raphael/msckf_vio
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alterations at nullspaceing, jakobi changes

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This commit is contained in:
Raphael Maenle 2019-05-14 16:03:24 +02:00
parent 44de215518
commit 2ee7c248c1
2 changed files with 30 additions and 29 deletions
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4
launch/msckf_vio_tum.launch
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@ -21,8 +21,8 @@
<param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs -->
<param name="PrintImages" value="true"/>
<param name="GroundTruth" value="true"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="7"/>
<!-- Calibration parameters -->

55
src/msckf_vio.cpp
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@ -1158,8 +1158,6 @@ void MsckfVio::PhotometricStateAugmentation(const double& time)
size_t old_rows = state_server.state_cov.rows();
size_t old_cols = state_server.state_cov.cols();
MatrixXd temp_cov = state_server.state_cov;
// add 7 for camera state + irradiance bias eta = b_l
state_server.state_cov.conservativeResizeLike(Eigen::MatrixXd::Zero(old_rows+7, old_cols+7));
@ -1287,7 +1285,8 @@ void MsckfVio::PhotometricMeasurementJacobian(
dI_dhj(0, 1) = dy;
//dh / d{}^Cp_{ij}
dh_dCpij.block<2, 2>(0, 0) = Eigen::Matrix<double, 2, 2>::Identity();
dh_dCpij(0, 0) = 1 / p_c0(2);
dh_dCpij(1, 1) = 1 / p_c0(2);
dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
@ -1305,16 +1304,16 @@ void MsckfVio::PhotometricMeasurementJacobian(
//d{}^Gp_P{ij} / \rho_i
double rho = feature.anchor_rho;
// Isometry T_anchor_w takes a vector in anchor frame to world frame
dGpj_drhoj = feature.T_anchor_w.linear() * Eigen::Vector3d(-feature.anchorPatch_ideal[count].x/(rho*rho), -feature.anchorPatch_ideal[count].y/(rho*rho), -1/(rho*rho));
dGpj_drhoj = -feature.T_anchor_w.linear() * Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho*rho), feature.anchorPatch_ideal[count].y/(rho*rho), 1/(rho*rho));
dGpj_XpAj.block<3, 3>(0, 0) = - skewSymmetric(feature.T_anchor_w.linear()
* Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
dGpj_XpAj.block<3, 3>(0, 0) = - feature.T_anchor_w.linear()
* skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
feature.anchorPatch_ideal[count].y/(rho),
1/(rho)));
dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
// Intermediate Jakobians
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 3
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 1
H_plj = dI_dhj * dh_dXplj; // 1 x 6
H_pAj = dI_dhj * dh_dGpij * dGpj_XpAj; // 1 x 6
@ -1335,6 +1334,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
IlluminationParameter estimated_illumination;
feature.estimate_FrameIrradiance(cam_state, cam_state_id, cam0, estimate_irradiance, estimated_illumination);
// calculated here, because we need true 'estimate_irradiance' later for jacobi
for (auto& estimate_irradiance_j : estimate_irradiance)
estimate_photo_z.push_back (estimate_irradiance_j *
estimated_illumination.frame_gain * estimated_illumination.feature_gain +
@ -1382,7 +1382,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
count = 0;
for(auto data : photo_r)
r[count++] = data;
std::stringstream ss;
ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
if(PRINTIMAGES)
@ -1469,25 +1468,21 @@ void MsckfVio::PhotometricFeatureJacobian(
// of H_yj.
// get Nullspace
FullPivLU<MatrixXd> lu(H_yi.transpose());
MatrixXd A_null_space = lu.kernel();
/*
JacobiSVD<MatrixXd> svd_helper(H_yi, ComputeFullU | ComputeThinV);
int sv_size = 0;
Eigen::VectorXd singularValues = svd_helper.singularValues();
for(int i = 0; i < singularValues.size(); i++)
if(singularValues[i] > 1e-9)
if(singularValues[i] > 1e-12)
sv_size++;
int null_space_size = svd_helper.matrixU().cols() - sv_size; //TEST used instead of svd_helper.singularValues().size();
MatrixXd A = svd_helper.matrixU().rightCols(null_space_size);
H_x = A.transpose() * H_xi;
r = A.transpose() * r_i;
ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "nulls:\n" << A.transpose() * H_yi <<endl;
myfile.close();
cout << "---------- LOGGED -------- " << endl;
MatrixXd A = svd_helper.matrixU().rightCols(jacobian_row_size - singularValues.size());
*/
H_x = A_null_space.transpose() * H_xi;
r = A_null_space.transpose() * r_i;
if(PRINTIMAGES)
{
@ -1544,7 +1539,7 @@ void MsckfVio::measurementJacobian(
// original jacobi
//dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
// my version of calculation
dpc0_dxc.leftCols(3) = skewSymmetric(R_w_c0 * p_w) - skewSymmetric(R_w_c0 * t_c0_w);
dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
//dpc0_dxc.leftCols(3) = - skewSymmetric(R_w_c0.transpose() * (t_c0_w - p_w)) * R_w_c0;
dpc0_dxc.rightCols(3) = -R_w_c0;
@ -1612,26 +1607,32 @@ void MsckfVio::featureJacobian(
// Project the residual and Jacobians onto the nullspace
// of H_fj.
/*
JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);
int sv_size = 0;
Eigen::VectorXd singularValues = svd_helper.singularValues();
for(int i = 0; i < singularValues.size(); i++)
if(singularValues[i] > 1e-5)
sv_size++;
int null_space_size = svd_helper.matrixU().cols() - sv_size;
cout << "sv size: " << sv_size << endl;
MatrixXd A = svd_helper.matrixU().rightCols(
jacobian_row_size - sv_size);
jacobian_row_size - 3);
*/
FullPivLU<MatrixXd> lu(H_fj.transpose());
MatrixXd A = lu.kernel();
H_x = A.transpose() * H_xj;
r = A.transpose() * r_j;
/*
ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "-- residual -- \n" << r << "\n---- H ----\n" << H_x << "\n---- state cov ----\n" << state_server.state_cov <<endl;
myfile.close();
cout << "---------- LOGGED -------- " << endl;
cout << "---------- LOGGED -------- " << endl;
*/
nh.setParam("/play_bag", false);
return;