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changing API for rolling shutter

release/4.3a0
lcarlone 2021-10-04 21:33:26 -04:00
parent 222380ce48
commit 7988a7050f
2 changed files with 1092 additions and 1094 deletions
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158
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
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@ -11,8 +11,7 @@
/** /**
* @file SmartProjectionPoseFactorRollingShutter.h * @file SmartProjectionPoseFactorRollingShutter.h
* @brief Smart projection factor on poses modeling rolling shutter effect with * @brief Smart projection factor on poses modeling rolling shutter effect with given readout time
* given readout time
* @author Luca Carlone * @author Luca Carlone
*/ */
@ -43,7 +42,10 @@ namespace gtsam {
template <class CAMERA> template <class CAMERA>
class SmartProjectionPoseFactorRollingShutter class SmartProjectionPoseFactorRollingShutter
: public SmartProjectionFactor<CAMERA> { : public SmartProjectionFactor<CAMERA> {
public:
private:
typedef SmartProjectionFactor<CAMERA> Base;
typedef SmartProjectionPoseFactorRollingShutter<CAMERA> This;
typedef typename CAMERA::CalibrationType CALIBRATION; typedef typename CAMERA::CalibrationType CALIBRATION;
protected: protected:
@ -58,23 +60,22 @@ class SmartProjectionPoseFactorRollingShutter
/// pair of consecutive poses /// pair of consecutive poses
std::vector<double> alphas_; std::vector<double> alphas_;
/// Pose of the camera in the body frame /// one or more cameras in the rig (fixed poses wrt body + fixed intrinsics)
std::vector<Pose3> body_P_sensors_; typename Base::Cameras cameraRig_;
/// vector of camera Ids (one for each observation, in the same order), identifying which camera in the rig took the measurement
FastVector<size_t> cameraIds_;
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/// shorthand for base class type typedef CAMERA Camera;
typedef SmartProjectionFactor<PinholePose<CALIBRATION>> Base; typedef CameraSet<CAMERA> Cameras;
/// shorthand for this class
typedef SmartProjectionPoseFactorRollingShutter This;
/// shorthand for a smart pointer to a factor /// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<This> shared_ptr; typedef boost::shared_ptr<This> shared_ptr;
static const int DimBlock = static const int DimBlock = 12; ///< size of the variable stacking 2 poses from which the observation
12; ///< size of the variable stacking 2 poses from which the observation
///< pose is interpolated ///< pose is interpolated
static const int DimPose = 6; ///< Pose3 dimension static const int DimPose = 6; ///< Pose3 dimension
static const int ZDim = 2; ///< Measurement dimension (Point2) static const int ZDim = 2; ///< Measurement dimension (Point2)
@ -89,9 +90,30 @@ class SmartProjectionPoseFactorRollingShutter
* @param params internal parameters of the smart factors * @param params internal parameters of the smart factors
*/ */
SmartProjectionPoseFactorRollingShutter( SmartProjectionPoseFactorRollingShutter(
const SharedNoiseModel& sharedNoiseModel, const SharedNoiseModel& sharedNoiseModel, const Cameras& cameraRig,
const SmartProjectionParams& params = SmartProjectionParams()) const SmartProjectionParams& params = SmartProjectionParams())
: Base(sharedNoiseModel, params) {} : Base(sharedNoiseModel, params),
cameraRig_(cameraRig) {
// use only configuration that works with this factor
Base::params_.degeneracyMode = gtsam::ZERO_ON_DEGENERACY;
Base::params_.linearizationMode = gtsam::HESSIAN;
}
/**
* Constructor
* @param Isotropic measurement noise
* @param params internal parameters of the smart factors
*/
SmartProjectionPoseFactorRollingShutter(
const SharedNoiseModel& sharedNoiseModel, const Camera& camera,
const SmartProjectionParams& params = SmartProjectionParams())
: Base(sharedNoiseModel, params) {
// use only configuration that works with this factor
Base::params_.degeneracyMode = gtsam::ZERO_ON_DEGENERACY;
Base::params_.linearizationMode = gtsam::HESSIAN;
cameraRig_.push_back(camera);
}
/** Virtual destructor */ /** Virtual destructor */
~SmartProjectionPoseFactorRollingShutter() override = default; ~SmartProjectionPoseFactorRollingShutter() override = default;
@ -112,8 +134,7 @@ class SmartProjectionPoseFactorRollingShutter
*/ */
void add(const Point2& measured, const Key& world_P_body_key1, void add(const Point2& measured, const Key& world_P_body_key1,
