#include <camera.h>
Public Member Functions | |
| Camera (const Camera &)=delete | |
| Camera & | operator= (const Camera &)=delete |
| void | SetName (const std::string &name) |
| const std::string & | GetName () const |
| void | SetExtrinsics (const Pose3d &T_sensorrig_sensor) |
| const Pose3d & | GetExtrinsics () const |
| absl::Status | SetIntrinsics (const Eigen::VectorXd &intrinsics) |
| const Eigen::VectorXd & | GetIntrinsics () const |
| absl::Status | SetLatency (double latency) |
| double | GetLatency () const |
| void | EnableExtrinsicsEstimation (bool enable) |
| void | EnableIntrinsicsEstimation (bool enable) |
| void | EnableLatencyEstimation (bool enable) |
| void | SetLossFunction (utils::LossFunctionType loss, double scale) final |
| Setter for loss function and scale. | |
| absl::StatusOr< int > | AddParametersToProblem (ceres::Problem &problem) final |
| Add this sensor's calibration parameters to the ceres problem. More... | |
| absl::StatusOr< int > | AddResidualsToProblem (ceres::Problem &problem, Trajectory &sensorrig_trajectory, WorldModel &world_model) final |
| Contribue this sensor's residuals to the ceres problem. More... | |
| absl::Status | SetMeasurementNoise (double sigma) final |
| Set the measurement noise \(\sigma\). More... | |
| absl::Status | UpdateResiduals (ceres::Problem &problem) final |
| Update residuals for this sensor. More... | |
| void | ClearResidualInfo () final |
| Clear all stored info about residuals. | |
| absl::StatusOr< std::vector< CameraMeasurement > > | Project (const std::vector< double > &interp_times, const Trajectory &sensorrig_trajectory, const WorldModel &world_model) const |
| Compute synthetic camera measurements given a Trajectory and WorldModel. More... | |
| absl::Status | SetModel (CameraIntrinsicsModel camera_model) |
| Setter for the camera model. | |
| CameraIntrinsicsModel | GetModel () const |
| Getter for the camera model. | |
| absl::Status | AddMeasurement (const CameraMeasurement &measurement) |
| Add a single camera measurement to the measurement list. More... | |
| absl::Status | AddMeasurements (const std::vector< CameraMeasurement > &measurements) |
| Add multiple measurements to the measurement list. More... | |
| const absl::flat_hash_map< CameraObservationId, CameraMeasurement > & | GetMeasurementIdToMeasurement () const |
| absl::StatusOr< std::vector< std::pair< CameraMeasurement, Eigen::Vector2d > > > | GetMeasurementResidualPairs () const |
| Returns a vector of measurement-residual pairs. More... | |
| absl::Status | MarkOutlierById (const CameraObservationId &id) |
| Tag a single measurement as an outlier by its measurement ID. More... | |
| absl::Status | MarkOutliersById (const std::vector< CameraObservationId > &ids) |
| Tag multiple measurements as outliers by measurement ID. More... | |
| void | ClearOutliersList () |
| Clear outliers list. | |
| void | ClearMeasurements () |
| Clear all measurements. More... | |
| int | NumberOfMeasurements () const |
| Get current number of measurements stored. | |
Detailed Description
Camera class.
Member Function Documentation
◆ AddMeasurement()
| absl::Status calico::sensors::Camera::AddMeasurement | ( | const CameraMeasurement & | measurement | ) |
Add a single camera measurement to the measurement list.
Returns an error if the measurement's id is duplicated without adding.
◆ AddMeasurements()
| absl::Status calico::sensors::Camera::AddMeasurements | ( | const std::vector< CameraMeasurement > & | measurements | ) |
Add multiple measurements to the measurement list.
Returns an error status if any measurements are duplicates within its internally managed set of measurements.
Note: If this method encounters any duplicates, it will STILL attempt to add the entire vector. If it returns an error status, it means that all unique measurements have been added, but duplicates have been skipped.
◆ AddParametersToProblem()
|
finalvirtual |
Add this sensor's calibration parameters to the ceres problem.
