221 lines
8.2 KiB
C++
221 lines
8.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file ProjectionFactorRollingShutter.h
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* @brief Basic projection factor for rolling shutter cameras
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* @author Yotam Stern
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <boost/optional.hpp>
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namespace gtsam {
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/**
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* Non-linear factor for 2D projection measurement obtained using a rolling shutter camera. The calibration is known here.
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* This version takes rolling shutter information into account as follows: consider two consecutive poses A and B,
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* and a Point2 measurement taken starting at time A using a rolling shutter camera.
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* 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)
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* corresponding to the time of exposure of the row of the image the pixel belongs to.
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* Let us define the alpha = (t_p - t_A) / (t_B - t_A), we will use the pose interpolated between A and B by
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* the alpha to project the corresponding landmark to Point2.
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* @addtogroup SLAM
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*/
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class ProjectionFactorRollingShutter : public NoiseModelFactor3<Pose3, Pose3,
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Point3> {
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protected:
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// Keep a copy of measurement and calibration for I/O
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Point2 measured_; ///< 2D measurement
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double alpha_; ///< interpolation parameter in [0,1] corresponding to the point2 measurement
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boost::shared_ptr<Cal3_S2> K_; ///< shared pointer to calibration object
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boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame
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// verbosity handling for Cheirality Exceptions
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bool throwCheirality_; ///< If true, rethrows Cheirality exceptions (default: false)
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bool verboseCheirality_; ///< If true, prints text for Cheirality exceptions (default: false)
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public:
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/// shorthand for base class type
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typedef NoiseModelFactor3<Pose3, Pose3, Point3> Base;
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/// shorthand for this class
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typedef ProjectionFactorRollingShutter This;
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/// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<This> shared_ptr;
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/// Default constructor
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ProjectionFactorRollingShutter()
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: measured_(0, 0),
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alpha_(0),
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throwCheirality_(false),
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verboseCheirality_(false) {
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}
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/**
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* Constructor
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* @param measured is the 2-dimensional pixel location of point in the image (the measurement)
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* @param alpha in [0,1] is the rolling shutter parameter for the measurement
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* @param model is the noise model
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* @param poseKey_a is the key of the first camera
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* @param poseKey_b is the key of the second camera
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* @param pointKey is the key of the landmark
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* @param K shared pointer to the constant calibration
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* @param body_P_sensor is the transform from body to sensor frame (default identity)
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*/
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ProjectionFactorRollingShutter(const Point2& measured, double alpha,
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const SharedNoiseModel& model, Key poseKey_a,
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Key poseKey_b, Key pointKey,
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const boost::shared_ptr<Cal3_S2>& K,
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boost::optional<Pose3> body_P_sensor =
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boost::none)
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: Base(model, poseKey_a, poseKey_b, pointKey),
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measured_(measured),
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alpha_(alpha),
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K_(K),
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body_P_sensor_(body_P_sensor),
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throwCheirality_(false),
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verboseCheirality_(false) {
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}
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/**
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* Constructor with exception-handling flags
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* @param measured is the 2-dimensional pixel location of point in the image (the measurement)
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* @param alpha in [0,1] is the rolling shutter parameter for the measurement
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* @param model is the noise model
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* @param poseKey_a is the key of the first camera
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* @param poseKey_b is the key of the second camera
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* @param pointKey is the key of the landmark
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* @param K shared pointer to the constant calibration
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* @param throwCheirality determines whether Cheirality exceptions are rethrown
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* @param verboseCheirality determines whether exceptions are printed for Cheirality
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* @param body_P_sensor is the transform from body to sensor frame (default identity)
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*/
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ProjectionFactorRollingShutter(const Point2& measured, double alpha,
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const SharedNoiseModel& model, Key poseKey_a,
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Key poseKey_b, Key pointKey,
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const boost::shared_ptr<Cal3_S2>& K,
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bool throwCheirality, bool verboseCheirality,
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boost::optional<Pose3> body_P_sensor =
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boost::none)
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: Base(model, poseKey_a, poseKey_b, pointKey),
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measured_(measured),
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alpha_(alpha),
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K_(K),
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body_P_sensor_(body_P_sensor),
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throwCheirality_(throwCheirality),
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verboseCheirality_(verboseCheirality) {
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}
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/** Virtual destructor */
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virtual ~ProjectionFactorRollingShutter() {
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}
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/// @return a deep copy of this factor
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gtsam::NonlinearFactor::shared_ptr clone() const override {
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return boost::static_pointer_cast < gtsam::NonlinearFactor
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> (gtsam::NonlinearFactor::shared_ptr(new This(*this)));
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}
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/**
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* print
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* @param s optional string naming the factor
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* @param keyFormatter optional formatter useful for printing Symbols
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*/
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void print(const std::string& s = "", const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const override {
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std::cout << s << "ProjectionFactorRollingShutter, z = ";
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traits<Point2>::Print(measured_);
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std::cout << " rolling shutter interpolation param = " << alpha_;
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if (this->body_P_sensor_)
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this->body_P_sensor_->print(" sensor pose in body frame: ");
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Base::print("", keyFormatter);
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}
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/// equals
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bool equals(const NonlinearFactor& p, double tol = 1e-9) const override {
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const This *e = dynamic_cast<const This*>(&p);
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return e && Base::equals(p, tol) && (alpha_ == e->alpha())
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&& traits<Point2>::Equals(this->measured_, e->measured_, tol)
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&& this->K_->equals(*e->K_, tol)
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&& (this->throwCheirality_ == e->throwCheirality_)
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&& (this->verboseCheirality_ == e->verboseCheirality_)
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&& ((!body_P_sensor_ && !e->body_P_sensor_)
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|| (body_P_sensor_ && e->body_P_sensor_
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&& body_P_sensor_->equals(*e->body_P_sensor_)));
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}
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/// Evaluate error h(x)-z and optionally derivatives
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Vector evaluateError(
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const Pose3& pose_a, const Pose3& pose_b, const Point3& point,
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boost::optional<Matrix&> H1 = boost::none,
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boost::optional<Matrix&> H2 = boost::none,
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boost::optional<Matrix&> H3 = boost::none) const override;
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/** return the measurement */
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const Point2& measured() const {
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return measured_;
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}
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/** return the calibration object */
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inline const boost::shared_ptr<Cal3_S2> calibration() const {
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return K_;
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}
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/** returns the rolling shutter interp param*/
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inline double alpha() const {
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return alpha_;
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}
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/** return verbosity */
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inline bool verboseCheirality() const {
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return verboseCheirality_;
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}
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/** return flag for throwing cheirality exceptions */
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inline bool throwCheirality() const {
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return throwCheirality_;
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}
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private:
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/// Serialization function
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friend class boost::serialization::access;
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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(measured_);
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ar & BOOST_SERIALIZATION_NVP(alpha_);
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ar & BOOST_SERIALIZATION_NVP(K_);
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ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
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ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
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ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
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}
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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/// traits
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template<> struct traits<ProjectionFactorRollingShutter> : public Testable<
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ProjectionFactorRollingShutter> {
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};
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} //namespace gtsam
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