ReprojectionErrorBase.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: Jan 4, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_REPROJECTIONERRORBASE_HPP_
#define INCLUDE_OKVIS_CERES_REPROJECTIONERRORBASE_HPP_

#include "ceres/ceres.h"

namespace okvis {
namespace ceres {

class ReprojectionErrorBase :
    public ::ceres::SizedCostFunction<2 /* number of residuals */,
        7 /* size of first parameter */, 4 /* size of second parameter */, 7 /* size of third parameter (camera extrinsics) */>,
    public ErrorInterface {
 public:

  uint64_t cameraId() const {
    return cameraId_;
  }

  void setCameraId(uint64_t cameraId) {
    cameraId_ = cameraId;
  }

  uint64_t cameraId_; 
};

class ReprojectionError2dBase : public ReprojectionErrorBase {
 public:

  typedef Eigen::Vector2d measurement_t;

  typedef Eigen::Matrix2d covariance_t;

  virtual void setMeasurement(const measurement_t& measurement) = 0;

  virtual void setInformation(const covariance_t& information) = 0;

  // getters
  virtual const measurement_t& measurement() const = 0;

  virtual const covariance_t& information() const = 0;

  virtual const covariance_t& covariance() const = 0;

};

}

}

#endif /* INCLUDE_OKVIS_CERES_REPROJECTIONERRORBASE_HPP_ */