ErrorMinimizersImpl.cpp

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// kate: replace-tabs off; indent-width 4; indent-mode normal
// vim: ts=4:sw=4:noexpandtab
/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

All rights reserved.

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modification, are permitted provided that the following conditions are met:
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      derived from this software without specific prior written permission.

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#include "ErrorMinimizersImpl.h"
#include "PointMatcherPrivate.h"
#include "Functions.h"

#include "Eigen/SVD"
#include <iostream>

using namespace Eigen;
using namespace std;
using namespace PointMatcherSupport;

// Identity Error Minimizer
template<typename T>
typename PointMatcher<T>::TransformationParameters ErrorMinimizersImpl<T>::IdentityErrorMinimizer::compute(
        const DataPoints& filteredReading,
        const DataPoints& filteredReference,
        const OutlierWeights& outlierWeights,
        const Matches& matches)
{
        return TransformationParameters::Identity(filteredReading.features.rows(), filteredReading.features.rows());
}

template struct ErrorMinimizersImpl<float>::IdentityErrorMinimizer;
template struct ErrorMinimizersImpl<double>::IdentityErrorMinimizer;


// Point To POINT ErrorMinimizer
template<typename T>
typename PointMatcher<T>::TransformationParameters ErrorMinimizersImpl<T>::PointToPointErrorMinimizer::compute(
        const DataPoints& filteredReading,
        const DataPoints& filteredReference,
        const OutlierWeights& outlierWeights,
        const Matches& matches)
{
        typedef typename Matches::Ids Ids;
        
        assert(matches.ids.rows() > 0);

        typename ErrorMinimizer::ErrorElements& mPts = this->getMatchedPoints(filteredReading, filteredReference, matches, outlierWeights);
        
        // now minimize on kept points
        const int dimCount(mPts.reading.features.rows());
        const int ptsCount(mPts.reading.features.cols()); //But point cloud have now the same number of (matched) point

        // Compute the mean of each point cloud
        const Vector meanReading = mPts.reading.features.rowwise().sum() / ptsCount;
        const Vector meanReference = mPts.reference.features.rowwise().sum() / ptsCount;
        
        // Remove the mean from the point clouds
        mPts.reading.features.colwise() -= meanReading;
        mPts.reference.features.colwise() -= meanReference;

        // Singular Value Decomposition
        const Matrix m(mPts.reference.features.topRows(dimCount-1) * mPts.reading.features.topRows(dimCount-1).transpose());
        const JacobiSVD<Matrix> svd(m, ComputeThinU | ComputeThinV);
        const Matrix rotMatrix(svd.matrixU() * svd.matrixV().transpose());
        const Vector trVector(meanReference.head(dimCount-1)- rotMatrix * meanReading.head(dimCount-1));
        
        Matrix result(Matrix::Identity(dimCount, dimCount));
        result.corner(TopLeft, dimCount-1, dimCount-1) = rotMatrix;
        result.corner(TopRight, dimCount-1, 1) = trVector;
        
        return result;
}

template<typename T>
T ErrorMinimizersImpl<T>::PointToPointErrorMinimizer::getOverlap() const
{
        //NOTE: computing overlap of 2 point clouds can be complicated due to
        // the sparse nature of the representation. Here is only an estimate 
        // of the true overlap.
        const int nbPoints = this->lastErrorElements.reading.features.cols();
        if(nbPoints == 0)
        {
                throw std::runtime_error("Error, last error element empty. Error minimizer needs to be called at least once before using this method.");
        }

        if (!this->lastErrorElements.reading.descriptorExists("simpleSensorNoise"))
        {
                LOG_INFO_STREAM("PointToPointErrorMinimizer - warning, no sensor noise found. Using best estimate given outlier rejection instead.");
                return this->weightedPointUsedRatio;
        }

        const BOOST_AUTO(noises, this->lastErrorElements.reading.getDescriptorViewByName("simpleSensorNoise"));

        const Vector dists = (this->lastErrorElements.reading.features - this->lastErrorElements.reference.features).colwise().norm();
        const T mean = dists.sum()/nbPoints;

        int count = 0;
        for(int i=0; i < nbPoints; i++)
        {
                if(dists(i) < (mean + noises(0,i)))
                {
                        count++;
                }
        }

        return (T)count/(T)nbPoints;
}

template struct ErrorMinimizersImpl<float>::PointToPointErrorMinimizer;
template struct ErrorMinimizersImpl<double>::PointToPointErrorMinimizer;


