added stereo camera residual and jacobi to twomsckf - works
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6bcc72f826
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@ -18,6 +18,8 @@ namespace msckf_vio {
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struct Frame{
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cv::Mat image;
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cv::Mat dximage;
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cv::Mat dyimage;
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double exposureTime_ms;
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};
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@ -184,9 +184,10 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
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const CameraCalibration& cam,
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Eigen::Vector3d& in_p) const;
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double CompleteCvKernel(
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double CompleteCvKernel(
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const cv::Point2f pose,
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const cv::Mat& frame,
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const StateIDType& cam_state_id,
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CameraCalibration& cam,
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std::string type) const;
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double cvKernel(
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@ -495,40 +496,17 @@ bool Feature::checkMotion(const CamStateServer& cam_states) const
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double Feature::CompleteCvKernel(
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const cv::Point2f pose,
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const cv::Mat& frame,
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const StateIDType& cam_state_id,
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CameraCalibration& cam,
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std::string type) const
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{
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double delta = 0;
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cv::Mat xder;
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cv::Mat yder;
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cv::Mat deeper_frame;
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frame.convertTo(deeper_frame,CV_16S);
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//TODO remove this?
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cv::Sobel(deeper_frame, xder, -1, 1, 0, 3);
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cv::Sobel(deeper_frame, yder, -1, 0, 1, 3);
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xder/=8.;
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yder/=8.;
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/*
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cv::Mat norm_abs_xderImage;
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cv::Mat abs_xderImage2;
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cv::convertScaleAbs(xder, abs_xderImage2);
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cv::normalize(abs_xderImage2, norm_abs_xderImage, 0, 255, cv::NORM_MINMAX, CV_8UC1);
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cv::imshow("xder", norm_abs_xderImage);
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cvWaitKey(0);
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*/
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if(type == "Sobel_x")
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delta = ((double)xder.at<short>(pose.y, pose.x))/255.;
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delta = ((double)cam.moving_window.find(cam_state_id)->second.dximage.at<short>(pose.y, pose.x))/255.;
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else if (type == "Sobel_y")
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delta = ((double)yder.at<short>(pose.y, pose.x))/255.;
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delta = ((double)cam.moving_window.find(cam_state_id)->second.dyimage.at<short>(pose.y, pose.x))/255.;
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return delta;
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}
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@ -18,14 +18,14 @@
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output="screen">
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<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
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<param name="FILTER" value="1"/>
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<param name="FILTER" value="2"/>
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<!-- Debugging Flaggs -->
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<param name="StreamPause" value="true"/>
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<param name="PrintImages" value="false"/>
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<param name="GroundTruth" value="false"/>
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<param name="patch_size_n" value="5"/>
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<param name="patch_size_n" value="1"/>
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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@ -544,13 +544,22 @@ void MsckfVio::manageMovingWindow(
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image_handler::undistortImage(cam1_img_ptr->image, cam1_img_ptr->image, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
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// save image information into moving window
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cam0.moving_window[state_server.imu_state.id].image = cam0_img_ptr->image.clone();
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cam1.moving_window[state_server.imu_state.id].image = cam1_img_ptr->image.clone();
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cv::Mat xder;
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cv::Mat yder;
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cv::Mat deeper_frame;
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cam1_img_ptr->image.convertTo(deeper_frame,CV_16S);
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cv::Sobel(deeper_frame, xder, -1, 1, 0, 3);
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cv::Sobel(deeper_frame, yder, -1, 0, 1, 3);
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xder/=8.;
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yder/=8.;
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cam0.moving_window[state_server.imu_state.id].dximage = xder.clone();
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cam0.moving_window[state_server.imu_state.id].dyimage = yder.clone();
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@ -1310,96 +1319,98 @@ void MsckfVio::twodotMeasurementJacobian(
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const CAMState& cam_state = state_server.cam_states[cam_state_id];
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const Feature& feature = map_server[feature_id];
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// Cam0 pose.
