v01

include/basalt/calibration/vignette.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 <basalt/calibration/aprilgrid.h>
+#include <basalt/calibration/calibration_helper.h>
+
+#include <basalt/spline/rd_spline.h>
+
+namespace basalt {
+
+class VignetteEstimator {
+ public:
+  static const int SPLINE_N = 4;
+  static const int64_t knot_spacing = 1e10;
+  static const int border_size = 2;
+
+  VignetteEstimator(
+      const VioDatasetPtr &vio_dataset,
+      const Eigen::aligned_vector<Eigen::Vector2d> &optical_centers,
+      const Eigen::aligned_vector<Eigen::Vector2i> &resolutions,
+      const std::map<TimeCamId, Eigen::aligned_vector<Eigen::Vector3d>>
+          &reprojected_vignette,
+      const AprilGrid &april_grid);
+
+  void compute_error(std::map<TimeCamId, std::vector<double>>
+                         *reprojected_vignette_error = nullptr);
+
+  void opt_irradience();
+
+  void opt_vign();
+
+  void optimize();
+
+  void compute_data_log(std::vector<std::vector<float>> &vign_data_log);
+
+  void save_vign_png(const std::string &path);
+
+  inline const std::vector<basalt::RdSpline<1, SPLINE_N>> &get_vign_param() {
+    return vign_param;
+  }
+
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+  const VioDatasetPtr vio_dataset;
+  Eigen::aligned_vector<Eigen::Vector2d> optical_centers;
+  Eigen::aligned_vector<Eigen::Vector2i> resolutions;
+  std::map<TimeCamId, Eigen::aligned_vector<Eigen::Vector3d>>
+      reprojected_vignette;
+  const AprilGrid &april_grid;
+
+  size_t vign_size;
+  std::vector<double> irradiance;
+  std::vector<basalt::RdSpline<1, SPLINE_N>> vign_param;
+};
+}  // namespace basalt