added kernel calculation visualization; changed sobel filter to cv implementation, added octave export
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acca4ab018
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07f4927128
@ -184,6 +184,10 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
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const CameraCalibration& cam,
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Eigen::Vector3d& in_p) const;
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double cvKernel(
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const cv::Point2f pose,
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std::string type) const;
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double Kernel(
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const cv::Point2f pose,
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const cv::Mat frame,
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@ -269,6 +273,14 @@ inline Eigen::Vector3d AnchorPixelToPosition(cv::Point2f in_p,
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bool is_initialized;
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bool is_anchored;
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cv::Mat abs_xderImage;
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cv::Mat abs_yderImage;
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cv::Mat xderImage;
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cv::Mat yderImage;
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cv::Mat anchorImage_blurred;
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cv::Point2f anchor_center_pos;
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cv::Point2f undist_anchor_center_pos;
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// Noise for a normalized feature measurement.
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@ -478,6 +490,27 @@ bool Feature::checkMotion(const CamStateServer& cam_states) const
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else return false;
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}
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double Feature::cvKernel(
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const cv::Point2f pose,
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std::string type) const
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{
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double delta = 0;
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if(type == "Sobel_x")
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{
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std::cout << "image value x" << ((double)xderImage.at<short>(pose.y, pose.x))/255. << std::endl;
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delta = ((double)xderImage.at<short>(pose.y, pose.x))/255.;
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}
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else if (type == "Sobel_y")
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{
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std::cout << "image value y" << ((double)yderImage.at<short>(pose.y, pose.x))/255. << std::endl;
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delta = ((double)yderImage.at<short>(pose.y, pose.x))/255.;
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}
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return delta;
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}
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double Feature::Kernel(
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const cv::Point2f pose,
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const cv::Mat frame,
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@ -485,9 +518,9 @@ double Feature::Kernel(
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{
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Eigen::Matrix<double, 3, 3> kernel = Eigen::Matrix<double, 3, 3>::Zero();
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if(type == "Sobel_x")
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kernel << -3., 0., 3.,-10., 0., 10. , -3., 0., 3.;
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kernel << -1., 0., 1.,-2., 0., 2. , -1., 0., 1.;
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else if(type == "Sobel_y")
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kernel << -3., -10., -3., 0., 0., 0., 3., 10., 3.;
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kernel << -1., -2., -1., 0., 0., 0., 1., 2., 1.;
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double delta = 0;
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int offs = (int)(kernel.rows()-1)/2;
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@ -658,29 +691,29 @@ bool Feature::VisualizeKernel(
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auto anchor = observations.begin();
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cv::Mat anchorImage = cam0.moving_window.find(anchor->first)->second.image;
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cv::Mat xderImage;
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cv::Mat yderImage;
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//cv::Mat xderImage;
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//cv::Mat yderImage;
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cv::Sobel(anchorImage, xderImage, CV_8UC1, 1, 0, 3);
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cv::Sobel(anchorImage, yderImage, CV_8UC1, 0, 1, 3);
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//cv::Sobel(anchorImage, xderImage, CV_8UC1, 1, 0, 3);
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//cv::Sobel(anchorImage, yderImage, CV_8UC1, 0, 1, 3);
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cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, yderImage.type());
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cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, yderImage.type());
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cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
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cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
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cv::imshow("xder", xderImage);
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//cv::imshow("yder", yderImage);
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cv::imshow("xder", abs_xderImage);
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cv::imshow("yder", abs_yderImage);
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for(int i = 1; i < anchorImage.rows-1; i++)
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for(int j = 1; j < anchorImage.cols-1; j++)
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xderImage2.at<uint8_t>(j,i) = 255*Kernel(cv::Point2f(i,j), anchorImage, "Sobel_x");
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xderImage2.at<uint8_t>(j,i) = 255.*fabs(Kernel(cv::Point2f(i,j), anchorImage_blurred, "Sobel_x"));
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for(int i = 1; i < anchorImage.rows-1; i++)
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for(int j = 1; j < anchorImage.cols-1; j++)
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yderImage2.at<uint8_t>(j,i) = 255*Kernel(cv::Point2f(i,j), anchorImage, "Sobel_y");
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yderImage2.at<uint8_t>(j,i) = 255.*fabs(Kernel(cv::Point2f(i,j), anchorImage_blurred, "Sobel_y"));
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cv::imshow("anchor", anchorImage);
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cv::imshow("xder2", xderImage2);
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//cv::imshow("yder2", yderImage2);
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cv::imshow("yder2", yderImage2);
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cvWaitKey(0);
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}
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@ -824,12 +857,13 @@ bool Feature::VisualizePatch(
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*/
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// residual gradient direction
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/*
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cv::arrowedLine(irradianceFrame,
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cv::Point(40+scale*(N+N/2+0.5), 15+scale*((N-0.5))),
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cv::Point(40+scale*(N+N/2+0.5)+scale*residualVector.x, 15+scale*(N-0.5)+scale*residualVector.y),
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cv::Scalar(0, 255, 175),
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3);
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*/
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cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
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@ -921,7 +955,7 @@ cv::Point2f Feature::pixelDistanceAt(
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Eigen::Vector3d p_c0 = R_w_c0 * (in_p-t_c0_w);
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// returns the distance between the pixel points in space
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cv::Point2f distance(fabs(pure[0].x - pure[1].x)*p_c0[2], fabs(pure[2].y - pure[3].y)*p_c0[2]);
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cv::Point2f distance(fabs(pure[0].x - pure[1].x), fabs(pure[2].y - pure[3].y));
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return distance;
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}
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@ -976,6 +1010,8 @@ Eigen::Vector3d Feature::AnchorPixelToPosition(cv::Point2f in_p, const CameraCal
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bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
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{
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//initialize patch Size
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int n = (int)(N-1)/2;
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@ -984,6 +1020,18 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
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return false;
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cv::Mat anchorImage = cam.moving_window.find(anchor->first)->second.image;
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cv::Mat anchorImage_deeper;
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anchorImage.convertTo(anchorImage_deeper,CV_16S);
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//TODO remove this?
