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restructured calcualtion of patches in code

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This commit is contained in:
Raphael Maenle
2019-07-02 08:32:56 +02:00
parent 58fe991647
commit 737c23f32a
4 changed files with 365 additions and 238 deletions
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4
src/image_processor.cpp
View File

@@ -223,8 +223,8 @@ void ImageProcessor::stereoCallback(
image_handler::undistortImage(cam0_curr_img_ptr->image, cam0_curr_img_ptr->image, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_curr_img_ptr->image, cam1_curr_img_ptr->image, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
ROS_INFO("Publishing: %f",
(ros::Time::now()-start_time).toSec());
//ROS_INFO("Publishing: %f",
// (ros::Time::now()-start_time).toSec());
// Build the image pyramids once since they're used at multiple places
createImagePyramids();

534
src/msckf_vio.cpp
View File

@@ -260,6 +260,7 @@ bool MsckfVio::createRosIO() {
// activating bag playing parameter, for debugging
nh.setParam("/play_bag", true);
eval_time = 0;
odom_pub = nh.advertise<nav_msgs::Odometry>("odom", 10);
truth_odom_pub = nh.advertise<nav_msgs::Odometry>("true_odom", 10);
feature_pub = nh.advertise<sensor_msgs::PointCloud2>(
@@ -412,6 +413,10 @@ void MsckfVio::imageCallback(
return;
}
old_imu_state = state_server.imu_state;
old_true_state = true_state_server.imu_state;
// Start the system if the first image is received.
// The frame where the first image is received will be
// the origin.
@@ -419,7 +424,6 @@ void MsckfVio::imageCallback(
is_first_img = false;
state_server.imu_state.time = feature_msg->header.stamp.toSec();
}
static double max_processing_time = 0.0;
static int critical_time_cntr = 0;
double processing_start_time = ros::Time::now().toSec();
@@ -427,24 +431,14 @@ void MsckfVio::imageCallback(
// Propogate the IMU state.
// that are received before the image feature_msg.
ros::Time start_time = ros::Time::now();
batchImuProcessing(feature_msg->header.stamp.toSec());
if(GROUNDTRUTH)
{
state_server.imu_state.position = true_state_server.imu_state.position;
state_server.imu_state.orientation = true_state_server.imu_state.orientation;
state_server.imu_state.position_null = true_state_server.imu_state.position_null;
state_server.imu_state.orientation_null = true_state_server.imu_state.orientation_null;
state_server.imu_state.R_imu_cam0 = true_state_server.imu_state.R_imu_cam0;
state_server.imu_state.t_cam0_imu = true_state_server.imu_state.t_cam0_imu;
}
nh.param<int>("FILTER", FILTER, 0);
batchImuProcessing(feature_msg->header.stamp.toSec());
double imu_processing_time = (
ros::Time::now()-start_time).toSec();
cout << "1" << endl;
// Augment the state vector.
start_time = ros::Time::now();
//truePhotometricStateAugmentation(feature_msg->header.stamp.toSec());
@@ -453,7 +447,7 @@ void MsckfVio::imageCallback(
ros::Time::now()-start_time).toSec();
cout << "2" << endl;
// cout << "2" << endl;
// Add new observations for existing features or new
// features in the map server.
start_time = ros::Time::now();
@@ -462,7 +456,7 @@ void MsckfVio::imageCallback(
ros::Time::now()-start_time).toSec();
cout << "3" << endl;
// cout << "3" << endl;
// Add new images to moving window
start_time = ros::Time::now();
manageMovingWindow(cam0_img, cam1_img, feature_msg);
@@ -470,14 +464,14 @@ void MsckfVio::imageCallback(
ros::Time::now()-start_time).toSec();
cout << "4" << endl;
// cout << "4" << endl;
// Perform measurement update if necessary.
start_time = ros::Time::now();
removeLostFeatures();
double remove_lost_features_time = (
ros::Time::now()-start_time).toSec();
cout << "5" << endl;
// cout << "5" << endl;
start_time = ros::Time::now();
pruneLastCamStateBuffer();
double prune_cam_states_time = (
@@ -487,7 +481,7 @@ void MsckfVio::imageCallback(
batchTruthProcessing(feature_msg->header.stamp.toSec());
cout << "6" << endl;
// cout << "6" << endl;
// Publish the odometry.