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// Cam0 pose
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Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
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const Vector3d& t_c0_w = cam_state.position;
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//photometric observation
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std::vector<double> photo_z;
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// Cam1 pose
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Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
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Matrix3d R_w_c1 = R_c0_c1 * R_w_c0;
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Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
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// individual Jacobians
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Matrix<double, 2, 3> dh_dCpij = Matrix<double, 2, 3>::Zero();
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Matrix<double, 2, 3> dh_dGpij = Matrix<double, 2, 3>::Zero();
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Matrix<double, 2, 6> dh_dXplj = Matrix<double, 2, 6>::Zero();
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Matrix<double, 4, 3> dh_dC0pij = Matrix<double, 4, 3>::Zero();
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Matrix<double, 4, 3> dh_dC1pij = Matrix<double, 4, 3>::Zero();
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Matrix<double, 4, 3> dh_dGpij = Matrix<double, 4, 3>::Zero();
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Matrix<double, 4, 6> dh_dXplj = Matrix<double, 4, 6>::Zero();
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Matrix<double, 3, 1> dGpj_drhoj = Matrix<double, 3, 1>::Zero();
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Matrix<double, 3, 6> dGpj_XpAj = Matrix<double, 3, 6>::Zero();
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Matrix<double, 3, 3> dCpij_dGpij = Matrix<double, 3, 3>::Zero();
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Matrix<double, 3, 3> dCpij_dCGtheta = Matrix<double, 3, 3>::Zero();
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Matrix<double, 3, 3> dCpij_dGpC = Matrix<double, 3, 3>::Zero();
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Matrix<double, 3, 3> dC0pij_dGpij = Matrix<double, 3, 3>::Zero();
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Matrix<double, 3, 3> dC1pij_dGpij = Matrix<double, 3, 3>::Zero();
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Matrix<double, 3, 6> dC0pij_dXplj = Matrix<double, 3, 6>::Zero();
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Matrix<double, 3, 6> dC1pij_dXplj = Matrix<double, 3, 6>::Zero();
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// one line of the NxN Jacobians
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Eigen::Matrix<double, 2, 1> H_rho;
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Eigen::Matrix<double, 2, 6> H_plj;
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Eigen::Matrix<double, 2, 6> H_pAj;
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Eigen::Matrix<double, 4, 1> H_rho;
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Eigen::Matrix<double, 4, 6> H_plj;
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Eigen::Matrix<double, 4, 6> H_pAj;
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auto frame = cam0.moving_window.find(cam_state_id)->second.image;
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int count = 0;
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auto point = feature.anchorPatch_3d[0];
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Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
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Eigen::Vector3d p_c1 = R_w_c1 * (point-t_c1_w);
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// add jacobian
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//dh / d{}^Cp_{ij}
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dh_dCpij(0, 0) = 1 / p_c0(2);
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dh_dCpij(1, 1) = 1 / p_c0(2);
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dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
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dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
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dh_dC0pij(0, 0) = 1. / p_c0(2);
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dh_dC0pij(1, 1) = 1. / p_c0(2);
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dh_dC0pij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
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dh_dC0pij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
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dCpij_dGpij = quaternionToRotation(cam_state.orientation);
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//dh / d{}^Cp_{ij}
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dh_dC1pij(2, 0) = 1. / p_c1(2);
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dh_dC1pij(3, 1) = 1. / p_c1(2);
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dh_dC1pij(2, 2) = -(p_c1(0))/(p_c1(2)*p_c1(2));
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dh_dC1pij(3, 2) = -(p_c1(1))/(p_c1(2)*p_c1(2));
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//orientation takes camera frame to world frame
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dh_dGpij = dh_dCpij * dCpij_dGpij;
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dC0pij_dGpij = R_w_c0;
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dC1pij_dGpij = R_c0_c1 * R_w_c0;
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//dh / d X_{pl}
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dCpij_dCGtheta = skewSymmetric(p_c0);
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dCpij_dGpC = -quaternionToRotation(cam_state.orientation);
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dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * dCpij_dCGtheta;
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dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * dCpij_dGpC;
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dC0pij_dXplj.leftCols(3) = skewSymmetric(p_c0);
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dC0pij_dXplj.rightCols(3) = -R_w_c0;
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//d{}^Gp_P{ij} / \rho_i
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// d{}^Gp_P{ij} / \rho_i
