80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_GLOBAL_H_
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#define SVO_GLOBAL_H_
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#include <list>
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#include <vector>
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#include <string>
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#include <stdint.h>
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#include <stdio.h>
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#include <math.h>
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#include <Eigen/Core>
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#include <opencv2/opencv.hpp>
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#include <sophus/se3.h>
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#include <boost/shared_ptr.hpp>
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#include<Eigen/StdVector>
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#ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit
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#define RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED
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EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d)
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EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d)
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#endif
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#include <ros/console.h>
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#define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x)
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#define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x)
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#define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x)
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#define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x)
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#define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x)
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namespace svo
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{
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using namespace Eigen;
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using namespace Sophus;
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const double EPS = 0.0000000001;
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const double PI = 3.14159265;
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class SE2_5{
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public:
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double X_,Z_,tetha_,cos_theta_,sin_theta_;
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SE3* T;
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SE2_5(double x,double z,double tetha):X_(x),Z_(z),tetha_(tetha){
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cos_theta_=cos(tetha_);
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sin_theta_=sin(tetha_);
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Eigen::Matrix<double, 3,3> R;
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R<<cos_theta_,0.0,sin_theta_,
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0.0,1.0,0.0,
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-sin_theta_,0.0,cos_theta_;
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T=new SE3(R,Vector3d(X_,0.0,Z_));
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};
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void set(){
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X_=T->translation().x();
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Z_=T->translation().z();
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tetha_=atan(T->matrix()(0,2)/T->matrix()(0,0));
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cos_theta_=cos(tetha_);
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sin_theta_=sin(tetha_);
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}
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~SE2_5(){}
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};
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class Frame;
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typedef boost::shared_ptr<Frame> FramePtr;
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} // namespace svo
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#endif // SVO_GLOBAL_H_
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