minor changes to visualization, jakobi tests

include/msckf_vio/feature.hpp

@@ -172,7 +172,8 @@ struct Feature {
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
                   CameraCalibration& cam0,
-                  const std::vector<double> photo_r) const;
+                  const std::vector<double> photo_r,
+                  std::stringstream& ss) const;
   /*
   * @brief projectPixelToPosition uses the calcualted pixels
   *     of the anchor patch to generate 3D positions of all of em
@@ -410,7 +411,8 @@ bool Feature::VisualizePatch(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
                   CameraCalibration& cam0,
-                  const std::vector<double> photo_r) const
+                  const std::vector<double> photo_r,
+                  std::stringstream& ss) const
 {
 
   double rescale = 1;
@@ -421,12 +423,13 @@ bool Feature::VisualizePatch(
   cv::Mat dottedFrame(anchorImage.size(), CV_8UC3);
   cv::cvtColor(anchorImage, dottedFrame, CV_GRAY2RGB);
 
+  // visualize the true anchor points (the surrounding of the original measurements)
   for(auto point : anchorPatch_real)
   {
     // visu - feature
     cv::Point xs(point.x, point.y);
     cv::Point ys(point.x, point.y);
-    cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
+    cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,255));
   }  
   cam0.featureVisu = dottedFrame.clone(); 
 
@@ -487,23 +490,52 @@ bool Feature::VisualizePatch(
                       cv::Scalar(255, 255 + photo_r[i*N+j]*255, 255 + photo_r[i*N+j]*255), 
                       CV_FILLED);
       
+
+  // visualize position of used observations and resulting feature position
+  cv::Mat positionFrame(anchorImage.size(), CV_8UC3, cv::Scalar(255, 240, 255));
+  cv::resize(positionFrame, positionFrame, cv::Size(), rescale, rescale);
+
+  // draw world zero
+  cv::line(positionFrame,
+          cv::Point(20,20),
+          cv::Point(20,30),
+          cv::Scalar(0,0,255),
+          CV_FILLED);
+
+  cv::line(positionFrame,
+          cv::Point(20,20),
+          cv::Point(30,20),
+          cv::Scalar(255,0,0),
+          CV_FILLED);
+  // for every observation, get cam state
+  for(auto obs : observations)
+  {
+      cam_state.find(obs->first);
+      cv::line(positionFrame,
+        cv::Point(20,20),
+        cv::Point(30,20),
+        cv::Scalar(255,0,0),
+        CV_FILLED);
+  }
+  // draw, x y position and arrow with direction - write z next to it
+
   cv::resize(cam0.featureVisu, cam0.featureVisu, cv::Size(), rescale, rescale);
 
   cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
+  cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
 
   // write feature position
   std::stringstream pos_s;
   pos_s << "u: " << observations.begin()->second(0) << " v: " << observations.begin()->second(1);
-  cv::putText(cam0.featureVisu, pos_s.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30), 
+  cv::putText(cam0.featureVisu, ss.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30), 
     cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(200,200,250), 1, CV_AA);
-
   // create line?
 
   //save image
 
-  std::stringstream ss;
+  std::stringstream loc;
-  ss << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
+  loc << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
-  cv::imwrite(ss.str(), cam0.featureVisu);
+  cv::imwrite(loc.str(), cam0.featureVisu);
 
   //cv::imshow("patch", cam0.featureVisu);
   //cvWaitKey(1);

include/msckf_vio/msckf_vio.h

@@ -107,6 +107,15 @@ class MsckfVio {
      */
     void imuCallback(const sensor_msgs::ImuConstPtr& msg);
 
+    /*
+     * @brief truthCallback
+     *      Callback function for ground truth navigation information
+     * @param TransformStamped msg
+     */    
+    void truthCallback(
+        const geometry_msgs::TransformStampedPtr& msg);
+
+
     /*
      * @brief imageCallback
      *    Callback function for feature measurements
@@ -144,11 +153,23 @@ class MsckfVio {
     bool resetCallback(std_srvs::Trigger::Request& req,
         std_srvs::Trigger::Response& res);
 
+    // Saves the exposure time and the camera measurementes
     void manageMovingWindow(
         const sensor_msgs::ImageConstPtr& cam0_img,
         const sensor_msgs::ImageConstPtr& cam1_img,
         const CameraMeasurementConstPtr& feature_msg);
 
+
+    // Debug related Functions
+    // Propagate the true state
+    void batchTruthProcessing(
+        const double& time_bound);
+
+    void processTruthtoIMU(const double& time,
+        const Eigen::Vector4d& m_rot,
+        const Eigen::Vector3d& m_trans);
+
+
     // Filter related functions
     // Propogate the state
     void batchImuProcessing(
@@ -202,12 +223,16 @@ class MsckfVio {
     void onlineReset();
 
