Support latest g2o (#514)

* Replace numbet_t with double * Replace g2o::make_unique with stella_vslam::make_unique
stella-cv · Jul 1, 2023 · 655fbae · 655fbae
1 parent c129558
commit 655fbae
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Showing 9 changed files with 20 additions and 20 deletions.
diff --git a/src/stella_vslam/optimize/global_bundle_adjuster.cc b/src/stella_vslam/optimize/global_bundle_adjuster.cc
@@ -37,8 +37,8 @@ void optimize_impl(g2o::SparseOptimizer& optimizer,
     // 2. Construct an optimizer
 
     std::unique_ptr<g2o::BlockSolverBase> block_solver;
-    auto linear_solver = g2o::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>>();
-    block_solver = g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
+    auto linear_solver = stella_vslam::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>>();
+    block_solver = stella_vslam::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
     auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
 
     optimizer.setAlgorithm(algorithm);

diff --git a/src/stella_vslam/optimize/graph_optimizer.cc b/src/stella_vslam/optimize/graph_optimizer.cc
@@ -29,8 +29,8 @@ void graph_optimizer::optimize(const std::shared_ptr<data::keyframe>& loop_keyfr
                                std::unordered_map<unsigned int, unsigned int>& found_lm_to_ref_keyfrm_id) const {
     // 1. Construct an optimizer
 
-    auto linear_solver = g2o::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_7_3::PoseMatrixType>>();
-    auto block_solver = g2o::make_unique<g2o::BlockSolver_7_3>(std::move(linear_solver));
+    auto linear_solver = stella_vslam::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_7_3::PoseMatrixType>>();
+    auto block_solver = stella_vslam::make_unique<g2o::BlockSolver_7_3>(std::move(linear_solver));
     auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
 
     g2o::SparseOptimizer optimizer;

diff --git a/src/stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h b/src/stella_vslam/optimize/internal/se3/perspective_pose_opt_edge.h
@@ -32,7 +32,7 @@ class mono_perspective_pose_opt_edge final : public g2o::BaseUnaryEdge<2, Vec2_t
     Vec2_t cam_project(const Vec3_t& pos_c) const;
 
     Vec3_t pos_w_;
-    number_t fx_, fy_, cx_, cy_;
+    double fx_, fy_, cx_, cy_;
 };
 
 inline mono_perspective_pose_opt_edge::mono_perspective_pose_opt_edge()
@@ -124,7 +124,7 @@ class stereo_perspective_pose_opt_edge : public g2o::BaseUnaryEdge<3, Vec3_t, sh
     Vec3_t cam_project(const Vec3_t& pos_c) const;
 
     Vec3_t pos_w_;
-    number_t fx_, fy_, cx_, cy_, focal_x_baseline_;
+    double fx_, fy_, cx_, cy_, focal_x_baseline_;
 };
 
 inline stereo_perspective_pose_opt_edge::stereo_perspective_pose_opt_edge()

diff --git a/src/stella_vslam/optimize/internal/se3/shot_vertex.h b/src/stella_vslam/optimize/internal/se3/shot_vertex.h
@@ -23,7 +23,7 @@ class shot_vertex final : public g2o::BaseVertex<6, g2o::SE3Quat> {
 
     void setToOriginImpl() override;
 
-    void oplusImpl(const number_t* update_) override;
+    void oplusImpl(const double* update_) override;
 };
 
 inline shot_vertex::shot_vertex()
@@ -52,7 +52,7 @@ inline void shot_vertex::setToOriginImpl() {
     _estimate = g2o::SE3Quat();
 }
 
-inline void shot_vertex::oplusImpl(const number_t* update_) {
+inline void shot_vertex::oplusImpl(const double* update_) {
     Eigen::Map<const Vec6_t> update(update_);
     setEstimate(g2o::SE3Quat::exp(update) * estimate());
 }

diff --git a/src/stella_vslam/optimize/internal/sim3/shot_vertex.h b/src/stella_vslam/optimize/internal/sim3/shot_vertex.h
@@ -23,7 +23,7 @@ class shot_vertex final : public g2o::BaseVertex<7, g2o::Sim3> {
 
     void setToOriginImpl() override;
 
