diff --git a/config/camchain-imucam-tum.yaml b/config/camchain-imucam-tum.yaml
index 141035e..7edbd87 100644
--- a/config/camchain-imucam-tum.yaml
+++ b/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: pre-equidistant
+ distortion_model: 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: pre-equidistant
+ distortion_model: equidistant
intrinsics: [379.2869884263036, 379.26583742214524, 505.5666703237407, 510.2840961765407]
resolution: [1024, 1024]
rostopic: /cam1/image_raw
diff --git a/launch/msckf_vio_tum.launch b/launch/msckf_vio_tum.launch
index b3a66e5..a8432b2 100644
--- a/launch/msckf_vio_tum.launch
+++ b/launch/msckf_vio_tum.launch
@@ -18,14 +18,14 @@
output="screen">
-
+
-
+
diff --git a/src/msckf_vio.cpp b/src/msckf_vio.cpp
index f9178c2..22b5f4b 100644
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1547,7 +1547,6 @@ bool MsckfVio::PhotometricMeasurementJacobian(
int count = 0;
double dx, dy;
- cout << "patching" << endl;
for (auto point : feature.anchorPatch_3d)
{
//cout << "____feature-measurement_____\n" << endl;
@@ -1666,7 +1665,6 @@ bool MsckfVio::PhotometricMeasurementJacobian(
//feature.VisualizeKernel(cam_state, cam_state_id, cam0);
}
- cout << "returning" << endl;
return true;
}
@@ -1797,8 +1795,6 @@ bool MsckfVio::PhotometricFeatureJacobian(
cout << "---------- LOGGED -------- " << endl;
}
- cout << "donefeature" << endl;
-
return true;
}
@@ -2166,8 +2162,6 @@ void MsckfVio::twoMeasurementUpdate(const MatrixXd& H, const VectorXd& r) {
// Compute the error of the state.
VectorXd delta_x = K * r;
- cout << "two rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
- cout << "two update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
// Update the IMU state.
if (FILTER != 2) return;
@@ -2272,13 +2266,9 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
// Compute the error of the state.
VectorXd delta_x = K * r;
- cout << "msc rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
- cout << "msc update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
// Update the IMU state.
if (FILTER != 1) return;
- cout << "here" << endl;
-
if(PRINTIMAGES)
{
//octave
@@ -2438,9 +2428,6 @@ void MsckfVio::removeLostFeatures() {
// processed_feature_ids.size() << endl;
//cout << "jacobian row #: " << jacobian_row_size << endl;
-
- cout << "sizing" << endl;
-
// Remove the features that do not have enough measurements.
for (const auto& feature_id : invalid_feature_ids)
map_server.erase(feature_id);
@@ -2479,27 +2466,19 @@ void MsckfVio::removeLostFeatures() {
MatrixXd twoH_xj;
VectorXd twor_j;
-
- cout << "measuring" << endl;
-
+ /*
if(PhotometricFeatureJacobian(feature.id, cam_state_ids, pH_xj, pr_j) == true);
{
- cout << "p gating" << endl;
-
if (gatingTest(pH_xj, pr_j, pr_j.size())) { //, cam_state_ids.size()-1)) {
pH_x.block(pstack_cntr, 0, pH_xj.rows(), pH_xj.cols()) = pH_xj;
pr.segment(pstack_cntr, pr_j.rows()) = pr_j;
pstack_cntr += pH_xj.rows();
}
- }
+ }*/
- cout << "donephoto" << endl;
featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
- cout << "two" << endl;
twodotFeatureJacobian(feature.id, cam_state_ids, twoH_xj, twor_j);
- cout << "gating" << endl;
-
if (gatingTest(H_xj, r_j, r_j.size())) { //, cam_state_ids.size()-1)) {
H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
r.segment(stack_cntr, r_j.rows()) = r_j;
@@ -2524,7 +2503,6 @@ void MsckfVio::removeLostFeatures() {
photometricMeasurementUpdate(pH_x, pr);
}
- cout << "resizing" << endl;
H_x.conservativeResize(stack_cntr, H_x.cols());
r.conservativeResize(stack_cntr);
@@ -2670,26 +2648,21 @@ void MsckfVio::pruneLastCamStateBuffer()
for (const auto& cam_state : state_server.cam_states)
involved_cam_state_ids.push_back(cam_state.first);
- cout << "measuring" << endl;
-
+ /*
if(PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j) == true);
{
- cout << "p gating" << endl;
if (gatingTest(pH_xj, pr_j, pr_j.size())) { //, cam_state_ids.size()-1)) {
pH_x.block(pstack_cntr, 0, pH_xj.rows(), pH_xj.cols()) = pH_xj;
pr.segment(pstack_cntr, pr_j.rows()) = pr_j;
pstack_cntr += pH_xj.rows();
}
- }
+ }*/
- 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;
@@ -2857,23 +2830,18 @@ void MsckfVio::pruneCamStateBuffer() {
}
if (involved_cam_state_ids.size() == 0) continue;
- cout << "measuring" << endl;
+ /*
if(PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j) == true)
{
- cout << "p gating" << endl;
if (gatingTest(pH_xj, pr_j, pr_j.size())) {// involved_cam_state_ids.size())) {
pH_x.block(pstack_cntr, 0, pH_xj.rows(), pH_xj.cols()) = pH_xj;
pr.segment(pstack_cntr, pr_j.rows()) = pr_j;
pstack_cntr += pH_xj.rows();
}
- }
- 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, involved_cam_state_ids.size())) {// involved_cam_state_ids.size())) {
H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;