#include <multi_camera.h>

Inheritance diagram for calico::sensors::MultiCamera:

Collaboration diagram for calico::sensors::MultiCamera:

Public Member Functions
	MultiCamera (const absl::flat_hash_set< std::string > &imagers)

	MultiCamera (const MultiCamera &)=delete

MultiCamera &	operator= (const MultiCamera &)=delete

void	SetName (const std::string &sensor_name)

const std::string &	GetName () const

absl::Status	SetModel (const std::string &imager, CameraIntrinsicsModel camera_model)
	Setter for the camera model.

absl::StatusOr< CameraIntrinsicsModel >	GetModel (const std::string &imager) const
	Getter for the camera model.

void	SetSensorExtrinsics (const Pose3d &pose_sensorrig_from_sensor)

const Pose3d &	GetSensorExtrinsics () const

absl::Status	SetImagerExtrinsics (const std::string &imager, const Pose3d &pose_sensor_from_imager)

absl::StatusOr< Pose3d >	GetImagerExtrinsics (const std::string &imager) const

absl::Status	SetIntrinsics (const std::string &imager, const Eigen::VectorXd &intrinsics)

absl::StatusOr< Eigen::VectorXd >	GetIntrinsics (const std::string &imager) const

absl::Status	SetLatency (const std::string &imager, double latency)

absl::StatusOr< double >	GetLatency (const std::string &imager) const

void	EnableExtrinsicsEstimation (bool enable)

absl::Status	EnableExtrinsicsEstimation (const std::string &imager, bool enable)

absl::Status	EnableIntrinsicsEstimation (const std::string &imager, bool enable)

absl::Status	EnableLatencyEstimation (const std::string &imager, 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< absl::flat_hash_map< std::string, std::vector< CameraMeasurement > > >	Project (const std::vector< double > &interp_times, const Trajectory &sensorrig_trajectory, const WorldModel &world_model) const

absl::Status	AddMeasurement (const std::string &imager, const CameraMeasurement &measurement)

absl::Status	AddMeasurements (const std::string &imager, const std::vector< CameraMeasurement > &measurements)

const absl::flat_hash_map< std::string, absl::flat_hash_map< CameraObservationId, CameraMeasurement > > &	GetMeasurementIdToMeasurement () const

absl::StatusOr< absl::flat_hash_map< std::string, std::vector< std::pair< CameraMeasurement, Eigen::Vector2d > > > >	GetMeasurementResidualPairs () const
	Returns a vector of measurement-residual pairs. More...

void	ClearMeasurements ()
	This will also clear any internally stored residuals and marked outliers.

int	NumberOfMeasurements (const std::string &imager) const
	Get current number of measurements stored for a given imager.

Detailed Description

Multi-camera class. This class can be used to calibrate multiple imagers on a single module, for example, stereo cameras.

Member Function Documentation

◆ AddMeasurement()

absl::Status calico::sensors::MultiCamera::AddMeasurement	(	const std::string &	imager,
		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::MultiCamera::AddMeasurements	(	const std::string &	imager,
		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()

absl::StatusOr< int > calico::sensors::MultiCamera::AddParametersToProblem ( ceres::Problem & problem )

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()

absl::StatusOr< int > calico::sensors::MultiCamera::AddResidualsToProblem	(	ceres::Problem &	problem,
		Trajectory &	sensorrig_trajectory,
		WorldModel &	world_model
	)

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.

◆ GetMeasurementIdToMeasurement()

const absl::flat_hash_map< std::string, absl::flat_hash_map<CameraObservationId, CameraMeasurement> >& calico::sensors::MultiCamera::GetMeasurementIdToMeasurement ( ) const

inline

Getter for all measurements. Returns a map of observation ids to measurements. Will be empty if there are no measurements.

◆ GetMeasurementResidualPairs()

absl::StatusOr< absl::flat_hash_map< std::string, std::vector< std::pair< CameraMeasurement, Eigen::Vector2d > > > > calico::sensors::MultiCamera::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.

◆ Project()

absl::StatusOr< absl::flat_hash_map< std::string, std::vector< CameraMeasurement > > > calico::sensors::MultiCamera::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 \(\mathbf{T}^w_r(t)\).

◆ SetImagerExtrinsics()

absl::Status calico::sensors::MultiCamera::SetImagerExtrinsics	(	const std::string &	imager,
		const Pose3d &	pose_sensor_from_imager
	)

Set the extrinsics for each internal sensor. This transform will be applied on top of pose_sensorrig_from_sensor which is held constant during optimization.

◆ SetMeasurementNoise()

absl::Status calico::sensors::MultiCamera::SetMeasurementNoise ( double sigma )

inlinefinalvirtual

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.

◆ SetSensorExtrinsics()

void calico::sensors::MultiCamera::SetSensorExtrinsics ( const Pose3d & pose_sensorrig_from_sensor )

inline

Sets extrinsics for the camera module itself. Each sensor will internally have an additional extrinsics offset relative to this one. This can be set to a constant CAD value.

◆ UpdateResiduals()

absl::Status calico::sensors::MultiCamera::UpdateResiduals ( ceres::Problem & problem )

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/multi_camera.h
calico/sensors/multi_camera.cpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ AddMeasurement()

◆ AddMeasurements()

◆ AddParametersToProblem()

◆ AddResidualsToProblem()

◆ GetMeasurementIdToMeasurement()

◆ GetMeasurementResidualPairs()

◆ Project()

◆ SetImagerExtrinsics()

◆ SetMeasurementNoise()

◆ SetSensorExtrinsics()

◆ UpdateResiduals()