edge_project_xyz2uvu.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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
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#ifndef G2O_SBA_EDGEPROJECTXYZ2UVU_H
#define G2O_SBA_EDGEPROJECTXYZ2UVU_H
 
#include "g2o/core/base_binary_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 {
 
// Stereo Observations
// U: left u
// V: left v
// U: right u
class G2O_TYPES_SBA_API EdgeProjectXYZ2UVU
    : public BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 
  EdgeProjectXYZ2UVU();
  bool read(std::istream& is);
  bool write(std::ostream& os) const;
  void computeError();
  //  virtual void linearizeOplus();
 protected:
  CameraParameters* _cam;
};
 
}  // namespace g2o
 
#endif