | ||
|
|
||
| IF(WITH_K4W2 AND WIN32) | ||
| FIND_PACKAGE(KinectSDK2 QUIET) | ||
| - IF(KinectSDK2_FOUND) | ||
| + IF(KinectSDK2_FOUND) | ||
| MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}") | ||
| ENDIF(KinectSDK2_FOUND) | ||
| ENDIF(WITH_K4W2 AND WIN32) | ||
| @@ -441,7 +441,7 @@ IF(WITH_K4A) | ||
| SET(k4a_FOUND FALSE) | ||
| ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND)) | ||
| ENDIF() | ||
| - IF(k4a_FOUND) | ||
| + IF(k4a_FOUND) | ||
| MESSAGE(STATUS "Found Kinect for Azure: ${k4a_INCLUDE_DIRS}") | ||
| ENDIF(k4a_FOUND) | ||
| ENDIF(WITH_K4A) | ||
| @@ -465,10 +465,10 @@ IF(WITH_G2O) | ||
| FIND_PACKAGE(g2o NO_MODULE) | ||
| IF(g2o_FOUND) | ||
| MESSAGE(STATUS "Found g2o (targets)") | ||
| - SET(G2O_FOUND ${g2o_FOUND}) | ||
| - get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES) | ||
| - MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}") | ||
| - FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h | ||
| + SET(G2O_FOUND ${g2o_FOUND}) | ||
| + get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES) | ||
| + MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}") | ||
| + FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h | ||
| PATHS ${G2O_INCLUDES} | ||
| NO_DEFAULT_PATH) | ||
| FILE(READ ${G2O_FACTORY_FILE} TMPTXT) | ||
| @@ -528,8 +528,8 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND) | ||
| find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED) | ||
| ENDIF(Boost_MINOR_VERSION GREATER 47) | ||
| IF(WIN32) | ||
| - MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}") | ||
| - link_directories(${Boost_LIBRARY_DIRS}) | ||
| + MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}") | ||
| + link_directories(${Boost_LIBRARY_DIRS}) | ||
| ENDIF(WIN32) | ||
| ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND) | ||
|
|
||
| @@ -766,57 +766,57 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND) | ||
| ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND) | ||
|
|
||
| IF(NOT MSVC) | ||
| - IF(Qt6_FOUND) | ||
| + IF(Qt6_FOUND OR (G2O_FOUND AND ${G2O_CPP11} EQUAL 1)) | ||
| # Qt6 requires c++17 | ||
| include(CheckCXXCompilerFlag) | ||
| - CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17) | ||
| - IF(COMPILER_SUPPORTS_CXX17) | ||
| - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") | ||
| - set(CMAKE_CXX_STANDARD 17) | ||
| - ELSE() | ||
| - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.") | ||
| - ENDIF() | ||
| + CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17) | ||
| + IF(COMPILER_SUPPORTS_CXX17) | ||
| + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17") | ||
| + set(CMAKE_CXX_STANDARD 17) | ||
| + ELSE() | ||
| + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.") | ||
| + ENDIF() | ||
| + ENDIF() | ||
| + IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))) | ||
| + #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11 | ||
| + include(CheckCXXCompilerFlag) | ||
| + CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14) | ||
| + IF(COMPILER_SUPPORTS_CXX14) | ||
| + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") | ||
| + set(CMAKE_CXX_STANDARD 14) | ||
| + ELSE() | ||
| + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.") | ||
| + ENDIF() | ||
| + ENDIF() | ||
| + | ||
| + IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND ( | ||
| + G2O_FOUND OR | ||
| + GTSAM_FOUND OR | ||
| + CERES_FOUND OR | ||
| + ZED_FOUND OR | ||
| + ZEDOC_FOUND OR | ||
| + ANDROID OR | ||
| + RealSense_FOUND OR | ||
| + realsense2_FOUND OR | ||
| + ORB_SLAM_FOUND OR | ||
| + okvis_FOUND OR | ||
| + open_chisel_FOUND OR | ||
| + msckf_vio_FOUND OR | ||
| + vins_FOUND OR | ||
| + ov_msckf_FOUND OR | ||
| + libpointmatcher_FOUND)) | ||
| + #Newest versions require std11 | ||
| + include(CheckCXXCompilerFlag) | ||
| + CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) | ||
| + CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) | ||
| + IF(COMPILER_SUPPORTS_CXX11) | ||
| + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") | ||
| + ELSEIF(COMPILER_SUPPORTS_CXX0X) | ||
| + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") | ||
| + ELSE() | ||
| + message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") | ||
| + ENDIF() | ||
| ENDIF() | ||
| - IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))) | ||
| - #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11 | ||
| - include(CheckCXXCompilerFlag) | ||
| - CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14) | ||
| - IF(COMPILER_SUPPORTS_CXX14) | ||
| - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") | ||
| - set(CMAKE_CXX_STANDARD 14) | ||
| - ELSE() | ||
| - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.") | ||
| - ENDIF() | ||
| - ENDIF() | ||
| - | ||
| - IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND ( | ||
| - G2O_FOUND OR | ||
| - GTSAM_FOUND OR | ||
| - CERES_FOUND OR | ||
| - ZED_FOUND OR | ||
| - ZEDOC_FOUND OR | ||
| - ANDROID OR | ||
| - RealSense_FOUND OR | ||
| - realsense2_FOUND OR | ||
| - ORB_SLAM_FOUND OR | ||
| - okvis_FOUND OR | ||
| - open_chisel_FOUND OR | ||
| - msckf_vio_FOUND OR | ||
| - vins_FOUND OR | ||
| - ov_msckf_FOUND OR | ||
| - libpointmatcher_FOUND)) | ||
| - #Newest versions require std11 | ||
| - include(CheckCXXCompilerFlag) | ||
| - CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) | ||
| - CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) | ||
| - IF(COMPILER_SUPPORTS_CXX11) | ||
| - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") | ||
