vertex_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
// 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
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_SBA_VERTEX_CAM_H
#define G2O_SBA_VERTEX_CAM_H
 
#include "g2o/core/base_vertex.h"
#include "g2o_types_sba_api.h"
#include "sbacam.h"
 
namespace g2o {
 
class G2O_TYPES_SBA_API VertexCam : public BaseVertex<6, SBACam> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexCam();
 
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  virtual void setToOriginImpl() { _estimate = SBACam(); }
 
  virtual void setEstimate(const SBACam& cam) {
    BaseVertex<6, SBACam>::setEstimate(cam);
    _estimate.setTransform();
    _estimate.setProjection();
    _estimate.setDr();
  }
 
  virtual void oplusImpl(const double* update) {
    Eigen::Map<const Vector6> v(update);
    _estimate.update(v);
    _estimate.setTransform();
    _estimate.setProjection();
    _estimate.setDr();
  }
 
  virtual bool setEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector7> v(est);
    _estimate.fromVector(v);
    return true;
  }
 
  virtual bool getEstimateData(double* est) const {
    Eigen::Map<Vector7> v(est);
    v = estimate().toVector();
    return true;
  }
 
  virtual int estimateDimension() const { return 7; }
 
  virtual bool setMinimalEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector6> v(est);
    _estimate.fromMinimalVector(v);
    return true;
  }
 
  virtual bool getMinimalEstimateData(double* est) const {
    Eigen::Map<Vector6> v(est);
    v = _estimate.toMinimalVector();
    return true;
  }
 
  virtual int minimalEstimateDimension() const { return 6; }
};
}  // namespace g2o
 
#endif