sbacam.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
// 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
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#ifndef G2O_SBACam_H
#define G2O_SBACam_H
 
#include "g2o/types/slam3d/se3quat.h"
#include "g2o_types_sba_api.h"
 
namespace g2o {
 
class G2O_TYPES_SBA_API SBACam : public SE3Quat {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  // camera matrix and stereo baseline
  Matrix3 Kcam;
  double baseline;
 
  // transformations
  Eigen::Matrix<double, 3, 4> w2n;  // transform from world to node coordinates
  Eigen::Matrix<double, 3, 4> w2i;  // transform from world to image coordinates
 
  // Derivatives of the rotation matrix transpose wrt quaternion xyz, used for
  // calculating Jacobian wrt pose of a projection.
  Matrix3 dRdx, dRdy, dRdz;
 
  // initialize an object
  SBACam();
 
  // set the object pose
  SBACam(const Quaternion& r_, const Vector3& t_);
 
  SBACam(const SE3Quat& p);
 
  // update from the linear solution
  // defined in se3quat
  void update(const Vector6& update);
 
  // transforms
  static void transformW2F(Eigen::Matrix<double, 3, 4>& m, const Vector3& trans,
                           const Quaternion& qrot);
 
  static void transformF2W(Eigen::Matrix<double, 3, 4>& m, const Vector3& trans,
                           const Quaternion& qrot);
 
  // set up camera matrix
  void setKcam(double fx, double fy, double cx, double cy, double tx);
 
  // set transform from world to cam coords
  void setTransform() { transformW2F(w2n, _t, _r); }
 
  // Set up world-to-image projection matrix (w2i), assumes camera parameters
  // are filled.
  void setProjection() { w2i = Kcam * w2n; }
 
  // sets angle derivatives
  void setDr();
};
 
// human-readable SBACam object
std::ostream& operator<<(std::ostream& out_str, const SBACam& cam);
 
}  // namespace g2o
 
#endif  // SBACam