start_time = ros::Time::now();
publish(feature_msg->header.stamp);
@@ -504,18 +498,18 @@ void MsckfVio::imageCallback(
++critical_time_cntr;
ROS_INFO("\033[1;31mTotal processing time %f/%d...\033[0m",
processing_time, critical_time_cntr);
printf("IMU processing time: %f/%f\n",
imu_processing_time, imu_processing_time/processing_time);
printf("State augmentation time: %f/%f\n",
state_augmentation_time, state_augmentation_time/processing_time);
printf("Add observations time: %f/%f\n",
add_observations_time, add_observations_time/processing_time);
printf("Remove lost features time: %f/%f\n",
remove_lost_features_time, remove_lost_features_time/processing_time);
printf("Remove camera states time: %f/%f\n",
prune_cam_states_time, prune_cam_states_time/processing_time);
printf("Publish time: %f/%f\n",
publish_time, publish_time/processing_time);
//printf("IMU processing time: %f/%f\n",
// imu_processing_time, imu_processing_time/processing_time);
//printf("State augmentation time: %f/%f\n",
// state_augmentation_time, state_augmentation_time/processing_time);
//printf("Add observations time: %f/%f\n",
// add_observations_time, add_observations_time/processing_time);
//printf("Remove lost features time: %f/%f\n",
// remove_lost_features_time, remove_lost_features_time/processing_time);
//printf("Remove camera states time: %f/%f\n",
// prune_cam_states_time, prune_cam_states_time/processing_time);
//printf("Publish time: %f/%f\n",
// publish_time, publish_time/processing_time);
}
if(STREAMPAUSE)
@@ -806,8 +800,6 @@ void MsckfVio::batchTruthProcessing(const double& time_bound) {
// Counter how many IMU msgs in the buffer are used.
int used_truth_msg_cntr = 0;
const IMUState old_true_state = true_state_server.imu_state;
for (const auto& truth_msg : truth_msg_buffer) {
double truth_time = truth_msg.header.stamp.toSec();
if (truth_time < true_state_server.imu_state.time) {
@@ -839,22 +831,76 @@ void MsckfVio::batchTruthProcessing(const double& time_bound) {
truth_msg_buffer.erase(truth_msg_buffer.begin(),
truth_msg_buffer.begin()+used_truth_msg_cntr);
/*
// calculate change
delta_position = state_server.imu_state.position - old_imu_state.position;
Eigen::Vector4d delta_orientation_quaternion = quaternionMultiplication(quaternionConjugate(state_server.imu_state.orientation), old_imu_state.orientation);
delta_orientation = Eigen::Vector3d(delta_orientation_quaternion[0]*2, delta_orientation_quaternion[1]*2, delta_orientation_quaternion[2]*2);
// calculate error in position
// calculate error in change
// calculate change
Eigen::Vector3d delta_true_position = true_state_server.imu_state.position - old_true_state.position;
Eigen::Vector4d delta_true_orientation = quaternionMultiplication(quaternionConjugate(true_state_server.imu_state.orientation), old_true_state.orientation);
Eigen::Vector3d delta_smallangle_true_orientation = Eigen::Vector3d(delta_true_orientation[0]*2, delta_true_orientation[1]*2, delta_true_orientation[2]*2);
Eigen::Vector3d error_delta_position = delta_true_position - delta_position;
Eigen::Vector3d error_delta_orientation = delta_smallangle_true_orientation - delta_orientation;
double dx = (error_delta_position[0]/delta_true_position[0]);
double dy = (error_delta_position[1]/delta_true_position[1]);
double dz = (error_delta_position[2]/delta_true_position[2]);
cout << "relative pos error: " << sqrt(dx*dx + dy*dy + dz*dz) * 100 << "%" << endl;
Eigen::Vector3d error_position = true_state_server.imu_state.position - state_server.imu_state.position;
Eigen::Vector4d error_orientation_q = quaternionMultiplication(quaternionConjugate(true_state_server.imu_state.orientation), state_server.imu_state.orientation);
Eigen::Vector3d error_orientation = Eigen::Vector3d(error_orientation_q[0]*2, error_orientation_q[1]*2, error_orientation_q[2]*2);
double relerr = (sqrt(error_delta_position[0]*error_delta_position[0] + error_delta_position[1]*error_delta_position[1] + error_delta_position[2]*error_delta_position[2])/
sqrt(delta_true_position[0]*delta_true_position[0] + delta_true_position[1]*delta_true_position[1] + delta_true_position[2]*delta_true_position[2]));
