diff options
| -rw-r--r-- | fix-gtsam42-vertigo-manifold-traits.patch | 30 | ||||
| -rw-r--r-- | rtabmap.spec | 9 |
2 files changed, 38 insertions, 1 deletions
diff --git a/fix-gtsam42-vertigo-manifold-traits.patch b/fix-gtsam42-vertigo-manifold-traits.patch new file mode 100644 index 0000000..8d7f830 --- /dev/null +++ b/fix-gtsam42-vertigo-manifold-traits.patch @@ -0,0 +1,30 @@ +diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h +index e95e0b5..5131d04 100644 +--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h ++++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h +@@ -110,6 +110,10 @@ namespace gtsam { + // Define Key to be Testable by specializing gtsam::traits + template<typename T> struct traits; + template<> struct traits<vertigo::SwitchVariableLinear> { ++ typedef gtsam::manifold_tag structure_category; ++ enum { dimension = 1 }; ++ typedef vertigo::SwitchVariableLinear ManifoldType; ++ + static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") { + key.print(str); + } +diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h +index 79e1fca..059a372 100644 +--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h ++++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h +@@ -111,6 +111,10 @@ namespace gtsam { + // Define Key to be Testable by specializing gtsam::traits + template<typename T> struct traits; + template<> struct traits<vertigo::SwitchVariableSigmoid> { ++ typedef gtsam::manifold_tag structure_category; ++ enum { dimension = 1 }; ++ typedef vertigo::SwitchVariableSigmoid ManifoldType; ++ + static void Print(const vertigo::SwitchVariableSigmoid& key, const std::string& str = "") { + key.print(str); + } diff --git a/rtabmap.spec b/rtabmap.spec index fb2ca5c..e133430 100644 --- a/rtabmap.spec +++ b/rtabmap.spec @@ -11,7 +11,7 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 0.22.1 -Release: 1%{?dist}%{?release_suffix} +Release: 2%{?dist}%{?release_suffix} Summary: RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints. Url: http://introlab.github.io/rtabmap @@ -20,6 +20,7 @@ Source0: %{RosPkgName}-%{version}.tar.gz.aa Source1: %{RosPkgName}-%{version}.tar.gz.ab Source2: %{RosPkgName}-%{version}.tar.gz.ac Patch0: add-suitesparse-include.patch +Patch1: fix-gtsam42-vertigo-manifold-traits.patch Requires: ros-%{ros_distro}-cv-bridge @@ -132,5 +133,11 @@ else echo "RPM TESTS SKIPPED"; fi /opt/ros/%{ros_distro} %changelog +* Sun Apr 06 2026 openEuler ROS SIG - 0.22.1-2 +- Add fix-gtsam42-vertigo-manifold-traits.patch: add missing manifold traits + (structure_category, dimension, ManifoldType) to gtsam::traits specializations + for vertigo::SwitchVariableLinear and vertigo::SwitchVariableSigmoid, required + by GTSAM 4.2.0 IsManifold concept check in NoiseModel.h and Manifold.h + * Wed Mar 25 2026 Mathieu Labbe matlabbe@gmail.com - 0.22.1-1 - Autogenerated by ros-porting-tools |