1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
|
/* Copyright (c) 2012 Patrick Ruoff
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#include "translation-calibrator.hpp"
#include "compat/euler.hpp"
#include "compat/math.hpp"
#include "compat/macros1.h"
#include <opencv2/core.hpp>
#include <tuple>
#include <QDebug>
TranslationCalibrator::TranslationCalibrator(unsigned yaw_rdof, unsigned pitch_rdof) :
yaw_rdof(yaw_rdof), pitch_rdof(pitch_rdof)
{
reset();
}
void TranslationCalibrator::reset()
{
P = cv::Matx66f::zeros();
y = { 0,0,0, 0,0,0 };
used_yaw_poses = vec_i(1 + iround(360 / yaw_spacing_in_degrees), 0);
used_pitch_poses = vec_i(1 + iround(360 / pitch_spacing_in_degrees), 0);
nsamples = 0;
}
void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k)
{
if (!check_bucket(R_CM_k))
return;
nsamples++;
cv::Matx<double, 6,3> H_k_T = cv::Matx<double, 6,3>::zeros();
for (int i=0; i<3; ++i) {
for (int j=0; j<3; ++j) {
H_k_T(i,j) = R_CM_k(j,i);
}
}
for (int i=0; i<3; ++i)
{
H_k_T(3+i,i) = 1.0;
}
P += H_k_T * H_k_T.t();
y += H_k_T * t_CM_k;
}
using cv_out_vec = TranslationCalibrator::cv_nsample_vec;
using cv_in_vec = TranslationCalibrator::cv_cal_vec;
using tt = TranslationCalibrator::tt;
tt TranslationCalibrator::get_estimate()
{
cv::Vec6f x = P.inv() * y;
vec_i const* in[num_nsample_axis] = { &used_yaw_poses, &used_pitch_poses, };
unsigned nsamples[num_cal_axis] {};
for (unsigned k = 0; k < num_nsample_axis; k++)
{
vec_i const& data = *in[k];
for (unsigned i : data)
if (i)
nsamples[k]++;
}
qDebug() << "samples total" << nsamples
<< "yaw" << nsamples[0]
<< "pitch" << nsamples[1];
return {
{ -x[0], -x[1], -x[2] },
{ nsamples[0], nsamples[1] },
};
}
static constexpr double r2d = 180/M_PI;
bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
{
using namespace euler;
rmat r;
for (unsigned j = 0; j < 3; j++)
for (unsigned i = 0; i < 3; i++)
r(j, i) = R_CM_k(j, i);
const Pose_ ypr = rmat_to_euler(r) * r2d;
auto array_index = [](double val, double spacing) {
return (unsigned)iround((val + 180)/spacing);
};
const unsigned yaw_k = array_index(ypr(yaw_rdof), yaw_spacing_in_degrees);
const unsigned pitch_k = array_index(ypr(pitch_rdof), pitch_spacing_in_degrees);
if (yaw_k < used_yaw_poses.size() &&
pitch_k < used_pitch_poses.size())
{
used_yaw_poses[yaw_k]++;
used_pitch_poses[pitch_k]++;
return used_yaw_poses[yaw_k] == 1 ||
used_pitch_poses[pitch_k] == 1;
}
else
{
eval_once(qDebug() << "calibrator: index out of range"
<< "yaw" << yaw_k
<< "pitch" << pitch_k);
return false;
}
}
|
