Lidar-Camera calibration tool

tools/LidarCameraCalibration/PatternSearchSolver.h

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+/*
+Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+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
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef LIDARCAMERACALIBRATION_PATTERNSEARCHSOLVER_H_
+#define LIDARCAMERACALIBRATION_PATTERNSEARCHSOLVER_H_
+
+#include "CorrectionSolver.h"
+
+// One parameter at a time, trying a step each way, until no step improves, then with
+// half the steps. Simple and robust, but can only move along the parameters' axes.
+class PatternSearchSolver : public CorrectionSolver
+{
+public:
+	// levels: how many times the steps are halved, from 2 deg (7: down to about 0.03 deg)
+	PatternSearchSolver(int levels = 7) : levels_(levels) {}
+	const char * name() const override {return "pattern";}
+	void solve(const CalibrationProblem & problem, bool estimateTranslation, double p[6]) const override;
+
+private:
+	int levels_;
+};
+
+#endif /* LIDARCAMERACALIBRATION_PATTERNSEARCHSOLVER_H_ */