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Rainer/851 #852

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merged 2 commits into from
Dec 14, 2024
Merged

Rainer/851 #852

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521843a
Fix adding edge with broken parameters
RainerKuemmerle Dec 14, 2024
eabd95d
Add test for adding edge without parameter
RainerKuemmerle Dec 14, 2024
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18 changes: 10 additions & 8 deletions g2o/core/optimizable_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -135,15 +135,17 @@
for (size_t i = 0; i < _parameters.size(); i++) {
int index = _parameterIds[i];
*_parameters[i] = graph()->parameter(index);
if (!*_parameters[i]) {
G2O_CRITICAL(
"parameter {} is NULL. Check setParameterId() calls for the edge.",
i);
return false;
}
auto& aux = **_parameters[i];
if (typeid(aux).name() != _parameterTypes[i]) {
G2O_CRITICAL("parameter type mismatch - encountered {}; should be {}",
typeid(aux).name(), _parameterTypes[i]);
}
if (!*_parameters[i]) {
G2O_CRITICAL("*_parameters[i] == 0");
return false;
}
}
return true;
}
Expand Down Expand Up @@ -228,12 +230,12 @@
e->_internalId = _nextEdgeId++;
if (e->numUndefinedVertices()) return true;
if (!e->resolveParameters()) {
G2O_ERROR("{}: FATAL, cannot resolve parameters for edge {}",
G2O_ERROR("FATAL, cannot resolve parameters for edge {}",
static_cast<void*>(e));
return false;
}
if (!e->resolveCaches()) {
G2O_ERROR("{}: FATAL, cannot resolve caches for edge {}",
G2O_ERROR("FATAL, cannot resolve caches for edge {}",

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g2o/core/optimizable_graph.cpp#L238 

Added line #L238 was not covered by tests
static_cast<void*>(e));
return false;
}
Expand Down Expand Up @@ -263,12 +265,12 @@
OptimizableGraph::Edge* ee = static_cast<OptimizableGraph::Edge*>(e);
#endif
if (!ee->resolveParameters()) {
G2O_ERROR("{}: FATAL, cannot resolve parameters for edge {}",
G2O_ERROR("FATAL, cannot resolve parameters for edge {}",

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static_cast<void*>(e));
return false;
}
if (!ee->resolveCaches()) {
G2O_ERROR("{}: FATAL, cannot resolve caches for edge {}",
G2O_ERROR("FATAL, cannot resolve caches for edge {}",

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static_cast<void*>(e));
return false;
}
Expand Down
26 changes: 25 additions & 1 deletion unit_test/general/graph_operations.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,10 @@
#include "g2o/core/optimization_algorithm_property.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/stuff/string_tools.h"
#include "g2o/types/slam2d/types_slam2d.h"
#include "g2o/types/slam2d/types_slam2d.h" // IWYU pragma: keep
#include "g2o/types/slam3d/edge_se3_pointxyz.h"
#include "g2o/types/slam3d/vertex_pointxyz.h"
#include "g2o/types/slam3d/vertex_se3.h"

G2O_USE_TYPE_GROUP(slam2d);

Expand Down Expand Up @@ -136,6 +139,27 @@ TEST(General, GraphAddEdge) {
delete optimizer;
}

TEST(General, GraphAddEdgeNoRequiredParam) {
g2o::SparseOptimizer* optimizer = g2o::internal::createOptimizerForTests();

g2o::VertexSE3* poseVertex = new g2o::VertexSE3();
poseVertex->setId(0);
optimizer->addVertex(poseVertex);

g2o::VertexPointXYZ* pointVertex = new g2o::VertexPointXYZ();
pointVertex->setId(1);
optimizer->addVertex(pointVertex);

g2o::EdgeSE3PointXYZ* edge = new g2o::EdgeSE3PointXYZ();
edge->setVertex(0, poseVertex);
edge->setVertex(1, pointVertex);

EXPECT_FALSE(optimizer->addEdge(edge));

optimizer->clear();
delete optimizer;
}

TEST(General, GraphChangeId) {
std::unique_ptr<g2o::SparseOptimizer> optimizer(
g2o::internal::createOptimizerForTests());
Expand Down
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