rtabmap: types_g2o_robust.cpp Source File

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00001 #include "g2o/core/factory.h"
00002 #include "g2o/stuff/macros.h"
00003 
00004 #include "vertigo/g2o/edge_switchPrior.h"
00005 #include "vertigo/g2o/edge_se2Switchable.h"
00006 //#include "vertigo/g2o/edge_se2MaxMixture.h"
00007 #include "vertigo/g2o/edge_se3Switchable.h"
00008 #include "vertigo/g2o/vertex_switchLinear.h"
00009 
00010 
00011 G2O_REGISTER_TYPE(EDGE_SWITCH_PRIOR, EdgeSwitchPrior);
00012 G2O_REGISTER_TYPE(EDGE_SE2_SWITCHABLE, EdgeSE2Switchable);
00013 //G2O_REGISTER_TYPE(EDGE_SE2_MAXMIX, EdgeSE2MaxMixture);
00014 G2O_REGISTER_TYPE(EDGE_SE3_SWITCHABLE, EdgeSE3Switchable);
00015 G2O_REGISTER_TYPE(VERTEX_SWITCH, VertexSwitchLinear);
00016 
00017 /*
00018 #ifdef G2O_HAVE_OPENGL
00019   G2O_REGISTER_ACTION(EdgeSE2SwitchableDrawAction);
00020   //G2O_REGISTER_ACTION(EdgeSE2MaxMixtureDrawAction);
00021   G2O_REGISTER_ACTION(EdgeSE3SwitchableDrawAction);
00022 #endif
00023 */