Program Listing for File ceres_optimizer.hpp
↰ Return to documentation for file (/tmp/ws/src/robot_calibration/robot_calibration/include/robot_calibration/optimization/ceres_optimizer.hpp
)
/*
* Copyright (C) 2018-2022 Michael Ferguson
* Copyright (C) 2014 Fetch Robotics Inc.
* Copyright (C) 2013-2014 Unbounded Robotics Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// Author: Michael Ferguson
#ifndef ROBOT_CALIBRATION_CERES_OPTIMIZER_H
#define ROBOT_CALIBRATION_CERES_OPTIMIZER_H
#include <memory>
#include <ceres/ceres.h>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include <rclcpp/logger.hpp>
#include <robot_calibration_msgs/msg/calibration_data.hpp>
#include <robot_calibration/optimization/offsets.hpp>
#include <robot_calibration/optimization/params.hpp>
#include <robot_calibration/models/camera3d.hpp>
#include <robot_calibration/models/chain3d.hpp>
#include <robot_calibration/util/mesh_loader.hpp>
#include <string>
#include <map>
namespace robot_calibration
{
class Optimizer
{
public:
Optimizer(const std::string& robot_description);
virtual ~Optimizer();
int optimize(OptimizationParams& params,
std::vector<robot_calibration_msgs::msg::CalibrationData> data,
rclcpp::Logger& logger,
bool progress_to_stdout = false);
std::shared_ptr<ceres::Solver::Summary> summary()
{
return summary_;
}
std::shared_ptr<OptimizationOffsets> getOffsets()
{
return offsets_;
}
int getNumParameters()
{
return num_params_;
}
int getNumResiduals()
{
return num_residuals_;
}
std::vector<std::string> getCameraNames();
private:
std::shared_ptr<urdf::Model> model_;
std::string root_frame_;
std::string led_frame_;
KDL::Tree tree_;
std::shared_ptr<MeshLoader> mesh_loader_;
std::map<std::string, Chain3dModel*> models_;
std::shared_ptr<OptimizationOffsets> offsets_;
std::shared_ptr<ceres::Solver::Summary> summary_;
int num_params_, num_residuals_;
};
} // namespace robot_calibration
#endif // ROBOT_CALIBRATION_CERES_OPTIMIZER_H