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Switch to G2O_REGISTER_TYPE_NAME macro #832

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merged 2 commits into from
Aug 27, 2024
Merged

Switch to G2O_REGISTER_TYPE_NAME macro #832

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72e2c94
Add G2O_REGISTER_TYPE_NAME macro
iillyyaa Aug 23, 2024
18d9a72
Switch to using G2O_REGISTER_TYPE_NAME macro
iillyyaa Aug 26, 2024
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4 changes: 2 additions & 2 deletions doc/g2o.tex
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Expand Up @@ -646,8 +646,8 @@ \section{Library Overview}
namespace g2o {
G2O_REGISTER_TYPE_GROUP(slam2d);

G2O_REGISTER_TYPE(VERTEX_SE2, VertexSE2);
G2O_REGISTER_TYPE(VERTEX_XY, VertexPointXY);
G2O_REGISTER_TYPE_NAME("VERTEX_SE2", VertexSE2);
G2O_REGISTER_TYPE_NAME("VERTEX_XY", VertexPointXY);

// ...
}
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14 changes: 11 additions & 3 deletions g2o/core/factory.h
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Expand Up @@ -145,9 +145,17 @@ class RegisterTypeProxy {
#endif

// These macros are used to automate registering types and forcing linkage
#define G2O_REGISTER_TYPE(name, classname) \
extern "C" void G2O_FACTORY_EXPORT g2o_type_##classname(void) {} \
static g2o::RegisterTypeProxy<classname> g_type_proxy_##classname(#name);
#define G2O_REGISTER_TYPE_NAME(name, classname) \
static_assert(std::string_view(name).find_first_of(" \f\n\r\t\v") == \
std::string_view::npos, \
"name contains whitespace"); \
extern "C" void G2O_FACTORY_EXPORT g2o_type_##classname(void) {} \
static g2o::RegisterTypeProxy<classname> g_type_proxy_##classname(name);

// This form is deprecated, because it lets clang-format introduce whitespace
// into the type name. Kept for backward compatibility.
#define G2O_REGISTER_TYPE(name, classname) \
G2O_REGISTER_TYPE_NAME(#name, classname)

#define G2O_USE_TYPE_BY_CLASS_NAME(classname) \
extern "C" void G2O_FACTORY_IMPORT g2o_type_##classname(void); \
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11 changes: 4 additions & 7 deletions g2o/examples/interactive_slam/g2o_interactive/types_online.cpp
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Expand Up @@ -32,13 +32,10 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(online);

G2O_REGISTER_TYPE(ONLINE_EDGE_SE2, OnlineEdgeSE2);
G2O_REGISTER_TYPE(ONLINE_VERTEX_SE2, OnlineVertexSE2);
G2O_REGISTER_TYPE_NAME("ONLINE_EDGE_SE2", OnlineEdgeSE2);
G2O_REGISTER_TYPE_NAME("ONLINE_VERTEX_SE2", OnlineVertexSE2);

// clang-format off
// otherwise it will result in non-working "ONLINE_VERTEX_SE3 : QUAT"
G2O_REGISTER_TYPE(ONLINE_VERTEX_SE3:QUAT, OnlineVertexSE3);
G2O_REGISTER_TYPE(ONLINE_EDGE_SE3:QUAT, OnlineEdgeSE3);
// clang-format on
G2O_REGISTER_TYPE_NAME("ONLINE_VERTEX_SE3:QUAT", OnlineVertexSE3);
G2O_REGISTER_TYPE_NAME("ONLINE_EDGE_SE3:QUAT", OnlineEdgeSE3);

} // namespace g2o
12 changes: 6 additions & 6 deletions g2o/examples/tutorial_slam2d/types_tutorial_slam2d.cpp
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Expand Up @@ -36,14 +36,14 @@ namespace tutorial {

G2O_REGISTER_TYPE_GROUP(tutorial_slam2d);

