219 lines
8.0 KiB
C++
219 lines
8.0 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file ProjectionFactorRollingShutter.h
|
|
* @brief Basic projection factor for rolling shutter cameras
|
|
* @author Yotam Stern
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/geometry/Cal3_S2.h>
|
|
#include <gtsam/geometry/CalibratedCamera.h>
|
|
#include <gtsam/geometry/PinholeCamera.h>
|
|
#include <gtsam/nonlinear/NonlinearFactor.h>
|
|
#include <gtsam_unstable/dllexport.h>
|
|
|
|
#include <boost/optional.hpp>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Non-linear factor for 2D projection measurement obtained using a rolling
|
|
* shutter camera. The calibration is known here. This version takes rolling
|
|
* shutter information into account as follows: consider two consecutive poses A
|
|
* and B, and a Point2 measurement taken starting at time A using a rolling
|
|
* shutter camera. Pose A has timestamp t_A, and Pose B has timestamp t_B. The
|
|
* Point2 measurement has timestamp t_p (with t_A <= t_p <= t_B) corresponding
|
|
* to the time of exposure of the row of the image the pixel belongs to. Let us
|
|
* define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose
|
|
* interpolated between A and B by the alpha to project the corresponding
|
|
* landmark to Point2.
|
|
* @ingroup slam
|
|
*/
|
|
|
|
class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
|
|
: public NoiseModelFactorN<Pose3, Pose3, Point3> {
|
|
protected:
|
|
// Keep a copy of measurement and calibration for I/O
|
|
Point2 measured_; ///< 2D measurement
|
|
double alpha_; ///< interpolation parameter in [0,1] corresponding to the
|
|
///< point2 measurement
|
|
boost::shared_ptr<Cal3_S2> K_; ///< shared pointer to calibration object
|
|
boost::optional<Pose3>
|
|
body_P_sensor_; ///< The pose of the sensor in the body frame
|
|
|
|
// verbosity handling for Cheirality Exceptions
|
|
bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default:
|
|
///< false)
|
|
bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions
|
|
///< (default: false)
|
|
|
|
public:
|
|
/// shorthand for base class type
|
|
typedef NoiseModelFactorN<Pose3, Pose3, Point3> Base;
|
|
|
|
/// shorthand for this class
|
|
typedef ProjectionFactorRollingShutter This;
|
|
|
|
/// shorthand for a smart pointer to a factor
|
|
typedef boost::shared_ptr<This> shared_ptr;
|
|
|
|
/// Default constructor
|
|
ProjectionFactorRollingShutter()
|
|
: measured_(0, 0),
|
|
alpha_(0),
|
|
throwCheirality_(false),
|
|
verboseCheirality_(false) {}
|
|
|
|
/**
|
|
* Constructor
|
|
* @param measured is the 2-dimensional pixel location of point in the image
|
|
* (the measurement)
|
|
* @param alpha in [0,1] is the rolling shutter parameter for the measurement
|
|
* @param model is the noise model
|
|
* @param poseKey_a is the key of the first camera
|
|
* @param poseKey_b is the key of the second camera
|
|
* @param pointKey is the key of the landmark
|
|
* @param K shared pointer to the constant calibration
|
|
* @param body_P_sensor is the transform from body to sensor frame (default
|
|
* identity)
|
|
*/
|
|
ProjectionFactorRollingShutter(
|
|
const Point2& measured, double alpha, const SharedNoiseModel& model,
|
|
Key poseKey_a, Key poseKey_b, Key pointKey,
|
|
const boost::shared_ptr<Cal3_S2>& K,
|
|
boost::optional<Pose3> body_P_sensor = boost::none)
|
|
: Base(model, poseKey_a, poseKey_b, pointKey),
|
|
measured_(measured),
|
|
alpha_(alpha),
|
|
K_(K),
|
|
body_P_sensor_(body_P_sensor),
|
|
throwCheirality_(false),
|
|
verboseCheirality_(false) {}
|
|
|
|
/**
|
|
* Constructor with exception-handling flags
|
|
* @param measured is the 2-dimensional pixel location of point in the image
|
|
* (the measurement)
|
|
* @param alpha in [0,1] is the rolling shutter parameter for the measurement
|
|
* @param model is the noise model
|
|
* @param poseKey_a is the key of the first camera
|
|
* @param poseKey_b is the key of the second camera
|
|
