Rolling Shutter Camera Calibration #6
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_ portable_binary_iarchive _ portable_binary_oarchive _ portable_binary_archive
properly keep track of previous successful solution to update _p_J and _J
_ The camera_dv exposes a scalar expression (ScalarExpressionNodeKeypointTime) that expresses the capture time of a keypoint taking the changing shutter_dv into account. _ Remove aslam_backend CameraDesignVariable and move to aslam_backend_cv together with the NodeKeypointTime scalar expression
Error term that applies a design-variable (shutter) depending, variable, covariance term for adaptive error term standardization.
ReprojectionErrors are in aslam_cv_error_terms
…gnVariable It is a pure duplicate of the already existing CameraDesignVariable. As it is used by the (also disabled) NCameraSystemDesignVariableContainer, I do not delete the files.
| /// to the camera design variable | ||
| backend::ScalarExpression keypointTime(const aslam::Time & imageStamp, const Eigen::VectorXd & y); | ||
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| // get the temporal offset of the a given keypoint y |
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Contains several fixes and actually compiles on my 1604 machine - cool. Is this GTG? |
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Sure |
This was referenced Jul 18, 2016
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Integrations a module to fully calibrate the intrinsics, distortion coefficients and line delay of rolling shutter cameras.
Besides the python implementation it includes the following changes and fixes/improvements:
_ disable obsolete CameraGeometryDesignVariableContainer in favor of CameraDesignVariable
_ remove duplicate definitions of ReprojectionError from aslam_cv_backend
_ CameraDesignVariable exposes a ScalarExpression representing the time at which a keypoint was observed
_ exports ScalarExpressionNodeKeypointTime to python
_ restore CovarainceReprojectionError which enables state-depending error term standardization
_ CovarianceReprojectionError::observationTime() returned frame_time + 2* time offset
_ Fix an issue in the DogLeg- and Base-TrustRegionPolicy that prevented the correct calculation of the trust region size and resulted in bad/no convergence
For various reasons, this PR already contains #4 and #5