G2O_REGISTER_TYPE(TUTORIAL_VERTEX_SE2, VertexSE2);
G2O_REGISTER_TYPE(TUTORIAL_VERTEX_POINT_XY, VertexPointXY);
G2O_REGISTER_TYPE_NAME("TUTORIAL_VERTEX_SE2", VertexSE2);
G2O_REGISTER_TYPE_NAME("TUTORIAL_VERTEX_POINT_XY", VertexPointXY);

G2O_REGISTER_TYPE(TUTORIAL_PARAMS_SE2_OFFSET, ParameterSE2Offset);
G2O_REGISTER_TYPE_NAME("TUTORIAL_PARAMS_SE2_OFFSET", ParameterSE2Offset);

G2O_REGISTER_TYPE(TUTORIAL_CACHE_SE2_OFFSET, CacheSE2Offset);
G2O_REGISTER_TYPE_NAME("TUTORIAL_CACHE_SE2_OFFSET", CacheSE2Offset);

G2O_REGISTER_TYPE(TUTORIAL_EDGE_SE2, EdgeSE2);
G2O_REGISTER_TYPE(TUTORIAL_EDGE_SE2_POINT_XY, EdgeSE2PointXY);
G2O_REGISTER_TYPE_NAME("TUTORIAL_EDGE_SE2", EdgeSE2);
G2O_REGISTER_TYPE_NAME("TUTORIAL_EDGE_SE2_POINT_XY", EdgeSE2PointXY);
} // namespace tutorial
} // namespace g2o
6 changes: 3 additions & 3 deletions g2o/types/data/types_data.cpp
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Expand Up @@ -36,9 +36,9 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(data);

G2O_REGISTER_TYPE(VERTEX_TAG, VertexTag);
G2O_REGISTER_TYPE(ROBOTLASER1, RobotLaser);
G2O_REGISTER_TYPE(VERTEX_ELLIPSE, VertexEllipse);
G2O_REGISTER_TYPE_NAME("VERTEX_TAG", VertexTag);
G2O_REGISTER_TYPE_NAME("ROBOTLASER1", RobotLaser);
G2O_REGISTER_TYPE_NAME("VERTEX_ELLIPSE", VertexEllipse);

#ifdef G2O_HAVE_OPENGL
G2O_REGISTER_ACTION(RobotLaserDrawAction);
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2 changes: 1 addition & 1 deletion g2o/types/icp/types_icp.cpp
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Expand Up @@ -36,7 +36,7 @@ using namespace Eigen;
namespace g2o {

G2O_REGISTER_TYPE_GROUP(icp);
G2O_REGISTER_TYPE(EDGE_V_V_GICP, Edge_V_V_GICP);
G2O_REGISTER_TYPE_NAME("EDGE_V_V_GICP", Edge_V_V_GICP);

namespace types_icp {
int initialized = 0;
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12 changes: 6 additions & 6 deletions g2o/types/sba/types_sba.cpp
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Expand Up @@ -37,12 +37,12 @@ using namespace std;

G2O_REGISTER_TYPE_GROUP(sba);

G2O_REGISTER_TYPE(VERTEX_CAM, VertexCam);
G2O_REGISTER_TYPE(VERTEX_INTRINSICS, VertexIntrinsics);
G2O_REGISTER_TYPE_NAME("VERTEX_CAM", VertexCam);
G2O_REGISTER_TYPE_NAME("VERTEX_INTRINSICS", VertexIntrinsics);

G2O_REGISTER_TYPE(EDGE_PROJECT_P2MC, EdgeProjectP2MC);
G2O_REGISTER_TYPE(EDGE_PROJECT_P2SC, EdgeProjectP2SC);
G2O_REGISTER_TYPE(EDGE_CAM, EdgeSBACam);
G2O_REGISTER_TYPE(EDGE_SCALE, EdgeSBAScale);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_P2MC", EdgeProjectP2MC);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_P2SC", EdgeProjectP2SC);
G2O_REGISTER_TYPE_NAME("EDGE_CAM", EdgeSBACam);
G2O_REGISTER_TYPE_NAME("EDGE_SCALE", EdgeSBAScale);

