// 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 .
#ifndef RGBDSLAMEDGES_3D_H
#define RGBDSLAMEDGES_3D_H
#include
#include
#include "g2o/math_groups/se3quat.h"
struct LoadedEdge3D
{
int id1, id2;
g2o::SE3Quat mean;
Eigen::Matrix 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 (i12i22) return false;
return (i11 LoadedEdgeSet3D;
#endif