added projection into feature observations camera states

include/msckf_vio/cam_state.h

@@ -35,6 +35,8 @@ struct CAMState {
   // Position of the camera frame in the world frame.
   Eigen::Vector3d position;
 
+  //Illumination illumination; 
+
   // These two variables should have the same physical
   // interpretation with `orientation` and `position`.
   // There two variables are used to modify the measurement

include/msckf_vio/feature.hpp

@@ -146,16 +146,46 @@ struct Feature {
   inline bool initializePosition(
       const CamStateServer& cam_states);
 
+
+  inline cv::Point2f projectPositionToCamera(
+                  const CAMState& cam_state,
+                  const StateIDType& cam_state_id,
+                  const cv::Vec4d& intrinsics,
+                  const std::string& distortion_model,
+                  const cv::Vec4d& distortion_coeffs,
+                  Eigen::Vector3d& in_p) const;
+
+  /*
+  * @brief IrradianceAnchorPatch_Camera returns irradiance values
+  *        of the Anchor Patch position in a camera frame
+  *
+  */
+
+  bool IrradianceOfAnchorPatch(
+                  const CAMState& cam_state,
+                  const StateIDType& cam_state_id,
+                  const cv::Vec4d& intrinsics,
+                  const std::string& distortion_model,
+                  const cv::Vec4d& distortion_coeffs,
+                  const movingWindow& cam0_moving_window,
+                  std::vector<uint8_t>& anchorPatch_measurement) const;
+
   /*
   * @brief projectPixelToPosition uses the calcualted pixels
   *     of the anchor patch to generate 3D positions of all of em
   */
-  bool projectPixelToPosition(cv::Point2f in_p,
+  inline bool projectPixelToPosition(cv::Point2f in_p,
           Eigen::Vector3d& out_p,
           const cv::Vec4d& intrinsics,
           const std::string& distortion_model,
           const cv::Vec4d& distortion_coeffs);
 
+  /*
+  * @brief Irradiance returns irradiance value of a pixel
+  */
+
+  inline uint8_t Irradiance(cv::Point2f pose, cv::Mat image) const;
+
   // An unique identifier for the feature.
   // In case of long time running, the variable
   // type of id is set to FeatureIDType in order
@@ -329,6 +359,61 @@ bool Feature::checkMotion(
   else return false;
 }
 
+bool Feature::IrradianceOfAnchorPatch(
+                  const CAMState& cam_state,
+                  const StateIDType& cam_state_id,
+                  const cv::Vec4d& intrinsics,
+                  const std::string& distortion_model,
+                  const cv::Vec4d& distortion_coeffs,
+                  const movingWindow& cam0_moving_window,
+                  std::vector<uint8_t>& anchorPatch_measurement) const
+{
+  //project every point in anchorPatch_3d.
+  for (auto point : anchorPatch_3d)
+  {
+    cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, intrinsics, distortion_model, distortion_coeffs, point);
+    uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second);
+    anchorPatch_measurement.push_back(irradiance);
+  }
+}
+
+uint8_t Feature::Irradiance(cv::Point2f pose, cv::Mat image) const
+{
+  return image.at<uint8_t>(pose.x, pose.y);
+}
+
+cv::Point2f Feature::projectPositionToCamera(
+                  const CAMState& cam_state,
+                  const StateIDType& cam_state_id,
+                  const cv::Vec4d& intrinsics,
+                  const std::string& distortion_model,
+                  const cv::Vec4d& distortion_coeffs,
+                  Eigen::Vector3d& in_p) const
+{
+  Eigen::Isometry3d T_c0_w;
+
+  cv::Point2f out_p;
+
+  // transfrom position to camera frame
+  Eigen::Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
+  const Eigen::Vector3d& t_c0_w = cam_state.position;
+  Eigen::Vector3d p_c0 = R_w_c0 * (in_p-t_c0_w);
+
+  out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
+  std::vector<cv::Point2f> out_v;
+  out_v.push_back(out_p);
+  std::vector<cv::Point2f> my_p = image_handler::distortPoints( out_v,
+    intrinsics,
+    distortion_model,
+    distortion_coeffs);
+  
+  // printf("truPosition: %f, %f, %f\n", position.x(), position.y(), position.z());
+  // printf("camPosition: %f, %f, %f\n", p_c0(0), p_c0(1), p_c0(2));
+  // printf("Photo projection: %f, %f\n", my_p[0].x,  my_p[0].y);
+  
+  return out_p;
+}
+
 bool Feature::projectPixelToPosition(cv::Point2f in_p,
           Eigen::Vector3d& out_p,
           const cv::Vec4d& intrinsics,
@@ -342,9 +427,11 @@ bool Feature::projectPixelToPosition(cv::Point2f in_p,
   Eigen::Vector3d PositionInCamera(in_p.x/rho, in_p.y/rho, 1/rho);
   Eigen::Vector3d PositionInWorld= T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
   anchorPatch_3d.push_back(PositionInWorld);
-  printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
+  //printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
 }
 
