Merge pull request ethz-asl#65 from othlu/feature/rs-calibration

Rolling Shutter Camera calibration

README.md

@@ -7,6 +7,9 @@ Kalibr is a toolbox that solves the following calibration problems:
     intrinsic and extrinsic calibration of a camera-systems with non-globally shared overlapping fields of view
 1. **Camera-IMU calibration**:
     spatial and temporal calibration of an IMU w.r.t a camera-system
+1. **Rolling Shutter Camera calibration**:
+    full intrinsic calibration (projection, distortion and shutter parameters) of rolling shutter cameras
+
 
 **Please find more information on the [wiki pages](https://github.com/ethz-asl/kalibr/wiki) of this repository.**
 
@@ -17,13 +20,15 @@ Kalibr is a toolbox that solves the following calibration problems:
 * Jérôme Maye ([email]([email protected]))
 * Jörn Rehder ([email]([email protected]))
 * Thomas Schneider ([email]([email protected]))
+* Luc Oth
 
 ## References
 The calibration approaches used in Kalibr are based on the following papers. Please cite the appropriate papers when using this toolbox or parts of it in an academic publication.
 
 1. <a name="paul1"></a>Paul Furgale, Joern Rehder, Roland Siegwart (2013). Unified Temporal and Spatial Calibration for Multi-Sensor Systems. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.
 1. <a name="paul2"></a>Paul Furgale, T D Barfoot, G Sibley (2012). Continuous-Time Batch Estimation Using Temporal Basis Functions. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 2088–2095, St. Paul, MN.
 1. <a name="jmaye"></a> J. Maye, P. Furgale, R. Siegwart (2013). Self-supervised Calibration for Robotic Systems, In Proc. of the IEEE Intelligent Vehicles Symposium (IVS)
+1. <a name="othlu"></a>L. Oth, P. Furgale, L. Kneip, R. Siegwart (2013). Rolling Shutter Camera Calibration, In Proc. of the IEEE Computer Vision and Pattern Recognition (CVPR)
 
 ## Acknowledgments
 This work is supported in part by the European Community's Seventh Framework Programme (FP7/2007-2013) under grants #269916 (V-Charge), and #610603 (EUROPA2).

Schweizer-Messer/sm_boost/include/boost/portable_binary_archive.hpp

@@ -1,7 +1,7 @@
 #ifndef PORTABLE_BINARY_ARCHIVE_HPP
 #define PORTABLE_BINARY_ARCHIVE_HPP
 
-// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com . 
+// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com .
 // Use, modification and distribution is subject to the Boost Software
 // License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
@@ -13,7 +13,13 @@
 
 #include <boost/config.hpp>
 #include <boost/cstdint.hpp>
+
+// breaking changes in boost >=1.59
+#if BOOST_VERSION >= 105900
+#else
 #include <boost/serialization/pfto.hpp>
+#endif
+
 #include <boost/static_assert.hpp>
 
 #include <climits>
@@ -47,7 +53,6 @@ reverse_bytes(char size, char *address){
     }
 }
 
-
     } // namespace archive
 } // namespace boost
 

Schweizer-Messer/sm_boost/include/boost/portable_binary_iarchive.hpp

@@ -14,7 +14,7 @@
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
 // portable_binary_iarchive.hpp
 
-// (C) Copyright 2002-7 Robert Ramey - http://www.rrsd.com . 
+// (C) Copyright 2002-7 Robert Ramey - http://www.rrsd.com .
 // Use, modification and distribution is subject to the Boost Software
 // License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
@@ -28,26 +28,28 @@
 #include <boost/archive/basic_binary_iprimitive.hpp>
 #include <boost/archive/detail/common_iarchive.hpp>
 #include <boost/version.hpp>
+
 #if BOOST_VERSION >= 105600 // see changes in https://github.com/boostorg/serialization/commit/75f09afc895ab09c4eb55d36fcf6f91ef4a0107a
 #include <boost/serialization/shared_ptr.hpp>
 #else
 #include <boost/archive/shared_ptr_helper.hpp>
 #endif
+
 #include <boost/archive/detail/register_archive.hpp>
 #include "portable_binary_archive.hpp"
 
 namespace boost {
     namespace archive {
-        
+
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
 // exception to be thrown if integer read from archive doesn't fit
 // variable being loaded
-class portable_binary_iarchive_exception : 
+class portable_binary_iarchive_exception :
     public virtual boost::archive::archive_exception
 {
 public:
     typedef enum {
-        incompatible_integer_size 
+        incompatible_integer_size
     } exception_code;
   portable_binary_iarchive_exception(exception_code /* c */ ) :
         boost::archive::archive_exception(boost::archive::archive_exception::other_exception)
@@ -73,13 +75,13 @@ class portable_binary_iarchive_exception :
 };
 