// Point To PLANE ErrorMinimizer
template<typename T>
ErrorMinimizersImpl<T>::PointToPlaneErrorMinimizer::PointToPlaneErrorMinimizer(const Parameters& params):
        ErrorMinimizer("PointToPlaneErrorMinimizer", PointToPlaneErrorMinimizer::availableParameters(), params),
        force2D(Parametrizable::get<T>("force2D"))
{
}


template<typename T>
typename PointMatcher<T>::TransformationParameters ErrorMinimizersImpl<T>::PointToPlaneErrorMinimizer::compute(
        const DataPoints& filteredReading,
        const DataPoints& filteredReference,
        const OutlierWeights& outlierWeights,
        const Matches& matches)
{
        typedef typename PointMatcher<T>::ConvergenceError ConvergenceError;
        typedef typename Matches::Ids Ids;

        assert(matches.ids.rows() > 0);

        // Fetch paired points
        typename ErrorMinimizer::ErrorElements& mPts = this->getMatchedPoints(filteredReading, filteredReference, matches, outlierWeights);

        const int dim = mPts.reading.features.rows();
        const int nbPts = mPts.reading.features.cols();

        // Adjust if the user forces 2D minimization on XY-plane
        int forcedDim = dim - 1;
        if(force2D && dim == 4)
        {
                mPts.reading.features.conservativeResize(3, Eigen::NoChange);
                mPts.reading.features.row(2) = Matrix::Ones(1, nbPts);
                mPts.reference.features.conservativeResize(3, Eigen::NoChange);
                mPts.reference.features.row(2) = Matrix::Ones(1, nbPts);
                forcedDim = dim - 2;
        }

        // Fetch normal vectors of the reference point cloud (with adjustment if needed)
        const BOOST_AUTO(normalRef, mPts.reference.getDescriptorViewByName("normals").topRows(forcedDim));

        // Note: Normal vector must be precalculated to use this error. Use appropriate input filter.
        assert(normalRef.rows() > 0);

        // Compute cross product of cross = cross(reading X normalRef)
        const Matrix cross = this->crossProduct(mPts.reading.features, normalRef);

        // wF = [weights*cross, normals]
        // F  = [cross, normals]
        Matrix wF(normalRef.rows()+ cross.rows(), normalRef.cols());
        Matrix F(normalRef.rows()+ cross.rows(), normalRef.cols());
        
        for(int i=0; i < cross.rows(); i++)
        {
                wF.row(i) = mPts.weights.cwise() * cross.row(i);
                F.row(i) = cross.row(i);
        }
        for(int i=0; i < normalRef.rows(); i++)
        {
                wF.row(i + cross.rows()) = normalRef.row(i);
                F.row(i + cross.rows()) = normalRef.row(i);
        }

        // Unadjust covariance A = wF * F'
        const Matrix A = wF * F.transpose();
        if (A.fullPivHouseholderQr().rank() != A.rows())
        {
                // TODO: handle that properly
                //throw ConvergenceError("encountered singular while minimizing point to plane distance");
        }

        const Matrix deltas = mPts.reading.features - mPts.reference.features;

        // dot product of dot = dot(deltas, normals)
        Matrix dotProd = Matrix::Zero(1, normalRef.cols());
        
        for(int i=0; i<normalRef.rows(); i++)
        {
                dotProd += (deltas.row(i).cwise() * normalRef.row(i));
        }

        // b = -(wF' * dot)
        const Vector b = -(wF * dotProd.transpose());

