optimizer.h
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2020 Intel Corporation. All Rights Reserved.
3 
4 #pragma once
5 
6 #include <cstdint>
7 #include <vector>
8 #include <map>
9 #include <types.h>
10 
11 #include "calibration.h"
12 #include "coeffs.h"
13 #include "frame-data.h"
14 #include "k-to-dsm.h"
15 
16 
17 namespace librealsense {
18 namespace algo {
19 namespace depth_to_rgb_calibration {
20 
21  struct optimization_params
22  {
23  p_matrix curr_p_mat;
24  p_matrix calib_gradients;
25  double cost;
26  double step_size = 0;
27  };
28 
29 
30  struct params
31  {
32  params();
33  void set_depth_resolution(size_t width, size_t height, rs2_digital_gain digital_gain);
34  void set_rgb_resolution(size_t width, size_t height);
35 
36  double gamma = 0.9;
37  double alpha = (double)1 / (double)3;
38  double grad_ir_threshold = 3.5; // Ignore pixels with IR gradient less than this (resolution-dependent!)
39  int grad_z_threshold = 0; //Ignore pixels with Z grad of less than this
40  double grad_z_min = 25; // Ignore pixels with Z grad of less than this
41  double grad_z_max = 1000;
42  double edge_thresh4_logic_lum = 0.1;
43 
44  // enhanced preprocessing params
45  double grad_ir_low_th = std::numeric_limits<double>::max();
46  double grad_ir_high_th = 2.5;
47  double grad_z_low_th = 0;
48  double grad_z_high_th = std::numeric_limits<double>::max();
49 
50  double max_step_size = 1;
51  double min_step_size = 0.00001;
52  double control_param = 0.5;
53  int max_back_track_iters = 50;
54  int max_optimization_iters = 50;
55  double min_rgb_mat_delta = 0.00001;
56  double min_cost_delta = 1;
57  double tau = 0.5;
58  double min_weighted_edge_per_section_depth = 0; // resolution-dependent
59  double min_weighted_edge_per_section_rgb = 0; // resolution-dependent
60  size_t num_of_sections_for_edge_distribution_x = 2;
61  size_t num_of_sections_for_edge_distribution_y = 2;
62  p_matrix normalize_mat; //% rgbPmatNormalizationMat
63 
64  double edge_distribution_min_max_ratio = 0.005;
65  double grad_dir_ratio = 10;
66  double grad_dir_ratio_prep = 1.5;
67  size_t dilation_size = 1;
68  double gauss_sigma = 1;
69  size_t gause_kernel_size = 5;
70  double const move_thresh_pix_val = 20;
71  double move_threshold_pix_num = 0; // resolution-dependent
72  double const move_last_success_thresh_pix_val = 25;
73  double move_last_success_thresh_pix_num = 0; // resolution-dependent
74 
75  //smearing
76  double max_sub_mm_z = 4;
77  double constant_weights = 1000;
78 
79  // output validation
80  double max_xy_movement_per_calibration[3]; // resolution-dependent = { 10, 2, 2 } * res/hd
81  double max_xy_movement_from_origin; // resolution-dependent = 20 * res/hd
82  double const max_scaling_step = 0.020000000000000;
83  double const max_K2DSM_iters = 10;
84  // TODO: the following should be 0.2% but was increased to 0.5% to account for
85  // manual trigger activation
86  double max_global_los_scaling_step = 0.004; // the difference (.5%) between starting and final scale
87 
88  // input validation
89  double edges_per_direction_ratio_th = 0.004;
90  double dir_std_th[N_BASIC_DIRECTIONS] = { 0.09, 0.09, 0.09, 0.09 };
91  int minimal_full_directions = 2;
92  bool require_orthogonal_valid_dirs = false;
93  int saturation_value = 230;
94  double saturation_ratio_th = 0.05;
95  double pix_per_section_rgb_th = 0.01;
96  double pix_per_section_depth_th = 0.01;
97  int min_section_with_enough_edges = 2;
98 
99  bool use_enhanced_preprocessing = true;
100  };
101  // svm
102  struct decision_params
103  {
104  double initial_cost;
105  bool is_valid;
106  double xy_movement;
107  double xy_movement_from_origin;
108  std::vector< double > improvement_per_section;
109  double min_improvement_per_section;
110  double max_improvement_per_section;
