v01

include/basalt/calibration/calibration_helper.h

@@ -0,0 +1,131 @@
+/**
+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 <basalt/calibration/aprilgrid.h>
+#include <basalt/io/dataset_io.h>
+#include <basalt/utils/common_types.h>
+#include <basalt/calibration/calibration.hpp>
+
+#include <tbb/concurrent_unordered_map.h>
+
+namespace basalt {
+
+struct CalibCornerData {
+  Eigen::aligned_vector<Eigen::Vector2d> corners;
+  std::vector<int> corner_ids;
+  std::vector<double> radii;  //!< threshold used for maximum displacement
+                              //! during sub-pix refinement; Search region is
+  //! slightly larger.
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct ProjectedCornerData {
+  Eigen::aligned_vector<Eigen::Vector2d> corners_proj;
+  std::vector<bool> corners_proj_success;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+struct CalibInitPoseData {
+  Sophus::SE3d T_a_c;
+  size_t num_inliers;
+
+  Eigen::aligned_vector<Eigen::Vector2d> reprojected_corners;
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
+using CalibCornerMap = tbb::concurrent_unordered_map<TimeCamId, CalibCornerData,
+                                                     std::hash<TimeCamId>>;
+
+using CalibInitPoseMap =
+    tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData,
+                                  std::hash<TimeCamId>>;
+
+class CalibHelper {
+ public:
+  static void detectCorners(const VioDatasetPtr& vio_data,
+                            CalibCornerMap& calib_corners,
+                            CalibCornerMap& calib_corners_rejected);
+
+  static void initCamPoses(
+      const Calibration<double>::Ptr& calib,
+      const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
+      CalibCornerMap& calib_corners, CalibInitPoseMap& calib_init_poses);
+
+  static bool initializeIntrinsics(
+      const Eigen::aligned_vector<Eigen::Vector2d>& corners,
+      const std::vector<int>& corner_ids, const AprilGrid& aprilgrid, int cols,
+      int rows, Eigen::Vector4d& init_intr);
+
+  static bool initializeIntrinsicsPinhole(
+      const std::vector<CalibCornerData*> pinhole_corners,
+      const AprilGrid& aprilgrid, int cols, int rows,
+      Eigen::Vector4d& init_intr);
+
+ private:
+  inline static double square(double x) { return x * x; }
+
+  inline static double hypot(double a, double b) {
+    return sqrt(square(a) + square(b));
+  }
+
+  static void computeInitialPose(
+      const Calibration<double>::Ptr& calib, size_t cam_id,
+      const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
+      const basalt::CalibCornerData& cd, basalt::CalibInitPoseData& cp);
+
+  static size_t computeReprojectionError(
+      const UnifiedCamera<double>& cam_calib,
+      const Eigen::aligned_vector<Eigen::Vector2d>& corners,
+      const std::vector<int>& corner_ids,
+      const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
+      const Sophus::SE3d& T_target_camera, double& error);
+};
+
+}  // namespace basalt
+
+namespace cereal {
+template <class Archive>
+void serialize(Archive& ar, basalt::CalibCornerData& c) {
+  ar(c.corners, c.corner_ids, c.radii);
+}
+
+template <class Archive>
+void serialize(Archive& ar, basalt::CalibInitPoseData& c) {
+  ar(c.T_a_c, c.num_inliers, c.reprojected_corners);
+}
+}  // namespace cereal