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Merge pull request #1425 from borglab/fixes

release/4.3a0
Frank Dellaert 2023-01-28 16:24:21 -08:00 committed by GitHub
parent 006a7c7752 efeafd74b0
commit f09546f134
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 24 additions and 17 deletions
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13
cmake/GtsamPrinting.cmake
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@ -51,11 +51,10 @@ function(print_build_options_for_target target_name_)
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE) # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC) print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES}) string(TOUPPER "${CMAKE_BUILD_TYPE}" build_type_toupper)
string(TOUPPER "${build_type}" build_type_toupper) # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
# print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper}) print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper}) # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper}) print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
endforeach()
endfunction() endfunction()

4
cmake/HandleTBB.cmake
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@ -7,10 +7,6 @@ if (GTSAM_WITH_TBB)
if(TBB_FOUND) if(TBB_FOUND)
set(GTSAM_USE_TBB 1) # This will go into config.h set(GTSAM_USE_TBB 1) # This will go into config.h
# if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
# message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
# endif()
if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
set(TBB_GREATER_EQUAL_2020 1) set(TBB_GREATER_EQUAL_2020 1)
else() else()

4
gtsam/slam/InitializePose3.cpp
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@ -206,11 +206,11 @@ Values InitializePose3::computeOrientationsGradient(
// Return correct rotations // Return correct rotations
const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
Values estimateRot; Values estimateRot;
for (const auto& key_R : inverseRot) { for (const auto& key_R : inverseRot) {
const Key& key = key_R.first; const Key& key = key_R.first;
if (key != initialize::kAnchorKey) { if (key != initialize::kAnchorKey) {
const Rot3& R = key_R.second; const Rot3& R = key_R.second;
if(setRefFrame) if (setRefFrame)
estimateRot.insert(key, Rref.compose(R.inverse())); estimateRot.insert(key, Rref.compose(R.inverse()));
else else
estimateRot.insert(key, R.inverse()); estimateRot.insert(key, R.inverse());

10
gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
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@ -234,8 +234,11 @@ int main(int argc, char** argv) {
} }
} }
countK = 0; countK = 0;
for (const auto& [key, point] : result.extract<Point2>()) for (const auto& key_point : result.extract<Point2>()) {
auto key = key_point.first;
const Point2 point = key_point.second;
os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl; os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
}
if (smart) { if (smart) {
for(size_t jj: ids) { for(size_t jj: ids) {
Point2 landmark = smartFactors[jj]->triangulate(result); Point2 landmark = smartFactors[jj]->triangulate(result);
@ -256,8 +259,11 @@ int main(int argc, char** argv) {
// Write result to file // Write result to file
Values result = isam.calculateEstimate(); Values result = isam.calculateEstimate();
ofstream os("rangeResult.txt"); ofstream os("rangeResult.txt");
for (const auto& [key, pose] : result.extract<Pose2>()) for (const auto& key_pose : result.extract<Pose2>()) {
auto key = key_pose.first;
const Pose2 pose = key_pose.second;
os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl; os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
}
exit(0); exit(0);
} }

10
gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
View File

@ -202,11 +202,17 @@ int main(int argc, char** argv) {
// Write result to file // Write result to file
Values result = isam.calculateEstimate(); Values result = isam.calculateEstimate();
ofstream os2("rangeResultLM.txt"); ofstream os2("rangeResultLM.txt");
for (const auto& [key, point] : result.extract<Point2>()) for (const auto& key_point : result.extract<Point2>()) {
auto key = key_point.first;
const Point2 point = key_point.second;
os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl; os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
}
ofstream os("rangeResult.txt"); ofstream os("rangeResult.txt");
for (const auto& [key, pose] : result.extract<Pose2>()) for (const auto& key_pose : result.extract<Pose2>()) {
auto key = key_pose.first;
const Pose2 pose = key_pose.second;
os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl; os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
}
exit(0); exit(0);
} }