111  bool is_valid_1;
112  double moving_pixels;
113  double min_max_ratio_depth;// edgeDistributionMinMaxRatioDepth;
114  std::vector< double > distribution_per_section_depth;// edgeWeightDistributionPerSectionDepth;
115  double min_max_ratio_rgb;// edgeDistributionMinMaxRatioRgb;
116  std::vector< double > distribution_per_section_rgb;// edgeWeightDistributionPerSectionRgb;
117  double dir_ratio_1; // dirRatio1;
118  double dir_ratio_2;
119  std::vector< double > edge_weights_per_dir;
120  double new_cost;
121  };
122  struct svm_features
123  {
124  double max_over_min_depth;
125  double max_over_min_rgb;
126  double max_over_min_perp;
127  double max_over_min_diag;
128  double initial_cost;
129  double final_cost;
130  double xy_movement;
131  double xy_movement_from_origin;
132  double positive_improvement_sum;
133  double negative_improvement_sum;
134  };
135  struct svm_model_linear
136  {
137  svm_model_linear();
138  std::vector< double > mu = { 0,0,0,0,0,0,0,0,0,0 };
139  std::vector< double > sigma = { 1,1,1,1,1,1,1,1,1,1 };
140  std::vector< double > beta = { -0.00598037736275758, -0.419810195765952, -0.0519142921084610, 0.0511261823872767, -3.260600000000000e-04, 0.00134513193142993, -0.0305126906030304, 0, 0.000390629893900041, -0.000589640043298588 };// { 0.036404266074054, 0.217416714219929, -1.448206804928638, -0.426383040511132, 0.482625970398315, -0.341211816013196, 1.476722279284806, -0.570440485581453, 0.174994874978338, -0.217118614894225 };
141  double bias = 14.782481183385837;
142  };
143  struct svm_model_gaussian
144  {
145  svm_model_gaussian();
146  std::vector< double > mu = { 26.451657421181550, 1.834669247710750, 3.491429858876404, 3.786071463994616, 1.267059679244040e+04, 1.739017433204909e+04, 7.950284312071314, 7.037505628020683, 1.669357700781532e+04, -4.000499638952811e+02 };
147  std::vector< double > sigma = {64.543314844188930, 0.399466249006394, 5.051691865199965, 4.838800439657138, 3.560637036816310e+03, 4.169466021585641e+03, 3.946730380178832, 2.688331347779885, 9.166971780432328e+03, 1.309539174549818e+03};
148  std::vector< double > alpha = { 0.853782362459551, 0.809419984641913, 0.853782362459551, 0.523660624979399, 1.11094229588706, 0.853782362459551, 0.853782362459551, 0.739635480910988, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.858846426133943, 1.11094229588706, 0.853782362459551, 1.11094229588706, 0.853782362459551, 0.565954460907804, 0.410526909886890, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 1.11094229588706, 0.147472046069076, 0.853782362459551, 1.11094229588706, 0.853782362459551, 0.474919097314781, 1.07387030895150, 1.11094229588706, 0.728324034495017, 0.811599038284503, 0.118602560912953, 1.00766686099462, 0.759793036827252, 0.804341226802145, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.912663846986493, 0.502945760137574, 0.741688370316241, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.720528402669790, 0.853782362459551, 0.853782362459551, 0.626880433540383, 0.853782362459551, 1.11094229588706, 1.11094229588706, 0.828188533980146, 0.853782362459551, 0.853782362459551, 1.08218326015022, 1.11094229588706, 1.11094229588706, 0.874637498781498, 0.853782362459551, 0.853782362459551, 0.638113857711959, 0.567946527216678, 0.756319722985775, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.858929103546975, 0.853782362459551, 0.0551892575127066, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 1.11094229588706, 1.11094229588706, 1.10609139305017, 0.904762930421056, 1.11094229588706, 0.877257559768069, 1.11094229588706, 0.164605124354074, 1.11094229588706, 1.11094229588706, 1.11094229588706, 1.11094229588706, 1.11094229588706, 0.163757887887552, 0.853782362459551, 0.853782362459551, 1.10487919283239, 0.853782362459551, 0.641471719725152, 1.11094229588706, 