added projection into feature observations camera states
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@ -35,6 +35,8 @@ struct CAMState {
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// Position of the camera frame in the world frame.
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Eigen::Vector3d position;
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//Illumination illumination;
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// These two variables should have the same physical
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// interpretation with `orientation` and `position`.
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// There two variables are used to modify the measurement
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@ -146,16 +146,46 @@ struct Feature {
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inline bool initializePosition(
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const CamStateServer& cam_states);
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inline cv::Point2f projectPositionToCamera(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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Eigen::Vector3d& in_p) const;
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/*
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* @brief IrradianceAnchorPatch_Camera returns irradiance values
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* of the Anchor Patch position in a camera frame
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*
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*/
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bool IrradianceOfAnchorPatch(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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const movingWindow& cam0_moving_window,
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std::vector<uint8_t>& anchorPatch_measurement) const;
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/*
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* @brief projectPixelToPosition uses the calcualted pixels
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* of the anchor patch to generate 3D positions of all of em
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*/
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bool projectPixelToPosition(cv::Point2f in_p,
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inline bool projectPixelToPosition(cv::Point2f in_p,
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Eigen::Vector3d& out_p,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs);
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/*
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* @brief Irradiance returns irradiance value of a pixel
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*/
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inline uint8_t Irradiance(cv::Point2f pose, cv::Mat image) const;
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// An unique identifier for the feature.
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// In case of long time running, the variable
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// type of id is set to FeatureIDType in order
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@ -329,6 +359,61 @@ bool Feature::checkMotion(
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else return false;
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}
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bool Feature::IrradianceOfAnchorPatch(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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const movingWindow& cam0_moving_window,
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std::vector<uint8_t>& anchorPatch_measurement) const
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{
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//project every point in anchorPatch_3d.
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for (auto point : anchorPatch_3d)
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{
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cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, intrinsics, distortion_model, distortion_coeffs, point);
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uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second);
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anchorPatch_measurement.push_back(irradiance);
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}
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}
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uint8_t Feature::Irradiance(cv::Point2f pose, cv::Mat image) const
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{
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return image.at<uint8_t>(pose.x, pose.y);
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}
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cv::Point2f Feature::projectPositionToCamera(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const cv::Vec4d& intrinsics,
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const std::string& distortion_model,
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const cv::Vec4d& distortion_coeffs,
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Eigen::Vector3d& in_p) const
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{
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Eigen::Isometry3d T_c0_w;
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cv::Point2f out_p;
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// transfrom position to camera frame
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Eigen::Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
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const Eigen::Vector3d& t_c0_w = cam_state.position;
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Eigen::Vector3d p_c0 = R_w_c0 * (in_p-t_c0_w);
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out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
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std::vector<cv::Point2f> out_v;
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out_v.push_back(out_p);
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std::vector<cv::Point2f> my_p = image_handler::distortPoints( out_v,
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intrinsics,
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distortion_model,
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distortion_coeffs);
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// printf("truPosition: %f, %f, %f\n", position.x(), position.y(), position.z());
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// printf("camPosition: %f, %f, %f\n", p_c0(0), p_c0(1), p_c0(2));
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// printf("Photo projection: %f, %f\n", my_p[0].x, my_p[0].y);
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return out_p;
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}
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bool Feature::projectPixelToPosition(cv::Point2f in_p,
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Eigen::Vector3d& out_p,
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const cv::Vec4d& intrinsics,
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@ -342,9 +427,11 @@ bool Feature::projectPixelToPosition(cv::Point2f in_p,
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Eigen::Vector3d PositionInCamera(in_p.x/rho, in_p.y/rho, 1/rho);
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Eigen::Vector3d PositionInWorld= T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
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anchorPatch_3d.push_back(PositionInWorld);
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printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
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//printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
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}
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//@test center projection must always be initial feature projection
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bool Feature::initializeAnchor(
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const movingWindow& cam0_moving_window,
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const cv::Vec4d& intrinsics,
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@ -352,7 +439,7 @@ bool Feature::initializeAnchor(
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const cv::Vec4d& distortion_coeffs)
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{
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int N = 5;
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int N = 3;
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int n = (int)(N-1)/2;
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auto anchor = observations.begin();
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@ -364,21 +451,22 @@ bool Feature::initializeAnchor(
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auto v = anchor->second(1)*intrinsics[1] + intrinsics[3];
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int count = 0;
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printf("estimated NxN position: \n");
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//go through surrounding pixels
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for(double u_run = u - n; u_run <= u + n; u_run = u_run + 1)
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{
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for(double v_run = v - n; v_run <= v + n; v_run = v_run + 1)