+
+//@test center projection must always be initial feature projection
 bool Feature::initializeAnchor(
    const movingWindow& cam0_moving_window,
    const cv::Vec4d& intrinsics,
@@ -352,7 +439,7 @@ bool Feature::initializeAnchor(
    const cv::Vec4d& distortion_coeffs)
 {
 
-  int N = 5;
+  int N = 3;
   int n = (int)(N-1)/2;
 
   auto anchor = observations.begin();
@@ -364,20 +451,21 @@ bool Feature::initializeAnchor(
   auto v = anchor->second(1)*intrinsics[1] + intrinsics[3];
   int count = 0;
 
-  printf("estimated NxN position: \n");
+  //go through surrounding pixels 
   for(double u_run = u - n; u_run <= u + n; u_run = u_run + 1)
   {
     for(double v_run = v - n; v_run <= v + n; v_run = v_run + 1)
     {
       anchorPatch.push_back(anchorImage.at<uint8_t>((int)u_run,(int)v_run));
       Eigen::Vector3d Npose;
-      projectPixelToPosition(cv::Point2f((u_run-intrinsics[2])/intrinsics[0], (v_run-intrinsics[1])/intrinsics[3]),
+      projectPixelToPosition(cv::Point2f((u_run-intrinsics[2])/intrinsics[0], (v_run-intrinsics[3])/intrinsics[1]),
                              Npose,
                              intrinsics,
                              distortion_model,
                              distortion_coeffs);
     }
   }
+
   return true;
 }
 

include/msckf_vio/msckf_vio.h

@@ -22,6 +22,7 @@
 #include <ros/ros.h>
 #include <sensor_msgs/Imu.h>
 #include <sensor_msgs/Image.h>
+#include <sensor_msgs/PointCloud.h>
 #include <nav_msgs/Odometry.h>
 #include <std_msgs/Float64.h>
 #include <tf/transform_broadcaster.h>
@@ -174,6 +175,20 @@ class MsckfVio {
     void featureJacobian(const FeatureIDType& feature_id,
         const std::vector<StateIDType>& cam_state_ids,
         Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
+
+
+    void PhotometricMeasurementJacobian(
+    const StateIDType& cam_state_id,
+    const FeatureIDType& feature_id,
+    Eigen::Matrix<double, 4, 6>& H_x,
+    Eigen::Matrix<double, 4, 3>& H_f,
+    Eigen::Vector4d& r);
+
+    void PhotometricFeatureJacobian(
+    const FeatureIDType& feature_id,
+    const std::vector<StateIDType>& cam_state_ids,
+    Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
+
     void measurementUpdate(const Eigen::MatrixXd& H,
         const Eigen::VectorXd& r);
     bool gatingTest(const Eigen::MatrixXd& H,

src/image_processor.cpp

@@ -622,6 +622,7 @@ void ImageProcessor::stereoMatch(
     image_handler::undistortPoints(cam0_points, cam0_intrinsics, cam0_distortion_model,
                     cam0_distortion_coeffs, cam0_points_undistorted,
                     R_cam0_cam1);
+
     cam1_points = image_handler::distortPoints(cam0_points_undistorted, cam1_intrinsics,
                                 cam1_distortion_model, cam1_distortion_coeffs);
   }

src/msckf_vio.cpp

@@ -448,7 +448,9 @@ void MsckfVio::initializeGravityAndBias() {
     gravity_imu, -IMUState::gravity);
   state_server.imu_state.orientation =
     rotationToQuaternion(q0_i_w.toRotationMatrix().transpose());
-
+    // printf("gravity Norm %f\n", gravity_norm);
+    // printf("linear_acc %f, %f, %f\n", gravity_imu(0), gravity_imu(1), gravity_imu(2));
+    // printf("quaterniond: %f, %f, %f, %f\n", q0_i_w.w(),  q0_i_w.x(), q0_i_w.y(), q0_i_w.z());
   return;
 }
 