0.853782362459551, 0.582518093538500, 0.853782362459551, 0.590370095260419, 0.625770558050165, 0.849648792088831, 0.464867191830818, 0.371399214192577, 0.508643001909889, 0.508719179090522, 0.849956268470741, 0.395653653246930, 0.666814548675369, 0.617065518321757, 0.853782362459551, 0.797324899450533, 0.645341371666331, 0.643837379212830, 0.670038550795845, 0.841968985583819, 1.06151054576426, 0.734320857082393, 0.580669562338322, 0.434135177363688, 1.10848731131424, 0.665617404389425, 0.709773717912651, 0.825756139249980, 1.11094229588706, 0.690353773003999, 1.11094229588706, 0.219534940218192, 0.657932066278636, 0.476475742895029, 0.661076180573250, 0.657638691861222, 0.407781991490912, 0.735521726220470, 0.722224781567731, 0.741663155838191, 0.657750600427332, 0.853782362459551, 0.851047964636070, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.572911397588253, 0.657581429355579, 0.509194534549591, 0.488095502769136, 0.853180064239348, 1.11094229588706, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.574573645023846, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.313804046292503, 0.0818345445662691, 0.608815326606831, 1.11094229588706, 1.11094229588706, 0.813193890719519, 0.807412795095128, 1.11094229588706, 1.11094229588706, 1.11094229588706, 0.489360336829842, 0.932772552136191, 0.853782362459551, 1.00400067721180, 1.11094229588706, 0.853782362459551, 0.626502674030708, 1.11094229588706, 0.853782362459551, 1.11094229588706, 0.853782362459551, 1.11094229588706, 0.853782362459551, 1.11094229588706, 0.853782362459551, 0.853782362459551, 0.472192610210062, 0.0505120252117739, 0.853782362459551, 0.853782362459551, 0.473165559571867, 0.296883608413205, 0.815314527893011, 0.683661864430910, 0.659295345426884, 0.541872778451743, 0.515306135002716, 0.606229468786921, 0.481728358034791, 0.467598697870095, 0.550458139680351, 0.654416225571927, 0.167005758120683, 0.853782362459551, 0.339472108535104, 1.11094229588706, 0.135084020329085, 0.656894107435376, 0.853782362459551, 0.416327424192007, 0.853782362459551, 1.11094229588706, 0.853782362459551, 0.122200722533292, 1.11094229588706, 0.853782362459551, 1.11094229588706, 0.481820439865076, 1.10047904288990, 0.723810502326994, 0.853782362459551, 1.04408869091412, 0.442766463043284, 0.473432211087953, 0.621097330923599, 0.636524721655964, 0.658340995052940, 0.657854873791700, 0.770188713793156, 1.11094229588706, 0.853782362459551, 1.11094229588706, 1.11094229588706, 1.11094229588706, 1.11094229588706, 0.542621644264350, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.820277591673038, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.852910435896307, 0.277144002177960, 1.09737060681344, 0.816340094455241, 1.11094229588706, 0.387365127119839, 0.822911949368766, 0.583552640059492, 1.10698101307889, 0.199605742376812, 0.309716857446239, 1.11094229588706, 0.825553571525066, 0.316140379615421, 0.828377208677995, 0.830376808053154, 0.772655504859029, 1.11094229588706, 0.515252846432175, 0.516918757966514, 0.741182454077847, 0.383763427412591, 1.11094229588706, 0.853782362459551, 1.11026858485958, 0.0978599136880101, 0.156617362810719, 0.853782362459551, 0.290818738206244, 0.853782362459551, 0.853782362459551, 0.853782362459551, 1.10819605976630, 0.386039711890531, 0.290732589038562, 0.853782362459551, 0.674592403169784, 0.360752576373701, 0.853782362459551, 1.11094229588706, 0.853782362459551, 0.853782362459551, 0.936084924636588, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.424951759018112, 1.11094229588706, 0.985693515370822, 0.853782362459551, 0.316412633956148, 0.367991629921835, 0.853782362459551, 0.853782362459551, 0.0914759047151927, 0.953020231941869, 0.853782362459551, 0.616881479123683, 0.853782362459551, 0.853782362459551, 0.673529054889632, 0.540929179359247, 