PoseLocalParameterization.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_POSELOCALPARAMETERIZATION_HPP_
#define INCLUDE_OKVIS_CERES_POSELOCALPARAMETERIZATION_HPP_

#include "ceres/ceres.h"
#include <okvis/assert_macros.hpp>
#include <okvis/ceres/LocalParamizationAdditionalInterfaces.hpp>

namespace okvis {
namespace ceres {

class PoseLocalParameterization : public ::ceres::LocalParameterization,
    public LocalParamizationAdditionalInterfaces {
 public:

  virtual ~PoseLocalParameterization() {
  }

  virtual bool Plus(const double* x, const double* delta,
                    double* x_plus_delta) const;

  virtual bool Minus(const double* x, const double* x_plus_delta,
                     double* delta) const;

  virtual bool ComputeJacobian(const double* x, double* jacobian) const;

  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const;

  // provide these as static for easy use elsewhere:

  static bool plus(const double* x, const double* delta, double* x_plus_delta);

  static bool plusJacobian(const double* x, double* jacobian);

  static bool minus(const double* x, const double* x_plus_delta, double* delta);

  static bool liftJacobian(const double* x, double* jacobian);

  virtual int GlobalSize() const {
    return 7;
  }

  virtual int LocalSize() const {
    return 6;
  }

  // added convenient check
  bool VerifyJacobianNumDiff(const double* x, double* jacobian,
                             double* jacobianNumDiff);
};

class PoseLocalParameterization3d : public ::ceres::LocalParameterization,
    public LocalParamizationAdditionalInterfaces {
 public:

  virtual ~PoseLocalParameterization3d() {
  }

  virtual bool Plus(const double* x, const double* delta,
                    double* x_plus_delta) const;

  virtual bool Minus(const double* x, const double* x_plus_delta,
                     double* delta) const;

  virtual bool ComputeJacobian(const double* x, double* jacobian) const;

  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const;

  // provide these as static for easy use elsewhere:
  static bool plusJacobian(const double* x, double* jacobian);

  static bool liftJacobian(const double* x, double* jacobian);

  virtual int GlobalSize() const {
    return 7;
  }

  virtual int LocalSize() const {
    return 3;
  }
};

class PoseLocalParameterization4d : public ::ceres::LocalParameterization,
    public LocalParamizationAdditionalInterfaces {
 public:

  virtual ~PoseLocalParameterization4d() {
  }

  virtual bool Plus(const double* x, const double* delta,
                    double* x_plus_delta) const;

  virtual bool Minus(const double* x, const double* x_plus_delta,
                     double* delta) const;

  virtual bool ComputeJacobian(const double* x, double* jacobian) const;

  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const;

  // provide these as static for easy use elsewhere:
  static bool plusJacobian(const double* x, double* jacobian);

  static bool liftJacobian(const double* x, double* jacobian);

  virtual int GlobalSize() const {
    return 7;
  }

  virtual int LocalSize() const {
    return 4;
  }
};

class PoseLocalParameterization2d : public ::ceres::LocalParameterization,
    public LocalParamizationAdditionalInterfaces {
 public:

  virtual ~PoseLocalParameterization2d() {
  }

  virtual bool Plus(const double* x, const double* delta,
                    double* x_plus_delta) const;

  virtual bool Minus(const double* x, const double* x_plus_delta,
                     double* delta) const;

  virtual bool ComputeJacobian(const double* x, double* jacobian) const;

  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const;

  // provide these as static for easy use elsewhere:
  static bool plusJacobian(const double* x, double* jacobian);

  static bool liftJacobian(const double* x, double* jacobian);

  virtual int GlobalSize() const {
    return 7;
  }
  virtual int LocalSize() const {
    return 2;
  }
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_POSELOCALPARAMETERIZATION_HPP_ */