edge_project_stereo_xyz.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_SBA_EDGEPROJECTSTEREOXYZ_H
#define G2O_SBA_EDGEPROJECTSTEREOXYZ_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/slam3d/vertex_pointxyz.h"
#include "g2o_types_sba_api.h"
#include "vertex_se3_expmap.h"
 
namespace g2o {
 
// Projection using focal_length in x and y directions stereo
class G2O_TYPES_SBA_API EdgeStereoSE3ProjectXYZ
    : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  EdgeStereoSE3ProjectXYZ();
 
  bool read(std::istream& is);
 
  bool write(std::ostream& os) const;
 
  void computeError() {
    const VertexSE3Expmap* v1 =
        static_cast<const VertexSE3Expmap*>(_vertices[1]);
    const VertexPointXYZ* v2 = static_cast<const VertexPointXYZ*>(_vertices[0]);
    Vector3 obs(_measurement);
    _error = obs - cam_project(v1->estimate().map(v2->estimate()), bf);
  }
 
  bool isDepthPositive() {
    const VertexSE3Expmap* v1 =
        static_cast<const VertexSE3Expmap*>(_vertices[1]);
    const VertexPointXYZ* v2 = static_cast<const VertexPointXYZ*>(_vertices[0]);
    return (v1->estimate().map(v2->estimate()))(2) > 0;
  }
 
  virtual void linearizeOplus();
 
  Vector3 cam_project(const Vector3& trans_xyz, const float& bf) const;
 
  double fx = 1., fy = 1., cx = 0.5, cy = 0.5, bf = 0;
};
 
}  // namespace g2o
 
#endif