        // Cholesky decomposition
        Vector x(A.rows());
        A.llt().solve(b, &x);
        
        // Transform parameters to matrix
        Matrix mOut;
        if(dim == 4 && !force2D)
        {
                Eigen::Transform<T, 3, Eigen::Affine> transform;
                // Rotation in Eular angles follow roll-pitch-yaw (1-2-3) rule
                transform = Eigen::AngleAxis<T>(x(0), Eigen::Matrix<T,1,3>::UnitX())
                                * Eigen::AngleAxis<T>(x(1), Eigen::Matrix<T,1,3>::UnitY())
                                * Eigen::AngleAxis<T>(x(2), Eigen::Matrix<T,1,3>::UnitZ());
                // Reverse roll-pitch-yaw conversion, very useful piece of knowledge, keep it with you all time!
                /*const T pitch = -asin(transform(2,0));
                const T roll = atan2(transform(2,1), transform(2,2));
                const T yaw = atan2(transform(1,0) / cos(pitch), transform(0,0) / cos(pitch));
                std::cerr << "d angles" << x(0) - roll << ", " << x(1) - pitch << "," << x(2) - yaw << std::endl;*/
                transform.translation() = x.segment(3, 3);
                mOut = transform.matrix();
        }
        else
        {
                Eigen::Transform<T, 2, Eigen::Affine> transform;
                transform = Eigen::Rotation2D<T> (x(0));
                transform.translation() = x.segment(1, 2);

                if(force2D)
                {
                        mOut = Matrix::Identity(dim, dim);
                        mOut.corner(TopLeft, 2, 2) = transform.matrix().corner(TopLeft, 2, 2);
                        mOut.corner(TopRight, 2, 1) = transform.matrix().corner(TopRight, 2, 1);
                }
                else
                {
                        mOut = transform.matrix();
                }
        }
        return mOut; 
}

template<typename T>
T ErrorMinimizersImpl<T>::PointToPlaneErrorMinimizer::getOverlap() const
{
        const int nbPoints = this->lastErrorElements.reading.features.cols();
        const int dim = this->lastErrorElements.reading.features.rows();
        if(nbPoints == 0)
        {
                throw std::runtime_error("Error, last error element empty. Error minimizer needs to be called at least once before using this method.");
        }
        
        if (!this->lastErrorElements.reading.descriptorExists("simpleSensorNoise") ||
                !this->lastErrorElements.reading.descriptorExists("normals"))
        {
                LOG_INFO_STREAM("PointToPlaneErrorMinimizer - warning, no sensor noise or normals found. Using best estimate given outlier rejection instead.");
                return this->weightedPointUsedRatio;
        }

        const BOOST_AUTO(noises, this->lastErrorElements.reading.getDescriptorViewByName("simpleSensorNoise"));
        const BOOST_AUTO(normals, this->lastErrorElements.reading.getDescriptorViewByName("normals"));
        int count = 0;
        for(int i=0; i < nbPoints; i++)
        {
                if(this->lastErrorElements.matches.dists(0, i) != numeric_limits<T>::infinity())
                {
                        const Vector d = this->lastErrorElements.reading.features.col(i) - this->lastErrorElements.reference.features.col(i);
                        const Vector n = normals.col(i);
                        const T projectionDist = d.head(dim-1).dot(n.normalized());
                        if(anyabs(projectionDist) < noises(0,i))
                                count++;
                }
        }

        return (T)count/(T)nbPoints;
}

template struct ErrorMinimizersImpl<float>::PointToPlaneErrorMinimizer;
template struct ErrorMinimizersImpl<double>::PointToPlaneErrorMinimizer;



