updater.hpp

// Copyright (C) 2023 Alessandro Fornasier.
// Control of Networked Systems, University of Klagenfurt, Austria.
//
// All rights reserved.
//
// This software is licensed under the terms of the BSD-2-Clause-License with
// no commercial use allowed, the full terms of which are made available
// in the LICENSE file. No license in patents is granted.
//
// You can contact the authors at <alessandro.fornasier@ieee.org>
 
#ifndef UPDATER_HPP
#define UPDATER_HPP
 
#include <unordered_set>
 
#include "types/fptypes.hpp"
#include "msceqf/options/msceqf_options.hpp"
#include "msceqf/filter/updater/updater_helper.hpp"
#include "msceqf/system/system.hpp"
#include "vision/track.hpp"
 
namespace msceqf
{
class Updater
{
 public:
  Updater(const UpdaterOptions& opts, const SystemState& xi0);
 
  void mscUpdate(MSCEqFState& X, const Tracks& tracks, std::unordered_set<uint>& ids);
 
 private:
  [[nodiscard]] bool linearTriangulation(const MSCEqFState& X, const Track& track, const SE3& A_E, Vector3& A_f) const;
 
  void nonlinearTriangulation(const MSCEqFState& X, const Track& track, const SE3& A_E, Vector3& A_f) const;
 
  void nonlinearTriangulationResidualJacobian(
      const MSCEqFState& X, const Track& track, const SE3& A_E, const Vector3& A_f, VectorX& res, MatrixX& J) const;
 
  void UpdateMSCEqF(MSCEqFState& X, const MatrixX& C, const VectorX& delta, const MatrixX& R) const;
 
 private:
  UpdaterOptions opts_;  
 
  const SystemState& xi0_;  
 
  ProjectionHelperUniquePtr ph_;  
 
  std::map<uint, fp> chi2_table_;  
 
  ColsMap cols_map_;  
 
  std::vector<uint> update_ids_;  
  size_t total_size_;             
};
 
}  // namespace msceqf
 
#endif  // UPDATER_HPP