minor changes to visualization, jakobi tests
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ee40dff740
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@ -172,7 +172,8 @@ struct Feature {
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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CameraCalibration& cam0,
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const std::vector<double> photo_r) const;
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const std::vector<double> photo_r,
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std::stringstream& ss) const;
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/*
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* @brief projectPixelToPosition uses the calcualted pixels
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* of the anchor patch to generate 3D positions of all of em
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@ -410,7 +411,8 @@ bool Feature::VisualizePatch(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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CameraCalibration& cam0,
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const std::vector<double> photo_r) const
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const std::vector<double> photo_r,
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std::stringstream& ss) const
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{
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double rescale = 1;
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@ -421,14 +423,15 @@ bool Feature::VisualizePatch(
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cv::Mat dottedFrame(anchorImage.size(), CV_8UC3);
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cv::cvtColor(anchorImage, dottedFrame, CV_GRAY2RGB);
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// visualize the true anchor points (the surrounding of the original measurements)
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for(auto point : anchorPatch_real)
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{
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// visu - feature
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cv::Point xs(point.x, point.y);
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cv::Point ys(point.x, point.y);
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cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
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cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,255));
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}
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cam0.featureVisu = dottedFrame.clone();
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cam0.featureVisu = dottedFrame.clone();
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// visu - feature
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cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
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@ -487,23 +490,52 @@ bool Feature::VisualizePatch(
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cv::Scalar(255, 255 + photo_r[i*N+j]*255, 255 + photo_r[i*N+j]*255),
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CV_FILLED);
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// visualize position of used observations and resulting feature position
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cv::Mat positionFrame(anchorImage.size(), CV_8UC3, cv::Scalar(255, 240, 255));
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cv::resize(positionFrame, positionFrame, cv::Size(), rescale, rescale);
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// draw world zero
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cv::line(positionFrame,
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cv::Point(20,20),
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cv::Point(20,30),
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cv::Scalar(0,0,255),
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CV_FILLED);
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cv::line(positionFrame,
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cv::Point(20,20),
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cv::Point(30,20),
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cv::Scalar(255,0,0),
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CV_FILLED);
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// for every observation, get cam state
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for(auto obs : observations)
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{
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cam_state.find(obs->first);
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cv::line(positionFrame,
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cv::Point(20,20),
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cv::Point(30,20),
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cv::Scalar(255,0,0),
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CV_FILLED);
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}
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// draw, x y position and arrow with direction - write z next to it
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cv::resize(cam0.featureVisu, cam0.featureVisu, cv::Size(), rescale, rescale);
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cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
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cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
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// write feature position
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std::stringstream pos_s;
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pos_s << "u: " << observations.begin()->second(0) << " v: " << observations.begin()->second(1);
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cv::putText(cam0.featureVisu, pos_s.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30),
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cv::putText(cam0.featureVisu, ss.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30),
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cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(200,200,250), 1, CV_AA);
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// create line?
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//save image
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std::stringstream ss;
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ss << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
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cv::imwrite(ss.str(), cam0.featureVisu);
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std::stringstream loc;
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loc << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
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cv::imwrite(loc.str(), cam0.featureVisu);
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//cv::imshow("patch", cam0.featureVisu);
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//cvWaitKey(1);
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@ -107,6 +107,15 @@ class MsckfVio {
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*/
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void imuCallback(const sensor_msgs::ImuConstPtr& msg);
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/*
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* @brief truthCallback
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* Callback function for ground truth navigation information
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* @param TransformStamped msg
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*/
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void truthCallback(
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const geometry_msgs::TransformStampedPtr& msg);
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/*
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* @brief imageCallback
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* Callback function for feature measurements
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@ -144,11 +153,23 @@ class MsckfVio {
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bool resetCallback(std_srvs::Trigger::Request& req,
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std_srvs::Trigger::Response& res);
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// Saves the exposure time and the camera measurementes
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void manageMovingWindow(
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const sensor_msgs::ImageConstPtr& cam0_img,
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const sensor_msgs::ImageConstPtr& cam1_img,
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const CameraMeasurementConstPtr& feature_msg);
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// Debug related Functions
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// Propagate the true state
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void batchTruthProcessing(
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const double& time_bound);
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void processTruthtoIMU(const double& time,
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const Eigen::Vector4d& m_rot,
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const Eigen::Vector3d& m_trans);
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// Filter related functions
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// Propogate the state
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void batchImuProcessing(
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@ -202,12 +223,16 @@ class MsckfVio {
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void onlineReset();
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// Photometry flag
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// visualization flag
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bool PHOTOMETRIC;
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// debug flag
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bool PRINTIMAGES;
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bool GROUNDTRUTH;
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bool nan_flag;
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double last_time_bound;
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// Patch size for Photometry
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int N;
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@ -227,6 +252,8 @@ class MsckfVio {
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// transfer delay between IMU and Image messages.
