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79 lines
3.1 KiB
C++
79 lines
3.1 KiB
C++
/*
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Copyright (c) 2013, Alex Teichman and Stephen Miller (Stanford University)
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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 <organization> 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 <COPYRIGHT HOLDER> 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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RTAB-Map integration: Mathieu Labbe
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*/
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#include "rtabmap/core/clams/slam_calibrator.h"
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#include "rtabmap/core/clams/frame_projector.h"
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#include <rtabmap/utilite/ULogger.h>
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using namespace std;
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using namespace Eigen;
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namespace clams
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{
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DiscreteDepthDistortionModel calibrate(
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const std::map<int, rtabmap::SensorData> & sequence,
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const std::map<int, rtabmap::Transform> & trajectory,
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & map,
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double coneRadius,
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double coneStdevThresh)
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{
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DiscreteDepthDistortionModel model;
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if(!sequence.empty())
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{
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const cv::Size & imageSize = sequence.begin()->second.cameraModels()[0].imageSize();
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model = DiscreteDepthDistortionModel(imageSize.width, imageSize.height);
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// -- For all selected frames, accumulate training examples
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// in the distortion model.
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size_t counts = 0;
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//#pragma omp parallel for // error on linux
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for(std::map<int, rtabmap::Transform>::const_iterator iter = trajectory.begin(); iter != trajectory.end(); ++iter)
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{
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size_t idx = iter->first;
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std::map<int, rtabmap::SensorData>::const_iterator ster = sequence.find(idx);
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if(ster!=sequence.end())
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{
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cv::Mat depthImage;
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ster->second.uncompressDataConst(0, &depthImage);
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cv::Mat mapDepth;
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FrameProjector projector(ster->second.cameraModels()[0]);
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mapDepth = projector.estimateMapDepth(map, iter->second.inverse(), depthImage, coneRadius, coneStdevThresh);
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counts = model.accumulate(mapDepth, depthImage);
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}
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}
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UINFO("counts=%d", (int)counts);
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}
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return model;
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}
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} // namespace clams
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