// Point To POINT WITH COV ErrorMinimizer
template<typename T>
ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer::PointToPointWithCovErrorMinimizer(const Parameters& params):
        ErrorMinimizer("PointToPointWithCovErrorMinimizer", PointToPointWithCovErrorMinimizer::availableParameters(), params),
        sensorStdDev(Parametrizable::get<T>("sensorStdDev"))
{
}

template<typename T>
typename PointMatcher<T>::TransformationParameters ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer::compute(
        const DataPoints& filteredReading,
        const DataPoints& filteredReference,
        const OutlierWeights& outlierWeights,
        const Matches& matches)
{
        typedef typename Matches::Ids Ids;
        
        assert(matches.ids.rows() > 0);

        typename ErrorMinimizer::ErrorElements& mPts = this->getMatchedPoints(filteredReading, filteredReference, matches, outlierWeights);
        
        // now minimize on kept points
        const int dimCount(mPts.reading.features.rows());
        const int ptsCount(mPts.reading.features.cols()); //But point cloud have now the same number of (matched) point

        // Compute the mean of each point cloud
        const Vector meanReading = mPts.reading.features.rowwise().sum() / ptsCount;
        const Vector meanReference = mPts.reference.features.rowwise().sum() / ptsCount;
        
        // Remove the mean from the point clouds
        mPts.reading.features.colwise() -= meanReading;
        mPts.reference.features.colwise() -= meanReference;

        // Singular Value Decomposition
        const Matrix m(mPts.reference.features.topRows(dimCount-1) * mPts.reading.features.topRows(dimCount-1).transpose());
        const JacobiSVD<Matrix> svd(m, ComputeThinU | ComputeThinV);
        const Matrix rotMatrix(svd.matrixU() * svd.matrixV().transpose());
        const Vector trVector(meanReference.head(dimCount-1)- rotMatrix * meanReading.head(dimCount-1));
        
        Matrix result(Matrix::Identity(dimCount, dimCount));
        result.corner(TopLeft, dimCount-1, dimCount-1) = rotMatrix;
        result.corner(TopRight, dimCount-1, 1) = trVector;

        this->covMatrix = this->estimateCovariance(filteredReading, filteredReference, matches, outlierWeights, result);

        return result;
}

template<typename T>
typename ErrorMinimizersImpl<T>::Matrix
ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer::estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation)
{
        int max_nbr_point = outlierWeights.cols();

        Matrix covariance(Matrix::Zero(6,6));
        Matrix J_hessian(Matrix::Zero(6,6));
        Matrix d2J_dReadingdX(Matrix::Zero(6, max_nbr_point));
        Matrix d2J_dReferencedX(Matrix::Zero(6, max_nbr_point));

        Vector reading_point(Vector::Zero(3));
        Vector reference_point(Vector::Zero(3));
        Vector normal(3);
        Vector reading_direction(Vector::Zero(3));
        Vector reference_direction(Vector::Zero(3));

        normal << 1.0, 1.0, 1.0;    // Used for point-to-point computation

        T beta = -asin(transformation(2,0));
        T alpha = atan2(transformation(2,1), transformation(2,2));
        T gamma = atan2(transformation(1,0)/cos(beta), transformation(0,0)/cos(beta));
        T t_x = transformation(0,3);
        T t_y = transformation(1,3);
        T t_z = transformation(2,3);

        Vector tmp_vector_6(Vector::Zero(6));

        int valid_points_count = 0;

        for(int i = 0; i < max_nbr_point; ++i)
        {
                if (outlierWeights(0,i) > 0.0)
                {
                        reading_point = reading.features.block(0,i,3,1);
                        int reference_idx = matches.ids(0,i);
                        reference_point = reference.features.block(0,reference_idx,3,1);

                        T reading_range = reading_point.norm();
                        reading_direction = reading_point / reading_range;
                        T reference_range = reference_point.norm();
                        reference_direction = reference_point / reference_range;

                        T n_alpha = normal(2)*reading_direction(1) - normal(1)*reading_direction(2);
                        T n_beta = normal(0)*reading_direction(2) - normal(2)*reading_direction(0);
                        T n_gamma = normal(1)*reading_direction(0) - normal(0)*reading_direction(1);

