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tinytum works completely, image_handler equidistant distort/undistort work

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This commit is contained in:
Raphael Maenle
2019-06-27 16:28:45 +02:00
parent bcf948bcc1
commit 010db87e4b
5 changed files with 29 additions and 22 deletions
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16
config/camchain-imucam-tum-scaled.yaml
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@@ -5,11 +5,11 @@ cam0:
-0.029453096117288798, -0.9989836729399656, 0.034119442089241274, -0.0697294754693238, -0.029453096117288798, -0.9989836729399656, 0.034119442089241274, -0.0697294754693238,
0.0, 0.0, 0.0, 1.0] 0.0, 0.0, 0.0, 1.0]
camera_model: pinhole camera_model: pinhole
distortion_coeffs: [0.010171079892421483, -0.010816440029919381, 0.005942781769412756, distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
-0.001662284667857643] 0.00020293673591811182]
distortion_model: equidistant distortion_model: equidistant
intrinsics: [95.2026071784, 95.2029854486, 127.573663262, 128.582615763] intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
resolution: [256, 256] resolution: [512, 512]
rostopic: /cam0/image_raw rostopic: /cam0/image_raw
cam1: cam1:
T_cam_imu: T_cam_imu:
@@ -23,11 +23,11 @@ cam1:
0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572, 0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
0.0, 0.0, 0.0, 1.0] 0.0, 0.0, 0.0, 1.0]
camera_model: pinhole camera_model: pinhole
distortion_coeffs: [0.01371679169245271, -0.015567360615942622, 0.00905043103315326, distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
-0.002347858896562788] 0.0003299517423931039]
distortion_model: equidistant distortion_model: equidistant
intrinsics: [94.8217471066, 94.8164593555, 126.391667581, 127.571024044] intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
resolution: [256, 256] resolution: [512, 512]
rostopic: /cam1/image_raw rostopic: /cam1/image_raw
T_imu_body: T_imu_body:
[1.0000, 0.0000, 0.0000, 0.0000, [1.0000, 0.0000, 0.0000, 0.0000,

10
include/msckf_vio/image_handler.h
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@@ -16,6 +16,16 @@ namespace msckf_vio {
*/ */
namespace image_handler { namespace image_handler {
cv::Point2f pinholeDownProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
cv::Point2f pinholeUpProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
void undistortImage(
cv::InputArray src,
cv::OutputArray dst,
const std::string& distortion_model,
const cv::Vec4d& intrinsics,
const cv::Vec4d& distortion_coeffs);
void undistortPoints( void undistortPoints(
const std::vector<cv::Point2f>& pts_in, const std::vector<cv::Point2f>& pts_in,
const cv::Vec4d& intrinsics, const cv::Vec4d& intrinsics,

4
launch/image_processor_tinytum.launch
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@@ -25,8 +25,8 @@
<param name="stereo_threshold" value="5"/> <param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/> <remap from="~imu" to="/imu0"/>
<remap from="~cam0_image" to="/cam0/new_image_raw"/> <remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/new_image_raw"/> <remap from="~cam1_image" to="/cam1/image_raw"/>
</node> </node>
</group> </group>

13
launch/msckf_vio_tinytum.launch
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@@ -6,7 +6,7 @@
default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/> default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
<!-- Image Processor Nodelet --> <!-- Image Processor Nodelet -->
<include file="$(find msckf_vio)/launch/image_processor_tum.launch"> <include file="$(find msckf_vio)/launch/image_processor_tinytum.launch">
<arg name="robot" value="$(arg robot)"/> <arg name="robot" value="$(arg robot)"/>
<arg name="calibration_file" value="$(arg calibration_file)"/> <arg name="calibration_file" value="$(arg calibration_file)"/>
</include> </include>
@@ -18,11 +18,11 @@
output="screen"> output="screen">
<!-- Photometry Flag--> <!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/> <param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs --> <!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/> <param name="StreamPause" value="true"/>
<param name="PrintImages" value="true"/> <param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/> <param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/> <param name="patch_size_n" value="5"/>
@@ -64,16 +64,13 @@
<remap from="~imu" to="/imu0"/> <remap from="~imu" to="/imu0"/>
<remap from="~ground_truth" to="/vrpn_client/raw_transform"/> <remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
<remap from="~cam0_image" to="/cam0/new_image_raw"/> <remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/new_image_raw"/> <remap from="~cam1_image" to="/cam1/image_raw"/>
<remap from="~features" to="image_processor/features"/> <remap from="~features" to="image_processor/features"/>
</node> </node>
</group> </group>
<node name="scaler" pkg="msckf_vio" type="shrinkImage.py"/>
<node name="player" pkg="bagcontrol" type="control.py" />
</launch> </launch>

6
launch/msckf_vio_tum.launch
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@@ -18,11 +18,11 @@
output="screen"> output="screen">
<!-- Photometry Flag--> <!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/> <param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs --> <!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/> <param name="StreamPause" value="true"/>
<param name="PrintImages" value="true"/> <param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/> <param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/> <param name="patch_size_n" value="5"/>
@@ -72,6 +72,6 @@
</node> </node>
</group> </group>
<node name="player" pkg="bagcontrol" type="control.py" /> <!--node name="player" pkg="bagcontrol" type="control.py" /-->
</launch> </launch>