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/* 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 <cmath>
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 = cv::Vec6f(0,0,0, 0,0,0);
used_poses = std::vector<bool>(bin_count, false);
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;
}
cv::Vec3f TranslationCalibrator::get_estimate()
{
cv::Vec6f x = P.inv() * y;
qDebug() << "calibrator:" << nsamples << "samples total";
return cv::Vec3f(-x[0], -x[1], -x[2]);
}
bool TranslationCalibrator::check_bucket(const cv::Matx33d& R_CM_k)
{
using namespace euler;
static 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 int yaw = iround(ypr(yaw_rdof) + 180)/spacing_in_degrees;
const int pitch = iround(ypr(pitch_rdof) + 180)/spacing_in_degrees;
const int idx = pitch * 360/spacing_in_degrees + yaw;
if (idx >= 0 && idx < bin_count)
{
if (used_poses[idx])
{
return false;
}
else
{
used_poses[idx] = true;
return true;
}
}
return false;
}
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