} // namespace g2o
23 changes: 12 additions & 11 deletions g2o/types/sba/types_six_dof_expmap.cpp
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Expand Up @@ -30,17 +30,18 @@

namespace g2o {

// clang-format off
G2O_REGISTER_TYPE_GROUP(expmap);
G2O_REGISTER_TYPE(VERTEX_SE3:EXPMAP, VertexSE3Expmap);
G2O_REGISTER_TYPE(EDGE_SE3:EXPMAP, EdgeSE3Expmap);
G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UV:EXPMAP, EdgeProjectXYZ2UV);
G2O_REGISTER_TYPE(EDGE_PROJECT_XYZ2UVU:EXPMAP, EdgeProjectXYZ2UVU);
G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZ:EXPMAP, EdgeSE3ProjectXYZ);
G2O_REGISTER_TYPE(EDGE_SE3_PROJECT_XYZONLYPOSE:EXPMAP, EdgeSE3ProjectXYZOnlyPose);
G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZ:EXPMAP, EdgeStereoSE3ProjectXYZ);
G2O_REGISTER_TYPE(EDGE_STEREO_SE3_PROJECT_XYZONLYPOSE:EXPMAP, EdgeStereoSE3ProjectXYZOnlyPose);
G2O_REGISTER_TYPE(PARAMS_CAMERAPARAMETERS, CameraParameters);
// clang-format on
G2O_REGISTER_TYPE_NAME("VERTEX_SE3:EXPMAP", VertexSE3Expmap);
G2O_REGISTER_TYPE_NAME("EDGE_SE3:EXPMAP", EdgeSE3Expmap);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_XYZ2UV:EXPMAP", EdgeProjectXYZ2UV);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_XYZ2UVU:EXPMAP", EdgeProjectXYZ2UVU);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_PROJECT_XYZ:EXPMAP", EdgeSE3ProjectXYZ);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_PROJECT_XYZONLYPOSE:EXPMAP",
EdgeSE3ProjectXYZOnlyPose);
G2O_REGISTER_TYPE_NAME("EDGE_STEREO_SE3_PROJECT_XYZ:EXPMAP",
EdgeStereoSE3ProjectXYZ);
G2O_REGISTER_TYPE_NAME("EDGE_STEREO_SE3_PROJECT_XYZONLYPOSE:EXPMAP",
EdgeStereoSE3ProjectXYZOnlyPose);
G2O_REGISTER_TYPE_NAME("PARAMS_CAMERAPARAMETERS", CameraParameters);

} // namespace g2o
9 changes: 5 additions & 4 deletions g2o/types/sclam2d/types_sclam2d.cpp
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Expand Up @@ -36,10 +36,11 @@ namespace g2o {
G2O_USE_TYPE_GROUP(slam2d);

G2O_REGISTER_TYPE_GROUP(sclam);
G2O_REGISTER_TYPE(VERTEX_ODOM_DIFFERENTIAL, VertexOdomDifferentialParams);
G2O_REGISTER_TYPE(EDGE_SE2_CALIB, EdgeSE2SensorCalib);
G2O_REGISTER_TYPE(EDGE_SE2_ODOM_DIFFERENTIAL_CALIB,
EdgeSE2OdomDifferentialCalib);
G2O_REGISTER_TYPE_NAME("VERTEX_ODOM_DIFFERENTIAL",
VertexOdomDifferentialParams);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_CALIB", EdgeSE2SensorCalib);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_ODOM_DIFFERENTIAL_CALIB",
EdgeSE2OdomDifferentialCalib);

#ifdef G2O_HAVE_OPENGL
G2O_REGISTER_ACTION(EdgeSE2SensorCalibDrawAction);
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11 changes: 5 additions & 6 deletions g2o/types/sim3/types_seven_dof_expmap.cpp
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Expand Up @@ -34,12 +34,11 @@ namespace g2o {
G2O_USE_TYPE_GROUP(sba);
G2O_REGISTER_TYPE_GROUP(sim3);

