added jakobi x calculation, y calculation (of photometric update) still missing

2019-04-23 19:16:46 +02:00
parent 8defb20c8e
commit 5958adb57c
3 changed files with 109 additions and 91 deletions
--- a/include/msckf_vio/feature.hpp
+++ b/include/msckf_vio/feature.hpp
@@ -167,11 +167,10 @@ struct Feature {
                  CameraCalibration& cam0,
                  std::vector<float>& anchorPatch_estimate) const;

-  bool FrameIrradiance(
+  bool VisualizePatch(
                  const CAMState& cam_state,
                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_measurement) const;
+                  CameraCalibration& cam0) const;

  /*
  * @brief projectPixelToPosition uses the calcualted pixels
@@ -396,48 +395,41 @@ bool Feature::estimate_FrameIrradiance(

 }

-bool Feature::FrameIrradiance(
+
+bool Feature::VisualizePatch(
                  const CAMState& cam_state,
                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_measurement) const
+                  CameraCalibration& cam0) const
 {

  // visu - feature
-  /*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
+  cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
  cv::Mat dottedFrame(current_image.size(), CV_8UC3);
  cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
-  */

  // project every point in anchorPatch_3d.
-  for (auto point : anchorPatch_3d)
+  auto frame = cam0.moving_window.find(cam_state_id)->second.image;
+  
+  for(auto point : anchorPatch_3d)
  {
-
    cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);

    // visu - feature
-    /*cv::Point xs(p_in_c0.x, p_in_c0.y);
+    cv::Point xs(p_in_c0.x, p_in_c0.y);
    cv::Point ys(p_in_c0.x, p_in_c0.y);
    cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
-  */
-    float irradiance = PixelIrradiance(p_in_c0, cam0.moving_window.find(cam_state_id)->second.image);
-    anchorPatch_measurement.push_back(irradiance);
-    
-    // testing
-    //if(cam_state_id == observations.begin()->first)
-      //if(count++ == 4)
-        //printf("dist:\n \tpos: %f, %f\n\ttrue pos: %f, %f\n\n", p_in_c0.x, p_in_c0.y, anchor_center_pos.x, anchor_center_pos.y);
-    
-  }
+  }  
+  // testing
+  //if(cam_state_id == observations.begin()->first)
+    //if(count++ == 4)
+      //printf("dist:\n \tpos: %f, %f\n\ttrue pos: %f, %f\n\n", p_in_c0.x, p_in_c0.y, anchor_center_pos.x, anchor_center_pos.y);

  // visu - feature
-  //cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
-  /*if(cam0.featureVisu.empty())
+  cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
+  if(cam0.featureVisu.empty())
    cam0.featureVisu = dottedFrame.clone();
  else
    cv::hconcat(cam0.featureVisu, dottedFrame, cam0.featureVisu);
-  */
-
 }

 float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
--- a/include/msckf_vio/msckf_vio.h
+++ b/include/msckf_vio/msckf_vio.h
@@ -207,7 +207,7 @@ class MsckfVio {
    StateServer state_server;
    // Maximum number of camera states
    int max_cam_state_size;
-
+    
    // Features used
    MapServer map_server;

--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -190,7 +190,7 @@ bool MsckfVio::loadParameters() {

  // Maximum number of camera states to be stored
  nh.param<int>("max_cam_state_size", max_cam_state_size, 30);
-
+  //cam_state_size = max_cam_state_size;
  ROS_INFO("===========================================");
  ROS_INFO("fixed frame id: %s", fixed_frame_id.c_str());
  ROS_INFO("child frame id: %s", child_frame_id.c_str());
@@ -684,25 +684,6 @@ void MsckfVio::processModel(const double& time,
  // Propogate the state using 4th order Runge-Kutta
  predictNewState(dtime, gyro, acc);

