handeye.h

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#pragma once
 
// std
#include <optional>
#include <stdexcept>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
// eigen
#include <Eigen/Geometry>
 
#include "calib/estimation/optim/bundle.h"
#include "calib/estimation/optim/handeye.h"
#include "calib/io/serialization.h"
 
namespace calib::pipeline {
 
using calib::from_json;
using calib::to_json;
 
struct HandEyeObservationConfig final {
    std::string view_id;
    Eigen::Isometry3d base_se3_gripper{Eigen::Isometry3d::Identity()};
    std::unordered_map<std::string, std::string> images;
};
 
struct HandEyeRigConfig final {
    std::string rig_id;
    std::vector<std::string> sensors;
    std::vector<HandEyeObservationConfig> observations;
    OptimOptions options;
    double min_angle_deg{1.0};
};
 
struct HandEyePipelineConfig final {
    std::vector<HandEyeRigConfig> rigs;
};
 
struct BundleRigConfig final {
    std::string rig_id;
    std::vector<std::string> sensors;
    std::vector<HandEyeObservationConfig> observations;
    BundleOptions options;
    double min_angle_deg{1.0};
    std::optional<Eigen::Isometry3d> initial_target;
};
 
struct BundlePipelineConfig final {
    std::vector<BundleRigConfig> rigs;
};
 
static_assert(serializable_aggregate<HandEyeObservationConfig>);
static_assert(serializable_aggregate<HandEyeRigConfig>);
static_assert(serializable_aggregate<HandEyePipelineConfig>);
static_assert(serializable_aggregate<BundleRigConfig>);
static_assert(serializable_aggregate<BundlePipelineConfig>);
 
}  // namespace calib::pipeline