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59 lines
2.5 KiB
C++
59 lines
2.5 KiB
C++
/*
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Copyright (c) 2010-2026, 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 LIDARCAMERACALIBRATION_GTSAMSOLVER_H_
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#define LIDARCAMERACALIBRATION_GTSAMSOLVER_H_
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#include "CorrectionSolver.h"
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#include "PatternSearchSolver.h"
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#include <rtabmap/core/Version.h>
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#ifdef RTABMAP_GTSAM
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// The same least squares as G2oSolver (see there), with GTSAM: one factor per lidar edge
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// point on the correction's parameters, a Welsch robust noise model, Levenberg-Marquardt
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// after a coarse pattern search, with the robust scale going from wide to narrow.
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class GtsamSolver : public CorrectionSolver
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{
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public:
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GtsamSolver(double sigma) : sigma_(sigma), coarse_(4) {}
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const char * name() const override {return "gtsam";}
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void solve(const CalibrationProblem & problem, bool estimateTranslation, double p[6]) const override;
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private:
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template<int D>
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void solveWith(const CalibrationProblem & problem, const std::vector<int> & solved, double p[6]) const;
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double sigma_;
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PatternSearchSolver coarse_; // steps of 2 down to 0.25 deg
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};
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#endif
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#endif /* LIDARCAMERACALIBRATION_GTSAMSOLVER_H_ */
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