From ac6787948e33587485acf7bd3b5f114095121738 Mon Sep 17 00:00:00 2001
From: Xiaohan Fei <hzhsfxh@gmail.com>
Date: Fri, 6 Sep 2019 01:17:32 -0700
Subject: [PATCH] bugfix: NULL optimizer instance ...

---
 CMakeLists.txt        | 5 +++--
 src/estimator.cpp     | 7 +++++++
 src/optimizer.cpp     | 1 +
 src/optimizer_types.h | 6 ++----
 4 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dbb03bfa..be9a5503 100644
--- 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
index e6abd947..25bf449e 100644
--- 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
index eb5e8611..2aecea2f 100644
--- 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
index 238b59ce..6444bb4b 100644
--- 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