added some debug output, added qr decomp
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dcbc69a1c4
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2d045660c2
@ -236,6 +236,7 @@ class MsckfVio {
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bool PHOTOMETRIC;
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// debug flag
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bool STREAMPAUSE;
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bool PRINTIMAGES;
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bool GROUNDTRUTH;
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@ -18,13 +18,14 @@
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output="screen">
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<!-- Photometry Flag-->
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<param name="PHOTOMETRIC" value="true"/>
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<param name="PHOTOMETRIC" value="false"/>
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<!-- Debugging Flaggs -->
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<param name="StreamPause" value="true"/>
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<param name="PrintImages" value="false"/>
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<param name="GroundTruth" value="false"/>
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<param name="patch_size_n" value="5"/>
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<param name="patch_size_n" value="3"/>
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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@ -71,4 +72,6 @@
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</node>
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</group>
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<node name="player" pkg="bagcontrol" type="control.py" />
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</launch>
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@ -69,6 +69,7 @@ bool MsckfVio::loadParameters() {
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//Photometry Flag
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nh.param<bool>("PHOTOMETRIC", PHOTOMETRIC, false);
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nh.param<bool>("PrintImages", PRINTIMAGES, false);
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nh.param<bool>("StreamPause", STREAMPAUSE, false);
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nh.param<bool>("GroundTruth", GROUNDTRUTH, false);
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// Frame id
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@ -304,10 +305,10 @@ bool MsckfVio::initialize() {
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// Initialize the chi squared test table with confidence
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// level 0.95.
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for (int i = 1; i < 100; ++i) {
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for (int i = 1; i < 1000; ++i) {
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boost::math::chi_squared chi_squared_dist(i);
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chi_squared_test_table[i] =
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boost::math::quantile(chi_squared_dist, 0.2);
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boost::math::quantile(chi_squared_dist, 0.05);
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}
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if (!createRosIO()) return false;
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@ -407,6 +408,10 @@ void MsckfVio::imageCallback(
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// Return if the gravity vector has not been set.
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if (!is_gravity_set) return;
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// stop playing bagfile if printing images
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if(STREAMPAUSE)
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nh.setParam("/play_bag", false);
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// Start the system if the first image is received.
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// The frame where the first image is received will be
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// the origin.
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@ -443,6 +448,7 @@ void MsckfVio::imageCallback(
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double imu_processing_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "1" << endl;
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// Augment the state vector.
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start_time = ros::Time::now();
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if(PHOTOMETRIC)
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@ -455,6 +461,8 @@ void MsckfVio::imageCallback(
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double state_augmentation_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "2" << endl;
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// Add new observations for existing features or new
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// features in the map server.
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start_time = ros::Time::now();
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@ -462,23 +470,29 @@ void MsckfVio::imageCallback(
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double add_observations_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "3" << endl;
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// Add new images to moving window
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start_time = ros::Time::now();
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manageMovingWindow(cam0_img, cam1_img, feature_msg);
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double manage_moving_window_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "4" << endl;
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// Perform measurement update if necessary.
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start_time = ros::Time::now();
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removeLostFeatures();
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double remove_lost_features_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "5" << endl;
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start_time = ros::Time::now();
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pruneLastCamStateBuffer();
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pruneCamStateBuffer();
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double prune_cam_states_time = (
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ros::Time::now()-start_time).toSec();
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//cout << "6" << endl;
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// Publish the odometry.
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start_time = ros::Time::now();
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publish(feature_msg->header.stamp);
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@ -509,6 +523,8 @@ void MsckfVio::imageCallback(
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publish_time, publish_time/processing_time);
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}
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if(STREAMPAUSE)
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nh.setParam("/play_bag", true);
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return;
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}
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@ -1428,16 +1444,8 @@ void MsckfVio::PhotometricFeatureJacobian(
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MatrixXd& H_x, VectorXd& r)
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{
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// stop playing bagfile if printing images
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if(PRINTIMAGES)
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{
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std::cout << "stopped playpack" << std::endl;
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nh.setParam("/play_bag", false);
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}
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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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@ -1538,13 +1546,8 @@ void MsckfVio::PhotometricFeatureJacobian(
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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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}
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if(PRINTIMAGES)
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{
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std::cout << "resume playback" << std::endl;
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nh.setParam("/play_bag", true);
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}
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return;
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}
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@ -1619,12 +1622,6 @@ void MsckfVio::featureJacobian(
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MatrixXd& H_x, VectorXd& r)
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{
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// stop playing bagfile if printing images
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if(PRINTIMAGES)
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{
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std::cout << "stopped playpack" << std::endl;
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nh.setParam("/play_bag", false);
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}
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const auto& feature = map_server[feature_id];
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@ -1686,9 +1683,6 @@ void MsckfVio::featureJacobian(
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H_x = A.transpose() * H_xj;
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r = A.transpose() * r_j;
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cout << "\nx\n" << H_x.colPivHouseholderQr().solve(r) << endl;
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// stop playing bagfile if printing images
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if(PRINTIMAGES)
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{
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@ -1698,8 +1692,6 @@ void MsckfVio::featureJacobian(
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myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
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myfile.close();
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cout << "---------- LOGGED -------- " << endl;
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std::cout << "stopped playpack" << std::endl;
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nh.setParam("/play_bag", true);
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}
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return;
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@ -1708,8 +1700,8 @@ void MsckfVio::featureJacobian(
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void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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if (H.rows() == 0 || r.rows() == 0) return;
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if (H.rows() == 0 || r.rows() == 0)
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return;
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// Decompose the final Jacobian matrix to reduce computational
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// complexity as in Equation (28), (29).