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double rho = feature.anchor_rho;
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// Isometry T_anchor_w takes a vector in anchor frame to world frame
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dGpj_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));
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dGpj_drhoj = -feature.T_anchor_w.linear() * Eigen::Vector3d(feature.anchorPatch_ideal[(N*N-1)/2].x/(rho*rho), feature.anchorPatch_ideal[(N*N-1)/2].y/(rho*rho), 1/(rho*rho));
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// alternative derivation towards feature
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Matrix3d dCpc0_dpg = R_w_c0;
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dGpj_XpAj.block<3, 3>(0, 0) = - feature.T_anchor_w.linear()
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* skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
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feature.anchorPatch_ideal[count].y/(rho),
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* skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[(N*N-1)/2].x/(rho),
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feature.anchorPatch_ideal[(N*N-1)/2].y/(rho),
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1/(rho)));
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dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
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// Intermediate Jakobians
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H_rho = dh_dGpij * dGpj_drhoj; // 2 x 1
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H_plj = dh_dXplj; // 2 x 6
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H_pAj = dh_dGpij * dGpj_XpAj; // 2 x 6
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H_rho = dh_dC0pij * dC0pij_dGpij * dGpj_drhoj + dh_dC1pij * dC1pij_dGpij * dGpj_drhoj; // 4 x 1
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H_plj = dh_dC0pij * dC0pij_dXplj + dh_dC1pij * R_c0_c1 * dC0pij_dXplj; // 4 x 6
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H_pAj = dh_dC0pij * dC0pij_dGpij * dGpj_XpAj + dh_dC1pij * dC1pij_dGpij * dGpj_XpAj; // 4 x 6
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// calculate residual
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//observation
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const Vector4d& total_z = feature.observations.find(cam_state_id)->second;
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const Vector2d z = Vector2d(total_z[0], total_z[1]);
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VectorXd r_i = VectorXd::Zero(2);
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VectorXd r_i = VectorXd::Zero(4);
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//calculate residual
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r_i[0] = z[0] - p_c0(0)/p_c0(2);
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r_i[1] = z[1] - p_c0(1)/p_c0(2);
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MatrixXd H_xl = MatrixXd::Zero(2, 21+state_server.cam_states.size()*7);
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r_i[0] = total_z[0] - p_c0(0)/p_c0(2);
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r_i[1] = total_z[1] - p_c0(1)/p_c0(2);
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r_i[2] = total_z[2] - p_c1(0)/p_c1(2);
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r_i[3] = total_z[3] - p_c1(1)/p_c1(2);
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MatrixXd H_xl = MatrixXd::Zero(4, 21+state_server.cam_states.size()*7);
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// set anchor Jakobi
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// get position of anchor in cam states
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auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
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int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
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H_xl.block(0, 21+cam_state_cntr_anchor*7, 2, 6) = H_pAj;
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H_xl.block(0, 21+cam_state_cntr_anchor*7, 4, 6) = H_pAj;
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// set frame Jakobi
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//get position of current frame in cam states
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@ -1407,7 +1418,7 @@ void MsckfVio::twodotMeasurementJacobian(
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int cam_state_cntr = std::distance(state_server.cam_states.begin(), cam_state_iter);
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// set jakobi of state
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H_xl.block(0, 21+cam_state_cntr*7, 2, 6) = H_plj;
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H_xl.block(0, 21+cam_state_cntr*7, 4, 6) = H_plj;
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H_x = H_xl;
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H_y = H_rho;
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@ -1446,7 +1457,7 @@ void MsckfVio::twodotFeatureJacobian(
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}
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int jacobian_row_size = 0;
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jacobian_row_size = 2 * valid_cam_state_ids.size();
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jacobian_row_size = 4 * valid_cam_state_ids.size();
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MatrixXd H_xi = MatrixXd::Zero(jacobian_row_size,
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21+state_server.cam_states.size()*7);
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@ -1458,7 +1469,7 @@ void MsckfVio::twodotFeatureJacobian(
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MatrixXd H_xl;
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MatrixXd H_yl;
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Eigen::VectorXd r_l = VectorXd::Zero(2);
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Eigen::VectorXd r_l = VectorXd::Zero(4);
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twodotMeasurementJacobian(cam_id, feature.id, H_xl, H_yl, r_l);
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auto cam_state_iter = state_server.cam_states.find(cam_id);
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@ -1468,13 +1479,14 @@ void MsckfVio::twodotFeatureJacobian(
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// Stack the Jacobians.
