65 lines
2.3 KiB
C++
65 lines
2.3 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.cpp
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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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#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
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namespace gtsam {
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Vector ProjectionFactorRollingShutter::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::optional<Matrix&> H2,
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boost::optional<Matrix&> H3) const {
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try {
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Pose3 pose = interpolate<Pose3>(pose_a, pose_b, alpha_, H1, H2);
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gtsam::Matrix Hprj;
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if (body_P_sensor_) {
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if (H1 || H2 || H3) {
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gtsam::Matrix HbodySensor;
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PinholeCamera<Cal3_S2> camera(
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pose.compose(*body_P_sensor_, HbodySensor), *K_);
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Point2 reprojectionError(camera.project(point, Hprj, H3, boost::none) -
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measured_);
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if (H1) *H1 = Hprj * HbodySensor * (*H1);
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if (H2) *H2 = Hprj * HbodySensor * (*H2);
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return reprojectionError;
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} else {
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PinholeCamera<Cal3_S2> camera(pose.compose(*body_P_sensor_), *K_);
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return camera.project(point) - measured_;
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}
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} else {
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PinholeCamera<Cal3_S2> camera(pose, *K_);
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Point2 reprojectionError(camera.project(point, Hprj, H3, boost::none) -
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measured_);
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if (H1) *H1 = Hprj * (*H1);
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if (H2) *H2 = Hprj * (*H2);
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return reprojectionError;
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}
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} catch (CheiralityException& e) {
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if (H1) *H1 = Matrix::Zero(2, 6);
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if (H2) *H2 = Matrix::Zero(2, 6);
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if (H3) *H3 = Matrix::Zero(2, 3);
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if (verboseCheirality_)
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std::cout << e.what() << ": Landmark "
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<< DefaultKeyFormatter(this->key2()) << " moved behind camera "
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<< DefaultKeyFormatter(this->key1()) << std::endl;
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if (throwCheirality_) throw CheiralityException(this->key2());
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}
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return Vector2::Constant(2.0 * K_->fx());
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}
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} // namespace gtsam
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