0.657743115458036, 0.621498920245097, 0.587012931684455, 1.11017036408162, 1.10745536715549, 0.659692571990333, 0.608207729800647, 0.212511065146229, 0.296070075276644, 0.853782362459551, 0.349119696103402, 0.841330883963117, 0.581304165917077, 1.11094229588706, 0.572646085149409, 0.798236813225304, 0.853782362459551, 0.853782362459551, 0.853782362459551, 0.655613482190814, 0.853782362459551, 0.346650809612394, 0.845449841690559, 0.742414233118956, 0.497349430092853, 1.02290125480437, 0.531325561408872, 0.408979355805631, 0.806101219345509, 0.393215113631691, 0.621176662488951, 1.11094229588706, 1.11094229588706, 1.11094229588706, 0.951142231548956 };
149  double bias = -0.342210526291181;
150  double kernel_param_scale = 1;
151  std::vector< double > support_vectors_labels = { 1, -1, 1, -1, -1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, 1, -1, -1, 1, 1, 1, 1, -1, -1, 1, -1, 1, 1, -1, -1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, 1, 1, 1, -1, -1, -1, -1, 1, 1, 1, -1, 1, 1, 1, 1, -1, 1, -1, 1, 1, 1, 1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, 1, -1, 1, -1, 1, 1, -1, 1, -1, -1, 1, -1, 1, -1, -1, 1, 1, -1, -1, -1, 1, 1, -1, -1, -1, 1, -1, 1, -1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, 1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, -1, -1, -1, 1, -1, 1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, 1, -1, 1, -1, 1, 1, -1, 1, 1, 1, 1, 1, 1, -1, -1, 1, -1, -1, -1, -1, -1, -1, -1, 1, 1, -1, 1, -1, 1, 1, 1, -1, 1, 1, -1, 1, -1, 1, -1, -1, 1, -1, -1, 1, -1, -1, -1, -1, 1, -1, 1, -1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, -1, -1, 1, 1, -1, -1, 1, -1, -1, -1, 1, 1, -1, -1, 1, 1, -1, -1, -1, 1, -1, -1, -1, 1, -1, 1, 1, 1, -1, -1, -1, 1, -1, -1, 1, -1, -1, 1, -1, 1, 1, 1, -1, -1, -1, 1, -1, 1, 1, 1, 1, -1, 1, 1, 1, 1, 1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, -1, 1, 1, -1, 1, 1, -1, -1, -1, -1 };
152  std::vector< double > support_vectors[10] = {
153  {-0.0562123043369483, -0.0324974207934130, -0.0455795300828793, -0.0583388591877621, -0.0274359457172453, -0.00286615800048622, -0.0850389364052901, -0.0513925026855241, -0.0631250403340051, -0.0615118136651025, -0.0879080977150691, -0.0251284074787236, -0.0444919493167321, -0.0537704917650131, -0.0771568631874931, 0.00567872580422870, -0.0448018187377292, -0.0330399671536552, -0.111479363523474, -0.133896656168909, -0.135858082969125, -0.126684814651919, -0.157647032033827, -0.151843688868152, -0.116643853844292, -0.151720854659326, -0.143974119155527, -0.112671168982125, -0.143856744663014, -0.100774023471855, -0.132079187607702, -0.152777227682572, -0.104146002431311, -0.151123062310040, -0.104146002431311, -0.188970085737752, -0.128300292246279, -0.301025529869738, -0.304239542177909, -0.305034243161145, -0.299932444643398, -0.309162765273118, -0.286860826025910, -0.300112601286068, -0.295385423649795, -0.293959644085562, -0.299459798400177, -0.307099545823721, 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163  };
164  };
165  // Data that's passed to a callback at each optimization iteration
166  enum data_type
167  {
168  k_to_dsm_data,
169  cycle_data,
170  iteration_data,
171  general_data
172  };
173 
174  struct k_to_dsm_inputs
175  {
176  rs2_intrinsics_double old_k;
177  rs2_intrinsics_double new_k;
178  z_frame_data z;
179  std::vector<double3> new_vertices;
180  rs2_dsm_params_double previous_dsm_params;
181  algo_calibration_registers new_dsm_regs;
182  };
183 
184  struct convert_norm_vertices_to_los_data
185  {
186  double3 laser_incident;
187  std::vector<double3> fovex_indicent_direction;
188  std::vector<double3> mirror_normal_direction;
189  std::vector<double> ang_x;
190  std::vector<double> ang_y;
191  std::vector<double> dsm_x_corr;
192  std::vector<double> dsm_y_corr;
