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added saving exposure time from the frame ID, where the TUM dataset saves it

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This commit is contained in:
Raphael Maenle
2019-04-17 10:54:54 +02:00
parent 819e43bb3b
commit 6ae83f0db7
4 changed files with 28 additions and 17 deletions
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10
include/msckf_vio/cam_state.h
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@ -30,6 +30,11 @@ struct CameraCalibration{
cv::Vec4d distortion_coeffs;
};
struct Frame{
cv::Mat image;
double exposureTime_ms;
};
/*
* @brief CAMState Stored camera state in order to
* form measurement model.
@ -50,6 +55,7 @@ struct CAMState {
// Position of the camera frame in the world frame.
Eigen::Vector3d position;
// Illumination Information of the frame
IlluminationParameter illumination;
// These two variables should have the same physical
@ -80,9 +86,9 @@ typedef std::map<StateIDType, CAMState, std::less<int>,
Eigen::aligned_allocator<
std::pair<const StateIDType, CAMState> > > CamStateServer;
typedef std::map<StateIDType, cv::Mat, std::less<StateIDType>,
typedef std::map<StateIDType, Frame, std::less<StateIDType>,
Eigen::aligned_allocator<
std::pair<StateIDType, cv::Mat> > > movingWindow;
std::pair<StateIDType, Frame> > > movingWindow;
} // namespace msckf_vio
#endif // MSCKF_VIO_CAM_STATE_H

4
include/msckf_vio/feature.hpp
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@ -361,7 +361,7 @@ bool Feature::IrradianceOfAnchorPatch(
for (auto point : anchorPatch_3d)
{
cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam, point);
uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second);
uint8_t irradiance = Irradiance(p_in_c0 , cam0_moving_window.find(cam_state_id)->second.image);
anchorPatch_measurement.push_back(irradiance);
}
}
@ -425,7 +425,7 @@ bool Feature::initializeAnchor(
if(cam0_moving_window.find(anchor->first) == cam0_moving_window.end())
return false;
cv::Mat anchorImage = cam0_moving_window.find(anchor->first)->second;
cv::Mat anchorImage = cam0_moving_window.find(anchor->first)->second.image;
auto u = anchor->second(0)*cam.intrinsics[0] + cam.intrinsics[2];
auto v = anchor->second(1)*cam.intrinsics[1] + cam.intrinsics[3];
int count = 0;

4
include/msckf_vio/msckf_vio.h
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@ -145,8 +145,8 @@ class MsckfVio {
std_srvs::Trigger::Response& res);
void manageMovingWindow(
const cv_bridge::CvImageConstPtr& cam0_image_ptr,
const cv_bridge::CvImageConstPtr& cam1_image_ptr,
const sensor_msgs::ImageConstPtr& cam0_img,
const sensor_msgs::ImageConstPtr& cam1_img,
const CameraMeasurementConstPtr& feature_msg);
// Filter related functions