double relOerr = (sqrt(error_delta_orientation[0]*error_delta_orientation[0] + error_delta_orientation[1]*error_delta_orientation[1] + error_delta_orientation[2]*error_delta_orientation[2])/
sqrt(delta_smallangle_true_orientation[0]*delta_smallangle_true_orientation[0] + delta_smallangle_true_orientation[1]*delta_smallangle_true_orientation[1] + delta_smallangle_true_orientation[2]*delta_smallangle_true_orientation[2]));
double abserr = (sqrt(error_delta_position[0]*error_delta_position[0] + error_delta_position[1]*error_delta_position[1] + error_delta_position[2]*error_delta_position[2])/
sqrt(delta_true_position[0]*delta_true_position[0] + delta_true_position[1]*delta_true_position[1] + delta_true_position[2]*delta_true_position[2]));
cout << "relative pos error: " << relerr * 100 << "%" << endl;
cout << "relative ori error: " << relOerr * 100 << "%" << endl;
//cout << "absolute pos error: " <<
*/
if (eval_time + 1 < ros::Time::now().toSec())
{
// calculate change
delta_position = state_server.imu_state.position - timed_old_imu_state.position;
Eigen::Vector4d delta_orientation_quaternion = quaternionMultiplication(quaternionConjugate(state_server.imu_state.orientation), timed_old_imu_state.orientation);
delta_orientation = Eigen::Vector3d(delta_orientation_quaternion[0]*2, delta_orientation_quaternion[1]*2, delta_orientation_quaternion[2]*2);
// calculate error in position
// calculate error in change
Eigen::Vector3d delta_true_position = true_state_server.imu_state.position - timed_old_true_state.position;
Eigen::Vector4d delta_true_orientation = quaternionMultiplication(quaternionConjugate(true_state_server.imu_state.orientation), timed_old_true_state.orientation);
Eigen::Vector3d delta_smallangle_true_orientation = Eigen::Vector3d(delta_true_orientation[0]*2, delta_true_orientation[1]*2, delta_true_orientation[2]*2);
Eigen::Vector3d error_delta_position = delta_true_position - delta_position;
Eigen::Vector3d error_delta_orientation = delta_smallangle_true_orientation - delta_orientation;
Eigen::Vector3d error_position = true_state_server.imu_state.position - state_server.imu_state.position;
Eigen::Vector4d error_orientation_q = quaternionMultiplication(quaternionConjugate(true_state_server.imu_state.orientation), state_server.imu_state.orientation);
Eigen::Vector3d error_orientation = Eigen::Vector3d(error_orientation_q[0]*2, error_orientation_q[1]*2, error_orientation_q[2]*2);
double relerr = (sqrt(error_delta_position[0]*error_delta_position[0] + error_delta_position[1]*error_delta_position[1] + error_delta_position[2]*error_delta_position[2])/
sqrt(delta_true_position[0]*delta_true_position[0] + delta_true_position[1]*delta_true_position[1] + delta_true_position[2]*delta_true_position[2]));
double relOerr = (sqrt(error_delta_orientation[0]*error_delta_orientation[0] + error_delta_orientation[1]*error_delta_orientation[1] + error_delta_orientation[2]*error_delta_orientation[2])/
sqrt(delta_smallangle_true_orientation[0]*delta_smallangle_true_orientation[0] + delta_smallangle_true_orientation[1]*delta_smallangle_true_orientation[1] + delta_smallangle_true_orientation[2]*delta_smallangle_true_orientation[2]));
double abserr = (sqrt(error_delta_position[0]*error_delta_position[0] + error_delta_position[1]*error_delta_position[1] + error_delta_position[2]*error_delta_position[2])/
sqrt(delta_true_position[0]*delta_true_position[0] + delta_true_position[1]*delta_true_position[1] + delta_true_position[2]*delta_true_position[2]));
// cout << "relative pos error: " << relerr * 100 << "%" << endl;
// cout << "relative ori error: " << relOerr * 100 << "%" << endl;
timed_old_imu_state = state_server.imu_state;
timed_old_true_state = true_state_server.imu_state;
eval_time = ros::Time::now().toSec();
}
}
void MsckfVio::processTruthtoIMU(const double& time,
@@ -1477,17 +1523,60 @@ void MsckfVio::twodotFeatureJacobian(
return;
}
bool MsckfVio::PhotometricMeasurementJacobian(
const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
MatrixXd& H_x, MatrixXd& H_y, VectorXd& r)
bool MsckfVio::PhotometricPatchPointResidual(
const StateIDType& cam_state_id,
const Feature& feature,
VectorXd& r)
{
// Prepare all the required data.