@@ -803,6 +805,7 @@ void MsckfVio::stateAugmentation(const double& time) {
   cam_state.orientation_null = cam_state.orientation;
   cam_state.position_null = cam_state.position;
 
+
   // Update the covariance matrix of the state.
   // To simplify computation, the matrix J below is the nontrivial block
   // in Equation (16) in "A Multi-State Constraint Kalman Filter for Vision
@@ -874,6 +877,157 @@ void MsckfVio::addFeatureObservations(
   return;
 }
 
+void MsckfVio::PhotometricMeasurementJacobian(
+    const StateIDType& cam_state_id,
+    const FeatureIDType& feature_id,
+    Matrix<double, 4, 6>& H_x, Matrix<double, 4, 3>& H_f, Vector4d& r) {
+
+  // Prepare all the required data.
+  const CAMState& cam_state = state_server.cam_states[cam_state_id];
+  const Feature& feature = map_server[feature_id];
+
+  // Cam0 pose.
+  Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
+  const Vector3d& t_c0_w = cam_state.position;
+
+  // Cam1 pose.
+  Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
+  Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
+  Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
+
+  // 3d feature position in the world frame.
+  // And its observation with the stereo cameras.
+  const Vector3d& p_w = feature.position;
+
+  //observation
+  const Vector4d& z = feature.observations.find(cam_state_id)->second;
+
+  //photometric observation
+  std::vector<uint8_t> photo_z;
+  feature.IrradianceOfAnchorPatch(cam_state, cam_state_id, cam0_intrinsics, cam0_distortion_model, cam0_distortion_coeffs, cam0_moving_window, photo_z);
+  
+
+  // Convert the feature position from the world frame to
+  // the cam0 and cam1 frame.
+  Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
+  Vector3d p_c1 = R_w_c1 * (p_w-t_c1_w);
+
+
+  //compute resulting esimtated position in image
+  cv::Point2f out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
+  std::vector<cv::Point2f> out_v;
+  out_v.push_back(out_p);
+
+  /*
+  //prints the feature projection in pixel space
+  std::vector<cv::Point2f> my_p = image_handler::distortPoints( out_v,
+    cam0_intrinsics,
+    cam0_distortion_model,
+    cam0_distortion_coeffs);
+  printf("projection: %f, %f\n", my_p[0].x,  my_p[0].y);
+  */
+
+  // Compute the Jacobians.
+  Matrix<double, 4, 3> dz_dpc0 = Matrix<double, 4, 3>::Zero();
+  dz_dpc0(0, 0) = 1 / p_c0(2);
+  dz_dpc0(1, 1) = 1 / p_c0(2);
+  dz_dpc0(0, 2) = -p_c0(0) / (p_c0(2)*p_c0(2));
+  dz_dpc0(1, 2) = -p_c0(1) / (p_c0(2)*p_c0(2));
+
+  Matrix<double, 4, 3> dz_dpc1 = Matrix<double, 4, 3>::Zero();
+  dz_dpc1(2, 0) = 1 / p_c1(2);
+  dz_dpc1(3, 1) = 1 / p_c1(2);
+  dz_dpc1(2, 2) = -p_c1(0) / (p_c1(2)*p_c1(2));
+  dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
+
+  Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
+  dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
+  dpc0_dxc.rightCols(3) = -R_w_c0;
+
+  Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();
+  dpc1_dxc.leftCols(3) = R_c0_c1 * skewSymmetric(p_c0);
+  dpc1_dxc.rightCols(3) = -R_w_c1;
+
+  Matrix3d dpc0_dpg = R_w_c0;
+  Matrix3d dpc1_dpg = R_w_c1;
+
+  H_x = dz_dpc0*dpc0_dxc + dz_dpc1*dpc1_dxc;
+  H_f = dz_dpc0*dpc0_dpg + dz_dpc1*dpc1_dpg;
+
+  // Modifty the measurement Jacobian to ensure
+  // observability constrain.
+  Matrix<double, 4, 6> A = H_x;
+  Matrix<double, 6, 1> u = Matrix<double, 6, 1>::Zero();
+  u.block<3, 1>(0, 0) = quaternionToRotation(
