edge_project_psi2uv.h

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// 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
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#ifndef G2O_SBA_EDGEPROJECTPSI2UV_H
#define G2O_SBA_EDGEPROJECTPSI2UV_H
 
#include "g2o/core/base_fixed_sized_edge.h"
#include "g2o/types/slam3d/vertex_pointxyz.h"
#include "g2o_types_sba_api.h"
#include "parameter_cameraparameters.h"
#include "vertex_se3_expmap.h"
 
namespace g2o {
 
class G2O_TYPES_SBA_API EdgeProjectPSI2UV
    : public g2o::BaseFixedSizedEdge<2, Vector2, VertexPointXYZ,
                                     VertexSE3Expmap, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  EdgeProjectPSI2UV();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
  void computeError();
  virtual void linearizeOplus();
  CameraParameters* _cam;
};
 
}  // namespace g2o
 
#endif