// clang-format off
G2O_REGISTER_TYPE(VERTEX_SIM3:EXPMAP, VertexSim3Expmap);
G2O_REGISTER_TYPE(EDGE_SIM3:EXPMAP, EdgeSim3);
G2O_REGISTER_TYPE(EDGE_PROJECT_SIM3_XYZ:EXPMAP, EdgeSim3ProjectXYZ);
G2O_REGISTER_TYPE(EDGE_PROJECT_INVERSE_SIM3_XYZ:EXPMAP, EdgeInverseSim3ProjectXYZ);
// clang-format on
G2O_REGISTER_TYPE_NAME("VERTEX_SIM3:EXPMAP", VertexSim3Expmap);
G2O_REGISTER_TYPE_NAME("EDGE_SIM3:EXPMAP", EdgeSim3);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_SIM3_XYZ:EXPMAP", EdgeSim3ProjectXYZ);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_INVERSE_SIM3_XYZ:EXPMAP",
EdgeInverseSim3ProjectXYZ);

VertexSim3Expmap::VertexSim3Expmap() : BaseVertex<7, Sim3>() {
_marginalized = false;
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32 changes: 16 additions & 16 deletions g2o/types/slam2d/types_slam2d.cpp
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Expand Up @@ -35,22 +35,22 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(slam2d);

G2O_REGISTER_TYPE(VERTEX_SE2, VertexSE2);
G2O_REGISTER_TYPE(VERTEX_XY, VertexPointXY);
G2O_REGISTER_TYPE(PARAMS_SE2OFFSET, ParameterSE2Offset);
G2O_REGISTER_TYPE(CACHE_SE2_OFFSET, CacheSE2Offset);
G2O_REGISTER_TYPE(EDGE_PRIOR_SE2, EdgeSE2Prior);
G2O_REGISTER_TYPE(EDGE_PRIOR_SE2_XY, EdgeSE2XYPrior);
G2O_REGISTER_TYPE(EDGE_SE2, EdgeSE2);
G2O_REGISTER_TYPE(EDGE_SE2_XY, EdgeSE2PointXY);
G2O_REGISTER_TYPE(EDGE_BEARING_SE2_XY, EdgeSE2PointXYBearing);
G2O_REGISTER_TYPE(EDGE_SE2_XY_CALIB, EdgeSE2PointXYCalib);
G2O_REGISTER_TYPE(EDGE_SE2_OFFSET, EdgeSE2Offset);
G2O_REGISTER_TYPE(EDGE_SE2_POINTXY_OFFSET, EdgeSE2PointXYOffset);
G2O_REGISTER_TYPE(EDGE_POINTXY, EdgePointXY);
G2O_REGISTER_TYPE(EDGE_SE2_TWOPOINTSXY, EdgeSE2TwoPointsXY);
G2O_REGISTER_TYPE(EDGE_SE2_LOTSOFXY, EdgeSE2LotsOfXY);
G2O_REGISTER_TYPE(EDGE_PRIOR_XY, EdgeXYPrior);
G2O_REGISTER_TYPE_NAME("VERTEX_SE2", VertexSE2);
G2O_REGISTER_TYPE_NAME("VERTEX_XY", VertexPointXY);
G2O_REGISTER_TYPE_NAME("PARAMS_SE2OFFSET", ParameterSE2Offset);
G2O_REGISTER_TYPE_NAME("CACHE_SE2_OFFSET", CacheSE2Offset);
G2O_REGISTER_TYPE_NAME("EDGE_PRIOR_SE2", EdgeSE2Prior);
G2O_REGISTER_TYPE_NAME("EDGE_PRIOR_SE2_XY", EdgeSE2XYPrior);
G2O_REGISTER_TYPE_NAME("EDGE_SE2", EdgeSE2);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_XY", EdgeSE2PointXY);
G2O_REGISTER_TYPE_NAME("EDGE_BEARING_SE2_XY", EdgeSE2PointXYBearing);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_XY_CALIB", EdgeSE2PointXYCalib);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_OFFSET", EdgeSE2Offset);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_POINTXY_OFFSET", EdgeSE2PointXYOffset);
G2O_REGISTER_TYPE_NAME("EDGE_POINTXY", EdgePointXY);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_TWOPOINTSXY", EdgeSE2TwoPointsXY);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_LOTSOFXY", EdgeSE2LotsOfXY);
G2O_REGISTER_TYPE_NAME("EDGE_PRIOR_XY", EdgeXYPrior);