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std::vector<sensor_msgs::Imu> imu_msg_buffer;
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// Ground Truth message data
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std::vector<geometry_msgs::TransformStamped> truth_msg_buffer;
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// Moving Window buffer
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movingWindow cam0_moving_window;
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movingWindow cam1_moving_window;
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@ -268,6 +295,7 @@ class MsckfVio {
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// Subscribers and publishers
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ros::Subscriber imu_sub;
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ros::Subscriber truth_sub;
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ros::Publisher odom_pub;
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ros::Publisher feature_pub;
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tf::TransformBroadcaster tf_pub;
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@ -19,7 +19,10 @@
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<!-- Photometry Flag-->
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<param name="PHOTOMETRIC" value="true"/>
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<!-- Debugging Flaggs -->
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<param name="PrintImages" value="true"/>
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<param name="GroundTruth" value="false"/>
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<param name="patch_size_n" value="7"/>
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<!-- Calibration parameters -->
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@ -59,6 +62,7 @@
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<param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
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<remap from="~cam0_image" to="/cam0/image_raw"/>
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<remap from="~cam1_image" to="/cam1/image_raw"/>
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@ -56,6 +56,7 @@ MsckfVio::MsckfVio(ros::NodeHandle& pnh):
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is_first_img(true),
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image_sub(10),
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nan_flag(false),
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last_time_bound(0),
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nh(pnh) {
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return;
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}
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@ -64,6 +65,7 @@ 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>("GroundTruth", GROUNDTRUTH, false);
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// Frame id
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nh.param<string>("fixed_frame_id", fixed_frame_id, "world");
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@ -255,6 +257,8 @@ bool MsckfVio::createRosIO() {
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imu_sub = nh.subscribe("imu", 100,
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&MsckfVio::imuCallback, this);
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truth_sub = nh.subscribe("ground_truth", 100,
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&MsckfVio::truthCallback, this);
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cam0_img_sub.subscribe(nh, "cam0_image", 10);
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cam1_img_sub.subscribe(nh, "cam1_image", 10);
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@ -263,7 +267,6 @@ bool MsckfVio::createRosIO() {
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image_sub.connectInput(cam0_img_sub, cam1_img_sub, feature_sub);
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image_sub.registerCallback(&MsckfVio::imageCallback, this);
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mocap_odom_sub = nh.subscribe("mocap_odom", 10,
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&MsckfVio::mocapOdomCallback, this);
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mocap_odom_pub = nh.advertise<nav_msgs::Odometry>("gt_odom", 1);
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@ -292,7 +295,7 @@ bool MsckfVio::initialize() {
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for (int i = 1; i < 100; ++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, 0.05);
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boost::math::quantile(chi_squared_dist, 0.2);
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}
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if (!createRosIO()) return false;
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@ -319,6 +322,10 @@ void MsckfVio::imuCallback(const sensor_msgs::ImuConstPtr& msg){
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return;
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}
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void MsckfVio::truthCallback(const geometry_msgs::TransformStampedPtr& msg){
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truth_msg_buffer.push_back(*msg);
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}
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void MsckfVio::imageCallback(
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const sensor_msgs::ImageConstPtr& cam0_img,
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const sensor_msgs::ImageConstPtr& cam1_img,
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@ -342,7 +349,10 @@ void MsckfVio::imageCallback(
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// Propogate the IMU state.
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// that are received before the image feature_msg.
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ros::Time start_time = ros::Time::now();
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batchImuProcessing(feature_msg->header.stamp.toSec());
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if(!GROUNDTRUTH)
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batchImuProcessing(feature_msg->header.stamp.toSec());
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else
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batchTruthProcessing(feature_msg->header.stamp.toSec());
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double imu_processing_time = (
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ros::Time::now()-start_time).toSec();
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@ -558,6 +568,9 @@ bool MsckfVio::resetCallback(
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imu_sub = nh.subscribe("imu", 100,
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&MsckfVio::imuCallback, this);
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truth_sub = nh.subscribe("ground_truth", 100,
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&MsckfVio::truthCallback, this);
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// feature_sub = nh.subscribe("features", 40,
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// &MsckfVio::featureCallback, this);
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@ -632,6 +645,71 @@ void MsckfVio::mocapOdomCallback(const nav_msgs::OdometryConstPtr& msg) {
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return;
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}
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void MsckfVio::batchTruthProcessing(const double& time_bound) {
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// Counter how many IMU msgs in the buffer are used.
