edge_project_stereo_xyz_onlypose.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
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#ifndef G2O_SBA_EDGEPROJECTSTEREOXYZ_ONLYPOSE_H
#define G2O_SBA_EDGEPROJECTSTEREOXYZ_ONLYPOSE_H
 
#include "g2o/core/base_unary_edge.h"
#include "g2o_types_sba_api.h"
#include "vertex_se3_expmap.h"
 
namespace g2o {
 
// Edge to optimize only the camera pose stereo
// TODO why does this exist? Fix point in optimization instead?
class G2O_TYPES_SBA_API EdgeStereoSE3ProjectXYZOnlyPose
    : public BaseUnaryEdge<3, Vector3, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  EdgeStereoSE3ProjectXYZOnlyPose() {}
 
  bool read(std::istream& is);
 
  bool write(std::ostream& os) const;
 
  void computeError();
 
  bool isDepthPositive();
 
  virtual void linearizeOplus();
 
  Vector3 cam_project(const Vector3& trans_xyz) const;
 
  Vector3 Xw;
  double fx, fy, cx, cy, bf;
};
 
}  // namespace g2o
 
#endif