added ocvis output for multiple filter

config/camchain-imucam-tum.yaml

@@ -7,7 +7,7 @@ cam0:
   camera_model: pinhole
   distortion_coeffs: [0.010171079892421483, -0.010816440029919381, 0.005942781769412756,
     -0.001662284667857643]
-  distortion_model: equidistant
+  distortion_model: pre-equidistant
   intrinsics: [380.81042871360756, 380.81194179427075, 510.29465304840727, 514.3304630538506]
   resolution: [1024, 1024]
   rostopic: /cam0/image_raw
@@ -25,7 +25,7 @@ cam1:
   camera_model: pinhole
   distortion_coeffs: [0.01371679169245271, -0.015567360615942622, 0.00905043103315326,
     -0.002347858896562788]
-  distortion_model: equidistant
+  distortion_model: pre-equidistant
   intrinsics: [379.2869884263036, 379.26583742214524, 505.5666703237407, 510.2840961765407]
   resolution: [1024, 1024]
   rostopic: /cam1/image_raw

include/msckf_vio/feature.hpp

@@ -220,9 +220,7 @@ bool VisualizeKernel(
                   const StateIDType& cam_state_id,
                   CameraCalibration& cam0,
                   const Eigen::VectorXd& photo_r,
-                  std::stringstream& ss,
-                  cv::Point2f gradientVector,
-                  cv::Point2f residualVector) const;
+                  std::stringstream& ss) const;
   /*
   * @brief AnchorPixelToPosition uses the calcualted pixels
   *     of the anchor patch to generate 3D positions of all of em
@@ -720,9 +718,7 @@ bool Feature::VisualizePatch(
                   const StateIDType& cam_state_id,
                   CameraCalibration& cam0,
                   const Eigen::VectorXd& photo_r,
-                  std::stringstream& ss,
-                  cv::Point2f gradientVector,
-                  cv::Point2f residualVector) const
+                  std::stringstream& ss) const
 {
 
   double rescale = 1;

launch/msckf_vio_tum.launch

@@ -18,11 +18,11 @@
       output="screen">
 
       <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="2"/>
+      <param name="FILTER" value="0"/>
 
       <!-- Debugging Flaggs -->
       <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="false"/>
+      <param name="PrintImages" value="true"/>
       <param name="GroundTruth" value="false"/>
 
       <param name="patch_size_n" value="5"/>

src/msckf_vio.cpp

@@ -1528,13 +1528,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
   int count = 0;
   double dx, dy;
 
-  // gradient visualization parameters
-  cv::Point2f gradientVector(0,0);
-
-  // residual change visualization
-  cv::Point2f residualVector(0,0);
-  double res_sum = 0;
-
   for (auto point : feature.anchorPatch_3d)
   {
     //cout << "____feature-measurement_____\n" << endl;
@@ -1633,7 +1626,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
   H_x = H_xl;
   H_y = H_yl;
 
-  //TODO make this more fluent as well
   r = r_photo;
 
   std::stringstream ss;
@@ -1641,7 +1633,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
   if(PRINTIMAGES)
   {  
     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);
     //feature.VisualizeKernel(cam_state, cam_state_id, cam0);
   }
 
@@ -1747,13 +1739,18 @@ void MsckfVio::PhotometricFeatureJacobian(
            << "# columns: " << H_yi.cols() << "\n"
            << H_yi << endl;
 
-
     myfile << "# name: r\n"
            << "# type: matrix\n"
            << "# rows: " << r_i.rows() << "\n"  
            << "# columns: " << 1 << "\n"
            << r_i << endl;
 
+    myfile << "# name: r\n"
+           << "# type: A\n"
+           << "# rows: " << A_null_space.rows() << "\n"  
+           << "# columns: " << A_null_space.cols() << "\n"
+           << A_null_space << endl;
+
     myfile.close();
     cout << "---------- LOGGED -------- " << endl; 
     cvWaitKey(0);
@@ -1902,7 +1899,34 @@ void MsckfVio::featureJacobian(
     myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
     myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
     myfile.close();
-    cout << "---------- LOGGED -------- " << endl; 
+    
+    myfile.open("/home/raphael/dev/octave/org2octave");
+    myfile << "# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>\n"
+           << "# name: Hx\n"
+           << "# type: matrix\n"
+           << "# rows: " << H_xj.rows() << "\n"
+           << "# columns: " << H_xj.cols() << "\n"
+           << H_xj << endl;
+
+    myfile << "# name: Hy\n"
+           << "# type: matrix\n"
+           << "# rows: " << H_fj.rows() << "\n"  
+           << "# columns: " << H_fj.cols() << "\n"
+           << H_fj << endl;
+
+    myfile << "# name: r\n"
+           << "# type: matrix\n"
+           << "# rows: " << r_j.rows() << "\n"  
+           << "# columns: " << 1 << "\n"
+           << r_j << endl;
+
+    myfile << "# name: r\n"
+           << "# type: A\n"
+           << "# rows: " << A.rows() << "\n"  
+           << "# columns: " << A.cols() << "\n"
+           << A << endl;
+
+    myfile.close();
   }
 
   return;
@@ -2019,8 +2043,7 @@ void MsckfVio::twoMeasurementUpdate(const MatrixXd& H, const VectorXd& r) {
   // complexity as in Equation (28), (29).
   MatrixXd H_thin;
   VectorXd r_thin;
-  
-  // QR decomposition to make stuff faster
+/*
   if (H.rows() > H.cols()) {
     // Convert H to a sparse matrix.
     SparseMatrix<double> H_sparse = H.sparseView();
@@ -2038,10 +2061,17 @@ void MsckfVio::twoMeasurementUpdate(const MatrixXd& H, const VectorXd& r) {
     H_thin = H_temp.topRows(21+state_server.cam_states.size()*7);
     r_thin = r_temp.head(21+state_server.cam_states.size()*7);
 
-  } else {
+    //HouseholderQR<MatrixXd> qr_helper(H);
+    //MatrixXd Q = qr_helper.householderQ();
+    //MatrixXd Q1 = Q.leftCols(21+state_server.cam_states.size()*6);
+
+    //H_thin = Q1.transpose() * H;
+    //r_thin = Q1.transpose() * r;
+  } else {*/
     H_thin = H;
     r_thin = r;
-  }
+  //}
+
 
 
   // Compute the Kalman gain.
@@ -2518,10 +2548,15 @@ void MsckfVio::pruneLastCamStateBuffer()
     for (const auto& cam_state : state_server.cam_states)
       involved_cam_state_ids.push_back(cam_state.first);
 
-      PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j);
-      featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
-      twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);
+    cout << "measuring" << endl;
 
+    PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j);
+    cout << "norm" << endl;
+    featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
+    cout << "two" << endl;
+    twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);
+
+    cout << "gating" << endl;
       if (gatingTest(H_xj, r_j, r_j.size())) {// involved_cam_state_ids.size())) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
       r.segment(stack_cntr, r_j.rows()) = r_j;
@@ -2689,7 +2724,15 @@ void MsckfVio::pruneCamStateBuffer() {
     }
 
     if (involved_cam_state_ids.size() == 0) continue;
-    
+        cout << "measuring" << endl;
+
+    PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j);
+    cout << "norm" << endl;
+    featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
+    cout << "two" << endl;
+    twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);
+
+    cout << "gating" << endl;
     PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j);
     featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
     twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);