raphael/msckf_vio
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sobel normalization added

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This commit is contained in:
Raphael Maenle 2019-06-13 18:09:06 +02:00
parent 07f4927128
commit 1b29047451
2 changed files with 11 additions and 4 deletions
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9
include/msckf_vio/feature.hpp
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@ -701,7 +701,11 @@ bool Feature::VisualizeKernel(
cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type()); cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type()); cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
cv::imshow("xder", abs_xderImage);
cv::Mat norm_abs_xderImage;
cv::normalize(abs_xderImage, norm_abs_xderImage, 0, 255, cv::NORM_MINMAX, CV_8UC1);
cv::imshow("xder", norm_abs_xderImage);
cv::imshow("yder", abs_yderImage); cv::imshow("yder", abs_yderImage);
for(int i = 1; i < anchorImage.rows-1; i++) for(int i = 1; i < anchorImage.rows-1; i++)
@ -1028,6 +1032,9 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3); cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3);
cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3); cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3);
xderImage/=8;
yderImage/=8;
cv::convertScaleAbs(xderImage, abs_xderImage); cv::convertScaleAbs(xderImage, abs_xderImage);
cv::convertScaleAbs(yderImage, abs_yderImage); cv::convertScaleAbs(yderImage, abs_yderImage);

6
src/msckf_vio.cpp
View File

@ -1320,8 +1320,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
// 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); // 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);
// 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); // 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);
dI_dhj(0, 0) = dx/(pixelDistance.x); dI_dhj(0, 0) = dx;// /(pixelDistance.x);
dI_dhj(0, 1) = dy/(pixelDistance.y); dI_dhj(0, 1) = dy;// /(pixelDistance.y);
gradientVector.x += dx; gradientVector.x += dx;
gradientVector.y += dy; gradientVector.y += dy;
@ -1424,7 +1424,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
{ {
feature.MarkerGeneration(marker_pub, state_server.cam_states); feature.MarkerGeneration(marker_pub, state_server.cam_states);
feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss, gradientVector, residualVector); feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss, gradientVector, residualVector);
// feature.VisualizeKernel(cam_state, cam_state_id, cam0); feature.VisualizeKernel(cam_state, cam_state_id, cam0);
} }
return; return;