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{
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anchorPatch.push_back(anchorImage.at<uint8_t>((int)u_run,(int)v_run));
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Eigen::Vector3d Npose;
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projectPixelToPosition(cv::Point2f((u_run-intrinsics[2])/intrinsics[0], (v_run-intrinsics[1])/intrinsics[3]),
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projectPixelToPosition(cv::Point2f((u_run-intrinsics[2])/intrinsics[0], (v_run-intrinsics[3])/intrinsics[1]),
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Npose,
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intrinsics,
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distortion_model,
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distortion_coeffs);
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}
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}
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return true;
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return true;
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}
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bool Feature::initializePosition(
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@ -22,6 +22,7 @@
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#include <ros/ros.h>
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#include <sensor_msgs/Imu.h>
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#include <sensor_msgs/Image.h>
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#include <sensor_msgs/PointCloud.h>
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#include <nav_msgs/Odometry.h>
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#include <std_msgs/Float64.h>
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#include <tf/transform_broadcaster.h>
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@ -174,6 +175,20 @@ class MsckfVio {
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void featureJacobian(const FeatureIDType& feature_id,
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const std::vector<StateIDType>& cam_state_ids,
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Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
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void PhotometricMeasurementJacobian(
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const StateIDType& cam_state_id,
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const FeatureIDType& feature_id,
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Eigen::Matrix<double, 4, 6>& H_x,
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Eigen::Matrix<double, 4, 3>& H_f,
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Eigen::Vector4d& r);
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void PhotometricFeatureJacobian(
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const FeatureIDType& feature_id,
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const std::vector<StateIDType>& cam_state_ids,
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Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
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void measurementUpdate(const Eigen::MatrixXd& H,
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const Eigen::VectorXd& r);
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bool gatingTest(const Eigen::MatrixXd& H,
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@ -622,6 +622,7 @@ void ImageProcessor::stereoMatch(
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image_handler::undistortPoints(cam0_points, cam0_intrinsics, cam0_distortion_model,
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cam0_distortion_coeffs, cam0_points_undistorted,
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R_cam0_cam1);
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cam1_points = image_handler::distortPoints(cam0_points_undistorted, cam1_intrinsics,
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cam1_distortion_model, cam1_distortion_coeffs);
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}
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@ -448,7 +448,9 @@ void MsckfVio::initializeGravityAndBias() {
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gravity_imu, -IMUState::gravity);
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state_server.imu_state.orientation =
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rotationToQuaternion(q0_i_w.toRotationMatrix().transpose());
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// printf("gravity Norm %f\n", gravity_norm);
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// printf("linear_acc %f, %f, %f\n", gravity_imu(0), gravity_imu(1), gravity_imu(2));
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// printf("quaterniond: %f, %f, %f, %f\n", q0_i_w.w(), q0_i_w.x(), q0_i_w.y(), q0_i_w.z());
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return;
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}
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@ -803,6 +805,7 @@ void MsckfVio::stateAugmentation(const double& time) {
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cam_state.orientation_null = cam_state.orientation;
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cam_state.position_null = cam_state.position;
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// Update the covariance matrix of the state.
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// To simplify computation, the matrix J below is the nontrivial block
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// in Equation (16) in "A Multi-State Constraint Kalman Filter for Vision
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@ -874,6 +877,157 @@ void MsckfVio::addFeatureObservations(
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return;
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}
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void MsckfVio::PhotometricMeasurementJacobian(
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const StateIDType& cam_state_id,
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const FeatureIDType& feature_id,
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Matrix<double, 4, 6>& H_x, Matrix<double, 4, 3>& H_f, Vector4d& r) {
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// Prepare all the required data.
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const CAMState& cam_state = state_server.cam_states[cam_state_id];
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const Feature& feature = map_server[feature_id];
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// Cam0 pose.
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Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
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const Vector3d& t_c0_w = cam_state.position;
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// Cam1 pose.
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Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
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Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
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Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
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// 3d feature position in the world frame.
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// And its observation with the stereo cameras.
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const Vector3d& p_w = feature.position;
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//observation
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const Vector4d& z = feature.observations.find(cam_state_id)->second;
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//photometric observation
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std::vector<uint8_t> photo_z;
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feature.IrradianceOfAnchorPatch(cam_state, cam_state_id, cam0_intrinsics, cam0_distortion_model, cam0_distortion_coeffs, cam0_moving_window, photo_z);
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// Convert the feature position from the world frame to
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// the cam0 and cam1 frame.
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Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
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Vector3d p_c1 = R_w_c1 * (p_w-t_c1_w);
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//compute resulting esimtated position in image
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cv::Point2f out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
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std::vector<cv::Point2f> out_v;
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out_v.push_back(out_p);
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/*
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//prints the feature projection in pixel space
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std::vector<cv::Point2f> my_p = image_handler::distortPoints( out_v,
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cam0_intrinsics,
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cam0_distortion_model,
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cam0_distortion_coeffs);
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printf("projection: %f, %f\n", my_p[0].x, my_p[0].y);
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*/
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// Compute the Jacobians.
