edge_se3_pointxyz_disparity.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 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_EDGE_SE3_POINTXYZ_DISPARITY_H_
#define G2O_EDGE_SE3_POINTXYZ_DISPARITY_H_
 
#include "g2o/core/base_binary_edge.h"
#include "g2o/core/hyper_graph_action.h"
#include "parameter_camera.h"
#include "vertex_pointxyz.h"
#include "vertex_se3.h"
 
#define EDGE_PROJECT_DISPARITY_ANALYTIC_JACOBIAN
namespace g2o {

// first two args are the measurement type, second two the connection classes
class G2O_TYPES_SLAM3D_API EdgeSE3PointXYZDisparity
    : public BaseBinaryEdge<3, Vector3, VertexSE3, VertexPointXYZ> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE3PointXYZDisparity();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;
 
  // return the error estimate as a 3-vector
  void computeError();
 
#ifdef EDGE_PROJECT_DISPARITY_ANALYTIC_JACOBIAN
  virtual void linearizeOplus();
#endif
 
  virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector3> v(d);
    _measurement = v;
    return true;
  }
 
  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector3> v(d);
    v = _measurement;
    return true;
  }
 
  virtual int measurementDimension() const { return 3; }
 
  virtual bool setMeasurementFromState();
 
  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to) {
    (void)to;
    return (from.count(_vertices[0]) == 1 ? 1.0 : -1.0);
  }
 
  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);
 
  const ParameterCamera* cameraParameter() const { return params; }
 
 private:
  Eigen::Matrix<double, 3, 9, Eigen::ColMajor> J;  // jacobian before projection
  virtual bool resolveCaches();
  ParameterCamera* params;
  CacheCamera* cache;
};
 
#ifdef G2O_HAVE_OPENGL
class G2O_TYPES_SLAM3D_API EdgeProjectDisparityDrawAction : public DrawAction {
 public:
  EdgeProjectDisparityDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif
 
}  // namespace g2o
#endif