RelativePoseError.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
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 *  Created on: Sep 12, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_RELATIVEPOSEERROR_HPP_
#define INCLUDE_OKVIS_CERES_RELATIVEPOSEERROR_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 RelativePoseError : public ::ceres::SizedCostFunction<
    6 /* number of residuals */,
    7, /* size of first parameter */
    7 /* size of second parameter */>, public ErrorInterface {
 public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

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

  static const int kNumResiduals = 6;

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

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

  RelativePoseError();

  RelativePoseError(const Eigen::Matrix<double, 6, 6> & information);

  RelativePoseError(double translationVariance, double rotationVariance);

  virtual ~RelativePoseError() {
  }

  // setters
  void setInformation(const information_t & information);

  // getters
  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;

  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 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 "RelativePoseError";
  }

 protected:

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

};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_RELATIVEPOSEERROR_HPP_ */