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Camera refactoring (#315)
* Camera Refactoring part 1 (Mac OS X) * fixed camera*** -> Camera*** * Fixed build for cameras Zed/RealSense/RealSense2 * increased version to 0.17.7 * fixed build for cameras K4W2 and FlyCapture2
This commit is contained in:
matlabbe
65
corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
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65
corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OPTIMIZERCVSBA_H_
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#define OPTIMIZERCVSBA_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Optimizer.h>
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namespace rtabmap {
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class RTABMAP_EXP OptimizerCVSBA : public Optimizer
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{
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public:
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static bool available();
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public:
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OptimizerCVSBA(
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int iterations = Parameters::defaultOptimizerIterations(),
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bool slam2d = Parameters::defaultRegForce3DoF(),
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bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
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Optimizer(iterations, slam2d, covarianceIgnored) {}
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OptimizerCVSBA(const ParametersMap & parameters) :
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Optimizer(parameters) {}
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virtual ~OptimizerCVSBA() {}
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virtual Type type() const {return kTypeCVSBA;}
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virtual std::map<int, Transform> optimizeBA(
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int rootId,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & links,
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const std::map<int, CameraModel> & models,
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std::map<int, cv::Point3f> & points3DMap,
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const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
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std::set<int> * outliers = 0);
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};
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} /* namespace rtabmap */
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#endif /* OPTIMIZERCVSBA_H_ */
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93
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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93
corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
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@@ -0,0 +1,93 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
|
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OPTIMIZERG2O_H_
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#define OPTIMIZERG2O_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Optimizer.h>
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namespace rtabmap {
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class RTABMAP_EXP OptimizerG2O : public Optimizer
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{
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public:
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static bool available();
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static bool isCSparseAvailable();
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static bool isCholmodAvailable();
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static bool saveGraph(
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const std::string & fileName,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & edgeConstraints,
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bool useRobustConstraints = false);
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public:
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OptimizerG2O(const ParametersMap & parameters = ParametersMap()) :
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Optimizer(parameters),
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solver_(Parameters::defaultg2oSolver()),
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optimizer_(Parameters::defaultg2oOptimizer()),
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pixelVariance_(Parameters::defaultg2oPixelVariance()),
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robustKernelDelta_(Parameters::defaultg2oRobustKernelDelta()),
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baseline_(Parameters::defaultg2oBaseline())
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{
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parseParameters(parameters);
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}
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virtual ~OptimizerG2O() {}
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virtual Type type() const {return kTypeG2O;}
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virtual void parseParameters(const ParametersMap & parameters);
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virtual std::map<int, Transform> optimize(
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int rootId,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & edgeConstraints,
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cv::Mat & outputCovariance,
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std::list<std::map<int, Transform> > * intermediateGraphes = 0,
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double * finalError = 0,
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int * iterationsDone = 0);
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virtual std::map<int, Transform> optimizeBA(
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int rootId,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & links,
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const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
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std::map<int, cv::Point3f> & points3DMap,
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const std::map<int, std::map<int, cv::Point3f> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
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std::set<int> * outliers = 0);
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private:
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int solver_;
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int optimizer_;
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double pixelVariance_;
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double robustKernelDelta_;
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double baseline_;
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};
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} /* namespace rtabmap */
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#endif /* OPTIMIZERG2O_H_ */
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69
corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h
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69
corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h
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@@ -0,0 +1,69 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
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documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OPTIMIZERGTSAM_H_
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#define OPTIMIZERGTSAM_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Optimizer.h>
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namespace rtabmap {
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class RTABMAP_EXP OptimizerGTSAM : public Optimizer
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{
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public:
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static bool available();
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public:
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OptimizerGTSAM(const ParametersMap & parameters = ParametersMap()) :
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Optimizer(parameters),
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optimizer_(Parameters::defaultGTSAMOptimizer())
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{
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parseParameters(parameters);
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}
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virtual ~OptimizerGTSAM() {}
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virtual Type type() const {return kTypeGTSAM;}
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virtual void parseParameters(const ParametersMap & parameters);
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virtual std::map<int, Transform> optimize(
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int rootId,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & edgeConstraints,
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cv::Mat & outputCovariance,
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std::list<std::map<int, Transform> > * intermediateGraphes = 0,
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double * finalError = 0,
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int * iterationsDone = 0);
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private:
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int optimizer_;
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};
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} /* namespace rtabmap */
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#endif /* OPTIMIZERGTSAM_H_ */
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76
corelib/include/rtabmap/core/optimizer/OptimizerTORO.h
Normal file
76
corelib/include/rtabmap/core/optimizer/OptimizerTORO.h
Normal file
@@ -0,0 +1,76 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Universite de Sherbrooke nor the
|
||||
names of its contributors may be used to endorse or promote products
|
||||
derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
|
||||
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
|
||||
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef OPTIMIZERTORO_H_
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#define OPTIMIZERTORO_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Optimizer.h>
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namespace rtabmap {
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class RTABMAP_EXP OptimizerTORO : public Optimizer
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{
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public:
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static bool available();
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public:
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static bool saveGraph(
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const std::string & fileName,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & edgeConstraints);
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static bool loadGraph(
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const std::string & fileName,
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std::map<int, Transform> & poses,
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std::multimap<int, Link> & edgeConstraints);
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public:
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OptimizerTORO(
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int iterations = Parameters::defaultOptimizerIterations(),
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bool slam2d = Parameters::defaultRegForce3DoF(),
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bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
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double epsilon = Parameters::defaultOptimizerEpsilon()) :
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Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
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OptimizerTORO(const ParametersMap & parameters) :
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Optimizer(parameters) {}
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virtual ~OptimizerTORO() {}
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virtual Type type() const {return kTypeTORO;}
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virtual std::map<int, Transform> optimize(
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int rootId,
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const std::map<int, Transform> & poses,
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const std::multimap<int, Link> & edgeConstraints,
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cv::Mat & outputCovariance,
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std::list<std::map<int, Transform> > * intermediateGraphes = 0,
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double * finalError = 0,
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int * iterationsDone = 0);
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};
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} /* namespace rtabmap */
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#endif /* GRAPH_H_ */
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