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include/mylib/g2o_opt_type.h

+#ifndef G2O_OPT_TYPE_H_
+#define G2O_OPT_TYPE_H_
+
+#include "g2o/g2o/core/base_vertex.h"
+#include "g2o/g2o/types/types_sba.h"
+#include "g2o/g2o/types/types_six_dof_expmap.h"
+#include "g2o/g2o/core/optimization_algorithm_levenberg.h"
+#include "g2o/g2o/core/sparse_optimizer.h"
+#include "g2o/g2o/core/block_solver.h"
+#include "g2o/g2o/solvers/linear_solver_eigen.h"
+#include "mylib/QuatPlane.h"
+namespace g2o {
+    Eigen::Matrix3d hat(const Eigen::Vector3d &v);
+
+/**
+ * \brief Plane vertex, omg(XYZ)
+ */
+    class VertexSBAPlaneomg : public BaseVertex<3, Eigen::Vector3d> {
+    public:
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+        VertexSBAPlaneomg(){}
+
+        virtual bool read(std::istream &is){};
+
+        virtual bool write(std::ostream &os) const{};
+
+        virtual void setToOriginImpl() ;
+
+        virtual void oplusImpl(const double *update) ;
+    };
+
+    /***********************************************************************/
+
+class EdgeSE3ProjectPlane : public BaseBinaryEdge<3, Eigen::Vector3d, g2o::VertexSBAPlaneomg, g2o::VertexSE3Expmap> {
+    public:
+        EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+
+
+        EdgeSE3ProjectPlane() {}
+
+        bool read(std::istream &is) {}
+
+        bool write(std::ostream &os) const {}
+
+        virtual void computeError();
+
+        virtual void linearizeOplus();
+
+        //Vector2d cam_project(const Vector3d & pc) const;
+
+        Eigen::Matrix3d skew(const Eigen::Vector3d &v) const;
+
+
+    };
+
+
+
+//EdgeSE3ProjectPlane
+
+}
+#endif
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