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