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reformulated irradiance to be: irradiance arround measured feature - irradiance at projection

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This commit is contained in:
Raphael Maenle
2019-05-17 15:00:56 +02:00
parent 9c7f67d2fd
commit 05d277c4f4
2 changed files with 91 additions and 129 deletions
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32
include/msckf_vio/feature.hpp
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@ -173,7 +173,7 @@ struct Feature {
std::vector<double>& anchorPatch_estimate,
IlluminationParameter& estimatedIllumination) const;
bool MarkerGeneration(
bool MarkerGeneration(
ros::Publisher& marker_pub,
const CamStateServer& cam_states) const;
@ -183,6 +183,17 @@ bool MarkerGeneration(
CameraCalibration& cam0,
const std::vector<double> photo_r,
std::stringstream& ss) const;
/* @brief takes a pure pixel position (1m from image)
* converts to actual pixel value and returns patch irradiance
* around this pixel
*/
void PatchAroundPurePixel(cv::Point2f p,
int N,
const CameraCalibration& cam,
const StateIDType& cam_state_id,
std::vector<float>& return_i) const;
/*
* @brief projectPixelToPosition uses the calcualted pixels
* of the anchor patch to generate 3D positions of all of em
@ -665,6 +676,25 @@ bool Feature::VisualizePatch(
cvWaitKey(0);
}
void Feature::PatchAroundPurePixel(cv::Point2f p,
int N,
const CameraCalibration& cam,
const StateIDType& cam_state_id,
std::vector<float>& return_i) const
{
int n = (int)(N-1)/2;
cv::Mat image = cam.moving_window.find(cam_state_id)->second.image;
cv::Point2f img_p = image_handler::distortPoint(p,
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs);
for(double u_run = -n; u_run <= n; u_run++)
for(double v_run = -n; v_run <= n; v_run++)
return_i.push_back(PixelIrradiance(cv::Point2f(img_p.x+u_run, img_p.y+v_run), image));
}
float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
{