     // Photometry flag
-    // visualization flag
     bool PHOTOMETRIC;
+
+    // debug flag
     bool PRINTIMAGES;
+    bool GROUNDTRUTH;
 
     bool nan_flag;
 
+    double last_time_bound;
+
     // Patch size for Photometry
     int N;
 
@@ -227,6 +252,8 @@ class MsckfVio {
     // transfer delay between IMU and Image messages.
     std::vector<sensor_msgs::Imu> imu_msg_buffer;
 
+    // Ground Truth message data
+    std::vector<geometry_msgs::TransformStamped> truth_msg_buffer;
     // Moving Window buffer
     movingWindow cam0_moving_window;
     movingWindow cam1_moving_window;
@@ -268,6 +295,7 @@ class MsckfVio {
 
     // Subscribers and publishers
     ros::Subscriber imu_sub;
+    ros::Subscriber truth_sub;
     ros::Publisher odom_pub;
     ros::Publisher feature_pub;
     tf::TransformBroadcaster tf_pub;

launch/msckf_vio_tum.launch

@@ -19,7 +19,10 @@
 
       <!-- Photometry Flag-->
       <param name="PHOTOMETRIC" value="true"/>
+
+      <!-- Debugging Flaggs -->
       <param name="PrintImages" value="true"/>
+      <param name="GroundTruth" value="false"/>
 
       <param name="patch_size_n" value="7"/>
       <!-- Calibration parameters -->
@@ -59,6 +62,7 @@
       <param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
 
       <remap from="~imu" to="/imu0"/>
+      <remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
       <remap from="~cam0_image" to="/cam0/image_raw"/>
       <remap from="~cam1_image" to="/cam1/image_raw"/>
 

src/msckf_vio.cpp

@@ -56,6 +56,7 @@ MsckfVio::MsckfVio(ros::NodeHandle& pnh):
   is_first_img(true),
   image_sub(10),
   nan_flag(false),
+  last_time_bound(0),
   nh(pnh) {
   return;
 }
@@ -64,6 +65,7 @@ bool MsckfVio::loadParameters() {
   //Photometry Flag
   nh.param<bool>("PHOTOMETRIC", PHOTOMETRIC, false);
   nh.param<bool>("PrintImages", PRINTIMAGES, false);
+  nh.param<bool>("GroundTruth", GROUNDTRUTH, false);
 
   // Frame id
   nh.param<string>("fixed_frame_id", fixed_frame_id, "world");
@@ -255,6 +257,8 @@ bool MsckfVio::createRosIO() {
 
   imu_sub = nh.subscribe("imu", 100,
       &MsckfVio::imuCallback, this);
+  truth_sub = nh.subscribe("ground_truth", 100,
+      &MsckfVio::truthCallback, this);
 
   cam0_img_sub.subscribe(nh, "cam0_image", 10);
   cam1_img_sub.subscribe(nh, "cam1_image", 10);
@@ -263,7 +267,6 @@ bool MsckfVio::createRosIO() {
   image_sub.connectInput(cam0_img_sub, cam1_img_sub, feature_sub);
   image_sub.registerCallback(&MsckfVio::imageCallback, this);
 
-
   mocap_odom_sub = nh.subscribe("mocap_odom", 10,
       &MsckfVio::mocapOdomCallback, this);
   mocap_odom_pub = nh.advertise<nav_msgs::Odometry>("gt_odom", 1);
@@ -292,7 +295,7 @@ bool MsckfVio::initialize() {
   for (int i = 1; i < 100; ++i) {
     boost::math::chi_squared chi_squared_dist(i);
     chi_squared_test_table[i] =
-      boost::math::quantile(chi_squared_dist, 0.05);
+      boost::math::quantile(chi_squared_dist, 0.2);
   }
 
   if (!createRosIO()) return false;
@@ -319,6 +322,10 @@ void MsckfVio::imuCallback(const sensor_msgs::ImuConstPtr& msg){
   return;
 }
 
+void MsckfVio::truthCallback(const geometry_msgs::TransformStampedPtr& msg){
+  truth_msg_buffer.push_back(*msg);
+}
+
 void MsckfVio::imageCallback(
     const sensor_msgs::ImageConstPtr& cam0_img,
     const sensor_msgs::ImageConstPtr& cam1_img,
@@ -342,7 +349,10 @@ void MsckfVio::imageCallback(
   // Propogate the IMU state.
   // that are received before the image feature_msg.
   ros::Time start_time = ros::Time::now();
+  if(!GROUNDTRUTH)
     batchImuProcessing(feature_msg->header.stamp.toSec());
+  else
+    batchTruthProcessing(feature_msg->header.stamp.toSec());
   double imu_processing_time = (
       ros::Time::now()-start_time).toSec();
 
@@ -558,6 +568,9 @@ bool MsckfVio::resetCallback(
   imu_sub = nh.subscribe("imu", 100,
       &MsckfVio::imuCallback, this);
 