G2O_REGISTER_ACTION(VertexSE2WriteGnuplotAction);
G2O_REGISTER_ACTION(VertexPointXYWriteGnuplotAction);
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19 changes: 10 additions & 9 deletions g2o/types/slam2d_addons/types_slam2d_addons.cpp
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Expand Up @@ -35,15 +35,16 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(slam2d_segment);

G2O_REGISTER_TYPE(VERTEX_SEGMENT2D, VertexSegment2D);
G2O_REGISTER_TYPE(VERTEX_LINE2D, VertexLine2D);

G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D, EdgeSE2Segment2D);
G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D_LINE, EdgeSE2Segment2DLine);
G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D_POINTLINE, EdgeSE2Segment2DPointLine);
G2O_REGISTER_TYPE(EDGE_SE2_LINE2D, EdgeSE2Line2D);
G2O_REGISTER_TYPE(EDGE_LINE2D, EdgeLine2D);
G2O_REGISTER_TYPE(EDGE_LINE2D_POINTXY, EdgeLine2DPointXY);
G2O_REGISTER_TYPE_NAME("VERTEX_SEGMENT2D", VertexSegment2D);
G2O_REGISTER_TYPE_NAME("VERTEX_LINE2D", VertexLine2D);

G2O_REGISTER_TYPE_NAME("EDGE_SE2_SEGMENT2D", EdgeSE2Segment2D);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_SEGMENT2D_LINE", EdgeSE2Segment2DLine);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_SEGMENT2D_POINTLINE",
EdgeSE2Segment2DPointLine);
G2O_REGISTER_TYPE_NAME("EDGE_SE2_LINE2D", EdgeSE2Line2D);
G2O_REGISTER_TYPE_NAME("EDGE_LINE2D", EdgeLine2D);
G2O_REGISTER_TYPE_NAME("EDGE_LINE2D_POINTXY", EdgeLine2DPointXY);

#ifdef G2O_HAVE_OPENGL
G2O_REGISTER_ACTION(VertexSegment2DDrawAction);
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37 changes: 17 additions & 20 deletions g2o/types/slam3d/types_slam3d.cpp
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Expand Up @@ -35,30 +35,27 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(slam3d);

// clang-format off
// otherwise it will result in non-working "VERTEX_SE3 : QUAT"
G2O_REGISTER_TYPE(VERTEX_SE3:QUAT, VertexSE3);
G2O_REGISTER_TYPE(EDGE_SE3:QUAT, EdgeSE3);
// clang-format on
G2O_REGISTER_TYPE(VERTEX_TRACKXYZ, VertexPointXYZ);
G2O_REGISTER_TYPE_NAME("VERTEX_SE3:QUAT", VertexSE3);
G2O_REGISTER_TYPE_NAME("EDGE_SE3:QUAT", EdgeSE3);
G2O_REGISTER_TYPE_NAME("VERTEX_TRACKXYZ", VertexPointXYZ);

G2O_REGISTER_TYPE(PARAMS_SE3OFFSET, ParameterSE3Offset);
G2O_REGISTER_TYPE(EDGE_SE3_TRACKXYZ, EdgeSE3PointXYZ);
G2O_REGISTER_TYPE(EDGE_SE3_PRIOR, EdgeSE3Prior);
G2O_REGISTER_TYPE(EDGE_SE3_XYZ_PRIOR, EdgeSE3XYZPrior);
G2O_REGISTER_TYPE(CACHE_SE3_OFFSET, CacheSE3Offset);
G2O_REGISTER_TYPE(EDGE_SE3_OFFSET, EdgeSE3Offset);
G2O_REGISTER_TYPE_NAME("PARAMS_SE3OFFSET", ParameterSE3Offset);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_TRACKXYZ", EdgeSE3PointXYZ);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_PRIOR", EdgeSE3Prior);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_XYZ_PRIOR", EdgeSE3XYZPrior);
G2O_REGISTER_TYPE_NAME("CACHE_SE3_OFFSET", CacheSE3Offset);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_OFFSET", EdgeSE3Offset);