* @param pointKey is the key of the landmark
|
|
* @param K shared pointer to the constant calibration
|
|
* @param throwCheirality determines whether Cheirality exceptions are
|
|
* rethrown
|
|
* @param verboseCheirality determines whether exceptions are printed for
|
|
* Cheirality
|
|
* @param body_P_sensor is the transform from body to sensor frame (default
|
|
* identity)
|
|
*/
|
|
ProjectionFactorRollingShutter(
|
|
const Point2& measured, double alpha, const SharedNoiseModel& model,
|
|
Key poseKey_a, Key poseKey_b, Key pointKey,
|
|
const boost::shared_ptr<Cal3_S2>& K, bool throwCheirality,
|
|
bool verboseCheirality,
|
|
boost::optional<Pose3> body_P_sensor = boost::none)
|
|
: Base(model, poseKey_a, poseKey_b, pointKey),
|
|
measured_(measured),
|
|
alpha_(alpha),
|
|
K_(K),
|
|
body_P_sensor_(body_P_sensor),
|
|
throwCheirality_(throwCheirality),
|
|
verboseCheirality_(verboseCheirality) {}
|
|
|
|
/** Virtual destructor */
|
|
virtual ~ProjectionFactorRollingShutter() {}
|
|
|
|
/// @return a deep copy of this factor
|
|
gtsam::NonlinearFactor::shared_ptr clone() const override {
|
|
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
|
|
gtsam::NonlinearFactor::shared_ptr(new This(*this)));
|
|
}
|
|
|
|
/**
|
|
* print
|
|
* @param s optional string naming the factor
|
|
* @param keyFormatter optional formatter useful for printing Symbols
|
|
*/
|
|
void print(
|
|
const std::string& s = "",
|
|
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
|
|
std::cout << s << "ProjectionFactorRollingShutter, z = ";
|
|
traits<Point2>::Print(measured_);
|
|
std::cout << " rolling shutter interpolation param = " << alpha_;
|
|
if (this->body_P_sensor_)
|
|
this->body_P_sensor_->print(" sensor pose in body frame: ");
|
|
Base::print("", keyFormatter);
|
|
}
|
|
|
|
/// equals
|
|
bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
|
|
const This* e = dynamic_cast<const This*>(&p);
|
|
return e && Base::equals(p, tol) && (alpha_ == e->alpha()) &&
|
|
traits<Point2>::Equals(this->measured_, e->measured_, tol) &&
|
|
this->K_->equals(*e->K_, tol) &&
|
|
(this->throwCheirality_ == e->throwCheirality_) &&
|
|
(this->verboseCheirality_ == e->verboseCheirality_) &&
|
|
((!body_P_sensor_ && !e->body_P_sensor_) ||
|
|
(body_P_sensor_ && e->body_P_sensor_ &&
|
|
body_P_sensor_->equals(*e->body_P_sensor_)));
|
|
}
|
|
|
|
/// Evaluate error h(x)-z and optionally derivatives
|
|
Vector evaluateError(
|
|
const Pose3& pose_a, const Pose3& pose_b, const Point3& point,
|
|
boost::optional<Matrix&> H1 = boost::none,
|
|
boost::optional<Matrix&> H2 = boost::none,
|
|
boost::optional<Matrix&> H3 = boost::none) const override;
|
|
|
|
/** return the measurement */
|
|
const Point2& measured() const { return measured_; }
|
|
|
|
/** return the calibration object */
|
|
inline const boost::shared_ptr<Cal3_S2> calibration() const { return K_; }
|
|
|
|
/** returns the rolling shutter interp param*/
|
|
inline double alpha() const { return alpha_; }
|
|
|
|
/** return verbosity */
|
|
inline bool verboseCheirality() const { return verboseCheirality_; }
|
|
|
|
/** return flag for throwing cheirality exceptions */
|
|
inline bool throwCheirality() const { return throwCheirality_; }
|
|
|
|
private:
|
|
/// Serialization function
|
|
friend class boost::serialization::access;
|
|
template <class ARCHIVE>
|
|
void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
|
|
ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
|
|
ar& BOOST_SERIALIZATION_NVP(measured_);
|
|
ar& BOOST_SERIALIZATION_NVP(alpha_);
|
|
ar& BOOST_SERIALIZATION_NVP(K_);
|
|
ar& BOOST_SERIALIZATION_NVP(body_P_sensor_);
|
|
ar& BOOST_SERIALIZATION_NVP(throwCheirality_);
|
|
ar& BOOST_SERIALIZATION_NVP(verboseCheirality_);
|
|
}
|
|
|
|
public:
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
|
};
|
|
|
|
/// traits
|
|
template <>
|
|
struct traits<ProjectionFactorRollingShutter>
|
|
: public Testable<ProjectionFactorRollingShutter> {};
|
|
|
|
} // namespace gtsam
|