-  // Modify the transition matrix
-  Matrix3d R_kk_1 = quaternionToRotation(imu_state.orientation_null);
-  Phi.block<3, 3>(0, 0) =
-    quaternionToRotation(imu_state.orientation) * R_kk_1.transpose();
-
-  Vector3d u = R_kk_1 * IMUState::gravity;
-  RowVector3d s = (u.transpose()*u).inverse() * u.transpose();
-
-  Matrix3d A1 = Phi.block<3, 3>(6, 0);
-  Vector3d w1 = skewSymmetric(
-      imu_state.velocity_null-imu_state.velocity) * IMUState::gravity;
-  Phi.block<3, 3>(6, 0) = A1 - (A1*u-w1)*s;
-
-  Matrix3d A2 = Phi.block<3, 3>(12, 0);
-  Vector3d w2 = skewSymmetric(
-      dtime*imu_state.velocity_null+imu_state.position_null-
-      imu_state.position) * IMUState::gravity;
-  Phi.block<3, 3>(12, 0) = A2 - (A2*u-w2)*s;
-
  // Propogate the state covariance matrix.
  Matrix<double, 21, 21> Q = Phi*G*state_server.continuous_noise_cov*
    G.transpose()*Phi.transpose()*dtime;
@@ -908,6 +889,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
  Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
  const Vector3d& t_c0_w = cam_state.position;

+  //temp N
+  const int N = 3;
+
  // Cam1 pose.
  Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
  Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
@@ -922,57 +906,99 @@ void MsckfVio::PhotometricMeasurementJacobian(

  //photometric observation
  std::vector<float> photo_z;
-  feature.FrameIrradiance(cam_state, cam_state_id, cam0, photo_z);
+
+  // individual Jacobians
+  Matrix<double, 1, 2> dI_dhj = Matrix<double, 1, 2>::Zero();
+  Matrix<double, 2, 3> dh_dCpij = Matrix<double, 2, 3>::Zero();
+  Matrix<double, 2, 3> dh_dGpij = Matrix<double, 2, 3>::Zero();
+  Matrix<double, 2, 6> dh_dXplj = Matrix<double, 2, 6>::Zero();
+  Matrix<double, 3, 1> dGpi_drhoj = Matrix<double, 3, 1>::Zero();
+  Matrix<double, 3, 6> dGpi_XpAj = Matrix<double, 3, 6>::Zero();
+  
+  // one line of the NxN Jacobians
+  Eigen::Matrix<double, 1, 1> H_rhoj;
+  Eigen::Matrix<double, 1, 6> H_plj;
+  Eigen::Matrix<double, 1, 6> H_pAj;
+
+  // combined Jacobians
+  Eigen::MatrixXd H_rho(N*N, 3);
+  Eigen::MatrixXd H_pl(N*N, 6);
+  Eigen::MatrixXd H_pA(N*N, 6);
+
+  auto frame = cam0.moving_window.find(cam_state_id)->second.image;
+
+  int count = 0;
+  float dx, dy;
+  for (auto point : feature.anchorPatch_3d)
+  {
+
+    cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
+
+    //add observation
+    photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame));
+
+    //add jacobian
+
+    // frame derivative calculated convoluting with kernel [-1, 0, 1]
+    dx = feature.PixelIrradiance(cv::Point2f(p_in_c0.x+1, p_in_c0.y), frame)- feature.PixelIrradiance(cv::Point2f(p_in_c0.x-1, p_in_c0.y), frame);
+    dy = feature.PixelIrradiance(cv::Point2f(p_in_c0.x, p_in_c0.y+1), frame)- feature.PixelIrradiance(cv::Point2f(p_in_c0.x, p_in_c0.y-1), frame);
+    dI_dhj(0, 0) = dx;
+    dI_dhj(1, 0) = dy;
+    
+    //dh / d{}^Cp_{ij}
+    dh_dCpij.block<2, 2>(0, 0) = Eigen::Matrix<double, 2, 2>::Identity();
+    dh_dCpij(0, 2) = -(point(0))/(point(2)*point(2));
+    dh_dCpij(1, 2) = -(point(1))/(point(2)*point(2));
+    dh_dGpij = dh_dCpij * quaternionToRotation(cam_state.orientation).transpose();
+
+    //dh / d X_{pl}
+    dh_dXplj.block<2, 3>(3, 0) = dh_dCpij * skewSymmetric(point);
+    dh_dXplj.block<2, 3>(3, 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(p_in_c0.x/(rho*rho), p_in_c0.y/(rho*rho), 1/(rho*rho));
+
+    dGpi_XpAj.block<3, 3>(3, 0) = skewSymmetric(Eigen::Vector3d(p_in_c0.x/(rho), p_in_c0.y/(rho), 1/(rho)));
+    dGpi_XpAj.block<3, 3>(3, 3) = Matrix<double, 3, 3>::Identity();
+
+    // Intermediate Jakobians
+    H_rhoj = dI_dhj * dh_dGpij * dGpi_drhoj; // 1 x 3
+    H_plj = dI_dhj * dh_dXplj; // 1 x 6
+    H_pAj = dI_dhj * dh_dGpij * dGpi_XpAj; // 1 x 6
+
+    H_rho.block<1, 1>(count, 0) = H_rhoj;
+    H_pl.block<1, 6>(count, 0) = H_plj;
+    H_pA.block<1, 6>(count, 0) = H_pAj;
+
+    count++;
+  }
+
+
+  
+  //Final Jakobians
+  MatrixXd H_xl = MatrixXd::Zero(N*N, 21+state_server.cam_states.size()*7);
+  MatrixXd H_yl = MatrixXd::Zero(N*N, N*N+2);
+  auto cam_state_iter = state_server.cam_states.find(feature.observations.begin()->first);
+  int cam_state_cntr = std::distance(state_server.cam_states.begin(), state_server.cam_states.find(cam_state_id));
+
+  // set anchor Jakobi
+  H_xl.block<N*N, 6>(0,21+cam_state_cntr*7) = -H_pA; 
+  //H_yl
+
+  cam_state_iter = state_server.cam_states.find(cam_state_id);
+  cam_state_cntr = std::distance(state_server.cam_states.begin(), state_server.cam_states.find(cam_state_id));
+
+  // set frame Jakobi
+  H_xl.block(N*N, 6, 0, 21+cam_state_cntr*7) = -H_pl;
+
+  H_xl.block(N*N, 1, 0, 21+cam_state_cntr*7) = Eigen::ArrayXd::Ones(N*N);

