UpdaterHelper.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_MSCKF_UPDATER_HELPER_H
#define OV_MSCKF_UPDATER_HELPER_H

#include <Eigen/Eigen>
#include <memory>
#include <unordered_map>

#include "types/LandmarkRepresentation.h"

namespace ov_type {
class Type;
} // namespace ov_type

namespace ov_msckf {

class State;

class UpdaterHelper {
public:
  struct UpdaterHelperFeature {

    size_t featid;

    std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs;

    // UV normalized coordinates that this feature has been seen from (mapped by camera ID)
    std::unordered_map<size_t, std::vector<Eigen::VectorXf>> uvs_norm;

    std::unordered_map<size_t, std::vector<double>> timestamps;

    ov_type::LandmarkRepresentation::Representation feat_representation;

    int anchor_cam_id = -1;

    double anchor_clone_timestamp = -1;

    Eigen::Vector3d p_FinA;

    Eigen::Vector3d p_FinA_fej;

    Eigen::Vector3d p_FinG;

    Eigen::Vector3d p_FinG_fej;
  };

  static void get_feature_jacobian_representation(std::shared_ptr<State> state, UpdaterHelperFeature &feature, Eigen::MatrixXd &H_f,
                                                  std::vector<Eigen::MatrixXd> &H_x, std::vector<std::shared_ptr<ov_type::Type>> &x_order);

  static void get_feature_jacobian_full(std::shared_ptr<State> state, UpdaterHelperFeature &feature, Eigen::MatrixXd &H_f,
                                        Eigen::MatrixXd &H_x, Eigen::VectorXd &res, std::vector<std::shared_ptr<ov_type::Type>> &x_order);

  static void nullspace_project_inplace(Eigen::MatrixXd &H_f, Eigen::MatrixXd &H_x, Eigen::VectorXd &res);

  static void measurement_compress_inplace(Eigen::MatrixXd &H_x, Eigen::VectorXd &res);
};

} // namespace ov_msckf

#endif // OV_MSCKF_UPDATER_HELPER_H