132 lines
4.7 KiB
C++
132 lines
4.7 KiB
C++
/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <basalt/calibration/aprilgrid.h>
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#include <basalt/io/dataset_io.h>
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#include <basalt/utils/common_types.h>
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#include <basalt/calibration/calibration.hpp>
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#include <tbb/concurrent_unordered_map.h>
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namespace basalt {
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struct CalibCornerData {
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Eigen::aligned_vector<Eigen::Vector2d> corners;
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std::vector<int> corner_ids;
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std::vector<double> radii; //!< threshold used for maximum displacement
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//! during sub-pix refinement; Search region is
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//! slightly larger.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct ProjectedCornerData {
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Eigen::aligned_vector<Eigen::Vector2d> corners_proj;
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std::vector<bool> corners_proj_success;
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct CalibInitPoseData {
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Sophus::SE3d T_a_c;
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size_t num_inliers;
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Eigen::aligned_vector<Eigen::Vector2d> reprojected_corners;
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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using CalibCornerMap = tbb::concurrent_unordered_map<TimeCamId, CalibCornerData,
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std::hash<TimeCamId>>;
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using CalibInitPoseMap =
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tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData,
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std::hash<TimeCamId>>;
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class CalibHelper {
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public:
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static void detectCorners(const VioDatasetPtr& vio_data,
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CalibCornerMap& calib_corners,
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CalibCornerMap& calib_corners_rejected);
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static void initCamPoses(
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const Calibration<double>::Ptr& calib,
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const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
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CalibCornerMap& calib_corners, CalibInitPoseMap& calib_init_poses);
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static bool initializeIntrinsics(
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const Eigen::aligned_vector<Eigen::Vector2d>& corners,
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const std::vector<int>& corner_ids, const AprilGrid& aprilgrid, int cols,
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int rows, Eigen::Vector4d& init_intr);
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static bool initializeIntrinsicsPinhole(
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const std::vector<CalibCornerData*> pinhole_corners,
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const AprilGrid& aprilgrid, int cols, int rows,
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Eigen::Vector4d& init_intr);
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private:
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inline static double square(double x) { return x * x; }
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inline static double hypot(double a, double b) {
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return sqrt(square(a) + square(b));
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}
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static void computeInitialPose(
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const Calibration<double>::Ptr& calib, size_t cam_id,
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const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
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const basalt::CalibCornerData& cd, basalt::CalibInitPoseData& cp);
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static size_t computeReprojectionError(
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const UnifiedCamera<double>& cam_calib,
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const Eigen::aligned_vector<Eigen::Vector2d>& corners,
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const std::vector<int>& corner_ids,
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const Eigen::aligned_vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
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const Sophus::SE3d& T_target_camera, double& error);
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};
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} // namespace basalt
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namespace cereal {
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template <class Archive>
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void serialize(Archive& ar, basalt::CalibCornerData& c) {
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ar(c.corners, c.corner_ids, c.radii);
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}
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template <class Archive>
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void serialize(Archive& ar, basalt::CalibInitPoseData& c) {
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ar(c.T_a_c, c.num_inliers, c.reprojected_corners);
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}
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} // namespace cereal
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