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59 lines
2.8 KiB
C++
59 lines
2.8 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_CORRECTIONSOLVER_H_
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#define LIDARCAMERACALIBRATION_CORRECTIONSOLVER_H_
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#include "CalibrationProblem.h"
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#include <memory>
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#include <string>
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#include <vector>
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// Parameters: p = tx ty tz (m), rx ry rz (deg), in the camera frame (see correctionFrom()).
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// Initial search steps, also the scale of each parameter.
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extern const double kInitialSteps[6];
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// Finds the correction best aligning the problem's lidar edges with its images' edges.
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// A new solver implements this and is added to createSolver().
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class CorrectionSolver
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{
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public:
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virtual ~CorrectionSolver() {}
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virtual const char * name() const = 0;
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// Improves p from its value. Without estimateTranslation, p's translation is left as is.
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virtual void solve(const CalibrationProblem & problem, bool estimateTranslation, double p[6]) const = 0;
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};
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// The solver named "pattern", "simplex", "g2o" or "gtsam" (the last two if rtabmap was
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// built with them), or null. sigma: the image edges' fall off (pixels).
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std::unique_ptr<CorrectionSolver> createSolver(const std::string & name, float sigma);
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// The names createSolver() knows in this build.
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std::vector<std::string> availableSolvers();
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#endif /* LIDARCAMERACALIBRATION_CORRECTIONSOLVER_H_ */
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