193  std::vector<double> dsm_x;
194  std::vector<double> dsm_y;
195  };
196 
197  struct k2dsm_data_params
198  {
199  k_to_dsm_inputs inputs;
200  algo_calibration_registers dsm_regs_orig;
201  std::vector < uint8_t> relevant_pixels_image_rot;
202  convert_norm_vertices_to_los_data first_norm_vertices_to_los_data;
203  pre_process_data dsm_pre_process_data;
204 
205  std::vector < double> errL2;
206  std::vector < std::vector < double>> sg_mat;
207  std::vector < double> sg_mat_tag_x_sg_mat;
208  std::vector <double> sg_mat_tag_x_err_l2;
209  std::vector <double> quad_coef;
210  double2 focal_scaling;
211  double2 opt_scaling_1;
212  double2 opt_scaling;
213  double2 new_los_scaling;
214  rs2_dsm_params_double dsm_params_cand;
215  algo_calibration_registers dsm_regs_cand;
216  convert_norm_vertices_to_los_data second_norm_vertices_to_los_data;
217  std::vector< double2> los_orig;
218  std::vector< double2> dsm;
219  std::vector < double3> vertices;
220  rs2_intrinsics_double k_depth;
221  };
222 
223  struct iteration_data_params
224  {
225  size_t iteration;
226  optimization_params params;
227  calib c;
228  std::vector< double2 > uvmap;
229  std::vector< double > d_vals;
230  std::vector< double > d_vals_x;
231  std::vector< double > d_vals_y;
232  std::vector < double2> xy;
233  std::vector<double > rc;
234  coeffs<k_matrix> coeffs_k;
235  coeffs<rotation_in_angles> coeffs_r;
236  coeffs < p_matrix> coeffs_p;
237  p_matrix unit_grad;
238  p_matrix normalized_grads;
239  p_matrix grads_norm;
240  double grads_norma;
241  double cost;
242  int back_tracking_line_search_iters;
243  double t;
244  optimization_params next_params;
245  };
246 
247  struct cycle_data_params
248  {
249  size_t cycle;
250  optimization_params new_params;
251  calib new_calib;
252  rs2_intrinsics_double new_k_depth;
253  algo_calibration_registers new_dsm_regs;
254  rs2_dsm_params_double new_dsm_params;
255  std::vector<double3> new_vertices;
256  calib optimaized_calib_candidate;
257  };
258 
259  struct data_collect
260  {
261  data_type type;
262 
263  cycle_data_params cycle_data_p;
264  k2dsm_data_params k2dsm_data_p;
265  iteration_data_params iteration_data_p;
266 
267  };
268 
269  struct input_validity_data
270  {
271  bool edges_dir_spread;
272  bool not_saturated;
273  bool depth_spatial_spread;
274  bool rgb_spatial_spread;
275  bool is_movement_from_last_success;
276  };
277 
278  class optimizer
279  {
280  public:
281 #pragma pack(push, 1)
282  struct settings
283  {
284  bool is_manual_trigger = false;
285  double hum_temp = 0.;
286  rs2_digital_gain digital_gain = RS2_DIGITAL_GAIN_HIGH;
287  int receiver_gain = 0; // aka APD
288 
289  std::string to_string() const;
290  };
291 #pragma pack(pop)
292 
293  optimizer( settings const &, bool debug_mode = false );
294 
295  void set_yuy_data( std::vector< yuy_t > && yuy_data,
296  std::vector< yuy_t > && prev_yuy_data,
297  std::vector< yuy_t > && last_successful_yuy_data,
298  calib const & calibration);
299 
300  void set_ir_data( std::vector< ir_t > && ir_data, size_t width, size_t height );
301  void set_z_data( std::vector< z_t > && z_data,
302  rs2_intrinsics_double const & depth_intrinsics,
303  rs2_dsm_params const & dms_params, algo_calibration_info const & cal_info,
304  algo_calibration_registers const & cal_regs, float depth_units );
305 
306  // Write dumps of all the pertinent data from the above to a directory of choice, so that
307  // a reproduction can be made
308  void write_data_to( std::string const & directory );
309 
310  // (optional) Return whether the scene passed in is valid and can go thru optimization
311  bool is_scene_valid(input_validity_data* data = nullptr);
312 
313  // This function checks for specific cases in which we expect poor
314  // performance of the AC2 algorithm.