-    void oplusImpl(const number_t* update_) override;
+    void oplusImpl(const double* update_) override;
 
     bool fix_scale_;
 };
@@ -53,8 +53,8 @@ inline void shot_vertex::setToOriginImpl() {
     _estimate = g2o::Sim3();
 }
 
-inline void shot_vertex::oplusImpl(const number_t* update_) {
-    Eigen::Map<Vec7_t> update(const_cast<number_t*>(update_));
+inline void shot_vertex::oplusImpl(const double* update_) {
+    Eigen::Map<Vec7_t> update(const_cast<double*>(update_));
 
     if (fix_scale_) {
         update(6) = 0;

diff --git a/src/stella_vslam/optimize/internal/sim3/transform_vertex.h b/src/stella_vslam/optimize/internal/sim3/transform_vertex.h
@@ -23,7 +23,7 @@ class transform_vertex final : public g2o::BaseVertex<7, g2o::Sim3> {
 
     void setToOriginImpl() override;
 
-    void oplusImpl(const number_t* update_) override;
+    void oplusImpl(const double* update_) override;
 
     bool fix_scale_;
 
@@ -58,8 +58,8 @@ inline void transform_vertex::setToOriginImpl() {
     _estimate = g2o::Sim3();
 }
 
-inline void transform_vertex::oplusImpl(const number_t* update_) {
-    Eigen::Map<Vec7_t> update(const_cast<number_t*>(update_));
+inline void transform_vertex::oplusImpl(const double* update_) {
+    Eigen::Map<Vec7_t> update(const_cast<double*>(update_));
 
     if (fix_scale_) {
         update(6) = 0;

diff --git a/src/stella_vslam/optimize/local_bundle_adjuster_g2o.cc b/src/stella_vslam/optimize/local_bundle_adjuster_g2o.cc
@@ -149,8 +149,8 @@ void local_bundle_adjuster_g2o::optimize(data::map_database* map_db,
     // 2. Construct an optimizer
 
     std::unique_ptr<g2o::BlockSolverBase> block_solver;
-    auto linear_solver = g2o::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>>();
-    block_solver = g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
+    auto linear_solver = stella_vslam::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>>();
+    block_solver = stella_vslam::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
     auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
 
     g2o::SparseOptimizer optimizer;

diff --git a/src/stella_vslam/optimize/pose_optimizer_g2o.cc b/src/stella_vslam/optimize/pose_optimizer_g2o.cc
@@ -43,8 +43,8 @@ unsigned int pose_optimizer_g2o::optimize(const Mat44_t& cam_pose_cw, const data
                                           std::vector<bool>& outlier_flags) const {
     // 1. Construct an optimizer
 
-    auto linear_solver = g2o::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>>();
-    auto block_solver = g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
+    auto linear_solver = stella_vslam::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>>();
+    auto block_solver = stella_vslam::make_unique<g2o::BlockSolver_6_3>(std::move(linear_solver));
     auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
 
     g2o::SparseOptimizer optimizer;

diff --git a/src/stella_vslam/optimize/transform_optimizer.cc b/src/stella_vslam/optimize/transform_optimizer.cc
@@ -24,8 +24,8 @@ unsigned int transform_optimizer::optimize(const std::shared_ptr<data::keyframe>
 
     // 1. Construct an optimizer
 
-    auto linear_solver = g2o::make_unique<g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
-    auto block_solver = g2o::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
+    auto linear_solver = stella_vslam::make_unique<g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
+    auto block_solver = stella_vslam::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
     auto algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(block_solver));
 
     g2o::SparseOptimizer optimizer;