edge_project_xyz.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// 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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_SBA_EDGEPROJECTXYZ_H
#define G2O_SBA_EDGEPROJECTXYZ_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
class G2O_TYPES_SBA_API EdgeSE3ProjectXYZ
    : public BaseBinaryEdge<2, Vector2, VertexPointXYZ, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  EdgeSE3ProjectXYZ();
 
  bool read(std::istream& is);
  bool write(std::ostream& os) const;
  void computeError();
  bool isDepthPositive();
 
  virtual void linearizeOplus();
  Vector2 cam_project(const Vector3& trans_xyz) const;
 
  double fx = 1., fy = 1., cx = 0.5, cy = 0.5;
};
 
}  // namespace g2o
 
#endif