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H_xi.block(stack_cntr, 0, H_xl.rows(), H_xl.cols()) = H_xl;
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H_yi.block(stack_cntr, 0, H_yl.rows(), H_yl.cols()) = H_yl;
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r_i.segment(stack_cntr, 2) = r_l;
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stack_cntr += 2;
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r_i.segment(stack_cntr, 4) = r_l;
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stack_cntr += 4;
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}
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// Project the residual and Jacobians onto the nullspace
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// of H_yj.
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// get Nullspace
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FullPivLU<MatrixXd> lu(H_yi.transpose());
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MatrixXd A_null_space = lu.kernel();
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@ -1518,10 +1530,10 @@ void MsckfVio::twodotFeatureJacobian(
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std::cout << "resume playback" << std::endl;
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nh.setParam("/play_bag", true);
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}
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return;
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}
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bool MsckfVio::PhotometricPatchPointResidual(
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const StateIDType& cam_state_id,
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const Feature& feature,
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@ -1628,8 +1640,8 @@ bool MsckfVio::PhotometricPatchPointJacobian(
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// calculate derivation for anchor frame, use position for derivation calculation
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// frame derivative calculated convoluting with kernel [-1, 0, 1]
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dx = feature.CompleteCvKernel(p_in_c0, frame, "Sobel_x");
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dy = feature.CompleteCvKernel(p_in_c0, frame, "Sobel_y");
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dx = feature.CompleteCvKernel(p_in_c0, cam_state_id, cam0, "Sobel_x");
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dy = feature.CompleteCvKernel(p_in_c0, cam_state_id, cam0, "Sobel_y");
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//cout << "dx: " << dx << " : " << feature.cvKernel(p_in_c0, "Sobel_x") << " : " << feature.Kernel(p_in_c0, frame, "Sobel_x") << endl;
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dI_dhj(0, 0) = dx * cam0.intrinsics[0];
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@ -1806,6 +1818,8 @@ bool MsckfVio::PhotometricFeatureJacobian(
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const std::vector<StateIDType>& cam_state_ids,
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MatrixXd& H_x, VectorXd& r)
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{
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return false;
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const auto& feature = map_server[feature_id];
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// Check how many camera states in the provided camera
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@ -2164,7 +2178,7 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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// cout << "reg rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
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cout << "reg: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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// cout << "reg: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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if(FILTER != 0) return;
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@ -2247,8 +2261,12 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
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void MsckfVio::twoMeasurementUpdate(const MatrixXd& H, const VectorXd& r) {
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if (H.rows() == 0 || r.rows() == 0)
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{
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cout << "zero" << endl;
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return;
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}
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// Decompose the final Jacobian matrix to reduce computational
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// complexity as in Equation (28), (29).
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MatrixXd H_thin;
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@ -2298,6 +2316,8 @@ void MsckfVio::twoMeasurementUpdate(const MatrixXd& H, const VectorXd& r) {
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// Update the IMU state.
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if (FILTER != 2) return;
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cout << "two: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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delta_position = Eigen::Vector3d(delta_x[12], delta_x[13], delta_x[14]);
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delta_orientation = Eigen::Vector3d(delta_x[0], delta_x[1], delta_x[2]);
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@ -2403,7 +2423,7 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
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VectorXd delta_x = K * r;
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// Update the IMU state.