315  // Covered Cases(By priority) :
316  // 1. Enough Edges in RGB image(Lights off bug fix)
317  // 2. Enough Edges in enough locations(3 / 4 quarters)
318  // 3. Enough Edges in enough directions(2 / 4 directions)
319  // 4. Large enough STD of edges in the chosen direction(weights will be
320  // normalized by direction) (Normalize by weights is done in a seperate
321  // function)
322  // 5. Verify there is movement in RGB between this scene and the previous
323  // 6. Check for saturation in the depth
324  // one in which we converged
325  bool input_validity_checks(input_validity_data* data = nullptr);
326 
327  // Optimize the calibration, optionally calling the callback after each iteration
328  size_t optimize( std::function< void( data_collect const & data ) >
329  iteration_callback = nullptr );
330 
331  // (optional) Return whether the results of calibration are valid:
332  // 1. If pixel movement is acceptable
333  // 2. Movement from the camera's factory settings is within thresholds
334  // 3. No worsening of the fit in any image section
335  bool is_valid_results();
336 
337  calib const & get_calibration() const;
338  rs2_dsm_params const & get_dsm_params() const;
339 
340  double get_cost() const;
341  double calc_correction_in_pixels( std::vector< double2 > const & old_uvmap,
342  std::vector< double2 > const & new_uvmap ) const;
343  double calc_correction_in_pixels( calib const & from_calibration, calib const & to_calibration) const;
344  double calc_correction_in_pixels(calib const & to_calibration) const { return calc_correction_in_pixels( _original_calibration, to_calibration); }
345 
346  // for debugging/unit-testing
347  z_frame_data const & get_z_data() const { return _z; }
348  yuy2_frame_data const & get_yuy_data() const { return _yuy; }
349  ir_frame_data const & get_ir_data() const { return _ir; }
350  decision_params const& get_decision_params() const { return _decision_params; };
351  std::vector< double >const& get_extracted_features() const { return _extracted_features; };
352  params const & get_params() const { return _params; }
353  void set_cycle_data(const std::vector<double3>& vertices,
354  const rs2_intrinsics_double& k_depth,
355  const p_matrix& p_mat,
356  const algo_calibration_registers& dsm_regs_cand,
357  const rs2_dsm_params_double& dsm_params_cand);
358 
359  void set_final_data(const std::vector<double3>& vertices,
360  const p_matrix& p_mat,
361  const p_matrix& p_mat_opt = p_matrix());
362  private:
363 
364  void adjust_params_to_manual_mode();
365  void adjust_params_to_auto_mode();
366  void adjust_params_to_apd_gain();
367 
368  // 1 cycle of optimization
369  size_t optimize_p(const optimization_params& params_curr,
370  const std::vector<double3>& new_vertices,
371  optimization_params& params_new,
372  calib& optimaized_calibration,
373  calib& new_rgb_calib_for_k_to_dsm,
374  rs2_intrinsics_double& new_z_k,
375  std::function<void(data_collect const&data)> cb,
376  data_collect& data);
377 
378  calib decompose_p_mat(p_matrix p);
379  rs2_intrinsics_double get_new_z_intrinsics_from_new_calib(const rs2_intrinsics_double& orig, const calib & new_c, const calib & orig_c);
380  std::vector<direction> get_direction( std::vector<double> gradient_x, std::vector<double> gradient_y );
381  std::vector<direction> get_direction2(std::vector<double> gradient_x, std::vector<double> gradient_y);
382  std::vector<uint16_t> get_closest_edges( const z_frame_data& z_data, ir_frame_data const & ir_data, size_t width, size_t height );
383  std::vector<double> blur_edges( std::vector<double> const & edges, size_t image_width, size_t image_height );
384  std::vector< byte > get_luminance_from_yuy2( std::vector< yuy_t > const & yuy2_imagh );
385 
386  std::vector<uint8_t> get_logic_edges( std::vector<double> const & edges );
387  std::vector <double3> subedges2vertices(z_frame_data& z_data, const rs2_intrinsics_double& intrin, double depth_units);
388 
389  optimization_params back_tracking_line_search( optimization_params const & opt_params,
390  const std::vector<double3>& new_vertices,
391  data_collect * data = nullptr ) const;
392 
393  // input validation
394  bool is_movement_in_images( movement_inputs_for_frame const & prev,
395  movement_inputs_for_frame const & curr,
396  movement_result_data * result_data,
397  double const move_thresh_pix_val,
398  double const move_threshold_pix_num,
399  size_t width, size_t height );
400 
401  bool is_edge_distributed( z_frame_data & z_data, yuy2_frame_data & yuy_data );
402  void section_per_pixel( frame_data const &, size_t section_w, size_t section_h, byte * section_map );
403  void sum_per_section(std::vector< double >& sum_weights_per_section, std::vector< byte > const& section_map, std::vector< double > const& weights, size_t num_of_sections);
404  std::vector<uint8_t> images_dilation(std::vector<uint8_t> const &logic_edges, size_t width, size_t height);
405  void gaussian_filter(std::vector<uint8_t> const& lum_frame,
