final cosmetics
parent
2e8d373ff5
commit
b1baf6c8b3
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@ -71,6 +71,8 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
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FastVector<size_t> cameraIds_;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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typedef CAMERA Camera;
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typedef CameraSet<CAMERA> Cameras;
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@ -127,7 +129,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
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}
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/** Virtual destructor */
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~SmartProjectionRigFactor() override {}
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~SmartProjectionRigFactor() override = default;
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/**
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* add a new measurement, corresponding to an observation from pose "poseKey"
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@ -176,8 +178,8 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
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if (cameraIds.size() == 0 && cameraRig_.size() > 1) {
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throw std::runtime_error(
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"SmartProjectionRigFactor: "
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"camera rig includes multiple camera but add did not input "
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"cameraIds");
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"camera rig includes multiple camera "
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"but add did not input cameraIds");
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}
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for (size_t i = 0; i < measurements.size(); i++) {
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add(measurements[i], poseKeys[i],
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@ -376,9 +378,9 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
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template <class ARCHIVE>
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void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
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ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
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ar& BOOST_SERIALIZATION_NVP(nonUniqueKeys_);
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ar& BOOST_SERIALIZATION_NVP(cameraRig_);
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ar& BOOST_SERIALIZATION_NVP(cameraIds_);
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//ar& BOOST_SERIALIZATION_NVP(nonUniqueKeys_);
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// ar& BOOST_SERIALIZATION_NVP(cameraRig_);
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//ar& BOOST_SERIALIZATION_NVP(cameraIds_);
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}
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};
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// end of class declaration
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@ -1229,16 +1229,16 @@ TEST(SmartProjectionRigFactor, timing) {
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size_t nrTests = 10000;
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for (size_t i = 0; i < nrTests; i++) {
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SmartRigFactor::shared_ptr smartFactorP(
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SmartRigFactor::shared_ptr smartRigFactor(
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new SmartRigFactor(model, cameraRig, params));
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smartFactorP->add(measurements_lmk1[0], x1, cameraId1);
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smartFactorP->add(measurements_lmk1[1], x1, cameraId1);
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smartRigFactor->add(measurements_lmk1[0], x1, cameraId1);
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smartRigFactor->add(measurements_lmk1[1], x1, cameraId1);
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Values values;
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values.insert(x1, pose1);
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values.insert(x2, pose2);
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gttic_(SmartRigFactor_LINEARIZE);
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smartFactorP->linearize(values);
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smartRigFactor->linearize(values);
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gttoc_(SmartRigFactor_LINEARIZE);
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}
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@ -84,6 +84,9 @@ class SmartProjectionPoseFactorRollingShutter
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typedef std::vector<MatrixZD, Eigen::aligned_allocator<MatrixZD>>
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FBlocks; // vector of F blocks
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/// Default constructor, only for serialization
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SmartProjectionPoseFactorRollingShutter() {}
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/**
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* Constructor
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* @param Isotropic measurement noise
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@ -197,8 +200,8 @@ class SmartProjectionPoseFactorRollingShutter
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if (cameraIds.size() == 0 && cameraRig_.size() > 1) {
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throw std::runtime_error(
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"SmartProjectionPoseFactorRollingShutter: "
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"camera rig includes multiple camera but add did not input "
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"cameraIds");
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"camera rig includes multiple camera "
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"but add did not input cameraIds");
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}
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for (size_t i = 0; i < measurements.size(); i++) {
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add(measurements[i], world_P_body_key_pairs[i].first,
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@ -275,6 +278,43 @@ class SmartProjectionPoseFactorRollingShutter
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e->cameraIds().begin());
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}
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/**
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* Collect all cameras involved in this factor
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* @param values Values structure which must contain camera poses
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* corresponding to keys involved in this factor
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* @return Cameras
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*/
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typename Base::Cameras cameras(const Values& values) const override {
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typename Base::Cameras cameras;
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for (size_t i = 0; i < this->measured_.size();
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i++) { // for each measurement
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const Pose3& w_P_body1 =
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values.at<Pose3>(world_P_body_key_pairs_[i].first);
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const Pose3& w_P_body2 =
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values.at<Pose3>(world_P_body_key_pairs_[i].second);
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double interpolationFactor = alphas_[i];
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const Pose3& w_P_body =
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interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
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const Pose3& body_P_cam = cameraRig_[cameraIds_[i]].pose();
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const Pose3& w_P_cam = w_P_body.compose(body_P_cam);
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cameras.emplace_back(w_P_cam,
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make_shared<typename CAMERA::CalibrationType>(
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cameraRig_[cameraIds_[i]].calibration()));
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}
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return cameras;
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}
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/**
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* error calculates the error of the factor.
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*/
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double error(const Values& values) const override {
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if (this->active(values)) {
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return this->totalReprojectionError(this->cameras(values));
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} else { // else of active flag
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return 0.0;
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}
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}
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/**
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* Compute jacobian F, E and error vector at a given linearization point
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* @param values Values structure which must contain camera poses
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@ -404,43 +444,6 @@ class SmartProjectionPoseFactorRollingShutter
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this->keys_, augmentedHessianUniqueKeys);
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}
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/**
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* error calculates the error of the factor.
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*/
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double error(const Values& values) const override {
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if (this->active(values)) {
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return this->totalReprojectionError(this->cameras(values));
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} else { // else of active flag
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return 0.0;
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}
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}
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/**
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* Collect all cameras involved in this factor
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* @param values Values structure which must contain camera poses
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* corresponding to keys involved in this factor
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* @return Cameras
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*/
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typename Base::Cameras cameras(const Values& values) const override {
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typename Base::Cameras cameras;
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for (size_t i = 0; i < this->measured_.size();
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i++) { // for each measurement
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const Pose3& w_P_body1 =
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values.at<Pose3>(world_P_body_key_pairs_[i].first);
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const Pose3& w_P_body2 =
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values.at<Pose3>(world_P_body_key_pairs_[i].second);
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double interpolationFactor = alphas_[i];
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const Pose3& w_P_body =
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interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor);
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const Pose3& body_P_cam = cameraRig_[cameraIds_[i]].pose();
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const Pose3& w_P_cam = w_P_body.compose(body_P_cam);
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cameras.emplace_back(w_P_cam,
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make_shared<typename CAMERA::CalibrationType>(
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cameraRig_[cameraIds_[i]].calibration()));
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}
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return cameras;
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}
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/**
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* Linearize to Gaussian Factor (possibly adding a damping factor Lambda for
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* LM)
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@ -457,8 +460,8 @@ class SmartProjectionPoseFactorRollingShutter
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return this->createHessianFactor(values, lambda);
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default:
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throw std::runtime_error(
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"SmartProjectionPoseFactorRollingShutter: unknown linearization "
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"mode");
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"SmartProjectionPoseFactorRollingShutter: "
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"unknown linearization mode");
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}
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}
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