| - ELSEIF(COMPILER_SUPPORTS_CXX0X) | ||
| - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") | ||
| - ELSE() | ||
| - message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") | ||
| - ENDIF() | ||
| - ENDIF() | ||
| ENDIF() | ||
|
|
||
| ####### OSX BUNDLE CMAKE_INSTALL_PREFIX ####### | ||
| diff --git a/corelib/src/optimizer/OptimizerG2O.cpp b/corelib/src/optimizer/OptimizerG2O.cpp | ||
| index 405882e4b1..dfcfdb1f05 100644 | ||
| --- a/corelib/src/optimizer/OptimizerG2O.cpp | ||
| +++ b/corelib/src/optimizer/OptimizerG2O.cpp | ||
| @@ -1,4 +1,3 @@ | ||
| -/* | ||
| Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke | ||
| All rights reserved. | ||
|
|
||
| @@ -154,7 +153,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) : | ||
| if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET")) | ||
| { | ||
| #if defined(RTABMAP_G2O_CPP11) && RTABMAP_G2O_CPP11 == 1 | ||
| - g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", g2o::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >()); | ||
| + g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", std::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >()); | ||
| #else | ||
| g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>); | ||
| #endif | ||
| @@ -250,17 +249,17 @@ std::map<int, Transform> OptimizerG2O::optimize( | ||
| if(solver_ == 3) | ||
| { | ||
| //eigen | ||
| - auto linearSolver = g2o::make_unique<SlamLinearEigenSolver>(); | ||
| + auto linearSolver = std::make_unique<SlamLinearEigenSolver>(); | ||
| linearSolver->setBlockOrdering(false); | ||
| - blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| + blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| } | ||
| #ifdef G2O_HAVE_CHOLMOD | ||
| else if(solver_ == 2) | ||
| { | ||
| //chmold | ||
| - auto linearSolver = g2o::make_unique<SlamLinearCholmodSolver>(); | ||
| + auto linearSolver = std::make_unique<SlamLinearCholmodSolver>(); | ||
| linearSolver->setBlockOrdering(false); | ||
| - blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| + blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| } | ||
| #endif | ||
| #ifdef G2O_HAVE_CSPARSE | ||
| @@ -268,16 +267,16 @@ std::map<int, Transform> OptimizerG2O::optimize( | ||
| { | ||
|
|
||
| //csparse | ||
| - auto linearSolver = g2o::make_unique<SlamLinearCSparseSolver>(); | ||
| + auto linearSolver = std::make_unique<SlamLinearCSparseSolver>(); | ||
| linearSolver->setBlockOrdering(false); | ||
| - blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| + blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| } | ||
| #endif | ||
| else | ||
| { | ||
| //pcg | ||
| - auto linearSolver = g2o::make_unique<SlamLinearPCGSolver>(); | ||
| - blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| + auto linearSolver = std::make_unique<SlamLinearPCGSolver>(); | ||
| + blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver)); | ||
| } | ||
|
|
||
| if(optimizer_ == 1) | ||
| @@ -1427,7 +1426,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| //eigen | ||
| #ifdef RTABMAP_G2O_CPP11 | ||
| - linearSolver = g2o::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| + linearSolver = std::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| #else | ||
| linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>(); | ||
| #endif | ||
| @@ -1437,7 +1436,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| //chmold | ||
| #ifdef RTABMAP_G2O_CPP11 | ||
| - linearSolver = g2o::make_unique<g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| + linearSolver = std::make_unique<g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| #else | ||
| linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>(); | ||
| #endif | ||
| @@ -1448,7 +1447,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| //csparse | ||
| #ifdef RTABMAP_G2O_CPP11 | ||
| - linearSolver = g2o::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| + linearSolver = std::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| #else | ||
| linearSolver = new g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>(); | ||
| #endif | ||
| @@ -1458,7 +1457,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| //pcg | ||
| #ifdef RTABMAP_G2O_CPP11 | ||
| - linearSolver = g2o::make_unique<g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| + linearSolver = std::make_unique<g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType> >(); | ||
| #else | ||
| linearSolver = new g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType>(); | ||
| #endif | ||
| @@ -1470,7 +1469,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| #ifdef RTABMAP_G2O_CPP11 | ||
| optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton( | ||
| - g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver)))); | ||
| + std::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver)))); | ||
| #else | ||
| optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(new g2o::BlockSolver_6_3(linearSolver))); | ||
| #endif | ||
| @@ -1480,7 +1479,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA( | ||
| { | ||
| #if defined(RTABMAP_G2O_CPP11) && !defined(RTABMAP_ORB_SLAM) | ||
| optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg( | ||
| - g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver)))); | ||
| + std::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver)))); | ||
| #else | ||
| optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(new g2o::BlockSolver_6_3(linearSolver))); | ||
| #endif |
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