void init()
{
if (types_slam3d::initialized)
return;
Factory* factory = Factory::instance();
//std::cerr << "Calling " << __FILE__ << " " << __PRETTY_FUNCTION__ << std::endl;
factory->registerType("VERTEX_SE3:QUAT", new HyperGraphElementCreator<VertexSE3>);
factory->registerType("EDGE_SE3:QUAT", new HyperGraphElementCreator<EdgeSE3>);
factory->registerType("VERTEX_TRACKXYZ", new HyperGraphElementCreator<VertexPointXYZ>);
factory->registerType("PARAMS_SE3OFFSET", new HyperGraphElementCreator<ParameterSE3Offset>);
factory->registerType("EDGE_SE3_TRACKXYZ", new HyperGraphElementCreator<EdgeSE3PointXYZ>);
factory->registerType("EDGE_SE3_PRIOR", new HyperGraphElementCreator<EdgeSE3Prior>);
factory->registerType("CACHE_SE3_OFFSET", new HyperGraphElementCreator<CacheSE3Offset>);
factory->registerType("EDGE_SE3_OFFSET", new HyperGraphElementCreator<EdgeSE3Offset>);
factory->registerType("PARAMS_CAMERACALIB", new HyperGraphElementCreator<ParameterCamera>);
factory->registerType("CACHE_CAMERA", new HyperGraphElementCreator<CacheCamera>);
factory->registerType("EDGE_PROJECT_DISPARITY", new HyperGraphElementCreator<EdgeSE3PointXYZDisparity>);
factory->registerType("EDGE_PROJECT_DEPTH", new HyperGraphElementCreator<EdgeSE3PointXYZDepth>);
HyperGraphActionLibrary* actionLib = HyperGraphActionLibrary::instance();
actionLib->registerAction(new VertexSE3WriteGnuplotAction);
actionLib->registerAction(new EdgeSE3WriteGnuplotAction);
#ifdef G2O_HAVE_OPENGL
actionLib->registerAction(new VertexPointXYZDrawAction);
actionLib->registerAction(new VertexSE3DrawAction);
actionLib->registerAction(new EdgeSE3DrawAction);
actionLib->registerAction(new CacheCameraDrawAction);
#endif
types_slam3d::initialized = 1;
}
void G2O_ATTRIBUTE_CONSTRUCTOR init_types_slam2d(void)
{
Factory* factory = Factory::instance();
//cerr << "Calling " << __FILE__ << " " << __PRETTY_FUNCTION__ << endl;
factory->registerType("VERTEX_SE2", new HyperGraphElementCreator<VertexSE2>);
factory->registerType("VERTEX_XY", new HyperGraphElementCreator<VertexPointXY>);
factory->registerType("EDGE_PIOR_SE2", new HyperGraphElementCreator<EdgeSE2Prior>);
factory->registerType("EDGE_SE2", new HyperGraphElementCreator<EdgeSE2>);
factory->registerType("EDGE_SE2_XY", new HyperGraphElementCreator<EdgeSE2PointXY>);
factory->registerType("EDGE_BEARING_SE2_XY", new HyperGraphElementCreator<EdgeSE2PointXYBearing>);
factory->registerType("EDGE_SE2_MULTI", new HyperGraphElementCreator<EdgeSE2Multi>);
factory->registerType("EDGE_SE2_XY_CALIB", new HyperGraphElementCreator<EdgeSE2PointXYCalib>);
HyperGraphActionLibrary* actionLib = HyperGraphActionLibrary::instance();
actionLib->registerAction(new VertexSE2WriteGnuplotAction);
actionLib->registerAction(new VertexPointXYWriteGnuplotAction);
actionLib->registerAction(new EdgeSE2WriteGnuplotAction);
actionLib->registerAction(new EdgeSE2PointXYWriteGnuplotAction);
actionLib->registerAction(new EdgeSE2PointXYBearingWriteGnuplotAction);
#ifdef G2O_HAVE_OPENGL
actionLib->registerAction(new VertexSE2DrawAction);
actionLib->registerAction(new VertexPointXYDrawAction);
actionLib->registerAction(new EdgeSE2DrawAction);
actionLib->registerAction(new EdgeSE2PointXYDrawAction);
actionLib->registerAction(new EdgeSE2PointXYBearingDrawAction);
#endif
}
