Rework parameter/residual block handling in Ceres solver

- Use a boost::bimap for node id <-> parameter block lookup - Use a boost::pool for parameter block allocation - Change Karto::Solver graph getter signature Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
SteveMacenski · Apr 4, 2022 · 1041a52 · 1041a52
1 parent c119840
commit 1041a52
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diff --git a/slam_toolbox/lib/karto_sdk/include/karto_sdk/Mapper.h b/slam_toolbox/lib/karto_sdk/include/karto_sdk/Mapper.h
@@ -1072,10 +1072,10 @@ namespace karto
     /**
      * Get graph stored
      */
-    virtual std::unordered_map<int, Eigen::Vector3d>* getGraph()
+    virtual std::unordered_map<int, Eigen::Map<Eigen::Vector3d>> GetGraph()
     {
       std::cout << "getGraph method not implemented for this solver type. Graph visualization unavailable." << std::endl;
-      return nullptr;
+      return {};
     }
 
     /**