8000 Rename RigCalibration to RigCalib by ahojnnes · Pull Request #3142 · colmap/colmap · GitHub
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Rename RigCalibration to RigCalib #3142

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Merged
merged 2 commits into from
Feb 6, 2025
Merged

Rename RigCalibration to RigCalib #3142

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Rename RigCalibration to RigCalib
ahojnnes Feb 6, 2025
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ahojnnes Feb 6, 2025
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30 changes: 14 additions & 16 deletions src/colmap/scene/frame.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,11 +83,10 @@ class Frame {
inline bool HasData(data_t data_id) const;

// Access the rig calibration
inline const std::shared_ptr<class RigCalibration>& RigCalibration() const;
inline void SetRigCalibration(
std::shared_ptr<class RigCalibration> rig_calibration);
inline const std::shared_ptr<class RigCalib>& RigCalib() const;
inline void SetRigCalib(std::shared_ptr<class RigCalib> rig_calib);
// Check if the frame has a non-trivial rig calibration
inline bool HasRigCalibration() const;
inline bool HasRigCalib() const;

// Access the frame from world transformation
inline const Rigid3d& FrameFromWorld() const;
Expand All @@ -112,7 +111,7 @@ class Frame {
std::optional<Rigid3d> frame_from_world_;

// [Optional] Rig calibration
std::shared_ptr<class RigCalibration> rig_calibration_ = nullptr;
std::shared_ptr<class RigCalib> rig_calib_ = nullptr;
};

////////////////////////////////////////////////////////////////////////////////
Expand All @@ -133,20 +132,19 @@ bool Frame::HasData(data_t data_id) const {
return data_ids_.find(data_id) != data_ids_.end();
}

const std::shared_ptr<class RigCalibration>& Frame::RigCalibration() const {
return rig_calibration_;
const std::shared_ptr<class RigCalib>& Frame::RigCalib() const {
return rig_calib_;
}

void Frame::SetRigCalibration(
std::shared_ptr<class RigCalibration> rig_calibration) {
rig_calibration_ = std::move(rig_calibration);
void Frame::SetRigCalib(std::shared_ptr<class RigCalib> rig_calib) {
rig_calib_ = std::move(rig_calib);
}

bool Frame::HasRigCalibration() const {
if (!rig_calibration_)
bool Frame::HasRigCalib() const {
if (!rig_calib_)
return false;
else
return rig_calibration_->NumSensors() > 1;
return rig_calib_->NumSensors() > 1;
}

const Rigid3d& Frame::FrameFromWorld() const {
Expand Down Expand Up @@ -180,11 +178,11 @@ bool Frame::HasPose() const { return frame_from_world_.has_value(); }
void Frame::ResetPose() { frame_from_world_.reset(); }

Rigid3d Frame::SensorFromWorld(sensor_t sensor_id) const {
if (!HasRigCalibration() || rig_calibration_->IsRefSensor(sensor_id)) {
if (!HasRigCalib() || rig_calib_->IsRefSensor(sensor_id)) {
return FrameFromWorld();
}
THROW_CHECK(rig_calibration_->HasSensor(sensor_id));
return rig_calibration_->SensorFromRig(sensor_id) * FrameFromWorld();
THROW_CHECK(rig_calib_->HasSensor(sensor_id));
return rig_calib_->SensorFromRig(sensor_id) * FrameFromWorld();
}

} // namespace colmap
Expand Down
8 changes: 4 additions & 4 deletions src/colmap/scene/frame_test.cc
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Expand Up @@ -42,21 +42,21 @@ TEST(Frame, Default) {
Frame frame;
EXPECT_EQ(frame.FrameId(), kInvalidFrameId);
EXPECT_FALSE(frame.HasPose());
EXPECT_FALSE(frame.HasRigCalibration());
EXPECT_FALSE(frame.HasRigCalib());
}

TEST(Frame, SetUp) {
sensor_t s1(SensorType::IMU, 0);
sensor_t s2(SensorType::CAMERA, 0);
std::shared_ptr<RigCalibration> calib = std::make_shared<RigCalibration>();
std::shared_ptr<RigCalib> calib = std::make_shared<RigCalib>();
calib->AddRefSensor(s1);
calib->AddSensor(s2, TestRigid3d());