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cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3);
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cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3);
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cv::convertScaleAbs(xderImage, abs_xderImage);
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cv::convertScaleAbs(yderImage, abs_yderImage);
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cv::GaussianBlur(anchorImage, anchorImage_blurred, cv::Size(3,3), 0, 0, cv::BORDER_DEFAULT);
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auto u = anchor->second(0);//*cam.intrinsics[0] + cam.intrinsics[2];
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auto v = anchor->second(1);//*cam.intrinsics[1] + cam.intrinsics[3];
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@ -1314,14 +1314,14 @@ void MsckfVio::PhotometricMeasurementJacobian(
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// calculate derivation for anchor frame, use position for derivation calculation
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// frame derivative calculated convoluting with kernel [-1, 0, 1]
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dx = feature.Kernel(p_in_anchor, anchor_frame, "Sobel_x");
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dy = feature.Kernel(p_in_anchor, anchor_frame, "Sobel_y");
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dx = feature.cvKernel(p_in_anchor, "Sobel_x");
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dy = feature.cvKernel(p_in_anchor, "Sobel_y");
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// dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), anchor_frame);
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// dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), anchor_frame);
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dI_dhj(0, 0) = dx;// /(pixelDistance.x);
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dI_dhj(0, 1) = dy;// /(pixelDistance.y);
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dI_dhj(0, 0) = dx/(pixelDistance.x);
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dI_dhj(0, 1) = dy/(pixelDistance.y);
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gradientVector.x += dx;
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gradientVector.y += dy;
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@ -1423,8 +1423,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
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if(PRINTIMAGES)
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{
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feature.MarkerGeneration(marker_pub, state_server.cam_states);
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//feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss, gradientVector, residualVector);
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feature.VisualizeKernel(cam_state, cam_state_id, cam0);
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feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss, gradientVector, residualVector);
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// feature.VisualizeKernel(cam_state, cam_state_id, cam0);
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}
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return;
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@ -1496,7 +1496,7 @@ void MsckfVio::PhotometricFeatureJacobian(
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H_x = A_null_space.transpose() * H_xi;
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r = A_null_space.transpose() * r_i;
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cout << "\nx\n" << H_x.colPivHouseholderQr().solve(r) << endl;
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//cout << "\nx\n" << H_x.colPivHouseholderQr().solve(r) << endl;
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if(PRINTIMAGES)
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{
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@ -1519,8 +1519,34 @@ void MsckfVio::PhotometricFeatureJacobian(
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myfile << A_null_space.block(i, 0, 1, A_null_space.cols()) << ";";
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myfile.close();
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//octave
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myfile.open("/home/raphael/dev/octave/log2octave");
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myfile << "# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>\n"
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<< "# name: Hx\n"
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<< "# type: matrix\n"
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<< "# rows: " << H_xi.rows() << "\n"
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<< "# columns: " << H_xi.cols() << "\n"
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<< H_xi << endl;
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myfile << "# name: Hy\n"
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<< "# type: matrix\n"
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<< "# rows: " << H_yi.rows() << "\n"
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<< "# columns: " << H_yi.cols() << "\n"
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<< H_yi << endl;
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myfile << "# name: r\n"
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<< "# type: matrix\n"
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<< "# rows: " << r_i.rows() << "\n"
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<< "# columns: " << 1 << "\n"
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<< r_i << endl;
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myfile.close();
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cout << "---------- LOGGED -------- " << endl;
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cvWaitKey(0);
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}
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if(PRINTIMAGES)
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{
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@ -1808,6 +1834,8 @@ bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof)
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cout << dof << " " << gamma << " " <<
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chi_squared_test_table[dof] << endl;
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if (chi_squared_test_table[dof] == 0)
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return true;
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if (gamma < chi_squared_test_table[dof]) {
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//cout << "passed" << endl;
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return true;
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