diff options
| -rw-r--r-- | fix-gtsam42-vertigo-manifold-traits.patch | 26 | ||||
| -rw-r--r-- | rtabmap.spec | 12 |
2 files changed, 33 insertions, 5 deletions
diff --git a/fix-gtsam42-vertigo-manifold-traits.patch b/fix-gtsam42-vertigo-manifold-traits.patch index 8d7f830..12af8dc 100644 --- a/fix-gtsam42-vertigo-manifold-traits.patch +++ b/fix-gtsam42-vertigo-manifold-traits.patch @@ -1,5 +1,5 @@ diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h -index e95e0b5..5131d04 100644 +index e95e0b5..f40d4b2 100644 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h @@ -110,6 +110,10 @@ namespace gtsam { @@ -13,8 +13,19 @@ index e95e0b5..5131d04 100644 static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") { key.print(str); } +@@ -118,8 +122,8 @@ template<> struct traits<vertigo::SwitchVariableLinear> { + } + static int GetDimension(const vertigo::SwitchVariableLinear & key) {return key.Dim();} + +- typedef OptionalJacobian<3, 3> ChartJacobian; +- typedef gtsam::Vector TangentVector; ++ typedef OptionalJacobian<1, 1> ChartJacobian; ++ typedef Eigen::Matrix<double, 1, 1> TangentVector; + static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other, + #if GTSAM_VERSION_NUMERIC >= 40300 + ChartJacobian Horigin = {}, ChartJacobian Hother = {}) { diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h -index 79e1fca..059a372 100644 +index 79e1fca..237c7cd 100644 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h @@ -111,6 +111,10 @@ namespace gtsam { @@ -28,3 +39,14 @@ index 79e1fca..059a372 100644 static void Print(const vertigo::SwitchVariableSigmoid& key, const std::string& str = "") { key.print(str); } +@@ -119,8 +123,8 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> { + } + static int GetDimension(const vertigo::SwitchVariableSigmoid & key) {return key.Dim();} + +- typedef OptionalJacobian<3, 3> ChartJacobian; +- typedef gtsam::Vector TangentVector; ++ typedef OptionalJacobian<1, 1> ChartJacobian; ++ typedef Eigen::Matrix<double, 1, 1> TangentVector; + static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other, + #if GTSAM_VERSION_NUMERIC >= 40300 + ChartJacobian Horigin = {}, ChartJacobian Hother = {}) { diff --git a/rtabmap.spec b/rtabmap.spec index e133430..3b25100 100644 --- a/rtabmap.spec +++ b/rtabmap.spec @@ -11,7 +11,7 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 0.22.1 -Release: 2%{?dist}%{?release_suffix} +Release: 3%{?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 @@ -133,11 +133,17 @@ else echo "RPM TESTS SKIPPED"; fi /opt/ros/%{ros_distro} %changelog -* Sun Apr 06 2026 openEuler ROS SIG - 0.22.1-2 +* Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-3 +- Update fix-gtsam42-vertigo-manifold-traits.patch: also fix TangentVector + (gtsam::Vector -> Eigen::Matrix<double,1,1>) and ChartJacobian + (OptionalJacobian<3,3> -> OptionalJacobian<1,1>) to match dimension=1, + fixing static_assert(TangentVector::SizeAtCompileTime == dim) in Manifold.h + +* Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 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 +* Wed Mar 26 2026 Mathieu Labbe <matlabbe@gmail.com> - 0.22.1-1 - Autogenerated by ros-porting-tools |