bundle_adjustment.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef mrpt_vision_ba_H
#define mrpt_vision_ba_H

#include <mrpt/vision/types.h>
#include <mrpt/utils/TCamera.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/math/lightweight_geom_data.h>

#include <array>
#include <functional>

// The methods declared in this file are implemented in separate files in:
// vision/src/ba_*.cpp
namespace mrpt
{
namespace vision
{
/** \defgroup bundle_adj Bundle-Adjustment methods
  * \ingroup mrpt_vision_grp
  */

/** @name Bundle-Adjustment methods
        @{ */

/** A functor type for BA methods \sa bundle_adj_full */
using TBundleAdjustmentFeedbackFunctor = std::function<void(
        const size_t cur_iter, const double cur_total_sq_error,
        const size_t max_iters,
        const mrpt::vision::TSequenceFeatureObservations& input_observations,
        const mrpt::vision::TFramePosesVec& current_frame_estimate,
        const mrpt::vision::TLandmarkLocationsVec& current_landmark_estimate)>;

/** Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the
  *camera frames & the landmark locations.
  * At input a gross estimation of the frame poses & the landmark points must be
  *supplied. If you don't have such a
  *  starting point, use mrpt::vision::ba_initial_estimate() to compute it.
  *
  * At output the best found solution will be returned in the variables.
  *Optionally, a functor can be passed for having
  *  feedback on the progress at each iteration (you can use it to refresh a
  *GUI, display a progress bar, etc...).
  *
  * This implementation is almost entirely an adapted version from RobotVision
  *(at OpenSLAM.org) (C) by Hauke Strasdat (Imperial College London), licensed
  *under GNU LGPL.
  *  See the related paper:  H. Strasdat, J.M.M. Montiel, A.J. Davison: "Scale
  *Drift-Aware Large Scale Monocular SLAM", RSS2010,
  *http://www.roboticsproceedings.org/rss06/p10.html
  *
  *  List of optional parameters in "extra_params":
  *             - "verbose" : Verbose output (default=0)
  *             - "max_iterations": Maximum number of iterations to run (default=50)
  *             - "robust_kernel": If !=0, use a robust kernel against outliers
  *(default=1)
  *             - "kernel_param": The pseudo-huber kernel parameter (default=3)
  *             - "mu": Initial mu for LevMarq (default=-1 -> autoguess)
  *             - "num_fix_frames": Number of first frame poses to don't optimize (keep
  *unmodified as they come in)  (default=1: the first pose is the reference and
  *is not modified)
  *             - "num_fix_points": Idem, for the landmarks positions (default=0:
  *optimize
  *all)
  *             - "profiler": If !=0, displays profiling information to the console at
  *return.
  *
  * \note In this function, all coordinates are absolute. Camera frames are such
  *that +Z points forward from the focal point (see the figure in
  *mrpt::obs::CObservationImage).
  * \note The first frame pose will be not updated since at least one frame must
  *remain fixed.
  *
  * \param observations [IN] All the feature observations (WITHOUT distortion),
  *indexed by feature ID as lists of <frame_ID, (x,y)>. See
  *TSequenceFeatureObservations.
  * \param camera_params [IN] The camera parameters, mainly used for the
  *intrinsic 3x3 matrix. Distortion params are ignored since it's assumed that
  *\a observations are already undistorted pixels.
  * \param frame_poses [IN/OUT] Input: Gross estimation of each frame poses.
  *Output: The found optimal solution.
  * \param landmark_points [IN/OUT] Input: Gross estimation of each landmark
  *point. Output: The found optimal solution.
  * \param extra_params [IN] Optional extra parameters. Read above.
  * \param user_feedback [IN] If provided, this functor will be called at each
  *iteration to provide a feedback to the user.
  *
  * \return The final overall squared error.
  * \ingroup bundle_adj
  */
double bundle_adj_full(
        const mrpt::vision::TSequenceFeatureObservations& observations,
        const mrpt::utils::TCamera& camera_params,
        mrpt::vision::TFramePosesVec& frame_poses,
        mrpt::vision::TLandmarkLocationsVec& landmark_points,
        const mrpt::utils::TParametersDouble& extra_params =
                mrpt::utils::TParametersDouble(),
        const mrpt::vision::TBundleAdjustmentFeedbackFunctor user_feedback =
                mrpt::vision::TBundleAdjustmentFeedbackFunctor());