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
-// "Portable" input binary archive.  It addresses integer size and endienness so 
+// "Portable" input binary archive.  It addresses integer size and endienness so
 // that binary archives can be passed across systems. Note:floating point types
 // not addressed here
 class portable_binary_iarchive :
     public boost::archive::basic_binary_iprimitive<
         portable_binary_iarchive,
-        std::istream::char_type, 
+        std::istream::char_type,
         std::istream::traits_type
     >,
     public boost::archive::detail::common_iarchive<
@@ -93,7 +95,7 @@ class portable_binary_iarchive :
     {
     typedef boost::archive::basic_binary_iprimitive<
         portable_binary_iarchive,
-        std::istream::char_type, 
+        std::istream::char_type,
         std::istream::traits_type
     > primitive_base_t;
     typedef boost::archive::detail::common_iarchive<
@@ -165,26 +167,34 @@ class portable_binary_iarchive :
         this->primitive_base_t::load(t);
     }
     // intermediate level to support override of operators
-    // fot templates in the absence of partial function 
+    // fot templates in the absence of partial function
     // template ordering
-    typedef boost::archive::detail::common_iarchive<portable_binary_iarchive> 
+    typedef boost::archive::detail::common_iarchive<portable_binary_iarchive>
         detail_common_iarchive;
     template<class T>
+
+// breaking changes in boost >=1.59
+#if BOOST_VERSION >= 105900
+    void load_override(T & t){
+        this->detail_common_iarchive::load_override(t);
+    }
+    void load_override(boost::archive::class_name_type & t);
+    void load_override(boost::archive::class_id_optional_type & /* t */){}
+#else
     void load_override(T & t, BOOST_PFTO int){
         this->detail_common_iarchive::load_override(t, 0);
     }
     void load_override(boost::archive::class_name_type & t, int);
-    // binary files don't include the optional information 
-    void load_override(
-        boost::archive::class_id_optional_type & /* t */, 
-        int
-    ){}
+    // binary files don't include the optional information
+    void load_override(boost::archive::class_id_optional_type & /* t */, int){}
+#endif
+
 
     void init(unsigned int flags);
 public:
     portable_binary_iarchive(std::istream & is, unsigned flags = 0) :
         primitive_base_t(
-            * is.rdbuf(), 
+            * is.rdbuf(),
             0 != (flags & boost::archive::no_codecvt)
         ),
         archive_base_t(flags),
@@ -195,13 +205,13 @@ class portable_binary_iarchive :
 
     portable_binary_iarchive(
         std::basic_streambuf<
-            std::istream::char_type, 
+            std::istream::char_type,
             std::istream::traits_type
-        > & bsb, 
+        > & bsb,
         unsigned int flags
     ) :
         primitive_base_t(
-            bsb, 
+            bsb,
             0 != (flags & boost::archive::no_codecvt)
         ),
         archive_base_t(flags),

Schweizer-Messer/sm_boost/include/boost/portable_binary_oarchive.hpp

@@ -14,7 +14,7 @@
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
 // portable_binary_oarchive.hpp
 
-// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com . 
+// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com .
 // Use, modification and distribution is subject to the Boost Software
 // License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
@@ -32,16 +32,16 @@
 
 namespace boost {
     namespace archive {
-        
+
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
 // exception to be thrown if integer read from archive doesn't fit
 // variable being loaded
-class portable_binary_oarchive_exception : 
+class portable_binary_oarchive_exception :
     public virtual boost::archive::archive_exception
 {
 public:
     typedef enum {
-        invalid_flags 
+        invalid_flags
     } exception_code;
   portable_binary_oarchive_exception(exception_code /* c */ )
     {}
@@ -61,14 +61,14 @@ class portable_binary_oarchive_exception :
 };
 
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
-// "Portable" output binary archive.  This is a variation of the native binary 
+// "Portable" output binary archive.  This is a variation of the native binary
 // archive. it addresses integer size and endienness so that binary archives can
 // be passed across systems. Note:floating point types not addressed here
 
 class portable_binary_oarchive :
     public boost::archive::basic_binary_oprimitive<
         portable_binary_oarchive,
-        std::ostream::char_type, 
+        std::ostream::char_type,
         std::ostream::traits_type
     >,
     public boost::archive::detail::common_oarchive<
@@ -77,7 +77,7 @@ class portable_binary_oarchive :
 {
     typedef boost::archive::basic_binary_oprimitive<
         portable_binary_oarchive,
-        std::ostream::char_type, 
+        std::ostream::char_type,
         std::ostream::traits_type
     > primitive_base_t;
     typedef boost::archive::detail::common_oarchive<
@@ -133,9 +133,22 @@ class portable_binary_oarchive :
 
