Merge branch 'master' into pymem-merge

doc/g2o.tex

@@ -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);
 
   // ...
 }

g2o/apps/g2o_cli/CMakeLists.txt

@@ -26,13 +26,16 @@ target_link_libraries(g2o_cli_application g2o_cli_library)
 
 set_target_properties(g2o_cli_application PROPERTIES OUTPUT_NAME g2o)
 
-install(TARGETS g2o_cli_library g2o_cli_application
+install(TARGETS g2o_cli_library
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
   LIBRARY DESTINATION ${LIBRARY_DESTINATION}
   ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
   INCLUDES DESTINATION ${INCLUDES_DESTINATION}
 )
+install(TARGETS g2o_cli_application
+  RUNTIME DESTINATION ${RUNTIME_DESTINATION}
+)
 
 file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 

g2o/apps/g2o_simulator/CMakeLists.txt

@@ -11,9 +11,8 @@ target_link_libraries(g2o_simulator3d_application simulator_lib types_slam3d_add
 set_target_properties(g2o_simulator3d_application PROPERTIES OUTPUT_NAME g2o_simulator3d)
 
 install(TARGETS g2o_simulator2d_application g2o_simulator3d_application
-  EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
-  LIBRARY DESTINATION ${LIBRARY_DESTINATION}
-  ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
-  INCLUDES DESTINATION ${INCLUDES_DESTINATION}
 )
+
+file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
+install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/apps/g2o_simulator)

g2o/apps/g2o_viewer/CMakeLists.txt

@@ -41,13 +41,16 @@ target_link_libraries(viewer_library core g2o_cli_library ${QGLVIEWER_LIBRARY} $
 target_link_libraries(viewer_library core opengl_helper)
 target_link_libraries(g2o_viewer viewer_library)
 
-install(TARGETS g2o_viewer viewer_library
+install(TARGETS viewer_library
   EXPORT ${G2O_TARGETS_EXPORT_NAME}
   RUNTIME DESTINATION ${RUNTIME_DESTINATION}
   LIBRARY DESTINATION ${LIBRARY_DESTINATION}
   ARCHIVE DESTINATION ${ARCHIVE_DESTINATION}
   INCLUDES DESTINATION ${INCLUDES_DESTINATION} ${qt5_includes_dirs} ${QGLVIEWER_INCLUDE_DIR}
 )
+install(TARGETS g2o_viewer
+  RUNTIME DESTINATION ${RUNTIME_DESTINATION}
+)
 
 file(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 install(FILES ${headers} DESTINATION ${INCLUDES_INSTALL_DIR}/apps/g2o_viewer)

g2o/core/factory.h

@@ -157,12 +157,20 @@ 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) {}   \
-  namespace {                                                        \
-  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) {}     \
+  namespace {                                                          \
+  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); \
   namespace {                                                    \

g2o/examples/interactive_slam/g2o_interactive/types_online.cpp

@@ -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

g2o/examples/tutorial_slam2d/types_tutorial_slam2d.cpp

@@ -35,13 +35,14 @@ namespace g2o::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_NAME("TUTORIAL_EDGE_SE2", EdgeSE2);
+G2O_REGISTER_TYPE_NAME("TUTORIAL_EDGE_SE2_POINT_XY", EdgeSE2PointXY);
 
-G2O_REGISTER_TYPE(TUTORIAL_EDGE_SE2, EdgeSE2);
-G2O_REGISTER_TYPE(TUTORIAL_EDGE_SE2_POINT_XY, EdgeSE2PointXY);
 }  // namespace g2o::tutorial

g2o/types/data/types_data.cpp

@@ -37,9 +37,9 @@ 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);

g2o/types/icp/types_icp.cpp

@@ -36,7 +36,7 @@
 namespace g2o {
 
 G2O_REGISTER_TYPE_GROUP(icp);
-G2O_REGISTER_TYPE(EDGE_V_V_GICP, EdgeVVGicp);
+G2O_REGISTER_TYPE_NAME("EDGE_V_V_GICP", EdgeVVGicp);
 
 const Matrix3 EdgeVVGicp::kDRidx =
     (Matrix3() << 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.0, -2.0, 0.0)

g2o/types/sba/types_sba.cpp

@@ -41,12 +41,12 @@ namespace g2o {
 
 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

g2o/types/sba/types_six_dof_expmap.cpp

@@ -42,17 +42,18 @@
 
 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

g2o/types/sclam2d/types_sclam2d.cpp

@@ -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);

g2o/types/sim3/types_seven_dof_expmap.cpp

@@ -37,12 +37,11 @@ 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() {
   marginalized_ = false;

g2o/types/slam2d/types_slam2d.cpp

@@ -47,22 +47,22 @@ 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);
 
 #ifdef G2O_HAVE_OPENGL
 G2O_REGISTER_ACTION(VertexSE2DrawAction);

g2o/types/slam2d_addons/types_slam2d_addons.cpp

@@ -40,15 +40,16 @@ namespace g2o {
 
 G2O_REGISTER_TYPE_GROUP(slam2d_segment);
 
-G2O_REGISTER_TYPE(VERTEX_SEGMENT2D, VertexSegment2D);
-G2O_REGISTER_TYPE(VERTEX_LINE2D, VertexLine2D);
+G2O_REGISTER_TYPE_NAME("VERTEX_SEGMENT2D", VertexSegment2D);
+G2O_REGISTER_TYPE_NAME("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("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);

g2o/types/slam3d/types_slam3d.cpp

@@ -46,29 +46,26 @@ 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(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("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 ************/
 #ifdef G2O_HAVE_OPENGL

g2o/types/slam3d_addons/types_slam3d_addons.cpp

@@ -39,13 +39,13 @@ namespace g2o {
 
 G2O_REGISTER_TYPE_GROUP(slam3d_addons);
 
-G2O_REGISTER_TYPE(VERTEX_PLANE, VertexPlane);
-G2O_REGISTER_TYPE(EDGE_SE3_PLANE_CALIB, EdgeSE3PlaneSensorCalib);
+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);