                        T E = normal(0)*(reading_point(0) - gamma*reading_point(1) + beta*reading_point(2) + t_x - reference_point(0));
                        E +=  normal(1)*(gamma*reading_point(0) + reading_point(1) - alpha*reading_point(2) + t_y - reference_point(1));
                        E +=  normal(2)*(-beta*reading_point(0) + alpha*reading_point(1) + reading_point(2) + t_z - reference_point(2));

                        T N_reading = normal(0)*(reading_direction(0) - gamma*reading_direction(1) + beta*reading_direction(2));
                        N_reading +=  normal(1)*(gamma*reading_direction(0) + reading_direction(1) - alpha*reading_direction(2));
                        N_reading +=  normal(2)*(-beta*reading_direction(0) + alpha*reading_direction(1) + reading_direction(2));

                        T N_reference = -(normal(0)*reference_direction(0) + normal(1)*reference_direction(1) + normal(2)*reference_direction(2));

                        // update the hessian and d2J/dzdx
                        tmp_vector_6 << normal(0), normal(1), normal(2), reading_range * n_alpha, reading_range * n_beta, reading_range * n_gamma;

                        J_hessian += tmp_vector_6 * tmp_vector_6.transpose();

                        tmp_vector_6 << normal(0) * N_reading, normal(1) * N_reading, normal(2) * N_reading, n_alpha * (E + reading_range * N_reading), n_beta * (E + reading_range * N_reading), n_gamma * (E + reading_range * N_reading);

                        d2J_dReadingdX.block(0,valid_points_count,6,1) = tmp_vector_6;

                        tmp_vector_6 << normal(0) * N_reference, normal(1) * N_reference, normal(2) * N_reference, reference_range * n_alpha * N_reference, reference_range * n_beta * N_reference, reference_range * n_gamma * N_reference;

                        d2J_dReferencedX.block(0,valid_points_count,6,1) = tmp_vector_6;

                        valid_points_count++;
                } // if (outlierWeights(0,i) > 0.0)
        }

        Matrix d2J_dZdX(Matrix::Zero(6, 2 * valid_points_count));
        d2J_dZdX.block(0,0,6,valid_points_count) = d2J_dReadingdX.block(0,0,6,valid_points_count);
        d2J_dZdX.block(0,valid_points_count,6,valid_points_count) = d2J_dReferencedX.block(0,0,6,valid_points_count);

        Matrix inv_J_hessian = J_hessian.inverse();

        covariance = d2J_dZdX * d2J_dZdX.transpose();
        covariance = inv_J_hessian * covariance * inv_J_hessian;

        return (sensorStdDev * sensorStdDev) * covariance;
}

template<typename T>
T ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer::getOverlap() const
{
        const int nbPoints = this->lastErrorElements.reading.features.cols();
        if(nbPoints == 0)
        {
                throw std::runtime_error("Error, last error element empty. Error minimizer needs to be called at least once before using this method.");
        }

        if (!this->lastErrorElements.reading.descriptorExists("simpleSensorNoise"))
        {
                LOG_INFO_STREAM("PointToPointErrorMinimizer - warning, no sensor noise found. Using best estimate given outlier rejection instead.");
                return this->weightedPointUsedRatio;
        }

        const BOOST_AUTO(noises, this->lastErrorElements.reading.getDescriptorViewByName("simpleSensorNoise"));
        int count = 0;
        for(int i=0; i < nbPoints; i++)
        {
                const T dist = (this->lastErrorElements.reading.features.col(i) - this->lastErrorElements.reference.features.col(i)).norm();
                if(dist < noises(0,i))
                        count++;

        }

        return (T)count/(T)nbPoints;
}

template<typename T>
typename ErrorMinimizersImpl<T>::Matrix ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer::getCovariance() const
{
  return covMatrix;
}

template struct ErrorMinimizersImpl<float>::PointToPointWithCovErrorMinimizer;
template struct ErrorMinimizersImpl<double>::PointToPointWithCovErrorMinimizer;


