edge.h

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// HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds
// Copyright (C) 2010 G. Grisetti, R. Kümmerle, C. Stachniss
// 
// HOG-Man is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// HOG-Man is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef RGBDSLAMEDGES_3D_H
#define RGBDSLAMEDGES_3D_H

#include <set>
#include <iostream>
#include "g2o/types/slam3d/se3quat.h"
#include <Eigen/Core>

struct LoadedEdge3D
{
  int id1, id2;
  //enum { OTHER=0, RANSAC, ICP } edge_type; 
  //edge_type type;
  //g2o::SE3Quat mean;
  Eigen::Isometry3d transform;
  Eigen::Matrix<double, 6,6> informationMatrix;
};

struct LoadedEdgeComparator3D
{
  inline bool operator()(const LoadedEdge3D& e1, const LoadedEdge3D& e2){
    int i11=e1.id1, i12=e1.id2;
    if (i11>i12){
      i11=e1.id2;
      i12=e1.id1;
    }
    int i21=e2.id1, i22=e2.id2;
    if (i21>i22){
      i21=e2.id2;
      i22=e2.id1;
    }
    if (i12<i22) return true;
    if (i12>i22) return false;
    return (i11<i21);
  }
};

typedef std::set<LoadedEdge3D, LoadedEdgeComparator3D> LoadedEdgeSet3D;

#endif