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