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include/basalt/calibration/cam_imu_calib.h

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#pragma once
+
+#include <pangolin/display/image_view.h>
+#include <pangolin/gl/gldraw.h>
+#include <pangolin/image/image.h>
+#include <pangolin/image/image_io.h>
+#include <pangolin/image/typed_image.h>
+#include <pangolin/pangolin.h>
+
+#include <Eigen/Dense>
+
+#include <iostream>
+#include <limits>
+#include <thread>
+
+#include <basalt/calibration/aprilgrid.h>
+#include <basalt/calibration/calibration_helper.h>
+#include <basalt/utils/test_utils.h>
+#include <basalt/utils/sophus_utils.hpp>
+
+namespace basalt {
+
+template <int N, typename Scalar>
+class SplineOptimization;
+
+class CamImuCalib {
+ public:
+  CamImuCalib(const std::string &dataset_path, const std::string &dataset_type,
+              const std::string &aprilgrid_path, const std::string &cache_path,
+              const std::string &cache_dataset_name, int skip_images,
+              const std::vector<double> &imu_noise, bool show_gui = true);
+
+  ~CamImuCalib();
+
+  void initGui();
+
+  void setNumCameras(size_t n);
+
+  void renderingLoop();
+
+  void computeProjections();
+
+  void detectCorners();
+
+  void initCamPoses();
+
+  void initCamImuTransform();
+
+  void initOptimization();
+
+  void initMocap();
+
+  void loadDataset();
+
+  void optimize();
+
+  bool optimizeWithParam(bool print_info,
+                         std::map<std::string, double> *stats = nullptr);
+
+  void saveCalib();
+
+  void saveMocapCalib();
+
+  void drawImageOverlay(pangolin::View &v, size_t cam_id);
+
+  void recomputeDataLog();
+
+  void drawPlots();
+
+  bool hasCorners() const;
+
+  void setOptIntrinsics(bool opt) { opt_intr = opt; }
+
+ private:
+  static constexpr int UI_WIDTH = 300;
+
+  VioDatasetPtr vio_dataset;
+
+  CalibCornerMap calib_corners;
+  CalibCornerMap calib_corners_rejected;
+  CalibInitPoseMap calib_init_poses;
+
+  std::shared_ptr<std::thread> processing_thread;
+
+  std::shared_ptr<SplineOptimization<5, double>> calib_opt;
+
+  std::map<TimeCamId, ProjectedCornerData> reprojected_corners;
+
+  std::string dataset_path;
+  std::string dataset_type;
+
+  AprilGrid april_grid;
+
+  std::string cache_path;
+  std::string cache_dataset_name;
+
+  int skip_images;
+
+  bool show_gui;
+
+  const size_t MIN_CORNERS = 15;
+
+  std::vector<double> imu_noise;
+
+  //////////////////////
+
+  pangolin::Var<int> show_frame;
+
+  pangolin::Var<bool> show_corners;
+  pangolin::Var<bool> show_corners_rejected;
+  pangolin::Var<bool> show_init_reproj;
+  pangolin::Var<bool> show_opt;
+  pangolin::Var<bool> show_ids;
+
+  pangolin::Var<bool> show_accel;
+  pangolin::Var<bool> show_gyro;
+  pangolin::Var<bool> show_pos;
+  pangolin::Var<bool> show_rot_error;
+
+  pangolin::Var<bool> show_mocap;
+  pangolin::Var<bool> show_mocap_rot_error;
+  pangolin::Var<bool> show_mocap_rot_vel;
+
+  pangolin::Var<bool> show_spline;
+  pangolin::Var<bool> show_data;
+
+  pangolin::Var<bool> opt_intr;
+  pangolin::Var<bool> opt_poses;
+  pangolin::Var<bool> opt_corners;
+  pangolin::Var<bool> opt_cam_time_offset;
+  pangolin::Var<bool> opt_imu_scale;
+
+  pangolin::Var<bool> opt_mocap;
+
+  pangolin::Var<double> huber_thresh;
+
+  pangolin::Var<bool> opt_until_convg;
+  pangolin::Var<double> stop_thresh;
+
+  pangolin::Plotter *plotter;
+  pangolin::View *img_view_display;
+
+  std::vector<std::shared_ptr<pangolin::ImageView>> img_view;
+
+  pangolin::DataLog imu_data_log, pose_data_log, mocap_data_log, vign_data_log;
+};
+
+}  // namespace basalt