406  std::vector<uint8_t> const& prev_lum_frame,
407  std::vector<double>& yuy_diff,
408  std::vector<double>& gaussian_filtered_image,
409  size_t width, size_t height);
410 
411  // svm
412  bool valid_by_svm(svm_model model);
413  void collect_decision_params(z_frame_data& z_data, yuy2_frame_data& yuy_data);// , decision_params& decision_params);
414 
415  // output validation
416  void clip_pixel_movement( size_t iteration_number = 0 );
417  std::vector< double > cost_per_section_diff( calib const & old_calib, calib const & new_calib );
418  void clip_ac_scaling( rs2_dsm_params_double const & ac_data_orig,
419  rs2_dsm_params_double & ac_data_new ) const;
420 
421  private:
422  settings const _settings;
423  params _params;
424  decision_params _decision_params;
425  svm_features _svm_features;
426  std::vector< double > _extracted_features;
427  svm_model_linear _svm_model_linear;
428  svm_model_gaussian _svm_model_gaussian;
429  yuy2_frame_data _yuy;
430  ir_frame_data _ir;
431  z_frame_data _z;
432  calib _original_calibration; // starting state of auto-calibration
433  rs2_dsm_params _original_dsm_params;
434  calib _final_calibration; // starting state of auto-calibration
435  calib _optimaized_calibration; // the last result of optimize_p that gives the optimal cost but not used for calibration
436  rs2_dsm_params _final_dsm_params;
437  calib _factory_calibration; // factory default calibration of the camera
438  optimization_params _params_curr; // last-known setting
439 
440  //cycle data from bin files
441  bool get_cycle_data_from_bin = false;
442  bool get_final_data_from_bin = false;
443  rs2_intrinsics_double _k_dapth_from_bin;
444  p_matrix _p_mat_from_bin;
445  p_matrix _p_mat_from_bin_opt;
446  std::vector<double3> _vertices_from_bin;
447  algo_calibration_registers _dsm_regs_cand_from_bin;
448  rs2_dsm_params_double _dsm_params_cand_from_bin;
449 
450  std::shared_ptr<k_to_DSM> _k_to_DSM;
451  bool _debug_mode;
452  };
453 
454 } // librealsense::algo::depth_to_rgb_calibration
455 } // librealsense::algo
456 } // librealsense
librealsense::algo::depth_to_rgb_calibration::optimizer::_yuy
yuy2_frame_data _yuy
Definition: optimizer.h:429
librealsense::algo::depth_to_rgb_calibration::data_collect::type
data_type type
Definition: optimizer.h:261
librealsense::algo::depth_to_rgb_calibration::cycle_data_params::new_params
optimization_params new_params
Definition: optimizer.h:250
librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::opt_scaling
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Definition: optimizer.h:212
librealsense::algo::depth_to_rgb_calibration::optimizer::calc_correction_in_pixels
double calc_correction_in_pixels(calib const &to_calibration) const
Definition: optimizer.h:344
librealsense::algo::depth_to_rgb_calibration::iteration_data_params::rc
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rmse.orig
orig
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std::shared_ptr< k_to_DSM > _k_to_DSM
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librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::los_orig
std::vector< double2 > los_orig
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const GLbyte * weights
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librealsense::algo::depth_to_rgb_calibration::optimization_params::cost
double cost
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rs2_dsm_params_double previous_dsm_params
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librealsense::algo::depth_to_rgb_calibration::optimizer::_params_curr
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Definition: optimizer.h:438
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double initial_cost
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librealsense::algo::depth_to_rgb_calibration::params
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double max_over_min_depth
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librealsense::algo::depth_to_rgb_calibration::N_BASIC_DIRECTIONS
const int N_BASIC_DIRECTIONS
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Definition: optimizer.h:256
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std::vector< double > sg_mat_tag_x_err_l2
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std::vector< double > ang_x
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depth_intrinsics
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std::vector< double2 > uvmap
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librealsense::algo::depth_to_rgb_calibration::iteration_data_params::next_params
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librealsense::algo::depth_to_rgb_calibration::svm_features::xy_movement_from_origin
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Definition: frame-data.h:55
rs2_dsm_params
Video DSM (Digital Sync Module) parameters for calibration (same layout as in FW ac_depth_params) Thi...
