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
|
/* 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/util.hpp"
#include <tuple>
constexpr double TranslationCalibrator::pitch_spacing_in_degrees;
constexpr double TranslationCalibrator::yaw_spacing_in_degrees;
constexpr double TranslationCalibrator::roll_spacing_in_degrees;
TranslationCalibrator::TranslationCalibrator(unsigned yaw_rdof, unsigned pitch_rdof, unsigned roll_rdof) :
yaw_rdof(yaw_rdof), pitch_rdof(pitch_rdof), roll_rdof(roll_rdof)
{
reset();
}
void TranslationCalibrator::reset()
{
P = cv::Matx66f::zeros();
y = cv::Vec6f(0,0,0, 0,0,0);
used_yaw_poses = vec(1 + iround(360 / yaw_spacing_in_degrees), 0);
used_pitch_poses = vec(1 + iround(360 / pitch_spacing_in_degrees), 0);
used_roll_poses = vec(1 + iround(360 / roll_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;
}
std::tuple<cv::Vec3f, cv::Vec3i> TranslationCalibrator::get_estimate()
{
cv::Vec6f x = P.inv() * y;
unsigned values[3] {};
vec* in[] { &used_yaw_poses, &used_pitch_poses, &used_roll_poses };
for (unsigned k = 0; k < 3; k++)
{
const vec& data = *in[k];
for (unsigned i = 0; i < data.size(); i++)
if (data[i])
values[k]++;
}
qDebug() << "samples total" << nsamples
<< "yaw" << values[0]
<< "pitch" << values[1]
<< "roll" << values[2];
return std::make_tuple(cv::Vec3f(-x[0], -x[1], -x[2]),
cv::Vec3i(values[0], values[1], values[2]));
}
bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
{
using namespace euler;
constexpr double r2d = 180/M_PI;
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 euler_t ypr = rmat_to_euler(r) * r2d;
const unsigned yaw_k = iround((ypr(yaw_rdof) + 180)/yaw_spacing_in_degrees);
const unsigned pitch_k = iround((ypr(pitch_rdof) + 180)/pitch_spacing_in_degrees);
const unsigned roll_k = iround((ypr(roll_rdof) + 180)/roll_spacing_in_degrees);
if (yaw_k < used_yaw_poses.size() &&
pitch_k < used_pitch_poses.size() &&
roll_k < used_roll_poses.size())
{
used_yaw_poses[yaw_k]++;
used_pitch_poses[pitch_k]++;
used_roll_poses[roll_k]++;
return used_yaw_poses[yaw_k] == 1 ||
used_pitch_poses[pitch_k] == 1 ||
used_roll_poses[roll_k] == 1;
}
else
qDebug() << "calibrator: index out of range"
<< "yaw" << yaw_k
<< "pitch" << pitch_k
<< "roll" << roll_k;
return false;
}
|