Returns the number of parameters added to the problem, which should be intrinsics + extrinsics + latency. If the sensor's model hasn't been set yet, it will return an invalid argument error.
Implements calico::sensors::Sensor.
◆ AddResidualsToProblem()
|
finalvirtual |
Contribue this sensor's residuals to the ceres problem.
sensorrig_trajectory is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\).
Implements calico::sensors::Sensor.
◆ ClearMeasurements()
| void calico::sensors::Camera::ClearMeasurements | ( | ) |
Clear all measurements.
This will also clear any internally stored residuals and marked outliers.
◆ GetMeasurementIdToMeasurement()
| const absl::flat_hash_map< CameraObservationId, CameraMeasurement > & calico::sensors::Camera::GetMeasurementIdToMeasurement | ( | ) | const |
Getter for all measurements. Returns a map of observation ids to measurements. Will be empty if there are no measurements.
◆ GetMeasurementResidualPairs()
| absl::StatusOr< std::vector< std::pair< CameraMeasurement, Eigen::Vector2d > > > calico::sensors::Camera::GetMeasurementResidualPairs | ( | ) | const |
Returns a vector of measurement-residual pairs.
Only returns for measurements that have residuals. Returns an error if there are more residuals than measurements, or if there are no measurements.
Note: This method will only return residuals for measurements that have NOT been marked as outliers.
◆ MarkOutlierById()
| absl::Status calico::sensors::Camera::MarkOutlierById | ( | const CameraObservationId & | id | ) |
Tag a single measurement as an outlier by its measurement ID.
Camera class keeps track of an outliers list internally. If passed a measurement ID that does not correspond with any measurement tracked by this camera, an InvalidArgument status is returned.
◆ MarkOutliersById()
| absl::Status calico::sensors::Camera::MarkOutliersById | ( | const std::vector< CameraObservationId > & | ids | ) |
Tag multiple measurements as outliers by measurement ID.
Camera class keeps track of an outliers list internally. If passed a measurement ID that does not correspond with any measurement tracked by this camera, an InvalidArgument status is returned.
◆ Project()
| absl::StatusOr< std::vector< CameraMeasurement > > calico::sensors::Camera::Project | ( | const std::vector< double > & | interp_times, |
| const Trajectory & | sensorrig_trajectory, | ||
| const WorldModel & | world_model | ||
| ) | const |
Compute synthetic camera measurements given a Trajectory and WorldModel.
This method projects the world model through the kinematic chain at given timestamps. This method returns only valid synthetic measurements as would be observed by the actual sensor, complying with physicality such as features being in front of the camera. Returns measurements in the order of the interpolation timestamps.
interp_times is a vector of timestamps in seconds at which sensorrig_trajectory will be interpolated. No assumptions are made about timestamp uniqueness or order.
sensorrig_trajectory is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\).
◆ SetMeasurementNoise()
|
finalvirtual |
Set the measurement noise \(\sigma\).
This value is used to weight the sensor's residuals such that:
\[ \boldsymbol{\Sigma} = \sigma^2\mathbf{I}\\ \boldsymbol{\epsilon} = \boldsymbol{\Sigma}^{-1/2}\left(\mathbf{y} - \mathbf{\hat{y}}\left(\mathbf{x}, \boldsymbol{\beta}\right)\right)\\ \mathbf{J} = \frac{\partial\boldsymbol{\epsilon}}{\partial\delta\boldsymbol{\beta}}\\ \delta\boldsymbol{\beta} = \left(\mathbf{J}^T\mathbf{J}\right)^{-1}\mathbf{J}^T\boldsymbol{\epsilon} \]
Implements calico::sensors::Sensor.
◆ UpdateResiduals()
|
finalvirtual |
Update residuals for this sensor.
This will only apply to measurements not marked as outliers.
Note: This method is meant to be invoked by BatchOptimizer ONLY. It is not recommended that you invoke this method manually.
Implements calico::sensors::Sensor.
The documentation for this class was generated from the following files:
- calico/sensors/camera.h
- calico/sensors/camera.cpp