Frame frame;
frame.AddData(data_t(s1, 2));
frame.AddData(data_t(s2, 5));
frame.SetRigCalibration(calib);
EXPECT_TRUE(frame.HasRigCalibration());
frame.SetRigCalib(calib);
EXPECT_TRUE(frame.HasRigCalib());
EXPECT_FALSE(frame.HasPose());
}

Expand Down
5 changes: 2 additions & 3 deletions src/colmap/scene/image.h
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Expand Up @@ -241,9 +241,8 @@ void Image::SetFrame(std::shared_ptr<class Frame> frame) {

bool Image::HasNonTrivialFrame() const {
THROW_CHECK(frame_) << "Invalid pointer to the corresponding frame";
return frame_->HasRigCalibration() &&
!frame_->RigCalibration()->IsRefSensor(
sensor_t(SensorType::CAMERA, CameraId()));
return frame_->HasRigCalib() && !frame_->RigCalib()->IsRefSensor(
sensor_t(SensorType::CAMERA, CameraId()));
}

Rigid3d Image::ComposeCamFromWorld() const {
Expand Down
6 changes: 3 additions & 3 deletions src/colmap/sensor/rig_calib.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -31,14 +31,14 @@

namespace colmap {

void RigCalibration::AddRefSensor(sensor_t ref_sensor_id) {
void RigCalib::AddRefSensor(sensor_t ref_sensor_id) {
THROW_CHECK(ref_sensor_id_ == kInvalidSensorId)
<< "Reference sensor already set";
ref_sensor_id_ = ref_sensor_id;
}

void RigCalibration::AddSensor(sensor_t sensor_id,
const std::optional<Rigid3d>& sensor_from_rig) {
void RigCalib::AddSensor(sensor_t sensor_id,
const std::optional<Rigid3d>& sensor_from_rig) {
THROW_CHECK(NumSensors() >= 1)
<< "The reference sensor needs to added first before any "
"sensor being added.";
Expand Down
36 changes: 18 additions & 18 deletions src/colmap/sensor/rig_calib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,9 +76,9 @@ constexpr sensor_t kInvalidSensorId =
// the reference frame since it is metric.
// 2) Not having a reference frame brings a 6 DoF Gauge for each rig, which is
// not ideal particularly when it comes to covariance estimation.
class RigCalibration {
class RigCalib {
public:
RigCalibration() = default;
RigCalib() = default;

// Access the unique identifier of the rig
inline rig_t RigId() const;
Expand Down Expand Up @@ -130,28 +130,28 @@ class RigCalibration {
// Implementation
////////////////////////////////////////////////////////////////////////////////

rig_t RigCalibration::RigId() const { return rig_id_; }
rig_t RigCalib::RigId() const { return rig_id_; }

void RigCalibration::SetRigId(rig_t rig_id) { rig_id_ = rig_id; }
void RigCalib::SetRigId(rig_t rig_id) { rig_id_ = rig_id; }

bool RigCalibration::HasSensor(sensor_t sensor_id) const {
bool RigCalib::HasSensor(sensor_t sensor_id) const {
return sensor_id == ref_sensor_id_ ||
sensors_from_rig_.find(sensor_id) != sensors_from_rig_.end();
}

size_t RigCalibration::NumSensors() const {
size_t RigCalib::NumSensors() const {
size_t n_sensors = sensors_from_rig_.size();
if (ref_sensor_id_ != kInvalidSensorId) n_sensors += 1;
return n_sensors;
}

sensor_t RigCalibration::RefSensorId() const { return ref_sensor_id_; }
sensor_t RigCalib::RefSensorId() const { return ref_sensor_id_; }

bool RigCalibration::IsRefSensor(sensor_t sensor_id) const {
bool RigCalib::IsRefSensor(sensor_t sensor_id) const {
return sensor_id == ref_sensor_id_;
}

Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) {
Rigid3d& RigCalib::SensorFromRig(sensor_t sensor_id) {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "No reference is available for the SensorFromRig transformation of "
"the reference sensor, which is identity";
Expand All @@ -165,7 +165,7 @@ Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) {
return *sensors_from_rig_.at(sensor_id);
}

const Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) const {
const Rigid3d& RigCalib::SensorFromRig(sensor_t sensor_id) const {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "No reference is available for the SensorFromRig transformation of "
"the reference sensor, which is identity";
Expand All @@ -179,7 +179,7 @@ const Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) const {
return *sensors_from_rig_.at(sensor_id);
}

std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(sensor_t sensor_id) {
std::optional<Rigid3d>& RigCalib::MaybeSensorFromRig(sensor_t sensor_id) {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "No reference is available for the SensorFromRig transformation of "
"the reference sensor, which is identity";
Expand All @@ -191,7 +191,7 @@ std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(sensor_t sensor_id) {
return sensors_from_rig_.at(sensor_id);
}

const std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(
const std::optional<Rigid3d>& RigCalib::MaybeSensorFromRig(
sensor_t sensor_id) const {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "No reference is available for the SensorFromRig transformation of "
Expand All @@ -204,8 +204,8 @@ const std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(
return sensors_from_rig_.at(sensor_id);
}

void RigCalibration::SetSensorFromRig(sensor_t sensor_id,
const Rigid3d& sensor_from_rig) {
void RigCalib::SetSensorFromRig(sensor_t sensor_id,
const Rigid3d& sensor_from_rig) {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "Cannot set the SensorFromRig transformation of the reference sensor, "
"which is fixed to identity";
Expand All @@ -217,8 +217,8 @@ void RigCalibration::SetSensorFromRig(sensor_t sensor_id,
sensors_from_rig_.at(sensor_id) = sensor_from_rig;
}

void RigCalibration::SetSensorFromRig(
sensor_t sensor_id, const std::optional<Rigid3d>& sensor_from_rig) {
void RigCalib::SetSensorFromRig(sensor_t sensor_id,
const std::optional<Rigid3d>& sensor_from_rig) {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "Cannot set the SensorFromRig transformation of the reference sensor, "
"which is fixed to identity";
Expand All @@ -230,7 +230,7 @@ void RigCalibration::SetSensorFromRig(
sensors_from_rig_.at(sensor_id) = sensor_from_rig;
}

bool RigCalibration::HasSensorFromRig(sensor_t sensor_id) const {
bool RigCalib::HasSensorFromRig(sensor_t sensor_id) const {
if (IsRefSensor(sensor_id))
return true; // SensorFromRig for the reference sensor is always identity
if (sensors_from_rig_.find(sensor_id) == sensors_from_rig_.end())
Expand All @@ -241,7 +241,7 @@ bool RigCalibration::HasSensorFromRig(sensor_t sensor_id) const {
return sensors_from_rig_.at(sensor_id).has_value();
}

void RigCalibration::ResetSensorFromRig(sensor_t sensor_id) {
void RigCalib::ResetSensorFromRig(sensor_t sensor_id) {
THROW_CHECK(!IsRefSensor(sensor_id))
<< "Cannot reset the SensorFromRig transformation of the reference "
"sensor, "
Expand Down
8 changes: 4 additions & 4 deletions src/colmap/sensor/rig_calib_test.cc
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Expand Up @@ -38,15 +38,15 @@ Rigid3d TestRigid3d() {
return Rigid3d(Eigen::Quaterniond::UnitRandom(), Eigen::Vector3d::Random());
}

TEST(RigCalibration, Default) {
RigCalibration calib;
TEST(RigCalib, Default) {
RigCalib calib;
EXPECT_EQ(calib.RigId(), kInvalidRigId);
EXPECT_EQ(calib.RefSensorId(), kInvalidSensorId);
EXPECT_EQ(calib.NumSensors(), 0);
}

TEST(RigCalibration, SetUp) {
RigCalibration calib;
TEST(RigCalib, SetUp) {
RigCalib calib;
calib.AddRefSensor(sensor_t(SensorType::IMU, 0));
calib.AddSensor(sensor_t(SensorType::IMU, 1), TestRigid3d());
calib.AddSensor(sensor_t(SensorType::CAMERA, 0), TestRigid3d());
Expand Down
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