simple_star_ops.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_SIMPLE_STAR_OPS_
#define G2O_SIMPLE_STAR_OPS_
 
#include <map>
#include <string>
 
#include "edge_creator.h"
#include "edge_labeler.h"
#include "g2o/core/hyper_dijkstra.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o_hierarchical_api.h"
#include "star.h"
 
namespace g2o {
 
G2O_HIERARCHICAL_API void constructEdgeStarMap(EdgeStarMap& esmap,
                                               StarSet& stars, bool low = true);
 
size_t vertexEdgesInStar(HyperGraph::EdgeSet& eset, HyperGraph::Vertex* v,
                         Star* s, EdgeStarMap& esmap);
 
void starsInVertex(StarSet& stars, HyperGraph::Vertex* v, EdgeStarMap& esmap);
 
void assignHierarchicalEdges(StarSet& stars, EdgeStarMap& esmap,
                             EdgeLabeler* labeler, EdgeCreator* creator,
                             SparseOptimizer* optimizer, int minNumEdges,
                             int maxIterations);
 
G2O_HIERARCHICAL_API void computeBorder(StarSet& stars, EdgeStarMap& hesmap);
 
G2O_HIERARCHICAL_API void computeSimpleStars(
    StarSet& stars, SparseOptimizer* optimizer, EdgeLabeler* labeler,
    EdgeCreator* creator, OptimizableGraph::Vertex* gauge_, std::string edgeTag,
    std::string vertexTag, int level, int step, int backboneIterations = 1,
    int starIterations = 30, double rejectionThreshold = 1e-5,
    bool debug = false);
 
}  // namespace g2o
#endif