// Point To PLANE WITH COV ErrorMinimizer
template<typename T>
ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer::PointToPlaneWithCovErrorMinimizer(const Parameters& params):
        ErrorMinimizer("PointToPlaneWithCovErrorMinimizer", PointToPlaneWithCovErrorMinimizer::availableParameters(), params),
        force2D(Parametrizable::get<T>("force2D")),
        sensorStdDev(Parametrizable::get<T>("sensorStdDev"))
{
}


template<typename T>
typename PointMatcher<T>::TransformationParameters ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer::compute(
        const DataPoints& filteredReading,
        const DataPoints& filteredReference,
        const OutlierWeights& outlierWeights,
        const Matches& matches)
{
        typedef typename PointMatcher<T>::ConvergenceError ConvergenceError;
        typedef typename Matches::Ids Ids;

        assert(matches.ids.rows() > 0);

        // Fetch paired points
        typename ErrorMinimizer::ErrorElements& mPts = this->getMatchedPoints(filteredReading, filteredReference, matches, outlierWeights);

        const int dim = mPts.reading.features.rows();
        const int nbPts = mPts.reading.features.cols();

        // Adjust if the user forces 2D minimization on XY-plane
        int forcedDim = dim - 1;
        if(force2D && dim == 4)
        {
                mPts.reading.features.conservativeResize(3, Eigen::NoChange);
                mPts.reading.features.row(2) = Matrix::Ones(1, nbPts);
                mPts.reference.features.conservativeResize(3, Eigen::NoChange);
                mPts.reference.features.row(2) = Matrix::Ones(1, nbPts);
                forcedDim = dim - 2;
        }

        // Fetch normal vectors of the reference point cloud (with adjustment if needed)
        const BOOST_AUTO(normalRef, mPts.reference.getDescriptorViewByName("normals").topRows(forcedDim));

        // Note: Normal vector must be precalculated to use this error. Use appropriate input filter.
        assert(normalRef.rows() > 0);

        // Compute cross product of cross = cross(reading X normalRef)
        const Matrix cross = this->crossProduct(mPts.reading.features, normalRef);

        // wF = [weights*cross, normals]
        // F  = [cross, normals]
        Matrix wF(normalRef.rows()+ cross.rows(), normalRef.cols());
        Matrix F(normalRef.rows()+ cross.rows(), normalRef.cols());
        
        for(int i=0; i < cross.rows(); i++)
        {
                wF.row(i) = mPts.weights.cwise() * cross.row(i);
                F.row(i) = cross.row(i);
        }
        for(int i=0; i < normalRef.rows(); i++)
        {
                wF.row(i + cross.rows()) = normalRef.row(i);
                F.row(i + cross.rows()) = normalRef.row(i);
        }

        // Unadjust covariance A = wF * F'
        const Matrix A = wF * F.transpose();
        if (A.fullPivHouseholderQr().rank() != A.rows())
        {
                // TODO: handle that properly
                //throw ConvergenceError("encountered singular while minimizing point to plane distance");
        }

        const Matrix deltas = mPts.reading.features - mPts.reference.features;

        // dot product of dot = dot(deltas, normals)
        Matrix dotProd = Matrix::Zero(1, normalRef.cols());
        
        for(int i=0; i<normalRef.rows(); i++)
        {
                dotProd += (deltas.row(i).cwise() * normalRef.row(i));
        }

        // b = -(wF' * dot)
        const Vector b = -(wF * dotProd.transpose());

        // Cholesky decomposition
        Vector x(A.rows());
        A.llt().solve(b, &x);
        
