calico::sensors::Sensor Class Reference

#include <sensor_base.h>

Inheritance diagram for calico::sensors::Sensor:

Public Member Functions
virtual absl::Status	UpdateResiduals (ceres::Problem &problem)=0
	Update residuals for this sensor. More...
virtual void	ClearResidualInfo ()=0
	Clear all stored info about residuals.
virtual void	SetLossFunction (utils::LossFunctionType loss, double scale=1.0)=0
	Setter for loss function and scale.
virtual absl::StatusOr< int >	AddParametersToProblem (ceres::Problem &problem)=0
	Add this sensor's calibration parameters to the ceres problem. More...
virtual absl::StatusOr< int >	AddResidualsToProblem (ceres::Problem &problem, Trajectory &sensorrig_trajectory, WorldModel &world_model)=0
	Contribue this sensor's residuals to the ceres problem. More...
virtual absl::Status	SetMeasurementNoise (double sigma)=0
	Set the measurement noise \(\sigma\). More...

Detailed Description

Base class for sensors. For the sake of readability, we make this a purely virtual class, so setters and getters must be implemented at the derived class level.

Member Function Documentation

AddParametersToProblem()

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

pure virtual

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.

Implemented in calico::sensors::MultiCamera, calico::sensors::Gyroscope, calico::sensors::Camera, and calico::sensors::Accelerometer.

AddResidualsToProblem()

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

pure virtual

Contribue this sensor's residuals to the ceres problem.

sensorrig_trajectory is the world-from-sensorrig trajectory \(\mathbf{T}^w_r(t)\).

Implemented in calico::sensors::MultiCamera, calico::sensors::Gyroscope, calico::sensors::Camera, and calico::sensors::Accelerometer.

SetMeasurementNoise()

virtual absl::Status calico::sensors::Sensor::SetMeasurementNoise ( double  sigma )

pure virtual

Set the measurement noise \(\sigma\).

This value is used to weight the sensor's residuals such that:

\[ \boldsymbol{\Sigma} = \sigma^2\mathbf{I}\\ \boldsymbol{\epsilon} = \boldsymbol{\Sigma}^{-1/2}\left(\mathbf{y} - \mathbf{\hat{y}}\left(\mathbf{x}, \boldsymbol{\beta}\right)\right)\\ \mathbf{J} = \frac{\partial\boldsymbol{\epsilon}}{\partial\delta\boldsymbol{\beta}}\\ \delta\boldsymbol{\beta} = \left(\mathbf{J}^T\mathbf{J}\right)^{-1}\mathbf{J}^T\boldsymbol{\epsilon} \]

Implemented in calico::sensors::MultiCamera, calico::sensors::Gyroscope, calico::sensors::Camera, and calico::sensors::Accelerometer.

UpdateResiduals()

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

pure virtual

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.

Implemented in calico::sensors::MultiCamera, calico::sensors::Gyroscope, calico::sensors::Camera, and calico::sensors::Accelerometer.

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The documentation for this class was generated from the following file:

• calico/sensors/sensor_base.h