From 8fd18c6309dfeb0d090fa0692159343e1c80a31a Mon Sep 17 00:00:00 2001
From: luc <luc.girod@bfh.ch>
Date: Mon, 22 Jan 2024 14:45:34 +0100
Subject: [PATCH] add conditional orbslam optimizer for android and ios (need
 to rebuild g2o)

---
 modules/wai/source/orb_slam/Optimizer.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/modules/wai/source/orb_slam/Optimizer.cpp b/modules/wai/source/orb_slam/Optimizer.cpp
index 33b1cff1..91f06cc3 100644
--- a/modules/wai/source/orb_slam/Optimizer.cpp
+++ b/modules/wai/source/orb_slam/Optimizer.cpp
@@ -1554,15 +1554,17 @@ int Optimizer::OptimizeSim3(WAIKeyFrame*          pKF1,
     vSim3->setFixed(false);
 
     //replacement because of new  g2o (maybe this leads to errors...)
-    //vSim3->_principle_point[0] = K1.at<float>(0, 2);
-    //vSim3->_principle_point[1] = K1.at<float>(1, 2);
-    //vSim3->_focal_length[0]    = K1.at<float>(0, 0);
-    //vSim3->_focal_length[1]    = K1.at<float>(1, 1);
-
+#if defined(SL_OS_ANDROID) || defined(SL_OS_MACIOS)
+    vSim3->_principle_point[0] = K1.at<float>(0, 2);
+    vSim3->_principle_point[1] = K1.at<float>(1, 2);
+    vSim3->_focal_length[0]    = K1.at<float>(0, 0);
+    vSim3->_focal_length[1]    = K1.at<float>(1, 1);
+#else
     vSim3->_principle_point1[0] = K1.at<float>(0,2);
     vSim3->_principle_point1[1] = K1.at<float>(1,2);
     vSim3->_focal_length1[0] = K1.at<float>(0,0);
     vSim3->_focal_length1[1] = K1.at<float>(1,1);
+#endif
     //vSim3->_principle_point2[0] = K2.at<float>(0,2);
     //vSim3->_principle_point2[1] = K2.at<float>(1,2);
     //vSim3->_focal_length2[0] = K2.at<float>(0,0);