        // Transform parameters to matrix
        Matrix mOut;
        if(dim == 4 && !force2D)
        {
                Eigen::Transform<T, 3, Eigen::Affine> transform;
                // Rotation in Eular angles follow roll-pitch-yaw (1-2-3) rule
                transform = Eigen::AngleAxis<T>(x(0), Eigen::Matrix<T,1,3>::UnitX())
                                * Eigen::AngleAxis<T>(x(1), Eigen::Matrix<T,1,3>::UnitY())
                                * Eigen::AngleAxis<T>(x(2), Eigen::Matrix<T,1,3>::UnitZ());
                // Reverse roll-pitch-yaw conversion, very useful piece of knowledge, keep it with you all time!
                /*const T pitch = -asin(transform(2,0));
                const T roll = atan2(transform(2,1), transform(2,2));
                const T yaw = atan2(transform(1,0) / cos(pitch), transform(0,0) / cos(pitch));
                std::cerr << "d angles" << x(0) - roll << ", " << x(1) - pitch << "," << x(2) - yaw << std::endl;*/
                transform.translation() = x.segment(3, 3);
                mOut = transform.matrix();
        }
        else
        {
                Eigen::Transform<T, 2, Eigen::Affine> transform;
                transform = Eigen::Rotation2D<T> (x(0));
                transform.translation() = x.segment(1, 2);

                if(force2D)
                {
                        mOut = Matrix::Identity(dim, dim);
                        mOut.corner(TopLeft, 2, 2) = transform.matrix().corner(TopLeft, 2, 2);
                        mOut.corner(TopRight, 2, 1) = transform.matrix().corner(TopRight, 2, 1);
                }
                else
                {
                        mOut = transform.matrix();
                }
        }

        this->covMatrix = this->estimateCovariance(filteredReading, filteredReference, matches, outlierWeights, mOut);

        return mOut; 
}

template<typename T>
typename ErrorMinimizersImpl<T>::Matrix
ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer::estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation)
{
        int max_nbr_point = outlierWeights.cols();

        Matrix covariance(Matrix::Zero(6,6));
        Matrix J_hessian(Matrix::Zero(6,6));
        Matrix d2J_dReadingdX(Matrix::Zero(6, max_nbr_point));
        Matrix d2J_dReferencedX(Matrix::Zero(6, max_nbr_point));

        Vector reading_point(Vector::Zero(3));
        Vector reference_point(Vector::Zero(3));
        Vector normal(3);
        Vector reading_direction(Vector::Zero(3));
        Vector reference_direction(Vector::Zero(3));

        Matrix normals = reference.getDescriptorViewByName("normals");

        if (normals.rows() < 3)    // Make sure there are normals in DataPoints
                return Matrix::Zero(6,6);

        T beta = -asin(transformation(2,0));
        T alpha = atan2(transformation(2,1), transformation(2,2));
        T gamma = atan2(transformation(1,0)/cos(beta), transformation(0,0)/cos(beta));
        T t_x = transformation(0,3);
        T t_y = transformation(1,3);
        T t_z = transformation(2,3);

        Vector tmp_vector_6(Vector::Zero(6));

        int valid_points_count = 0;

        for(int i = 0; i < max_nbr_point; ++i)
        {
                if (outlierWeights(0,i) > 0.0)
                {
                        reading_point = reading.features.block(0,i,3,1);
                        int reference_idx = matches.ids(0,i);
                        reference_point = reference.features.block(0,reference_idx,3,1);

                        normal = normals.block(0,reference_idx,3,1);

                        T reading_range = reading_point.norm();
                        reading_direction = reading_point / reading_range;
                        T reference_range = reference_point.norm();
                        reference_direction = reference_point / reference_range;

                        T n_alpha = normal(2)*reading_direction(1) - normal(1)*reading_direction(2);
                        T n_beta = normal(0)*reading_direction(2) - normal(2)*reading_direction(0);
                        T n_gamma = normal(1)*reading_direction(0) - normal(0)*reading_direction(1);

                        T E = normal(0)*(reading_point(0) - gamma*reading_point(1) + beta*reading_point(2) + t_x - reference_point(0));
                        E +=  normal(1)*(gamma*reading_point(0) + reading_point(1) - alpha*reading_point(2) + t_y - reference_point(1));
                        E +=  normal(2)*(-beta*reading_point(0) + alpha*reading_point(1) + reading_point(2) + t_z - reference_point(2));