G2O_REGISTER_TYPE(PARAMS_CAMERACALIB, ParameterCamera);
G2O_REGISTER_TYPE(PARAMS_STEREOCAMERACALIB, ParameterStereoCamera);
G2O_REGISTER_TYPE(CACHE_CAMERA, CacheCamera);
G2O_REGISTER_TYPE(EDGE_PROJECT_DISPARITY, EdgeSE3PointXYZDisparity);
G2O_REGISTER_TYPE(EDGE_PROJECT_DEPTH, EdgeSE3PointXYZDepth);
G2O_REGISTER_TYPE_NAME("PARAMS_CAMERACALIB", ParameterCamera);
G2O_REGISTER_TYPE_NAME("PARAMS_STEREOCAMERACALIB", ParameterStereoCamera);
G2O_REGISTER_TYPE_NAME("CACHE_CAMERA", CacheCamera);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_DISPARITY", EdgeSE3PointXYZDisparity);
G2O_REGISTER_TYPE_NAME("EDGE_PROJECT_DEPTH", EdgeSE3PointXYZDepth);

G2O_REGISTER_TYPE(EDGE_POINTXYZ, EdgePointXYZ);
G2O_REGISTER_TYPE(EDGE_POINTXYZ_PRIOR, EdgeXYZPrior);
G2O_REGISTER_TYPE_NAME("EDGE_POINTXYZ", EdgePointXYZ);
G2O_REGISTER_TYPE_NAME("EDGE_POINTXYZ_PRIOR", EdgeXYZPrior);

G2O_REGISTER_TYPE(EDGE_SE3_LOTSOF_XYZ, EdgeSE3LotsOfXYZ)
G2O_REGISTER_TYPE_NAME("EDGE_SE3_LOTSOF_XYZ", EdgeSE3LotsOfXYZ)

/*********** ACTIONS ************/
G2O_REGISTER_ACTION(VertexSE3WriteGnuplotAction);
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16 changes: 8 additions & 8 deletions g2o/types/slam3d_addons/types_slam3d_addons.cpp
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Expand Up @@ -36,15 +36,15 @@ namespace g2o {

G2O_REGISTER_TYPE_GROUP(slam3d_addons);

G2O_REGISTER_TYPE(VERTEX3, VertexSE3Euler);
G2O_REGISTER_TYPE(EDGE3, EdgeSE3Euler);
G2O_REGISTER_TYPE(VERTEX_PLANE, VertexPlane);
G2O_REGISTER_TYPE(EDGE_SE3_PLANE_CALIB, EdgeSE3PlaneSensorCalib);
G2O_REGISTER_TYPE_NAME("VERTEX3", VertexSE3Euler);
G2O_REGISTER_TYPE_NAME("EDGE3", EdgeSE3Euler);
G2O_REGISTER_TYPE_NAME("VERTEX_PLANE", VertexPlane);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_PLANE_CALIB", EdgeSE3PlaneSensorCalib);

G2O_REGISTER_TYPE(VERTEX_LINE3D, VertexLine3D);
G2O_REGISTER_TYPE(EDGE_SE3_LINE3D, EdgeSE3Line3D);
G2O_REGISTER_TYPE(EDGE_PLANE, EdgePlane);
G2O_REGISTER_TYPE(EDGE_SE3_CALIB, EdgeSE3Calib);
G2O_REGISTER_TYPE_NAME("VERTEX_LINE3D", VertexLine3D);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_LINE3D", EdgeSE3Line3D);
G2O_REGISTER_TYPE_NAME("EDGE_PLANE", EdgePlane);
G2O_REGISTER_TYPE_NAME("EDGE_SE3_CALIB", EdgeSE3Calib);

#ifdef G2O_HAVE_OPENGL
G2O_REGISTER_ACTION(CacheCameraDrawAction);
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