Merge pull request #1425 from borglab/fixes

borglab · Jan 29, 2023 · f09546f · f09546f
2 parents 006a7c7 + efeafd7
commit f09546f
Show file tree

Hide file tree

Showing 5 changed files with 24 additions and 17 deletions.
diff --git a/cmake/GtsamPrinting.cmake b/cmake/GtsamPrinting.cmake
@@ -51,11 +51,10 @@ function(print_build_options_for_target target_name_)
   # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
   print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
 
-  foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
-    string(TOUPPER "${build_type}" build_type_toupper)
-    # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
-    print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
-    # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
-    print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
-  endforeach()
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" build_type_toupper)
+  # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
+  print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
+  # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
+  print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
+
 endfunction()
diff --git a/cmake/HandleTBB.cmake b/cmake/HandleTBB.cmake
@@ -7,10 +7,6 @@ if (GTSAM_WITH_TBB)
     if(TBB_FOUND)
         set(GTSAM_USE_TBB 1)  # This will go into config.h
 
-#        if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
-#            message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
-#        endif()
-
         if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
             set(TBB_GREATER_EQUAL_2020 1)
         else()

diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp
@@ -206,11 +206,11 @@ Values InitializePose3::computeOrientationsGradient(
   // Return correct rotations
   const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
   Values estimateRot;
-    for (const auto& key_R : inverseRot) {
+  for (const auto& key_R : inverseRot) {
     const Key& key = key_R.first;
     if (key != initialize::kAnchorKey) {
       const Rot3& R = key_R.second;
-      if(setRefFrame)
+      if (setRefFrame)
         estimateRot.insert(key, Rref.compose(R.inverse()));
       else
         estimateRot.insert(key, R.inverse());

diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
@@ -234,8 +234,11 @@ int main(int argc, char** argv) {
         }
       }
       countK = 0;
-      for (const auto& [key, point] : result.extract<Point2>())
+      for (const auto& key_point : result.extract<Point2>()) {
+        auto key = key_point.first;
+        const Point2 point = key_point.second;
         os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
+      }
       if (smart) {
         for(size_t jj: ids) {
           Point2 landmark = smartFactors[jj]->triangulate(result);
@@ -256,8 +259,11 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os("rangeResult.txt");
-  for (const auto& [key, pose] : result.extract<Pose2>())
+  for (const auto& key_pose : result.extract<Pose2>()) {
+    auto key = key_pose.first;
+    const Pose2 pose = key_pose.second;
     os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
+  }
   exit(0);
 }
 
diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
@@ -202,11 +202,17 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os2("rangeResultLM.txt");
-  for (const auto& [key, point] : result.extract<Point2>())
+  for (const auto& key_point : result.extract<Point2>()) {
+    auto key = key_point.first;
+    const Point2 point = key_point.second;
     os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
+  }
   ofstream os("rangeResult.txt");
-  for (const auto& [key, pose] : result.extract<Pose2>())
+  for (const auto& key_pose : result.extract<Pose2>()) {
+    auto key = key_pose.first;
+    const Pose2 pose = key_pose.second;
     os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
+  }
   exit(0);
 }