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string
GLsizei const GLchar *const * string
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Definition: optimizer.h:231
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librealsense::algo::depth_to_rgb_calibration::iteration_data_params::t
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settings const _settings
Definition: optimizer.h:422
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Definition: optimizer.h:135
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example4 - train.model
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Definition: example4 - train.py:110
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Definition: optimizer.h:220
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Definition: optimizer.h:443
depth_units
Definition: unit-tests-post-processing.h:83
alpha
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Definition: glad/glad/glad.h:1425
bias
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Definition: glext.h:7937
librealsense::algo::depth_to_rgb_calibration::input_validity_data::edges_dir_spread
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librealsense::algo::depth_to_rgb_calibration::svm_features::max_over_min_rgb
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Definition: optimizer.h:108
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Definition: optimizer.h:446
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librealsense::algo::depth_to_rgb_calibration::input_validity_data::depth_spatial_spread
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Definition: optimizer.h:273
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librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::opt_scaling_1
double2 opt_scaling_1
Definition: optimizer.h:211
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Definition: optimizer.h:444
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librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::sg_mat
std::vector< std::vector< double > > sg_mat
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std::vector< double > distribution_per_section_depth
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double dir_ratio_1
Definition: optimizer.h:117
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librealsense::algo::depth_to_rgb_calibration::data_type
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Definition: optimizer.h:166
example4 - train.optimizer
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Definition: example4 - train.py:111
height
GLint GLsizei GLsizei height
Definition: glad/glad/glad.h:1398
librealsense::algo::depth_to_rgb_calibration::iteration_data_params::coeffs_k
coeffs< k_matrix > coeffs_k
Definition: optimizer.h:234
librealsense::algo::depth_to_rgb_calibration::params::max_xy_movement_from_origin
double max_xy_movement_from_origin
Definition: optimizer.h:81
librealsense::algo::depth_to_rgb_calibration::decision_params::dir_ratio_2
double dir_ratio_2
Definition: optimizer.h:118
beta
GLfloat beta
Definition: wave.c:31
librealsense::algo::depth_to_rgb_calibration::optimizer::get_ir_data
ir_frame_data const & get_ir_data() const
Definition: optimizer.h:349
librealsense::algo::depth_to_rgb_calibration::k_to_dsm_inputs::new_vertices
std::vector< double3 > new_vertices
Definition: optimizer.h:179
librealsense::algo::depth_to_rgb_calibration::optimizer::_extracted_features
std::vector< double > _extracted_features
Definition: optimizer.h:426
librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::focal_scaling
double2 focal_scaling
Definition: optimizer.h:210
librealsense::algo::depth_to_rgb_calibration::iteration_data_params::d_vals_x
std::vector< double > d_vals_x
Definition: optimizer.h:230
librealsense::algo::depth_to_rgb_calibration::convert_norm_vertices_to_los_data::dsm_x_corr
std::vector< double > dsm_x_corr
Definition: optimizer.h:191
librealsense::algo::depth_to_rgb_calibration::optimizer::get_z_data
z_frame_data const & get_z_data() const
Definition: optimizer.h:347
librealsense::algo::depth_to_rgb_calibration::coeffs
Definition: coeffs.h:17
librealsense::algo::depth_to_rgb_calibration::k_to_dsm_inputs::new_dsm_regs
algo_calibration_registers new_dsm_regs
Definition: optimizer.h:181
librealsense::algo::depth_to_rgb_calibration::k2dsm_data_params::inputs
k_to_dsm_inputs inputs
Definition: optimizer.h:199
librealsense::algo::depth_to_rgb_calibration::optimizer::get_decision_params
decision_params const & get_decision_params() const
Definition: optimizer.h:350
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algo_calibration_registers _dsm_regs_cand_from_bin
Definition: optimizer.h:447
librealsense::algo::depth_to_rgb_calibration::k_to_dsm_inputs::new_k
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Definition: optimizer.h:177
librealsense::algo::depth_to_rgb_calibration::cycle_data_params::new_dsm_params
rs2_dsm_params_double new_dsm_params
Definition: optimizer.h:254
params
GLenum const GLfloat * params
Definition: glad/glad/glad.h:1404
librealsense::algo::depth_to_rgb_calibration::optimizer::get_extracted_features
std::vector< double > const & get_extracted_features() const
Definition: optimizer.h:351
librealsense::algo::depth_to_rgb_calibration::data_collect
Definition: optimizer.h:259
librealsense::algo::depth_to_rgb_calibration::data_collect::k2dsm_data_p
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librealsense2
Author(s): Sergey Dorodnicov , Doron Hirshberg , Mark Horn , Reagan Lopez , Itay Carpis
autogenerated on Mon May 3 2021 02:47:38