From 7ca513850782e82520993d3f1876a244ffb73bcf Mon Sep 17 00:00:00 2001 From: CoprDistGit Date: Mon, 6 Apr 2026 11:29:10 +0000 Subject: automatic import of rtabmap --- fix-gtsam42-vertigo-manifold-traits.patch | 26 ++++++++++++++++++++++++-- 1 file changed, 24 insertions(+), 2 deletions(-) (limited to 'fix-gtsam42-vertigo-manifold-traits.patch') 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 { + } + 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 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 { + } + 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 TangentVector; + static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other, + #if GTSAM_VERSION_NUMERIC >= 40300 + ChartJacobian Horigin = {}, ChartJacobian Hother = {}) { -- cgit v1.2.3