PoseError.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
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 *  Created on: Sep 10, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_POSEERROR_HPP_
#define INCLUDE_OKVIS_CERES_POSEERROR_HPP_

#include <vector>
#include "ceres/ceres.h"
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/assert_macros.hpp>
#include <okvis/ceres/ErrorInterface.hpp>

namespace okvis {
namespace ceres {

class PoseError : public ::ceres::SizedCostFunction<6 /* number of residuals */,
    7 /* size of first parameter */>, public ErrorInterface {
 public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  typedef ::ceres::SizedCostFunction<6, 7> base_t;

  static const int kNumResiduals = 6;

  typedef Eigen::Matrix<double, 6, 6> information_t;

  typedef Eigen::Matrix<double, 6, 6> covariance_t;

  PoseError() {}

  PoseError(const okvis::kinematics::Transformation & measurement,
            const Eigen::Matrix<double, 6, 6> & information);

  PoseError(const okvis::kinematics::Transformation & measurement,
            double translationVariance, double rotationVariance);

  virtual ~PoseError() {
  }


  void setMeasurement(const okvis::kinematics::Transformation & measurement) {
    measurement_ = measurement;
  }

  void setInformation(const information_t & information);


  const okvis::kinematics::Transformation& measurement() const {
    return measurement_;
  }

  const information_t& information() const {
    return information_;
  }

  const information_t& covariance() const {
    return covariance_;
  }


  // error term and Jacobian implementation
  virtual bool Evaluate(double const* const * parameters, double* residuals,
                        double** jacobians) const;

  virtual bool EvaluateWithMinimalJacobians(double const* const * parameters,
                                            double* residuals,
                                            double** jacobians,
                                            double** jacobiansMinimal) const;

  // sizes
  size_t residualDim() const {
    return kNumResiduals;
  }

  size_t parameterBlocks() const {
    return base_t::parameter_block_sizes().size();
  }

  size_t parameterBlockDim(size_t parameterBlockId) const {
    return base_t::parameter_block_sizes().at(parameterBlockId);
  }

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

 protected:

  // the measurement
  okvis::kinematics::Transformation measurement_; 

  // weighting related
  information_t information_; 
  information_t squareRootInformation_; 
  covariance_t covariance_; 

};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_POSEERROR_HPP_ */