edge_sba_cam.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 Kurt Konolige
// 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
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#ifndef G2O_SBA_EDGESBACAM_H
#define G2O_SBA_EDGESBACAM_H
 
#include "g2o/core/base_binary_edge.h"
#include "g2o_types_sba_api.h"
#include "vertex_cam.h"
 
namespace g2o {
 
class G2O_TYPES_SBA_API EdgeSBACam
    : public BaseBinaryEdge<6, SE3Quat, VertexCam, VertexCam> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSBACam();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
  void computeError();
 
  virtual void setMeasurement(const SE3Quat& meas);
 
  virtual double initialEstimatePossible(const OptimizableGraph::VertexSet&,
                                         OptimizableGraph::Vertex*) {
    return cst(1.);
  }
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
 
  virtual bool setMeasurementData(const double* d);
 
  virtual bool getMeasurementData(double* d) const;
 
  virtual int measurementDimension() const { return 7; }
 
  virtual bool setMeasurementFromState();
 
 protected:
  SE3Quat _inverseMeasurement;
};
 
}  // namespace g2o
 
#endif