ReprojectionError.hpp

Go to the documentation of this file.

/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions are met:
 * 
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright notice,
 *     this list of conditions and the following disclaimer in the documentation
 *     and/or other materials provided with the distribution.
 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
 *     its contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  Created on: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_REPROJECTIONERROR_HPP_
#define INCLUDE_OKVIS_CERES_REPROJECTIONERROR_HPP_

#include <vector>
#include <memory>
#include <ceres/ceres.h>
#include <okvis/assert_macros.hpp>
#include <okvis/ceres/PoseLocalParameterization.hpp>
#include <okvis/ceres/ErrorInterface.hpp>
#include <okvis/ceres/ReprojectionErrorBase.hpp>

namespace okvis {
namespace ceres {

template<class GEOMETRY_TYPE>
class ReprojectionError : public ReprojectionError2dBase
{
 public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  typedef GEOMETRY_TYPE camera_geometry_t;

  typedef ::ceres::SizedCostFunction<2, 7, 4, 7> base_t;

  static const int kNumResiduals = 2;

  typedef Eigen::Vector2d keypoint_t;

  ReprojectionError();

  ReprojectionError(std::shared_ptr<const camera_geometry_t> cameraGeometry,
                    uint64_t cameraId, const measurement_t & measurement,
                    const covariance_t & information);

  virtual ~ReprojectionError()
  {
  }

  // setters
  virtual void setMeasurement(const measurement_t& measurement)
  {
    measurement_ = measurement;
  }

  void setCameraGeometry(
      std::shared_ptr<const camera_geometry_t> cameraGeometry)
  {
    cameraGeometry_ = cameraGeometry;
  }

  virtual void setInformation(const covariance_t& information);

  // getters
  virtual const measurement_t& measurement() const
  {
    return measurement_;
  }

  virtual const covariance_t& information() const
  {
    return information_;
  }

  virtual const covariance_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 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 "ReprojectionError";
  }

 protected:

  // the measurement
  measurement_t measurement_; 

  std::shared_ptr<const camera_geometry_t> cameraGeometry_;

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

};

}  // namespace ceres
}  // namespace okvis

#include "implementation/ReprojectionError.hpp"

#endif /* INCLUDE_OKVIS_CERES_REPROJECTIONERROR_HPP_ */