From 8be40171073d6f3960e8453d1b6db5d1bf937aa2 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Mon, 24 Feb 2020 09:24:59 +0200
Subject: [PATCH] fix RMS error calculation
---
components/audio/src/speaker.cpp | 5 ++++
.../include/ftl/calibration/optimize.hpp | 12 ++++++----
components/calibration/src/optimize.cpp | 23 +++++++++++++++----
components/calibration/test/tests.cpp | 1 -
4 files changed, 31 insertions(+), 10 deletions(-)
diff --git a/components/audio/src/speaker.cpp b/components/audio/src/speaker.cpp
index 64c333851..f9ebd5d6e 100644
--- a/components/audio/src/speaker.cpp
+++ b/components/audio/src/speaker.cpp
@@ -83,6 +83,7 @@ void Speaker::_open(int fsize, int sample, int channels) {
buffer_ = new ftl::audio::MonoBuffer16<2000>(sample);
}
+ #ifdef HAVE_PORTAUDIO
auto err = Pa_OpenDefaultStream(
&stream_,
0,
@@ -111,6 +112,10 @@ void Speaker::_open(int fsize, int sample, int channels) {
}
LOG(INFO) << "Speaker ready.";
+ #else
+ LOG(INFO) << "Built without portaudio (no sound)";
+ #endif
+
}
void Speaker::queue(int64_t ts, ftl::audio::Frame &frame) {
diff --git a/components/calibration/include/ftl/calibration/optimize.hpp b/components/calibration/include/ftl/calibration/optimize.hpp
index ea5908fce..1009a97b2 100644
--- a/components/calibration/include/ftl/calibration/optimize.hpp
+++ b/components/calibration/include/ftl/calibration/optimize.hpp
@@ -119,17 +119,21 @@ public:
*/
void run();
- /** @brief Calculate MSE error (for one camera)
+ /** @brief Calculate RMS error (for one camera)
*/
- double reprojectionError(int camera);
+ double reprojectionError(const int camera) const;
- /** @brief Calculate MSE error for all cameras
+ /** @brief Calculate RMS error for all cameras
*/
- double reprojectionError();
+ double reprojectionError() const;
protected:
double* getCameraPtr(int i) { return cameras_[i]->data; }
+ /** @brief Calculate MSE error
+ */
+ void _reprojectionErrorMSE(const int camera, double &error, double &npoints) const;
+
void _buildProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
void _buildBundleAdjustmentProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
void _buildLengthProblem(ceres::Problem& problem, const BundleAdjustment::Options& options);
diff --git a/components/calibration/src/optimize.cpp b/components/calibration/src/optimize.cpp
index 9ea70c442..e5319e3fc 100644
--- a/components/calibration/src/optimize.cpp
+++ b/components/calibration/src/optimize.cpp
@@ -418,7 +418,7 @@ void BundleAdjustment::run() {
run(options);
}
-double BundleAdjustment::reprojectionError(int camera) {
+void BundleAdjustment::_reprojectionErrorMSE(const int camera, double &error, double &npoints) const {
vector<Point2d> observations;
vector<Point3d> points;
@@ -435,11 +435,24 @@ double BundleAdjustment::reprojectionError(int camera) {
auto rvec = cameras_[camera]->rvec();
auto tvec = cameras_[camera]->tvec();
- return ftl::calibration::reprojectionError(observations, points, K, Mat::zeros(1, 5, CV_64FC1), rvec, tvec);
+ error = ftl::calibration::reprojectionError(observations, points, K, Mat::zeros(1, 5, CV_64FC1), rvec, tvec);
+ npoints = points.size();
}
-double BundleAdjustment::reprojectionError() {
+double BundleAdjustment::reprojectionError(const int camera) const {
+ double error, ncameras;
+ _reprojectionErrorMSE(camera, ncameras, error);
+ return sqrt(error);
+}
+
+double BundleAdjustment::reprojectionError() const {
double error = 0.0;
- for (size_t i = 0; i < cameras_.size(); i++) { error += reprojectionError(i); }
- return error * (1.0 / (double) cameras_.size());
+ double npoints = 0.0;
+ for (size_t i = 0; i < cameras_.size(); i++) {
+ double e, n;
+ _reprojectionErrorMSE(i, e, n);
+ error += e * n;
+ npoints += n;
+ }
+ return sqrt(error / npoints);
}
diff --git a/components/calibration/test/tests.cpp b/components/calibration/test/tests.cpp
index 178916eab..0c7c351f4 100644
--- a/components/calibration/test/tests.cpp
+++ b/components/calibration/test/tests.cpp
@@ -1,3 +1,2 @@
#define CATCH_CONFIG_MAIN
#include "catch.hpp"
-
--
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