edge_se3_pointxyz_disparity.h

Go to the documentation of this file.

// 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
// 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
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_DEPRECATED_EDGE_SE3_POINTXYZ_DISPARITY_H_
#define G2O_DEPRECATED_EDGE_SE3_POINTXYZ_DISPARITY_H_

#include "vertex_se3_quat.h"
#include "vertex_pointxyz.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o/core/base_binary_edge.h"
#include "parameter_camera.h"

#define EDGE_PROJECT_DISPARITY_ANALYTIC_JACOBIAN
namespace g2o {
namespace deprecated {

  // first two args are the measurement type, second two the connection classes
  class G2O_DEPRECATED_TYPES_SLAM3D_API EdgeSE3PointXYZDisparity : public BaseBinaryEdge<3, Eigen::Vector3d, 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 void setMeasurement(const Eigen::Vector3d& m){
      _measurement = m;
    }

    virtual bool setMeasurementData(const double* d){
      Eigen::Map<const Eigen::Vector3d> v(d);
      _measurement = v;
      return true;
    }

    virtual bool getMeasurementData(double* d) const{
      Eigen::Map<Eigen::Vector3d> 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);

  private:
    Eigen::Matrix<double,3,9> J; // jacobian before projection
    virtual bool resolveCaches();
    ParameterCamera* params;
    CacheCamera* cache;
  };


#ifdef G2O_HAVE_OPENGL
  class EdgeProjectDisparityDrawAction: public DrawAction{
  public:
    EdgeProjectDisparityDrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_);
  };
#endif

}
}
#endif