From a51113f04ffa0755faaa36aaac38f4d0568ef8da Mon Sep 17 00:00:00 2001
From: lacie-life <00sao00ios00@gmail.com>
Date: Sat, 5 Mar 2022 15:25:55 +0700
Subject: [PATCH] [Fixed] fixed crash

added compile option native , ![ref](https://github.com/borglab/gtsam/issues/75)
---
 CMakeLists.txt            |  6 ++++--
 include/View/Screen_Def.h |  2 +-
 src/AppEngine.cpp         |  2 +-
 src/Plugin/SfM/QSfM.cpp   | 23 ++++++++++++++---------
 4 files changed, 20 insertions(+), 13 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e116a04..b9fbfd6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,8 @@ set(CMAKE_CXX_STANDARD 11)
 SET(COMPILE_FLAGS "-m64 -std=c++11 -Wall -Wextra -pedantic")
 SET( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} ${COMPILE_FLAGS}" )
 
+add_compile_options("-march=native")
+
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -12,8 +14,8 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)
 
-list(APPEND QML_IMPORT_PATH "/home/lacie/Qt/5.15.2/gcc_64/qml")
-set(CMAKE_PREFIX_PATH "/home/lacie/Qt/5.15.2/gcc_64")
+list(APPEND QML_IMPORT_PATH "/home/jun/Qt/5.15.2/gcc_64/qml")
+set(CMAKE_PREFIX_PATH "/home/jun/Qt/5.15.2/gcc_64")
 
 set(QML_IMPORT_PATH ${QML_IMPORT_PATH}
     CACHE STRING "Qt Creator 4.1 extra qml import paths"
diff --git a/include/View/Screen_Def.h b/include/View/Screen_Def.h
index 28f11f2..54d06d5 100644
--- a/include/View/Screen_Def.h
+++ b/include/View/Screen_Def.h
@@ -55,7 +55,7 @@ class ScreenDef : public QObject
     ScreenDef(const ScreenDef&) = delete;
     void operator =(const ScreenDef&) = delete;
 
-    DEF_SCREEN(QML_FOLDER       , "file:/home/lacie/Github/GreenHouseAR/assest/qml/")
+    DEF_SCREEN(QML_FOLDER       , "file:/home/jun/Github/GreenHouseAR/assest/qml/")
     DEF_SCREEN(QML_APP     , QML_FOLDER() + "main.qml")
 
 signals:
diff --git a/src/AppEngine.cpp b/src/AppEngine.cpp
index d65df70..c07b550 100644
--- a/src/AppEngine.cpp
+++ b/src/AppEngine.cpp
@@ -65,7 +65,7 @@ void AppEngine::slotReceiveEvent(int event)
         break;
     case static_cast<int>(AppEnums::EVT_CLICK_RUN_SfM):
         CONSOLE << "Run SfM Event";
-        MODEL->runSfM("/home/lacie/Github/GreenHouseAR/assest/data/crazyhorse");
+        MODEL->runSfM("/home/jun/Github/GreenHouseAR/assest/data/crazyhorse");
         break;
     default:
         break;
diff --git a/src/Plugin/SfM/QSfM.cpp b/src/Plugin/SfM/QSfM.cpp
index 8cef047..33b0a19 100644
--- a/src/Plugin/SfM/QSfM.cpp
+++ b/src/Plugin/SfM/QSfM.cpp
@@ -8,6 +8,11 @@
 #include <QVector>
 
 #include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3_S2.h>
+
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
@@ -471,20 +476,20 @@ void QSfM::bundleAdjustment()
 
                 initial.insert<gtsam::Point3>(gtsam::Symbol('l', i), gtsam_p);
 
-//                if (!init_prior) {
-//                    init_prior = true;
+                if (!init_prior) {
+                    init_prior = true;
 
-//                    gtsam::noiseModel::Isotropic::shared_ptr point_noise = gtsam::noiseModel::Isotropic::Sigma(3, 0.1);
-//                    graph.emplace_shared<gtsam::PriorFactor<gtsam::Point3>>(gtsam::Symbol('l', i), gtsam_p, point_noise);
-//                }
+                    gtsam::noiseModel::Isotropic::shared_ptr point_noise = gtsam::noiseModel::Isotropic::Sigma(3, 0.1);
+                    graph.emplace_shared<gtsam::PriorFactor<gtsam::Point3>>(gtsam::Symbol('l', i), gtsam_p, point_noise);
+                }
             }
         }
 
-//        result = gtsam::LevenbergMarquardtOptimizer(graph, initial).optimize();
+        result = gtsam::LevenbergMarquardtOptimizer(graph, initial).optimize();
 
-//        cout << endl;
-//        cout << "initial graph error = " << graph.error(initial) << endl;
-//        cout << "final graph error = " << graph.error(result) << endl;
+        cout << endl;
+        cout << "initial graph error = " << graph.error(initial) << endl;
+        cout << "final graph error = " << graph.error(result) << endl;
     }
 }