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168 | #ifndef CAMMATERRORFUNCTIONV3_H
#define CAMMATERRORFUNCTIONV3_H
#include <Representations/Infrastructure/CameraInfo.h>
#include "Representations/Infrastructure/FieldInfo.h"
#include "Tools/CameraGeometry.h"
#include "Representations/Perception/LineGraphPercept.h"
#include "Eigen/Eigen"
// debug
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugDrawings.h"
#include "Tools/Debug/DebugModify.h"
#include "Representations/Infrastructure/FrameInfo.h"
#include "Tools/Math/Optimizer.h"
class CamMatErrorFunctionV3
{
public:
struct CalibrationDataSample {
CalibrationDataSample(){}<--- Member variable 'CalibrationDataSample::headYaw' is not initialized in the constructor.<--- Member variable 'CalibrationDataSample::headPitch' is not initialized in the constructor.
CalibrationDataSample(const Pose3D& chestPose, const LineGraphPercept& lineGraphPercept, const Vector2d& orientation, double headYaw , double headPitch)
:chestPose(chestPose) , orientation(orientation) , headYaw(headYaw), headPitch(headPitch)
{
edgelsInImage.reserve(lineGraphPercept.edgelsInImage.size());
for(std::vector<EdgelD>::const_iterator iter = lineGraphPercept.edgelsInImage.begin(); iter != lineGraphPercept.edgelsInImage.end(); ++iter){
edgelsInImage.push_back(iter->point);
}
edgelsInImageTop.reserve(lineGraphPercept.edgelsInImageTop.size());
for(std::vector<EdgelD>::const_iterator iter = lineGraphPercept.edgelsInImageTop.begin(); iter != lineGraphPercept.edgelsInImageTop.end(); ++iter){
edgelsInImageTop.push_back(iter->point);
}
}
//KinematicChain kinematicChain;
Pose3D chestPose; //work around, can't copy kinematic chain
std::vector<Vector2d> edgelsInImage;
std::vector<Vector2d> edgelsInImageTop;
Vector2d orientation;
double headYaw;
double headPitch;
};
typedef std::vector<CalibrationDataSample> CalibrationData;
typedef Eigen::Matrix<double, 11, 1> Parameter; // TODO: can this be the same typedef like in CameraMatrixCorrectorV3
Optimizer::BoundedVariable<Parameter> const * bounds;
Vector2d const * global_position;
double const * global_orientation;
private:
CalibrationData calibrationData;
unsigned int numberOfResudials;
DebugRequest& theDebugRequest;
DebugDrawings& theDebugDrawings;
//DebugModify& theDebugModify;
const FieldInfo& theFieldInfo;
const naoth::CameraInfo& theCameraInfo;
const naoth::CameraInfoTop& theCameraInfoTop;
DebugRequest& getDebugRequest() {
return theDebugRequest;
}
DebugDrawings& getDebugDrawings() {
return theDebugDrawings;
}
const naoth::CameraInfo& getCameraInfo(int cameraID) const {
if(cameraID == naoth::CameraInfo::Top) {
return theCameraInfoTop;
} else {
return theCameraInfo;
}
}
const std::vector<Vector2d>& getEdgelsInImage(std::vector<CalibrationDataSample>::const_iterator& sample, int cameraID) const {<--- Technically the member function 'CamMatErrorFunctionV3::getEdgelsInImage' can be static. [+]The member function 'CamMatErrorFunctionV3::getEdgelsInImage' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
if(cameraID == naoth::CameraInfo::Top) {
return sample->edgelsInImageTop;
} else {
return sample->edgelsInImage;
}
}
void actual_plotting(const Parameter& parameter, naoth::CameraInfo::CameraID cameraID);
public:
CamMatErrorFunctionV3(<--- Member variable 'CamMatErrorFunctionV3::global_position' is not initialized in the constructor.<--- Member variable 'CamMatErrorFunctionV3::global_orientation' is not initialized in the constructor.
DebugRequest& theDebugRequest,
DebugDrawings& theDebugDrawings,
DebugModify& /*theDebugModify*/,
const FieldInfo& theFieldInfo,
const naoth::CameraInfo& theCameraInfo,
const naoth::CameraInfoTop& theCameraInfoTop
):
bounds(nullptr),
numberOfResudials(0),
theDebugRequest(theDebugRequest),
theDebugDrawings(theDebugDrawings),
//theDebugModify(theDebugModify),
theFieldInfo(theFieldInfo),
theCameraInfo(theCameraInfo),
theCameraInfoTop(theCameraInfoTop)
{
DEBUG_REQUEST_REGISTER("CamMatErrorFunctionV3:debug_drawings:only_bottom", "", false);
DEBUG_REQUEST_REGISTER("CamMatErrorFunctionV3:debug_drawings:only_top", "", false);
DEBUG_REQUEST_REGISTER("CamMatErrorFunctionV3:debug_drawings:draw_projected_edgels", "", true);
DEBUG_REQUEST_REGISTER("CamMatErrorFunctionV3:debug_drawings:draw_matching_global", "", false);
}
Eigen::VectorXd operator()(const Parameter& parameter) const;
unsigned int getNumberOfResudials() const {
return numberOfResudials;
}
void add(const CalibrationDataSample& c_data_sample)
{
unsigned int numNewResudials =
(c_data_sample.edgelsInImage.empty() ? 0 : 1) +
(c_data_sample.edgelsInImageTop.empty()? 0 : 1);
if (numNewResudials > 0) {
calibrationData.push_back(c_data_sample);
numberOfResudials += numNewResudials;
}
}
void clear(){
calibrationData.clear();
numberOfResudials = 0;
}
void plot_CalibrationData(const Parameter& parameter){
bool only_bottom = false;
DEBUG_REQUEST("CamMatErrorFunctionV3:debug_drawings:only_bottom",
only_bottom = true;
);
bool only_top = false;
DEBUG_REQUEST("CamMatErrorFunctionV3:debug_drawings:only_top",
only_top = true;
);
if(only_bottom && only_top){
actual_plotting(parameter, naoth::CameraInfo::Bottom);
actual_plotting(parameter, naoth::CameraInfo::Top);
} else if (only_bottom) {
actual_plotting(parameter, naoth::CameraInfo::Bottom);
} else if (only_top) {
actual_plotting(parameter, naoth::CameraInfo::Top);
} else {
actual_plotting(parameter, naoth::CameraInfo::Bottom);
actual_plotting(parameter, naoth::CameraInfo::Top);
}
}
void write_calibration_data_to_file();
void read_calibration_data_from_file();
};
#endif // CAMMATERRORFUNCTIONV3_H
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