bugfix: NULL optimizer instance ...

tekrajchhetri · Sep 6, 2019 · ac67879 · ac67879
1 parent 19e071f
commit ac67879
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Showing 4 changed files with 13 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -18,9 +18,9 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -funroll-loops")
 
-set(CMAKE_BUILD_TYPE "Debug")
+# set(CMAKE_BUILD_TYPE "Debug")
 # set(CMAKE_BUILD_TYPE "RelWithDebInfo")
-# set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "Release")
 add_definitions(-DNDEBUG)
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
@@ -55,6 +55,7 @@ include_directories(
         ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/include
         ${PROJECT_SOURCE_DIR}/thirdparty/eigen-3.3.7/include/eigen3
         ${PROJECT_SOURCE_DIR}/thirdparty/gperftools/include
+        # ${PROJECT_SOURCE_DIR}/thirdparty/abseil-cpp
 
         ${PROJECT_SOURCE_DIR}/thirdparty/pybind11/include
         ${JSONCPP_INCLUDE_DIRS}

diff --git a/src/estimator.cpp b/src/estimator.cpp
@@ -15,6 +15,10 @@
 #include "param.h"
 #include "tracker.h"
 
+#ifdef USE_G2O
+#include "optimizer.h"
+#endif
+
 namespace xivo {
 
 static const Mat3 I3{Mat3::Identity()};
@@ -291,6 +295,9 @@ Estimator::Estimator(const Json::Value &cfg)
   // Initialize the visibility graph
   // /////////////////////////////
   Graph::Create();
+#ifdef USE_G2O
+  Optimizer::Create(cfg_["optimizer"]);
+#endif
 
   // /////////////////////////////
   // Load initial std on feature state

diff --git a/src/optimizer.cpp b/src/optimizer.cpp
@@ -22,6 +22,7 @@ OptimizerPtr Optimizer::Create(const Json::Value &cfg) {
 } 
 
 OptimizerPtr Optimizer::instance() {
+  CHECK(instance_ != nullptr);
   return instance_.get();
 }
 

diff --git a/src/optimizer_types.h b/src/optimizer_types.h
@@ -116,10 +116,8 @@ struct GroupAdapter {
 };
 
 using ObsAdapterG = std::tuple<GroupAdapter, Vec2, Mat2>;
-using VectorObsAdapterG = std::vector<ObsAdapterG, 
-      Eigen::aligned_allocator<ObsAdapterG>>;
+using VectorObsAdapterG = std::vector<ObsAdapterG>;
 using ObsAdapterF = std::tuple<FeatureAdapter, Vec2, Mat2>;
-using VectorObsAdapterF = std::vector<ObsAdapterF,
-      Eigen::aligned_allocator<ObsAdapterF>>;
+using VectorObsAdapterF = std::vector<ObsAdapterF>;
 
 } // namespace xivo
-Original file line number
+Diff line change
@@ Expand Up / @@ -22,6 +22,7 @@ OptimizerPtr Optimizer::Create(const Json::Value &cfg) { @@
     }
     OptimizerPtr Optimizer::instance() {
+      CHECK(instance_ != nullptr);
       return instance_.get();
     }
@@ Expand Down @@