+      cam_state.orientation_null) * IMUState::gravity;
+  u.block<3, 1>(3, 0) = skewSymmetric(
+      p_w-cam_state.position_null) * IMUState::gravity;
+  H_x = A - A*u*(u.transpose()*u).inverse()*u.transpose();
+  H_f = -H_x.block<4, 3>(0, 3);
+
+  // Compute the residual.
+  r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
+      p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
+
+  return;
+}
+
+void MsckfVio::PhotometricFeatureJacobian(
+    const FeatureIDType& feature_id,
+    const std::vector<StateIDType>& cam_state_ids,
+    MatrixXd& H_x, VectorXd& r) {
+
+  const auto& feature = map_server[feature_id];
+
+  // Check how many camera states in the provided camera
+  // id camera has actually seen this feature.
+  vector<StateIDType> valid_cam_state_ids(0);
+  for (const auto& cam_id : cam_state_ids) {
+    if (feature.observations.find(cam_id) ==
+        feature.observations.end()) continue;
+
+    valid_cam_state_ids.push_back(cam_id);
+  }
+
+  int jacobian_row_size = 0;
+  jacobian_row_size = 4 * valid_cam_state_ids.size();
+
+  MatrixXd H_xj = MatrixXd::Zero(jacobian_row_size,
+      21+state_server.cam_states.size()*6);
+  MatrixXd H_fj = MatrixXd::Zero(jacobian_row_size, 3);
+  VectorXd r_j = VectorXd::Zero(jacobian_row_size);
+  int stack_cntr = 0;
+
+  for (const auto& cam_id : valid_cam_state_ids) {
+
+    Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
+    Matrix<double, 4, 3> H_fi = Matrix<double, 4, 3>::Zero();
+    Vector4d r_i = Vector4d::Zero();
+    PhotometricMeasurementJacobian(cam_id, feature.id, H_xi, H_fi, r_i);
+
+    auto cam_state_iter = state_server.cam_states.find(cam_id);
+    int cam_state_cntr = std::distance(
+        state_server.cam_states.begin(), cam_state_iter);
+
+    // Stack the Jacobians.
+    H_xj.block<4, 6>(stack_cntr, 21+6*cam_state_cntr) = H_xi;
+    H_fj.block<4, 3>(stack_cntr, 0) = H_fi;
+    r_j.segment<4>(stack_cntr) = r_i;
+    stack_cntr += 4;
+  }
+
+  // Project the residual and Jacobians onto the nullspace
+  // of H_fj.
+  JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);
+  MatrixXd A = svd_helper.matrixU().rightCols(
+      jacobian_row_size - 3);
+
+  H_x = A.transpose() * H_xj;
+  r = A.transpose() * r_j;
+
+  return;
+}
+
 void MsckfVio::measurementJacobian(
     const StateIDType& cam_state_id,
     const FeatureIDType& feature_id,
@@ -1199,7 +1353,7 @@ void MsckfVio::removeLostFeatures() {
 
     MatrixXd H_xj;
     VectorXd r_j;
-    featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
+    PhotometricFeatureJacobian(feature.id, cam_state_ids, H_xj, r_j);
 
     if (gatingTest(H_xj, r_j, cam_state_ids.size()-1)) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
@@ -1316,6 +1470,13 @@ void MsckfVio::pruneCamStateBuffer() {
       }
     }
 
+    if(!feature.initializeAnchor(cam0_moving_window, cam0_intrinsics, cam0_distortion_model, cam0_distortion_coeffs))
+    {
+      for (const auto& cam_id : involved_cam_state_ids)
+            feature.observations.erase(cam_id);
+      continue;
+    }
+
     jacobian_row_size += 4*involved_cam_state_ids.size() - 3;
   }
 
@@ -1342,7 +1503,7 @@ void MsckfVio::pruneCamStateBuffer() {
 
     MatrixXd H_xj;
     VectorXd r_j;
-    featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
+    PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
 
     if (gatingTest(H_xj, r_j, involved_cam_state_ids.size())) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;