  // Convert the feature position from the world frame to
  // the cam0 and cam1 frame.
  Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
  Vector3d p_c1 = R_w_c1 * (p_w-t_c1_w);

-
-  //compute resulting esimtated position in image
-  cv::Point2f out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
-  std::vector<cv::Point2f> out_v;
-  out_v.push_back(out_p);
-
-  // Compute the Jacobians.
-  Matrix<double, 4, 3> dz_dpc0 = Matrix<double, 4, 3>::Zero();
-  dz_dpc0(0, 0) = 1 / p_c0(2);
-  dz_dpc0(1, 1) = 1 / p_c0(2);
-  dz_dpc0(0, 2) = -p_c0(0) / (p_c0(2)*p_c0(2));
-  dz_dpc0(1, 2) = -p_c0(1) / (p_c0(2)*p_c0(2));
-
-  Matrix<double, 4, 3> dz_dpc1 = Matrix<double, 4, 3>::Zero();
-  dz_dpc1(2, 0) = 1 / p_c1(2);
-  dz_dpc1(3, 1) = 1 / p_c1(2);
-  dz_dpc1(2, 2) = -p_c1(0) / (p_c1(2)*p_c1(2));
-  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);
-  dpc0_dxc.rightCols(3) = -R_w_c0;
-
-  Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();
-  dpc1_dxc.leftCols(3) = R_c0_c1 * skewSymmetric(p_c0);
-  dpc1_dxc.rightCols(3) = -R_w_c1;
-
-  Matrix3d dpc0_dpg = R_w_c0;
-  Matrix3d dpc1_dpg = R_w_c1;
-
-  H_x = dz_dpc0*dpc0_dxc + dz_dpc1*dpc1_dxc;
-  H_f = dz_dpc0*dpc0_dpg + dz_dpc1*dpc1_dpg;
-
-  // Modifty the measurement Jacobian to ensure
-  // observability constrain.
-  Matrix<double, 4, 6> A = H_x;
-  Matrix<double, 6, 1> u = Matrix<double, 6, 1>::Zero();
-  u.block<3, 1>(0, 0) = quaternionToRotation(
-      cam_state.orientation_null) * IMUState::gravity;
-  u.block<3, 1>(3, 0) = skewSymmetric(
-      p_w-cam_state.position_null) * IMUState::gravity;
-  H_x = A - A*u*(u.transpose()*u).inverse()*u.transpose();
-  H_f = -H_x.block<4, 3>(0, 3);
-
  // Compute the residual.
  r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
      p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));