/** @} */

/** @name Bundle-Adjustment Auxiliary methods
        @{ */

/** Fills the frames & landmark points maps with an initial gross estimate from
 * the sequence \a observations, so they can be fed to bundle adjustment
 * methods.
  * \sa bundle_adj_full
  * \ingroup bundle_adj
  */
void ba_initial_estimate(
        const mrpt::vision::TSequenceFeatureObservations& observations,
        const mrpt::utils::TCamera& camera_params,
        mrpt::vision::TFramePosesVec& frame_poses,
        mrpt::vision::TLandmarkLocationsVec& landmark_points);

//! \overload
void ba_initial_estimate(
        const mrpt::vision::TSequenceFeatureObservations& observations,
        const mrpt::utils::TCamera& camera_params,
        mrpt::vision::TFramePosesMap& frame_poses,
        mrpt::vision::TLandmarkLocationsMap& landmark_points);

/** Compute reprojection error vector (used from within Bundle Adjustment
 * methods, but can be used in general)
  *  See mrpt::vision::bundle_adj_full for a description of most parameters.
  * \param frame_poses_are_inverse If set to true, global camera poses are \f$
 * \ominus F \f$ instead of \f$ F \f$, for each F in frame_poses.
  *
  *  \return Overall squared reprojection error.
  * \ingroup bundle_adj
  */
double reprojectionResiduals(
        const mrpt::vision::TSequenceFeatureObservations& observations,
        const mrpt::utils::TCamera& camera_params,
        const mrpt::vision::TFramePosesVec& frame_poses,
        const mrpt::vision::TLandmarkLocationsVec& landmark_points,
        std::vector<std::array<double, 2>>& out_residuals,
        const bool frame_poses_are_inverse, const bool use_robust_kernel = true,
        const double kernel_param = 3.0,
        std::vector<double>* out_kernel_1st_deriv = nullptr);

//! \overload
double reprojectionResiduals(
        const mrpt::vision::TSequenceFeatureObservations& observations,
        const mrpt::utils::TCamera& camera_params,
        const mrpt::vision::TFramePosesMap& frame_poses,
        const mrpt::vision::TLandmarkLocationsMap& landmark_points,
        std::vector<std::array<double, 2>>& out_residuals,
        const bool frame_poses_are_inverse, const bool use_robust_kernel = true,
        const double kernel_param = 3.0,
        std::vector<double>* out_kernel_1st_deriv = nullptr);

/** For each pose in the vector \a frame_poses, adds a "delta" increment to the
 * manifold, with the "delta" given in the se(3) Lie algebra:
  *
  *    new_frame_poses[i] = frame_poses[i] [+]
 * delta[(first_idx+6*i):(first_idx+6*i+5)]    , for every pose in \a
 * frame_poses
  *
  *  With the left-multiplication convention of the manifold exp(delta)
 * operator, that is:
  *
  *     p <-- p [+] delta ==>  p <-- exp(delta) * p
  *
  * \param delta_num_vals Used just for sanity check, must be equal to
 * "frame_poses.size() * 6"
  * \ingroup bundle_adj
  */
void add_se3_deltas_to_frames(
        const mrpt::vision::TFramePosesVec& frame_poses,
        const mrpt::math::CVectorDouble& delta, const size_t delta_first_idx,
        const size_t delta_num_vals, mrpt::vision::TFramePosesVec& new_frame_poses,
        const size_t num_fix_frames);

/** For each pose in the vector \a frame_poses, adds a "delta" increment to the
 * manifold, with the "delta" given in the se(3) Lie algebra:
  *
  *    new_landmark_points[i] = landmark_points[i] +
 * delta[(first_idx+3*i):(first_idx+3*i+2)]    , for every pose in \a
 * landmark_points
  *
  * \param delta_num_vals Used just for sanity check, must be equal to
 * "landmark_points.size() * 3"
  * \ingroup bundle_adj
  */
void add_3d_deltas_to_points(
        const mrpt::vision::TLandmarkLocationsVec& landmark_points,
        const mrpt::math::CVectorDouble& delta, const size_t delta_first_idx,
        const size_t delta_num_vals,
        mrpt::vision::TLandmarkLocationsVec& new_landmark_points,
        const size_t num_fix_points);

/** @} */
}
}
#endif