     // default processing - kick back to base class.  Note the
     // extra stuff to get it passed borland compilers
-    typedef boost::archive::detail::common_oarchive<portable_binary_oarchive> 
+    typedef boost::archive::detail::common_oarchive<portable_binary_oarchive>
         detail_common_oarchive;
     template<class T>
+// breaking changes in boost >=1.59
+#if BOOST_VERSION >= 105900
+    void save_override(T & t){
+        this->detail_common_oarchive::save_override(t);
+    }
+    // explicitly convert to char * to avoid compile ambiguities
+    void save_override(const boost::archive::class_name_type & t){
+        const std::string s(t);
+        * this << s;
+    }
+    // binary files don't include the optional information
+    void save_override(const boost::archive::class_id_optional_type & /* t */){}
+#else
     void save_override(T & t, BOOST_PFTO int){
         this->detail_common_oarchive::save_override(t, 0);
     }
@@ -144,11 +157,9 @@ class portable_binary_oarchive :
         const std::string s(t);
         * this << s;
     }
-    // binary files don't include the optional information 
-    void save_override(
-        const boost::archive::class_id_optional_type & /* t */, 
-        int
-    ){}
+    // binary files don't include the optional information
+    void save_override(const boost::archive::class_id_optional_type & /* t */, int){}
+#endif
 
     void init(unsigned int flags);
 public:
@@ -165,13 +176,13 @@ class portable_binary_oarchive :
 
     portable_binary_oarchive(
         std::basic_streambuf<
-            std::ostream::char_type, 
+            std::ostream::char_type,
             std::ostream::traits_type
-        > & bsb, 
+        > & bsb,
         unsigned int flags
     ) :
         primitive_base_t(
-            bsb, 
+            bsb,
             0 != (flags & boost::archive::no_codecvt)
         ),
         archive_base_t(flags),

Schweizer-Messer/sm_boost/src/portable_binary_iarchive.cpp

@@ -1,7 +1,7 @@
 /////////1/////////2/////////3/////////4/////////5/////////6/////////7/////////8
 // portable_binary_iarchive.cpp
 
-// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com . 
+// (C) Copyright 2002 Robert Ramey - http://www.rrsd.com .
 // Use, modification and distribution is subject to the Boost Software
 // License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at
 // http://www.boost.org/LICENSE_1_0.txt)
@@ -19,7 +19,7 @@
 namespace boost {
 namespace archive {
 
-void 
+void
 portable_binary_iarchive::load_impl(boost::intmax_t & l, char maxsize){
     char size;
     l = 0;
@@ -50,18 +50,28 @@ portable_binary_iarchive::load_impl(boost::intmax_t & l, char maxsize){
         if(m_flags & endian_big)
     #endif
             reverse_bytes(size, cptr);
-    
+
     if(negative)
         l = -l;
 }
 
 void
 portable_binary_iarchive::load_override(
-    boost::archive::class_name_type & t, int
+    boost::archive::class_name_type & t
+// breaking changes in boost >=1.59
+#if BOOST_VERSION >= 105900
+#else
+    , int
+#endif
 ){
     std::string cn;
     cn.reserve(BOOST_SERIALIZATION_MAX_KEY_SIZE);
+// breaking changes in boost >=1.59
+#if BOOST_VERSION >= 105900
+    load_override(cn);
+#else
     load_override(cn, 0);
+#endif
     if(cn.size() > (BOOST_SERIALIZATION_MAX_KEY_SIZE - 1))
         boost::serialization::throw_exception(
             boost::archive::archive_exception(
@@ -72,7 +82,7 @@ portable_binary_iarchive::load_override(
     t.t[cn.size()] = '\0';
 }
 
-void 
+void
 portable_binary_iarchive::init(unsigned int flags){
     if(0 == (flags & boost::archive::no_header)){
         // read signature in an archive version independent manner
@@ -96,7 +106,7 @@ portable_binary_iarchive::init(unsigned int flags){
                     boost::archive::archive_exception::unsupported_version
                 )
             );
-        
+
         #if BOOST_WORKAROUND(__MWERKS__, BOOST_TESTED_AT(0x3205))
         this->set_library_version(input_library_version);
         //#else
@@ -127,7 +137,7 @@ namespace detail {
 
 template class basic_binary_iprimitive<
     portable_binary_iarchive,
-    std::istream::char_type, 
+    std::istream::char_type,
     std::istream::traits_type
 > ;