edge_project_p2sc.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 Kurt Konolige
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// 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
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#ifndef G2O_SBA_EDGEPROJECTP2SC_H
#define G2O_SBA_EDGEPROJECTP2SC_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/slam3d/vertex_pointxyz.h"
#include "g2o_types_sba_api.h"
#include "vertex_cam.h"
 
namespace g2o {
 
// stereo projection
// first two args are the measurement type, second two the connection classes
class G2O_TYPES_SBA_API EdgeProjectP2SC
    : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexCam> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeProjectP2SC();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  void computeError();

  virtual void linearizeOplus();
};
 
}  // namespace g2o
 
#endif