// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// All rights reserved.
//
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#ifndef G2O_SBA_EDGEPROJECTXYZONLYPOSE_H
#define G2O_SBA_EDGEPROJECTXYZONLYPOSE_H

#include "g2o/core/base_unary_edge.h"
#include "g2o_types_sba_api.h"
#include "vertex_se3_expmap.h"

namespace g2o {

// Edge to optimize only the camera pose
// TODO why does this exist? Fix point in optimization instead?
class G2O_TYPES_SBA_API EdgeSE3ProjectXYZOnlyPose
    : public BaseUnaryEdge<2, Vector2, VertexSE3Expmap> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  bool read(std::istream& is);
  bool write(std::ostream& os) const;
  void computeError();
  bool isDepthPositive();
  virtual void linearizeOplus();

 public:
  Vector2 cam_project(const Vector3& trans_xyz) const;

  Vector3 Xw;
  double fx, fy, cx, cy;
};

}  // namespace g2o

#endif
