Fix support for dynamic dimensionality of edges #197
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Any comment on this patch? Do you need a minimum reproduction of this issue? |
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Sorry for the delay. |
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I was using an edge class derived from:
g2o::BaseBinaryEdge<Eigen::Dynamic, Eigen::Matrix<double, Eigen::Dynamic, 4>, vertex_type, vertex_type>The program always crash during optimisation. I found the problem is that when Edge dimension is Eigen::Dynamic, the jacobian is constructed with wrong parameters. This patch fixes the problem.
When D is static (>0), the changed parameter is still a compile-time constant, without overhead.