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int used_truth_msg_cntr = 0;
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for (const auto& truth_msg : truth_msg_buffer) {
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double truth_time = truth_msg.header.stamp.toSec();
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if (truth_time < state_server.imu_state.time) {
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++used_truth_msg_cntr;
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continue;
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}
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if (truth_time > time_bound) break;
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// Convert the msgs.
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Eigen::Vector3d m_translation;
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Eigen::Vector4d m_rotation;
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tf::vectorMsgToEigen(truth_msg.transform.translation, m_translation);
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m_rotation[0] = truth_msg.transform.rotation.x;
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m_rotation[1] = truth_msg.transform.rotation.y;
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m_rotation[2] = truth_msg.transform.rotation.z;
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m_rotation[3] = truth_msg.transform.rotation.w;
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// Execute process model.
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processTruthtoIMU(truth_time, m_rotation, m_translation);
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++used_truth_msg_cntr;
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}
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last_time_bound = time_bound;
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// Set the state ID for the new IMU state.
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state_server.imu_state.id = IMUState::next_id++;
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// Remove all used Truth msgs.
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truth_msg_buffer.erase(truth_msg_buffer.begin(),
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truth_msg_buffer.begin()+used_truth_msg_cntr);
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}
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void MsckfVio::processTruthtoIMU(const double& time,
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const Vector4d& m_rot,
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const Vector3d& m_trans){
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IMUState& imu_state = state_server.imu_state;
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double dtime = time - imu_state.time;
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Vector4d& q = imu_state.orientation;
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Vector3d& v = imu_state.velocity;
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Vector3d& p = imu_state.position;
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double dt = time - imu_state.time;
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v = (m_trans-v)/dt;
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p = m_trans;
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q = m_rot;
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// Update the state correspondes to null space.
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imu_state.orientation_null = imu_state.orientation;
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imu_state.position_null = imu_state.position;
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imu_state.velocity_null = imu_state.velocity;
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// Update the state info
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state_server.imu_state.time = time;
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}
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void MsckfVio::batchImuProcessing(const double& time_bound) {
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// Counter how many IMU msgs in the buffer are used.
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int used_imu_msg_cntr = 0;
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@ -1039,17 +1117,22 @@ void MsckfVio::PhotometricMeasurementJacobian(
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dh_dCpij.block<2, 2>(0, 0) = Eigen::Matrix<double, 2, 2>::Identity();
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dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
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dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
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//orientation takes camera frame to world frame, we wa
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dh_dGpij = dh_dCpij * quaternionToRotation(cam_state.orientation).transpose();
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//dh / d X_{pl}
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dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * skewSymmetric(point);
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dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation);//.transpose();
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dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation).transpose();
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//d{}^Gp_P{ij} / \rho_i
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double rho = feature.anchor_rho;
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dGpi_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));
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dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
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dGpi_XpAj.block<3, 3>(0, 0) = - skewSymmetric(feature.T_anchor_w.linear()
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* Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
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feature.anchorPatch_ideal[count].y/(rho),
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1/(rho)));
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dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
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// Intermediate Jakobians
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@ -1091,6 +1174,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
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// set anchor Jakobi
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// get position of anchor in cam states
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auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
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int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
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H_xl.block(0, 21+cam_state_cntr_anchor*7, N*N, 6) = -H_pA;
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@ -1122,8 +1206,10 @@ void MsckfVio::PhotometricMeasurementJacobian(
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for(auto data : photo_r)
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r[count++] = data;
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std::stringstream ss;
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ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
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if(PRINTIMAGES)
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feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r);
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feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r, ss);
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return;
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}
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@ -1238,7 +1324,12 @@ void MsckfVio::measurementJacobian(
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dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
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Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
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dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
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// original jacobi
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//dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
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// my version of calculation
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dpc0_dxc.leftCols(3) = skewSymmetric(R_w_c0 * p_w) - skewSymmetric(R_w_c0 * t_c0_w);
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//dpc0_dxc.leftCols(3) = - skewSymmetric(R_w_c0.transpose() * (t_c0_w - p_w)) * R_w_c0;
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dpc0_dxc.rightCols(3) = -R_w_c0;
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Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();
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