Rainer/export classes

g2o/core/sparse_block_matrix.hpp

@@ -26,6 +26,8 @@
 
 #include <cassert>
 
+#include "g2o/core/eigen_types.h"
+
 namespace g2o {
 
 template <class MatrixType>
@@ -364,15 +366,15 @@ void SparseBlockMatrix<MatrixType>::scale(double a_) {
 template <class MatrixType>
 SparseBlockMatrix<MatrixType>* SparseBlockMatrix<MatrixType>::slice(
     int rmin, int rmax, int cmin, int cmax, bool alloc) const {
-  int m = rmax - rmin;
-  int n = cmax - cmin;
-  int rowIdx[m];
+  const int m = rmax - rmin;
+  const int n = cmax - cmin;
+  VectorX rowIdx(m);
   rowIdx[0] = rowsOfBlock(rmin);
   for (int i = 1; i < m; ++i) {
     rowIdx[i] = rowIdx[i - 1] + rowsOfBlock(rmin + i);
   }
 
-  int colIdx[n];
+  VectorX colIdx(n);
   colIdx[0] = colsOfBlock(cmin);
   for (int i = 1; i < n; ++i) {
     colIdx[i] = colIdx[i - 1] + colsOfBlock(cmin + i);

g2o/examples/interactive_slam/g2o_incremental/graph_optimizer_sparse_incremental.cpp

@@ -46,9 +46,9 @@ std::unique_ptr<g2o::Solver> AllocateCholmodSolver() {
  * \brief backing up some information about the vertex
  */
 struct VertexBackup {
-  int hessianIndex;
-  OptimizableGraph::Vertex* vertex;
-  double* hessianData;
+  int hessianIndex = 0;
+  OptimizableGraph::Vertex* vertex = nullptr;
+  double* hessianData = nullptr;
   bool operator<(const VertexBackup& other) const {
     return hessianIndex < other.hessianIndex;
   }
@@ -235,12 +235,7 @@ bool SparseOptimizerIncremental::updateInitialization(
   // cerr << "updating index mapping done." << endl;
 
   // backup the tempindex and prepare sorting structure
-#ifdef _MSC_VER
-  VertexBackup* backupIdx = new VertexBackup[_touchedVertices.size()];
-#else
-  VertexBackup backupIdx[_touchedVertices.size()];
-#endif
-  memset(backupIdx, 0, sizeof(VertexBackup) * _touchedVertices.size());
+  std::vector<VertexBackup> backupIdx(_touchedVertices.size());
   int idx = 0;
   for (HyperGraph::VertexSet::iterator it = _touchedVertices.begin();
        it != _touchedVertices.end(); ++it) {
@@ -250,10 +245,8 @@ bool SparseOptimizerIncremental::updateInitialization(
     backupIdx[idx].hessianData = v->hessianData();
     ++idx;
   }
-  sort(backupIdx,
-       backupIdx +
-           _touchedVertices
-               .size());  // sort according to the hessianIndex which is the
+  sort(backupIdx.begin(),
+       backupIdx.end());  // sort according to the hessianIndex which is the
                           // same order as used later by the optimizer
   for (int i = 0; i < idx; ++i) {
     backupIdx[i].vertex->setHessianIndex(i);
@@ -380,9 +373,6 @@ bool SparseOptimizerIncremental::updateInitialization(
     }
   }
   cholmod_free_sparse(&updateAsSparseFactor, &_cholmodCommon);
-#ifdef _MSC_VER
-  delete[] backupIdx;
-#endif
 
 #if 0
     cholmod_sparse* updatePermuted = cholmod_triplet_to_sparse(_permutedUpdate, _permutedUpdate->nnz, &_cholmodCommon);

g2o/solvers/structure_only/structure_only_solver.h

@@ -118,11 +118,7 @@ class StructureOnlySolver : public OptimizationAlgorithm {
                 dynamic_cast<g2o::OptimizableGraph::Edge*>(*it_t);
 
             // fix all the other vertices and remember their fix value
-#ifdef WINDOWS
             std::vector<bool> remember_fix_status(e->vertices().size());
-#else
-            bool remember_fix_status[e->vertices().size()];
-#endif
             for (size_t k = 0; k < e->vertices().size(); ++k) {
               OptimizableGraph::Vertex* otherV =
                   static_cast<OptimizableGraph::Vertex*>(e->vertex(k));

g2o/types/slam2d_addons/edge_line2d.cpp

@@ -26,13 +26,7 @@
 
 #include "edge_line2d.h"
 
-#ifdef G2O_HAVE_OPENGL
-#include "g2o/stuff/opengl_primitives.h"
-#include "g2o/stuff/opengl_wrapper.h"
-#endif
-
-using namespace g2o;
-using namespace Eigen;
+namespace g2o {
 
 EdgeLine2D::EdgeLine2D()
     : BaseBinaryEdge<2, Line2D, VertexLine2D, VertexLine2D>() {
@@ -56,3 +50,5 @@ void EdgeLine2D::linearizeOplus() {
   _jacobianOplusXj = Matrix2::Identity();
 }
 #endif
+
+}  // namespace g2o

g2o/types/slam2d_addons/edge_line2d.h

@@ -27,9 +27,8 @@
 #ifndef G2O_EDGE_LINE2D_H
 #define G2O_EDGE_LINE2D_H
 
-#include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
-#include "types_slam2d_addons.h"
+#include "g2o_types_slam2d_addons_api.h"
 #include "vertex_line2d.h"
 
 namespace g2o {

g2o/types/slam2d_addons/edge_line2d_pointxy.h

@@ -37,14 +37,9 @@
 namespace g2o {
 
 class EdgeLine2DPointXY
-    : public BaseBinaryEdge<1, double, VertexLine2D,
-                            VertexPointXY>  // Avoid redefinition of BaseEdge in
-                                            // MSVC
-{
+    : public BaseBinaryEdge<1, double, VertexLine2D, VertexPointXY> {
  public:
-  G2O_TYPES_SLAM2D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-      G2O_TYPES_SLAM2D_ADDONS_API
-      EdgeLine2DPointXY();
+  G2O_TYPES_SLAM2D_ADDONS_API EdgeLine2DPointXY();
 