                        T N_reading = normal(0)*(reading_direction(0) - gamma*reading_direction(1) + beta*reading_direction(2));
                        N_reading +=  normal(1)*(gamma*reading_direction(0) + reading_direction(1) - alpha*reading_direction(2));
                        N_reading +=  normal(2)*(-beta*reading_direction(0) + alpha*reading_direction(1) + reading_direction(2));

                        T N_reference = -(normal(0)*reference_direction(0) + normal(1)*reference_direction(1) + normal(2)*reference_direction(2));

                        // update the hessian and d2J/dzdx
                        tmp_vector_6 << normal(0), normal(1), normal(2), reading_range * n_alpha, reading_range * n_beta, reading_range * n_gamma;

                        J_hessian += tmp_vector_6 * tmp_vector_6.transpose();

                        tmp_vector_6 << normal(0) * N_reading, normal(1) * N_reading, normal(2) * N_reading, n_alpha * (E + reading_range * N_reading), n_beta * (E + reading_range * N_reading), n_gamma * (E + reading_range * N_reading);

                        d2J_dReadingdX.block(0,valid_points_count,6,1) = tmp_vector_6;

                        tmp_vector_6 << normal(0) * N_reference, normal(1) * N_reference, normal(2) * N_reference, reference_range * n_alpha * N_reference, reference_range * n_beta * N_reference, reference_range * n_gamma * N_reference;

                        d2J_dReferencedX.block(0,valid_points_count,6,1) = tmp_vector_6;

                        valid_points_count++;
                } // if (outlierWeights(0,i) > 0.0)
        }

        Matrix d2J_dZdX(Matrix::Zero(6, 2 * valid_points_count));
        d2J_dZdX.block(0,0,6,valid_points_count) = d2J_dReadingdX.block(0,0,6,valid_points_count);
        d2J_dZdX.block(0,valid_points_count,6,valid_points_count) = d2J_dReferencedX.block(0,0,6,valid_points_count);

        Matrix inv_J_hessian = J_hessian.inverse();

        covariance = d2J_dZdX * d2J_dZdX.transpose();
        covariance = inv_J_hessian * covariance * inv_J_hessian;

        return (sensorStdDev * sensorStdDev) * covariance;
}



template<typename T>
T ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer::getOverlap() const
{
        const int nbPoints = this->lastErrorElements.reading.features.cols();
        const int dim = this->lastErrorElements.reading.features.rows();
        if(nbPoints == 0)
        {
                throw std::runtime_error("Error, last error element empty. Error minimizer needs to be called at least once before using this method.");
        }
        
        if (!this->lastErrorElements.reading.descriptorExists("simpleSensorNoise") ||
                !this->lastErrorElements.reading.descriptorExists("normals"))
        {
                LOG_INFO_STREAM("PointToPlaneErrorMinimizer - warning, no sensor noise or normals found. Using best estimate given outlier rejection instead.");
                return this->weightedPointUsedRatio;
        }

        const BOOST_AUTO(noises, this->lastErrorElements.reading.getDescriptorViewByName("simpleSensorNoise"));
        const BOOST_AUTO(normals, this->lastErrorElements.reading.getDescriptorViewByName("normals"));
        int count = 0;
        for(int i=0; i < nbPoints; i++)
        {
                if(this->lastErrorElements.matches.dists(0, i) != numeric_limits<T>::infinity())
                {
                        const Vector d = this->lastErrorElements.reading.features.col(i) - this->lastErrorElements.reference.features.col(i);
                        const Vector n = normals.col(i);
                        const T projectionDist = d.head(dim-1).dot(n.normalized());
                        if(anyabs(projectionDist) < noises(0,i))
                                count++;
                }
        }

        return (T)count/(T)nbPoints;
}

template<typename T>
typename ErrorMinimizersImpl<T>::Matrix ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer::getCovariance() const
{
  return covMatrix;
}

template struct ErrorMinimizersImpl<float>::PointToPlaneWithCovErrorMinimizer;
template struct ErrorMinimizersImpl<double>::PointToPlaneWithCovErrorMinimizer;