vo_observation.h

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#ifndef IMU_FILTER_VO_OBSERVATION_H
#define IMU_FILTER_VO_OBSERVATION_H

#include <imu_filter/observation.h>
#include <Eigen/Geometry>

namespace imu_filter 
{
        //* Class implementing Observation model for Visual Odometry
        class VOObservation : public Observation
        {
                public:
                        VOObservation() : 
                                Observation(),
                                activeKeyframe_( Eigen::Affine3d::Identity() )
                        {
                                measJacobian_.block<Dimension, Dimension>( 0, 0 ) = Eigen::Matrix<double, Dimension, Dimension>::Identity();
                        }

                        ~VOObservation()
                        {
                        }

                        void setKeyframeTransform( const Eigen::Affine3d & transform ) { activeKeyframe_ = transform; }

                        const Eigen::Affine3d & activeKeyframePose() const { return activeKeyframe_; }

                        void updateJacobian( const ImuState & state )
                        {
                        }

                        void updateObservation( const Eigen::Affine3d & camPose )
                        {
                                computeDeltaFromVO( camPose );
                                updateObservationFromDelta();
                        }

                private:
                        // world pose of the active Keyframe 
                        Eigen::Affine3d activeKeyframe_;

                        void computeDeltaFromVO( const Eigen::Affine3d & camPose )
                        {
                                deltaTransform_ = ( activeKeyframe_ * body2ImuTransform_ ).inverse() * camPose * body2ImuTransform_;
                        }

        };

}

#endif