g2o windows

API 
G2O_TYPES_SLAM3D_ADDONS class 
（G2O_TYPES_SLAM3D_ADDONS） Line3D : public Vector6d {
 public: EIGEN_MAKE_ALIGNED_OPERATOR_NEW; G2O_TYPES_SLAM3D_ADDONS_API friend Line3D operator*(const Eigen::Isometry3d& t, const Line3D& line); Line3D() { *this << 0.0, 0.0, 0.0, 1.0, 0.0, 0.0; } G2O_TYPES_SLAM3D_ADDONS_API
 Line3D(const Vector6d& v) { (Vector6d&)*this = v; } G2O_TYPES_SLAM3D_ADDONS_API Vector6d toCartesian() const; G2O_TYPES_SLAM3D_ADDONS_API inline Eigen::Vector3d w() const { return head<3>(); } G2O_TYPES_SLAM3D_ADDONS_API inline Eigen::Vector3d d() const {
 return tail<3>(); } G2O_TYPES_SLAM3D_ADDONS_API inline void setW(const Eigen::Vector3d& w_) { head<3>() = w_; } G2O_TYPES_SLAM3D_ADDONS_API inline void setD(const Eigen::Vector3d& d_) { tail<3>() = d_; } G2O_TYPES_SLAM3D_ADDONS_API static inline Line3D fromCartesian(const
 Vector6d& cart) { Line3D l; Eigen::Vector3d _p = cart.head<3>(); Eigen::Vector3d _d = cart.tail<3>() * 1.0/cart.tail<3>().norm(); _p -= _d*(_d.dot(_p)); l.setW(_p.cross(_p+_d)); l.setD(_d); return l; } G2O_TYPES_SLAM3D_ADDONS_API static inline Line3D fromOrthonormal(const
 OrthonormalLine3D& ortho) { Eigen::Vector3d w; w.x() = ortho.U(0, 0) * ortho.W(0, 0); w.y() = ortho.U(1, 0) * ortho.W(0, 0); w.z() = ortho.U(2, 0) * ortho.W(0, 0); Eigen::Vector3d d; d.x() = ortho.U(0, 1) * ortho.W(1, 0); d.y() = ortho.U(1, 1) * ortho.W(1,
 0); d.z() = ortho.U(2, 1) * ortho.W(1, 0); Line3D l; l.setW(w); l.setD(d); l.normalize(); return l; } G2O_TYPES_SLAM3D_ADDONS_API static inline OrthonormalLine3D toOrthonormal(const Line3D& line) { OrthonormalLine3D ortho; Eigen::Vector2d mags; mags << line.d().norm(),
 line.w().norm(); double wn = 1.0 / mags.norm(); ortho.W << mags.y() * wn, -mags.x() * wn, mags.x() * wn, mags.y() * wn; double mn = 1.0 / mags.y(); double dn = 1.0 / mags.x(); Eigen::Vector3d mdcross; mdcross = line.w().cross(line.d()); double mdcrossn = 1.0
 / mdcross.norm(); ortho.U << line.w().x() * mn, line.d().x() * dn, mdcross.x() * mdcrossn, line.w().y() * mn, line.d().y() * dn, mdcross.y() * mdcrossn, line.w().z() * mn, line.d().z() * dn, mdcross.z() * mdcrossn; return ortho; } G2O_TYPES_SLAM3D_ADDONS_API
 inline void normalize() { double n = 1.0/d().norm(); (*this)*=n; } G2O_TYPES_SLAM3D_ADDONS_API inline Line3D normalized() const { return Line3D((Vector6d)(*this)*(1.0/d().norm())); } G2O_TYPES_SLAM3D_ADDONS_API inline void oplus(const Eigen::Vector4d& v){
 OrthonormalLine3D ortho_estimate = toOrthonormal(*this); OrthonormalLine3D ortho_update; ortho_update.W << std::cos(v[3]), -std::sin(v[3]), std::sin(v[3]), std::cos(v[3]); Eigen::Quaterniond quat(std::sqrt(1 - v.head<3>().squaredNorm()), v[0], v[1], v[2]);
 quat.normalize(); ortho_update.U = quat.toRotationMatrix(); ortho_estimate.U = ortho_estimate.U * ortho_update.U; ortho_estimate.W = ortho_estimate.W * ortho_update.W; *this = fromOrthonormal(ortho_estimate); this->normalize(); } G2O_TYPES_SLAM3D_ADDONS_API
 inline Eigen::Vector4d ominus(const Line3D& line) { OrthonormalLine3D ortho_estimate = toOrthonormal(*this); OrthonormalLine3D ortho_line = toOrthonormal(line); Eigen::Matrix2d W_delta = ortho_estimate.W.transpose() * ortho_line.W; Eigen::Matrix3d U_delta
 = ortho_estimate.U.transpose() * ortho_line.U; Eigen::Vector4d delta; Eigen::Quaterniond q(U_delta); q.normalize(); delta[0] = q.x(); delta[1] = q.y(); delta[2] = q.z(); delta[3] = atan2(W_delta(1, 0), W_delta(0, 0)); return delta; } }; G2O_TYPES_SLAM3D_ADDONS_API
 Line3D operator*(const Eigen::Isometry3d& t, const Line3D& line); namespace internal { G2O_TYPES_SLAM3D_ADDONS_API Vector6d transformCartesianLine(const Eigen::Isometry3d& t, const Vector6d& line); G2O_TYPES_SLAM3D_ADDONS_API Vector6d normalizeCartesianLine(const
 Vector6d& line); static inline double mline_elevation(const double v[3]) { return atan2(v[2], sqrt(v[0]*v[0] + v[1]*v[1])); } G2O_TYPES_SLAM3D_ADDONS_API inline double getAzimuth(const Eigen::Vector3d& direction) { return atan2(direction.y(), direction.x());
 } G2O_TYPES_SLAM3D_ADDONS_API inline double getElevation(const Eigen::Vector3d& direction) { return atan2(direction.z(), direction.head<2>().norm()); } }}