+  truth_sub = nh.subscribe("ground_truth", 100,
+      &MsckfVio::truthCallback, this);
+
   //  feature_sub = nh.subscribe("features", 40,
   //      &MsckfVio::featureCallback, this);
 
@@ -632,6 +645,71 @@ void MsckfVio::mocapOdomCallback(const nav_msgs::OdometryConstPtr& msg) {
   return;
 }
 
+void MsckfVio::batchTruthProcessing(const double& time_bound) {
+
+  // Counter how many IMU msgs in the buffer are used.
+  int used_truth_msg_cntr = 0;
+
+  for (const auto& truth_msg : truth_msg_buffer) {
+    double truth_time = truth_msg.header.stamp.toSec();
+    if (truth_time < state_server.imu_state.time) {
+      ++used_truth_msg_cntr;
+      continue;
+    }
+    if (truth_time > time_bound) break;
+
+    // Convert the msgs.
+    Eigen::Vector3d m_translation; 
+    Eigen::Vector4d m_rotation;
+    tf::vectorMsgToEigen(truth_msg.transform.translation, m_translation);
+    
+    m_rotation[0] = truth_msg.transform.rotation.x;
+    m_rotation[1] = truth_msg.transform.rotation.y;
+    m_rotation[2] = truth_msg.transform.rotation.z;
+    m_rotation[3] = truth_msg.transform.rotation.w;
+    
+    // Execute process model.
+    processTruthtoIMU(truth_time, m_rotation, m_translation);
+    ++used_truth_msg_cntr;
+  }
+  last_time_bound = time_bound;
+
+  // Set the state ID for the new IMU state.
+  state_server.imu_state.id = IMUState::next_id++;
+
+  // Remove all used Truth msgs.
+  truth_msg_buffer.erase(truth_msg_buffer.begin(),
+      truth_msg_buffer.begin()+used_truth_msg_cntr);
+
+}
+
+void MsckfVio::processTruthtoIMU(const double& time,
+    const Vector4d& m_rot,
+    const Vector3d& m_trans){
+
+  IMUState& imu_state = state_server.imu_state;
+  double dtime = time - imu_state.time;
+
+  Vector4d& q = imu_state.orientation;
+  Vector3d& v = imu_state.velocity;
+  Vector3d& p = imu_state.position;
+
+  double dt = time - imu_state.time;
+
+  v = (m_trans-v)/dt;
+  p = m_trans;
+  q = m_rot;
+
+  // Update the state correspondes to null space.
+  imu_state.orientation_null = imu_state.orientation;
+  imu_state.position_null = imu_state.position;
+  imu_state.velocity_null = imu_state.velocity;
+
+  // Update the state info
+  state_server.imu_state.time = time;
+
+}
+
 void MsckfVio::batchImuProcessing(const double& time_bound) {
   // Counter how many IMU msgs in the buffer are used.
   int used_imu_msg_cntr = 0;
@@ -1039,17 +1117,22 @@ void MsckfVio::PhotometricMeasurementJacobian(
     dh_dCpij.block<2, 2>(0, 0) = Eigen::Matrix<double, 2, 2>::Identity();
     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));
+
+    //orientation takes camera frame to world frame, we wa
     dh_dGpij = dh_dCpij * quaternionToRotation(cam_state.orientation).transpose();
 
     //dh / d X_{pl}
     dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * skewSymmetric(point);
-    dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation);//.transpose();
+    dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation).transpose();
 
     //d{}^Gp_P{ij} / \rho_i
     double rho = feature.anchor_rho;
     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));
 
-    dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
+    dGpi_XpAj.block<3, 3>(0, 0) = - skewSymmetric(feature.T_anchor_w.linear()
+                                 * Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), 
+                                                   feature.anchorPatch_ideal[count].y/(rho), 
+                                                   1/(rho)));
     dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
 
     // Intermediate Jakobians
@@ -1091,6 +1174,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
 
   // set anchor Jakobi
     // get position of anchor in cam states
+
   auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
   int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
   H_xl.block(0, 21+cam_state_cntr_anchor*7, N*N, 6) = -H_pA; 
@@ -1122,8 +1206,10 @@ void MsckfVio::PhotometricMeasurementJacobian(
   for(auto data : photo_r)
     r[count++] = data;
 
+  std::stringstream ss;
+  ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << "  frame: " << cam_state_cntr;
   if(PRINTIMAGES)
-    feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r);
+    feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r, ss);
 
   return;
 }
@@ -1238,7 +1324,12 @@ void MsckfVio::measurementJacobian(
   dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
 
   Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
-  dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
+  
+  // 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(R_w_c0.transpose() * (t_c0_w - p_w)) * R_w_c0;
   dpc0_dxc.rightCols(3) = -R_w_c0;
 
   Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();