From d245a62dce71d86540cfcaa273823d5bdd343246 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Tue, 14 May 2019 11:20:43 +0200
Subject: [PATCH] HOTFIX: addFeatureList
---
CMakeLists.txt | 16 +++++++---------
src/capture/capture_base.cpp | 4 ++--
src/map/map_base.cpp | 18 ++++++++++--------
test/gtest_capture_base.cpp | 2 +-
4 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dea914f14..75d015f9d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -195,8 +195,6 @@ ENDIF (SPDLOG_INCLUDE_DIR)
INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
include_directories("include")
-include_directories(.)
-# include_directories("templinks")
IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
ENDIF(Ceres_FOUND)
@@ -455,14 +453,14 @@ IF (Ceres_FOUND)
include/core/ceres_wrapper/ceres_manager.h
include/core/ceres_wrapper/cost_function_wrapper.h
include/core/ceres_wrapper/create_numeric_diff_cost_function.h
- include/core/ceres_wrapper/local_parametrization_wrapper.h
+ include/core/ceres_wrapper/local_parametrization_wrapper.h
include/core/solver/solver_manager.h
include/core/solver_suitesparse/sparse_utils.h
)
SET(SRCS_WRAPPER
#ceres_wrapper/qr_manager.cpp
src/ceres_wrapper/ceres_manager.cpp
- src/ceres_wrapper/local_parametrization_wrapper.cpp
+ src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
)
ELSE(Ceres_FOUND)
@@ -493,15 +491,15 @@ IF(YAMLCPP_FOUND)
src/yaml/sensor_odom_3D_yaml.cpp
)
ENDIF(YAMLCPP_FOUND)
-
+
# create the shared library
-ADD_LIBRARY(${PROJECT_NAME}
- SHARED
+ADD_LIBRARY(${PROJECT_NAME}
+ SHARED
${SRCS}
- ${SRCS_BASE}
+ ${SRCS_BASE}
${SRCS_CAPTURE}
${SRCS_COMMON}
- ${SRCS_DTASSC}
+ ${SRCS_DTASSC}
${SRCS_FACTOR}
${SRCS_FEATURE}
${SRCS_FRAME}
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index fef9c2ae9..78904aa8b 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -109,9 +109,9 @@ void CaptureBase::addFeatureList(FeatureBasePtrList& _new_ft_list)
feature_ptr->setCapture(shared_from_this());
if (getProblem() != nullptr)
feature_ptr->setProblem(getProblem());
- feature_list_.push_back(feature_ptr);
+ // feature_list_.push_back(feature_ptr);
}
-// feature_list_.splice(feature_list_.end(), _new_ft_list);
+ feature_list_.splice(feature_list_.end(), _new_ft_list);
}
void CaptureBase::getFactorList(FactorBasePtrList& _fac_list)
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 94041ad51..204fc7b8f 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -37,14 +37,16 @@ void MapBase::addLandmarkList(LandmarkBasePtrList& _landmark_list)
{
for (auto lmk : _landmark_list)
addLandmark(lmk);
-// LandmarkBasePtrList lmk_list_copy = _landmark_list; //since _landmark_list will be empty after addDownNodeList()
-// for (LandmarkBasePtr landmark_ptr : lmk_list_copy)
-// {
-// landmark_ptr->setMapPtr(shared_from_this());
-// landmark_ptr->setProblem(getProblem());
-// landmark_ptr->registerNewStateBlocks();
-// }
-// landmark_list_.splice(landmark_list_.end(), _landmark_list);
+
+ //TEMPORARY FIX, should be made compliant with the new emplace methodology
+ LandmarkBasePtrList lmk_list_copy = _landmark_list; //since _landmark_list will be empty after addDownNodeList()
+ for (LandmarkBasePtr landmark_ptr : lmk_list_copy)
+ {
+ landmark_ptr->setMap(shared_from_this());
+ landmark_ptr->setProblem(getProblem());
+ landmark_ptr->registerNewStateBlocks();
+ }
+ landmark_list_.splice(landmark_list_.end(), _landmark_list);
}
void MapBase::load(const std::string& _map_file_dot_yaml)
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index e52b5497c..8bb84231d 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -99,7 +99,7 @@ TEST(CaptureBase, addFeatureList)
C->addFeatureList((fl));
ASSERT_EQ(C->getFeatureList().size(), (unsigned int) 4);
-// ASSERT_EQ(fl.size(), (unsigned int) 0); // features have been moved, not copied // EDIT 02-2019: features have been copied
+ ASSERT_EQ(fl.size(), (unsigned int) 0); // features have been moved, not copied // EDIT 02-2019: features have been copied
ASSERT_EQ(C->getFeatureList().front(), f_first);
ASSERT_EQ(C->getFeatureList().back(), f_last);
}
--
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