   G2O_TYPES_SLAM2D_ADDONS_API void computeError() {
     const VertexLine2D* l = static_cast<const VertexLine2D*>(_vertices[0]);

g2o/types/slam2d_addons/edge_se2_line2d.h

@@ -27,7 +27,6 @@
 #ifndef G2O_EDGE_SE2_LINE2D_H
 #define G2O_EDGE_SE2_LINE2D_H
 
-#include "g2o/config.h"
 #include "g2o/core/base_binary_edge.h"
 #include "g2o/stuff/misc.h"
 #include "g2o/types/slam2d/vertex_se2.h"

g2o/types/slam2d_addons/edge_se2_segment2d.h

@@ -36,14 +36,9 @@
 namespace g2o {
 
 class EdgeSE2Segment2D
-    : public BaseBinaryEdge<4, Vector4, VertexSE2,
-                            VertexSegment2D>  // Avoid redefinition of BaseEdge
-                                              // in MSVC
-{
+    : public BaseBinaryEdge<4, Vector4, VertexSE2, VertexSegment2D> {
  public:
-  G2O_TYPES_SLAM2D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-      G2O_TYPES_SLAM2D_ADDONS_API
-      EdgeSE2Segment2D();
+  G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2D();
 
   G2O_TYPES_SLAM2D_ADDONS_API Vector2 measurementP1() {
     return Eigen::Map<const Vector2>(&(_measurement[0]));

g2o/types/slam2d_addons/edge_se2_segment2d_line.h

@@ -36,14 +36,9 @@
 namespace g2o {
 
 class EdgeSE2Segment2DLine
-    : public BaseBinaryEdge<2, Vector2, VertexSE2,
-                            VertexSegment2D>  // Avoid redefinition of BaseEdge
-                                              // in MSVC
-{
+    : public BaseBinaryEdge<2, Vector2, VertexSE2, VertexSegment2D> {
  public:
-  G2O_TYPES_SLAM2D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-      G2O_TYPES_SLAM2D_ADDONS_API
-      EdgeSE2Segment2DLine();
+  G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2DLine();
 
   G2O_TYPES_SLAM2D_ADDONS_API double theta() const { return _measurement[0]; }
   G2O_TYPES_SLAM2D_ADDONS_API double rho() const { return _measurement[1]; }
@@ -102,32 +97,8 @@ class EdgeSE2Segment2DLine
 
   G2O_TYPES_SLAM2D_ADDONS_API virtual bool read(std::istream& is);
   G2O_TYPES_SLAM2D_ADDONS_API virtual bool write(std::ostream& os) const;
-
-  /* #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES */
-  /*       virtual void linearizeOplus(); */
-  /* #endif */
 };
 
-/*   class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2DLineWriteGnuplotAction:
- * public WriteGnuplotAction { */
-/*   public: */
-/*     EdgeSE2Segment2DLineWriteGnuplotAction(); */
-/*     virtual HyperGraphElementAction*
- * operator()(HyperGraph::HyperGraphElement* element,  */
-/*             HyperGraphElementAction::Parameters* params_); */
-/*   }; */
-
-/* #ifdef G2O_HAVE_OPENGL */
-/*   class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2DLineDrawAction: public
- * DrawAction{ */
-/*   public: */
-/*     EdgeSE2Segment2DLineDrawAction(); */
-/*     virtual HyperGraphElementAction*
- * operator()(HyperGraph::HyperGraphElement* element,  */
-/*             HyperGraphElementAction::Parameters* params_); */
-/*   }; */
-/* #endif */
-
 }  // namespace g2o
 
 #endif

g2o/types/slam2d_addons/vertex_line2d.cpp

@@ -26,6 +26,8 @@
 
 #include "vertex_line2d.h"
 
+#include "g2o/types/slam2d/vertex_point_xy.h"
+
 #ifdef G2O_HAVE_OPENGL
 #include "g2o/stuff/opengl_wrapper.h"
 #endif

g2o/types/slam2d_addons/vertex_line2d.h

@@ -31,7 +31,6 @@
 #include "g2o/core/base_vertex.h"
 #include "g2o/core/hyper_graph_action.h"
 #include "g2o/stuff/misc.h"
-#include "g2o/types/slam2d/vertex_point_xy.h"
 #include "g2o_types_slam2d_addons_api.h"
 #include "line_2d.h"
 

g2o/types/slam3d_addons/edge_se3_calib.h

@@ -42,9 +42,7 @@ class EdgeSE3Calib
                                                   // BaseEdge in MSVC
 {
  public:
-  G2O_TYPES_SLAM3D_ADDONS_API EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-      G2O_TYPES_SLAM3D_ADDONS_API
-      EdgeSE3Calib();
+  G2O_TYPES_SLAM3D_ADDONS_API EdgeSE3Calib();
 
   G2O_TYPES_SLAM3D_ADDONS_API void computeError();
   G2O_TYPES_SLAM3D_ADDONS_API virtual bool read(std::istream& is);