HomogeneousPointParameterBlock.hpp

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 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
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 *  Created on: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_HOMOGENEOUSPOINTPARAMETERBLOCK_HPP_
#define INCLUDE_OKVIS_CERES_HOMOGENEOUSPOINTPARAMETERBLOCK_HPP_

#include <okvis/ceres/ParameterBlockSized.hpp>
#include <okvis/ceres/HomogeneousPointLocalParameterization.hpp>
#include <Eigen/Core>

namespace okvis {
namespace ceres {

class HomogeneousPointParameterBlock : public ParameterBlockSized<4, 3,
    Eigen::Vector4d>
{
 public:

  typedef Eigen::Vector4d estimate_t;

  typedef ParameterBlockSized<4, 3, estimate_t> base_t;

  HomogeneousPointParameterBlock();

  HomogeneousPointParameterBlock(const Eigen::Vector4d& point, uint64_t id,
                                 bool initialized = true);

  HomogeneousPointParameterBlock(const Eigen::Vector3d& point, uint64_t id,
                                 bool initialized = true);

  virtual ~HomogeneousPointParameterBlock();


  virtual void setEstimate(const Eigen::Vector4d& point);

  void setInitialized(bool initialized)
  {
    initialized_ = initialized;
  }



  virtual Eigen::Vector4d estimate() const;

  bool initialized() const
  {
    return initialized_;
  }


  // minimal internal parameterization
  // x0_plus_Delta=Delta_Chi[+]x0
  virtual void plus(const double* x0, const double* Delta_Chi,
                    double* x0_plus_Delta) const
  {
    HomogeneousPointLocalParameterization::plus(x0, Delta_Chi, x0_plus_Delta);
  }

  virtual void plusJacobian(const double* x0, double* jacobian) const
  {
    HomogeneousPointLocalParameterization::plusJacobian(x0, jacobian);
  }

  // Delta_Chi=x0_plus_Delta[-]x0
  virtual void minus(const double* x0, const double* x0_plus_Delta,
                     double* Delta_Chi) const
  {
    HomogeneousPointLocalParameterization::minus(x0, x0_plus_Delta, Delta_Chi);
  }

  virtual void liftJacobian(const double* x0, double* jacobian) const
  {
    HomogeneousPointLocalParameterization::liftJacobian(x0, jacobian);
  }

  virtual std::string typeInfo() const
  {
    return "HomogeneousPointParameterBlock";
  }

 private:
  bool initialized_;  

};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_HOMOGENEOUSPOINTPARAMETERBLOCK_HPP_ */