const Key& world_P_body_key2, const double& alpha, const Key& world_P_body_key2, const double& alpha,
const boost::shared_ptr<CALIBRATION>& K, const size_t cameraId = 0) {
const Pose3& body_P_sensor = Pose3::identity()) {
// store measurements in base class // store measurements in base class
this->measured_.push_back(measured); this->measured_.push_back(measured);
@ -133,11 +154,8 @@ class SmartProjectionPoseFactorRollingShutter
// store interpolation factor // store interpolation factor
alphas_.push_back(alpha); alphas_.push_back(alpha);
// store fixed intrinsic calibration // store id of the camera taking the measurement
K_all_.push_back(K); cameraIds_.push_back(cameraId);
// store fixed extrinsics of the camera
body_P_sensors_.push_back(body_P_sensor);
} }
/** /**
@ -156,61 +174,39 @@ class SmartProjectionPoseFactorRollingShutter
void add(const Point2Vector& measurements, void add(const Point2Vector& measurements,
const std::vector<std::pair<Key, Key>>& world_P_body_key_pairs, const std::vector<std::pair<Key, Key>>& world_P_body_key_pairs,
const std::vector<double>& alphas, const std::vector<double>& alphas,
const std::vector<boost::shared_ptr<CALIBRATION>>& Ks, const FastVector<size_t>& cameraIds = FastVector<size_t>()) {
const std::vector<Pose3>& body_P_sensors) {
assert(world_P_body_key_pairs.size() == measurements.size()); if (world_P_body_key_pairs.size() != measurements.size()
assert(world_P_body_key_pairs.size() == alphas.size()); || world_P_body_key_pairs.size() != alphas.size()
assert(world_P_body_key_pairs.size() == Ks.size()); || world_P_body_key_pairs.size() != cameraIds.size()) {
throw std::runtime_error("SmartProjectionPoseFactorRollingShutter: "
"trying to add inconsistent inputs");
}
for (size_t i = 0; i < measurements.size(); i++) { for (size_t i = 0; i < measurements.size(); i++) {
add(measurements[i], world_P_body_key_pairs[i].first, add(measurements[i], world_P_body_key_pairs[i].first,
world_P_body_key_pairs[i].second, alphas[i], Ks[i], world_P_body_key_pairs[i].second, alphas[i],
body_P_sensors[i]); cameraIds.size() == 0 ? 0 : cameraIds[i]); // use 0 as default if cameraIds was not specified
} }
} }
/**
* Variant of the previous "add" function in which we include multiple
* measurements with the same (intrinsic and extrinsic) calibration
* @param measurements vector of the 2m dimensional location of the projection
* of a single landmark in the m views (the measurements)
* @param world_P_body_key_pairs vector where the i-th element contains a pair
* of keys corresponding to the pair of poses from which the observation pose
* for the i0-th measurement can be interpolated
* @param alphas vector of interpolation params (in [0,1]), one for each
* measurement (in the same order)
* @param K (fixed) camera intrinsic calibration (same for all measurements)
* @param body_P_sensor (fixed) camera extrinsic calibration (same for all
* measurements)
*/
void add(const Point2Vector& measurements,
const std::vector<std::pair<Key, Key>>& world_P_body_key_pairs,
const std::vector<double>& alphas,
const boost::shared_ptr<CALIBRATION>& K,
const Pose3& body_P_sensor = Pose3::identity()) {
assert(world_P_body_key_pairs.size() == measurements.size());
assert(world_P_body_key_pairs.size() == alphas.size());
for (size_t i = 0; i < measurements.size(); i++) {
add(measurements[i], world_P_body_key_pairs[i].first,
world_P_body_key_pairs[i].second, alphas[i], K, body_P_sensor);
}
}
/// return the calibration object
const std::vector<boost::shared_ptr<CALIBRATION>>& calibration() const {
return K_all_;
}
/// return (for each observation) the keys of the pair of poses from which we /// return (for each observation) the keys of the pair of poses from which we
/// interpolate /// interpolate
const std::vector<std::pair<Key, Key>>& world_P_body_key_pairs() const { const std::vector<std::pair<Key, Key>> world_P_body_key_pairs() const {
return world_P_body_key_pairs_; return world_P_body_key_pairs_;
} }
/// return the interpolation factors alphas /// return the interpolation factors alphas
const std::vector<double>& alphas() const { return alphas_; } const std::vector<double> alphas() const { return alphas_; }
/// return the extrinsic camera calibration body_P_sensors /// return the calibration object
