VCE2010 Win7 x64 - Slow compilation time

[nbriox]

Hi all. I successfully compiled the g2o library (MSVCE 2010 on windows 7 64 bit) and I'm using it in my SLAM framework as back-end optimization step. I noticed that the time required for compiling the SLAM framework considerably increased since when I added the g2o library. In particular, the compilation itself goes really slow (more than 2 minute) and requires a huge amount of memory (more than 1GB). Linking instead is pretty fast. Once I remove the g2o from the project, everything compiles in reasonable time. Do you have any hint to explain this behavior? It seems to me that the compiler waste a lot of time scanning all the header file hierarchy.. Can be?

PS. I'm not rebuilding the whole g2o library in my project

Thank you

[RainerKuemmerle]

I'm not a regular user of Windows and Visual Studio but I guess you are right. Much of our code is based on templates, in particular the solvers are templates.

For the algorithms I typically just obtain a pointer via the factory to avoid including all the templates in my code. For example:

#include "g2o/core/optimization_algorithm_property.h"
#include "g2o/core/optimization_algorithm_factory.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/hyper_graph_action.h"

// force linking to the g2o csparse solvers
G2O_USE_OPTIMIZATION_LIBRARY(csparse);

// ....

  _optimizer = new g2o::SparseOptimizer;
  g2o::OptimizationAlgorithmFactory* solverFactory = g2o::OptimizationAlgorithmFactory::instance();
  g2o::OptimizationAlgorithmProperty properties;
  g2o::OptimizationAlgorithm* algorithm = solverFactory->construct("gn_var", properties);
  //g2o::OptimizationAlgorithm* algorithm = solverFactory->construct("lm_var", properties);
  _optimizer->setAlgorithm(algorithm);