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MatrixXd H_thin;
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@ -1718,7 +1710,7 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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if(PHOTOMETRIC)
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augmentationSize = 7;
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/*
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// QR decomposition to make stuff faster
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if (H.rows() > H.cols()) {
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// Convert H to a sparse matrix.
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SparseMatrix<double> H_sparse = H.sparseView();
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@ -1736,29 +1728,24 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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H_thin = H_temp.topRows(21+state_server.cam_states.size()*augmentationSize);
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r_thin = r_temp.head(21+state_server.cam_states.size()*augmentationSize);
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//HouseholderQR<MatrixXd> qr_helper(H);
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//MatrixXd Q = qr_helper.householderQ();
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//MatrixXd Q1 = Q.leftCols(21+state_server.cam_states.size()*6);
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//H_thin = Q1.transpose() * H;
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//r_thin = Q1.transpose() * r;
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} else {
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H_thin = H;
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r_thin = r;
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}
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*/
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// Compute the Kalman gain.
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const MatrixXd& P = state_server.state_cov;
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MatrixXd S = H*P*H.transpose() +
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MatrixXd S = H_thin*P*H_thin.transpose() +
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Feature::observation_noise*MatrixXd::Identity(
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H.rows(), H.rows());
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H_thin.rows(), H_thin.rows());
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//MatrixXd K_transpose = S.fullPivHouseholderQr().solve(H*P);
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MatrixXd K_transpose = S.ldlt().solve(H*P);
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cout << "inverting: " << S.rows() << ":" << S.cols() << endl;
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MatrixXd K_transpose = S.ldlt().solve(H_thin*P);
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MatrixXd K = K_transpose.transpose();
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// Compute the error of the state.
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VectorXd delta_x = K * r;
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cout << "update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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// Update the IMU state.
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const VectorXd& delta_x_imu = delta_x.head<21>();
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@ -1800,7 +1787,7 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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}
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// Update state covariance.
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MatrixXd I_KH = MatrixXd::Identity(K.rows(), H.cols()) - K*H;
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MatrixXd I_KH = MatrixXd::Identity(K.rows(), H_thin.cols()) - K*H_thin;
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//state_server.state_cov = I_KH*state_server.state_cov*I_KH.transpose() +
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// K*K.transpose()*Feature::observation_noise;
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state_server.state_cov = I_KH*state_server.state_cov;
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@ -1814,7 +1801,6 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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}
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bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof) {
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return 1;
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MatrixXd P1 = H * state_server.state_cov * H.transpose();
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@ -1827,7 +1813,7 @@ bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof)
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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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return false;
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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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@ -1929,11 +1915,6 @@ void MsckfVio::removeLostFeatures() {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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r.segment(stack_cntr, r_j.rows()) = r_j;
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stack_cntr += H_xj.rows();
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cout << "passed" << endl;
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}
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else
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{
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cout << "rejected" << endl;
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}
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// Put an upper bound on the row size of measurement Jacobian,
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@ -1941,6 +1922,8 @@ void MsckfVio::removeLostFeatures() {
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if (stack_cntr > 1500) break;
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}
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cout << "processed features: " << processed_feature_ids.size() << endl;
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H_x.conservativeResize(stack_cntr, H_x.cols());
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r.conservativeResize(stack_cntr);
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@ -2000,6 +1983,7 @@ void MsckfVio::findRedundantCamStates(vector<StateIDType>& rm_cam_state_ids) {
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void MsckfVio::pruneLastCamStateBuffer()
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{
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if (state_server.cam_states.size() < max_cam_state_size)
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return;
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@ -2058,7 +2042,7 @@ void MsckfVio::pruneLastCamStateBuffer()
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MatrixXd H_x = MatrixXd::Zero(jacobian_row_size, 21+augmentationSize*state_server.cam_states.size());
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VectorXd r = VectorXd::Zero(jacobian_row_size);
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int stack_cntr = 0;
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int pruned_cntr = 0;
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for (auto& item : map_server) {
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auto& feature = item.second;
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@ -2077,24 +2061,26 @@ void MsckfVio::pruneLastCamStateBuffer()
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else
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featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
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if (gatingTest(H_xj, r_j, involved_cam_state_ids.size())) {// involved_cam_state_ids.size())) {
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if (gatingTest(H_xj, r_j, r_j.size())) {// involved_cam_state_ids.size())) {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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r.segment(stack_cntr, r_j.rows()) = r_j;
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stack_cntr += H_xj.rows();
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cout << "passed" << endl;
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}
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else
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{
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cout << "rejected" << endl;
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pruned_cntr++;
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}
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for (const auto& cam_id : involved_cam_state_ids)
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feature.observations.erase(cam_id);
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}
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H_x.conservativeResize(stack_cntr, H_x.cols());
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r.conservativeResize(stack_cntr);
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// Perform measurement update.
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measurementUpdate(H_x, r);
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if(pruned_cntr != 0)
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{
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cout << "pruned features: " << pruned_cntr << endl;
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H_x.conservativeResize(stack_cntr, H_x.cols());
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r.conservativeResize(stack_cntr);
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// Perform measurement update.
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measurementUpdate(H_x, r);
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}
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//reduction
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int cam_sequence = std::distance(state_server.cam_states.begin(),
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@ -2137,6 +2123,7 @@ void MsckfVio::pruneLastCamStateBuffer()
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void MsckfVio::pruneCamStateBuffer() {
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if (state_server.cam_states.size() < max_cam_state_size)
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return;
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@ -2228,11 +2215,6 @@ void MsckfVio::pruneCamStateBuffer() {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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r.segment(stack_cntr, r_j.rows()) = r_j;
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stack_cntr += H_xj.rows();
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cout << "passed" << endl;
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}
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else
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{
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cout << "rejected" << endl;
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}
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for (const auto& cam_id : involved_cam_state_ids)
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feature.observations.erase(cam_id);
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