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Matrix<double, 4, 3> dz_dpc0 = Matrix<double, 4, 3>::Zero();
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dz_dpc0(0, 0) = 1 / p_c0(2);
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dz_dpc0(1, 1) = 1 / p_c0(2);
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dz_dpc0(0, 2) = -p_c0(0) / (p_c0(2)*p_c0(2));
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dz_dpc0(1, 2) = -p_c0(1) / (p_c0(2)*p_c0(2));
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Matrix<double, 4, 3> dz_dpc1 = Matrix<double, 4, 3>::Zero();
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dz_dpc1(2, 0) = 1 / p_c1(2);
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dz_dpc1(3, 1) = 1 / p_c1(2);
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dz_dpc1(2, 2) = -p_c1(0) / (p_c1(2)*p_c1(2));
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dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
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Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
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dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
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dpc0_dxc.rightCols(3) = -R_w_c0;
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Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();
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dpc1_dxc.leftCols(3) = R_c0_c1 * skewSymmetric(p_c0);
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dpc1_dxc.rightCols(3) = -R_w_c1;
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Matrix3d dpc0_dpg = R_w_c0;
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Matrix3d dpc1_dpg = R_w_c1;
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H_x = dz_dpc0*dpc0_dxc + dz_dpc1*dpc1_dxc;
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H_f = dz_dpc0*dpc0_dpg + dz_dpc1*dpc1_dpg;
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// Modifty the measurement Jacobian to ensure
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// observability constrain.
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Matrix<double, 4, 6> A = H_x;
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Matrix<double, 6, 1> u = Matrix<double, 6, 1>::Zero();
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u.block<3, 1>(0, 0) = quaternionToRotation(
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cam_state.orientation_null) * IMUState::gravity;
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u.block<3, 1>(3, 0) = skewSymmetric(
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p_w-cam_state.position_null) * IMUState::gravity;
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H_x = A - A*u*(u.transpose()*u).inverse()*u.transpose();
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H_f = -H_x.block<4, 3>(0, 3);
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// Compute the residual.
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r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
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p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
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return;
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}
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void MsckfVio::PhotometricFeatureJacobian(
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const FeatureIDType& feature_id,
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const std::vector<StateIDType>& cam_state_ids,
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MatrixXd& H_x, VectorXd& r) {
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const auto& feature = map_server[feature_id];
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// Check how many camera states in the provided camera
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// id camera has actually seen this feature.
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vector<StateIDType> valid_cam_state_ids(0);
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for (const auto& cam_id : cam_state_ids) {
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if (feature.observations.find(cam_id) ==
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feature.observations.end()) continue;
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valid_cam_state_ids.push_back(cam_id);
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}
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int jacobian_row_size = 0;
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jacobian_row_size = 4 * valid_cam_state_ids.size();
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MatrixXd H_xj = MatrixXd::Zero(jacobian_row_size,
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21+state_server.cam_states.size()*6);
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MatrixXd H_fj = MatrixXd::Zero(jacobian_row_size, 3);
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VectorXd r_j = VectorXd::Zero(jacobian_row_size);
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int stack_cntr = 0;
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for (const auto& cam_id : valid_cam_state_ids) {
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Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
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Matrix<double, 4, 3> H_fi = Matrix<double, 4, 3>::Zero();
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Vector4d r_i = Vector4d::Zero();
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PhotometricMeasurementJacobian(cam_id, feature.id, H_xi, H_fi, r_i);
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auto cam_state_iter = state_server.cam_states.find(cam_id);
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int cam_state_cntr = std::distance(
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state_server.cam_states.begin(), cam_state_iter);
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// Stack the Jacobians.
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H_xj.block<4, 6>(stack_cntr, 21+6*cam_state_cntr) = H_xi;
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H_fj.block<4, 3>(stack_cntr, 0) = H_fi;
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r_j.segment<4>(stack_cntr) = r_i;
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stack_cntr += 4;
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}
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// Project the residual and Jacobians onto the nullspace
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// of H_fj.
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JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);
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MatrixXd A = svd_helper.matrixU().rightCols(
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jacobian_row_size - 3);
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H_x = A.transpose() * H_xj;
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r = A.transpose() * r_j;
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return;
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}
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void MsckfVio::measurementJacobian(
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const StateIDType& cam_state_id,
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const FeatureIDType& feature_id,
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@ -1199,7 +1353,7 @@ void MsckfVio::removeLostFeatures() {
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MatrixXd H_xj;
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VectorXd r_j;
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featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
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PhotometricFeatureJacobian(feature.id, cam_state_ids, H_xj, r_j);
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if (gatingTest(H_xj, r_j, cam_state_ids.size()-1)) {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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@ -1316,6 +1470,13 @@ void MsckfVio::pruneCamStateBuffer() {
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}
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}
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if(!feature.initializeAnchor(cam0_moving_window, cam0_intrinsics, cam0_distortion_model, cam0_distortion_coeffs))
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{
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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;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user