const std::vector<Pose3>& body_P_sensors() const { return body_P_sensors_; } inline Cameras cameraRig() const {
return cameraRig_;
}
/// return the calibration object
inline FastVector<size_t> cameraIds() const {
return cameraIds_;
}
/** /**
* print * print
@ -228,8 +224,8 @@ class SmartProjectionPoseFactorRollingShutter
std::cout << " pose2 key: " std::cout << " pose2 key: "
<< keyFormatter(world_P_body_key_pairs_[i].second) << std::endl; << keyFormatter(world_P_body_key_pairs_[i].second) << std::endl;
std::cout << " alpha: " << alphas_[i] << std::endl; std::cout << " alpha: " << alphas_[i] << std::endl;
body_P_sensors_[i].print("extrinsic calibration:\n"); std::cout << "cameraId: " << cameraIds_[i] << std::endl;
K_all_[i]->print("intrinsic calibration = "); cameraRig_[ cameraIds_[i] ].print("camera in rig:\n");
} }
Base::print("", keyFormatter); Base::print("", keyFormatter);
} }
@ -237,8 +233,7 @@ class SmartProjectionPoseFactorRollingShutter
/// equals /// equals
bool equals(const NonlinearFactor& p, double tol = 1e-9) const override { bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
const SmartProjectionPoseFactorRollingShutter<CAMERA>* e = const SmartProjectionPoseFactorRollingShutter<CAMERA>* e =
dynamic_cast<const SmartProjectionPoseFactorRollingShutter<CAMERA>*>( dynamic_cast<const SmartProjectionPoseFactorRollingShutter<CAMERA>*>(&p);
&p);
double keyPairsEqual = true; double keyPairsEqual = true;
if (this->world_P_body_key_pairs_.size() == if (this->world_P_body_key_pairs_.size() ==
@ -257,20 +252,9 @@ class SmartProjectionPoseFactorRollingShutter
keyPairsEqual = false; keyPairsEqual = false;
} }
double extrinsicCalibrationEqual = true; return e && Base::equals(p, tol) && alphas_ == e->alphas() && keyPairsEqual
if (this->body_P_sensors_.size() == e->body_P_sensors().size()) { && cameraRig_.equals(e->cameraRig())
for (size_t i = 0; i < this->body_P_sensors_.size(); i++) { && std::equal(cameraIds_.begin(), cameraIds_.end(), e->cameraIds().begin());
if (!body_P_sensors_[i].equals(e->body_P_sensors()[i])) {
extrinsicCalibrationEqual = false;
break;
}
}
} else {
extrinsicCalibrationEqual = false;
}
return e && Base::equals(p, tol) && K_all_ == e->calibration() &&
alphas_ == e->alphas() && keyPairsEqual && extrinsicCalibrationEqual;
} }
/** /**
@ -305,9 +289,9 @@ class SmartProjectionPoseFactorRollingShutter
auto w_P_body = auto w_P_body =
interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor, interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor,
dInterpPose_dPoseBody1, dInterpPose_dPoseBody2); dInterpPose_dPoseBody1, dInterpPose_dPoseBody2);
auto body_P_cam = body_P_sensors_[i]; auto body_P_cam = cameraRig_[cameraIds_[i]].pose();
auto w_P_cam = w_P_body.compose(body_P_cam, dPoseCam_dInterpPose); auto w_P_cam = w_P_body.compose(body_P_cam, dPoseCam_dInterpPose);
PinholeCamera<CALIBRATION> camera(w_P_cam, *K_all_[i]); PinholeCamera<CALIBRATION> camera(w_P_cam, cameraRig_[cameraIds_[i]].calibration());
// get jacobians and error vector for current measurement // get jacobians and error vector for current measurement
Point2 reprojectionError_i = Point2 reprojectionError_i =
@ -434,9 +418,10 @@ class SmartProjectionPoseFactorRollingShutter
double interpolationFactor = alphas_[i]; double interpolationFactor = alphas_[i];
const Pose3& w_P_body = const Pose3& w_P_body =
interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor); interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
const Pose3& body_P_cam = body_P_sensors_[i]; const Pose3& body_P_cam = cameraRig_[cameraIds_[i]].pose();
const Pose3& w_P_cam = w_P_body.compose(body_P_cam); const Pose3& w_P_cam = w_P_body.compose(body_P_cam);
cameras.emplace_back(w_P_cam, K_all_[i]); cameras.emplace_back(w_P_cam, make_shared<typename CAMERA::CalibrationType>(
cameraRig_[cameraIds_[i]].calibration()));
} }
return cameras; return cameras;
} }
@ -474,7 +459,6 @@ class SmartProjectionPoseFactorRollingShutter
template <class ARCHIVE> template <class ARCHIVE>
void serialize(ARCHIVE& ar, const unsigned int /*version*/) { void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base); ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
ar& BOOST_SERIALIZATION_NVP(K_all_);
} }
}; };
// end of class declaration // end of class declaration

2026
gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
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