g2o
sensor_pointxyz_disparity.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_SENSOR_POINTXYZ_DISPARITY_H_
28 #define G2O_SENSOR_POINTXYZ_DISPARITY_H_
29 #include "simulator3d_base.h"
30 #include "pointsensorparameters.h"
31 #include "g2o_simulator_api.h"
32 
33 namespace g2o {
34 
35 
36  class G2O_SIMULATOR_API SensorPointXYZDisparity: public PointSensorParameters, public BinarySensor<Robot3D, EdgeSE3PointXYZDisparity, WorldObjectTrackXYZ>{
37  public:
38  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39  typedef PoseVertexType::EstimateType RobotPoseType;
40  SensorPointXYZDisparity(const std::string& name_);
41  virtual void sense();
42  virtual void addParameters();
43  ParameterSE3Offset* offsetParam() {return _offsetParam;};
44  void addNoise(EdgeType* e);
45  protected:
46  bool isVisible(WorldObjectType* to);
47  RobotPoseType _sensorPose;
49  };
50 
51 }
52 
53 #endif
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PoseVertexType::EstimateType RobotPoseType
edge from a track to a depth camera node using a disparity measurement
#define G2O_SIMULATOR_API