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cout << "pho: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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// cout << "pho: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
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if (FILTER != 1) return;
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@ -2484,7 +2504,7 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
|
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||||
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bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof) {
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return true;
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//return true;
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MatrixXd P1 = H * state_server.state_cov * H.transpose();
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MatrixXd P2 = Feature::observation_noise *
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@ -2492,8 +2512,8 @@ bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof)
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double gamma = r.transpose() * (P1+P2).ldlt().solve(r);
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cout << "gate: " << dof << " " << gamma << " " <<
|
||||
chi_squared_test_table[dof] << endl;
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//cout << "gate: " << dof << " " << gamma << " " <<
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||||
//chi_squared_test_table[dof] << endl;
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||||
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if (chi_squared_test_table[dof] == 0)
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return false;
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||||
@ -2552,7 +2572,7 @@ void MsckfVio::removeLostFeatures() {
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||||
}
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||||
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pjacobian_row_size += N*N*feature.observations.size();
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twojacobian_row_size += 2*feature.observations.size();
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||||
twojacobian_row_size += 4*feature.observations.size();
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||||
jacobian_row_size += 4*feature.observations.size() - 3;
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||||
|
||||
processed_feature_ids.push_back(feature.id);
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||||
@ -2604,6 +2624,7 @@ void MsckfVio::removeLostFeatures() {
|
||||
if(PhotometricFeatureJacobian(feature.id, cam_state_ids, pH_xj, pr_j))
|
||||
{
|
||||
if (gatingTest(pH_xj, pr_j, pr_j.size())) { //, cam_state_ids.size()-1)) {
|
||||
//cout << "passed" << endl;
|
||||
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();
|
||||
@ -2619,6 +2640,7 @@ void MsckfVio::removeLostFeatures() {
|
||||
stack_cntr += H_xj.rows();
|
||||
}
|
||||
if (gatingTest(twoH_xj, twor_j, twor_j.size())) { //, cam_state_ids.size()-1)) {
|
||||
cout << "passed" << endl;
|
||||
twoH_x.block(twostack_cntr, 0, twoH_xj.rows(), twoH_xj.cols()) = twoH_xj;
|
||||
twor.segment(twostack_cntr, twor_j.rows()) = twor_j;
|
||||
twostack_cntr += twoH_xj.rows();
|
||||
@ -2749,7 +2771,7 @@ void MsckfVio::pruneLastCamStateBuffer()
|
||||
|
||||
pjacobian_row_size += N*N*feature.observations.size();
|
||||
jacobian_row_size += 4*feature.observations.size() - 3;
|
||||
twojacobian_row_size += 2*feature.observations.size();
|
||||
twojacobian_row_size += 4*feature.observations.size();
|
||||
|
||||
}
|
||||
|
||||
@ -2787,6 +2809,7 @@ void MsckfVio::pruneLastCamStateBuffer()
|
||||
if(PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j) == true)
|
||||
{
|
||||
if (gatingTest(pH_xj, pr_j, pr_j.size())) { //, cam_state_ids.size()-1)) {
|
||||
//cout << "passed" << endl;
|
||||
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();
|
||||
@ -2804,6 +2827,7 @@ void MsckfVio::pruneLastCamStateBuffer()
|
||||
}
|
||||
|
||||
if (gatingTest(twoH_xj, twor_j, twor_j.size())) {// involved_cam_state_ids.size())) {
|
||||
cout << "passed" << endl;
|
||||
twoH_x.block(twostack_cntr, 0, twoH_xj.rows(), twoH_xj.cols()) = twoH_xj;
|
||||
twor.segment(twostack_cntr, twor_j.rows()) = twor_j;
|
||||
twostack_cntr += twoH_xj.rows();
|
||||
@ -2929,7 +2953,7 @@ void MsckfVio::pruneCamStateBuffer() {
|
||||
}
|
||||
}
|
||||
|
||||
twojacobian_row_size += 2*involved_cam_state_ids.size();
|
||||
twojacobian_row_size += 4*involved_cam_state_ids.size();
|
||||
pjacobian_row_size += N*N*involved_cam_state_ids.size();
|
||||
jacobian_row_size += 4*involved_cam_state_ids.size() - 3;
|
||||
}
|
||||
@ -2969,6 +2993,7 @@ void MsckfVio::pruneCamStateBuffer() {
|
||||
if(PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j) == true)
|
||||
{
|
||||
if (gatingTest(pH_xj, pr_j, pr_j.size())) {// involved_cam_state_ids.size())) {
|
||||
//cout << "passed" << endl;
|
||||
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();
|
||||
@ -2985,6 +3010,7 @@ void MsckfVio::pruneCamStateBuffer() {
|
||||
}
|
||||
|
||||
if (gatingTest(twoH_xj, twor_j, twor_j.size())) {// involved_cam_state_ids.size())) {
|
||||
cout << "passed" << endl;
|
||||
twoH_x.block(twostack_cntr, 0, twoH_xj.rows(), twoH_xj.cols()) = twoH_xj;
|
||||
twor.segment(twostack_cntr, twor_j.rows()) = twor_j;
|
||||
twostack_cntr += twoH_xj.rows();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user