Remove g2o::SE3Quat from interfaces (#511)

stella-cv · Jun 25, 2023 · c129558 · c129558
1 parent b73577f
commit c129558
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Showing 5 changed files with 1 addition and 21 deletions.
diff --git a/src/stella_vslam/data/frame.cc b/src/stella_vslam/data/frame.cc
@@ -31,10 +31,6 @@ void frame::set_pose_cw(const Mat44_t& pose_cw) {
     trans_wc_ = -rot_cw_.transpose() * trans_cw_;
 }
 
-void frame::set_pose_cw(const g2o::SE3Quat& pose_cw) {
-    set_pose_cw(util::converter::to_eigen_mat(pose_cw));
-}
-
 Mat44_t frame::get_pose_cw() const {
     return pose_cw_;
 }

diff --git a/src/stella_vslam/data/frame.h b/src/stella_vslam/data/frame.h
@@ -59,12 +59,6 @@ class frame {
      */
     void set_pose_cw(const Mat44_t& pose_cw);
 
-    /**
-     * Set camera pose and refresh rotation and translation
-     * @param pose_cw
-     */
-    void set_pose_cw(const g2o::SE3Quat& pose_cw);
-
     /**
      * Get camera pose
      */

diff --git a/src/stella_vslam/data/keyframe.cc b/src/stella_vslam/data/keyframe.cc
@@ -258,10 +258,6 @@ void keyframe::set_pose_cw(const Mat44_t& pose_cw) {
     pose_wc_.block<3, 1>(0, 3) = trans_wc_;
 }
 
-void keyframe::set_pose_cw(const g2o::SE3Quat& pose_cw) {
-    set_pose_cw(util::converter::to_eigen_mat(pose_cw));
-}
-
 Mat44_t keyframe::get_pose_cw() const {
     std::lock_guard<std::mutex> lock(mtx_pose_);
     return pose_cw_;

diff --git a/src/stella_vslam/data/keyframe.h b/src/stella_vslam/data/keyframe.h
@@ -15,7 +15,6 @@
 #include <atomic>
 #include <memory>
 
-#include <g2o/types/sba/types_six_dof_expmap.h>
 #include <nlohmann/json_fwd.hpp>
 #include <sqlite3.h>
 
@@ -107,11 +106,6 @@ class keyframe : public std::enable_shared_from_this<keyframe> {
      */
     void set_pose_cw(const Mat44_t& pose_cw);
 
-    /**
-     * Set camera pose
-     */
-    void set_pose_cw(const g2o::SE3Quat& pose_cw);
-
     /**
      * Get the camera pose
      */

diff --git a/src/stella_vslam/optimize/local_bundle_adjuster_g2o.cc b/src/stella_vslam/optimize/local_bundle_adjuster_g2o.cc
@@ -379,7 +379,7 @@ void local_bundle_adjuster_g2o::optimize(data::map_database* map_db,
             const auto& local_keyfrm = id_local_keyfrm_pair.second;
 
             auto keyfrm_vtx = keyfrm_vtx_container.get_vertex(local_keyfrm);
-            local_keyfrm->set_pose_cw(keyfrm_vtx->estimate());
+            local_keyfrm->set_pose_cw(util::converter::to_eigen_mat(keyfrm_vtx->estimate()));
         }
 
         for (const auto& id_local_lm_pair : local_lms) {