VectorXd r_photo = VectorXd::Zero(N*N);
int count = 0;
auto frame = cam0.moving_window.find(cam_state_id)->second.image;
const CAMState& cam_state = state_server.cam_states[cam_state_id];
const Feature& feature = map_server[feature_id];
//estimate photometric measurement
std::vector<double> estimate_irradiance;
std::vector<double> estimate_photo_z;
std::vector<double> photo_z;
IlluminationParameter estimated_illumination;
feature.estimate_FrameIrradiance(cam_state, cam_state_id, cam0, estimate_irradiance, estimated_illumination);
for (auto& estimate_irradiance_j : estimate_irradiance)
estimate_photo_z.push_back (estimate_irradiance_j *
estimated_illumination.frame_gain * estimated_illumination.feature_gain +
estimated_illumination.frame_bias + estimated_illumination.feature_bias);
for(auto point : feature.anchorPatch_3d)
{
cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
// test if projection is inside frame
if(p_in_c0.x < 0 or p_in_c0.x > frame.cols-1 or p_in_c0.y < 0 or p_in_c0.y > frame.rows-1)
return false;
//add observation
photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame));
//calculate photom. residual
r_photo(count) = photo_z[count] - estimate_photo_z[count];
count++;
}
r = r_photo;
return true;
}
// generates the jacobian of one patch point regarding rho, anchor and current frame
bool MsckfVio::PhotometricPatchPointJacobian(
const CAMState& cam_state,
const Feature& feature,
Eigen::Vector3d point,
int count,
Eigen::Matrix<double, 1, 1>& H_rhoj,
Eigen::Matrix<double, 1, 6>& H_plj,
Eigen::Matrix<double, 1, 6>& H_pAj)
{
const StateIDType anchor_state_id = feature.observations.begin()->first;
const CAMState anchor_state = state_server.cam_states[anchor_state_id];
@@ -1501,10 +1590,7 @@ bool MsckfVio::PhotometricMeasurementJacobian(
Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
//photometric observation
std::vector<double> photo_z;
VectorXd r_photo = VectorXd::Zero(N*N);
// individual Jacobians
Matrix<double, 1, 2> dI_dhj = Matrix<double, 1, 2>::Zero();
Matrix<double, 2, 3> dh_dCpij = Matrix<double, 2, 3>::Zero();
@@ -1517,6 +1603,69 @@ bool MsckfVio::PhotometricMeasurementJacobian(
Matrix<double, 3, 3> dCpij_dCGtheta = Matrix<double, 3, 3>::Zero();
Matrix<double, 3, 3> dCpij_dGpC = Matrix<double, 3, 3>::Zero();
double dx, dy;
Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
cv::Point2f p_in_anchor = feature.projectPositionToCamera(anchor_state, anchor_state_id, cam0, point);
// calculate derivation for anchor frame, use position for derivation calculation
// frame derivative calculated convoluting with kernel [-1, 0, 1]
dx = feature.cvKernel(p_in_anchor, "Sobel_x");
dy = feature.cvKernel(p_in_anchor, "Sobel_y");
dI_dhj(0, 0) = dx * cam0.intrinsics[0];
dI_dhj(0, 1) = dy * cam0.intrinsics[1];
//dh / d{}^Cp_{ij}
dh_dCpij(0, 0) = 1 / p_c0(2);
dh_dCpij(1, 1) = 1 / p_c0(2);
dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
dCpij_dGpij = quaternionToRotation(cam_state.orientation);
//orientation takes camera frame to world frame, we wa
dh_dGpij = dh_dCpij * dCpij_dGpij;
//dh / d X_{pl}
dCpij_dCGtheta = skewSymmetric(p_c0);
dCpij_dGpC = -quaternionToRotation(cam_state.orientation);
dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * dCpij_dCGtheta;
dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * dCpij_dGpC;
// d{}^Gp_P{ij} / \rho_i
double rho = feature.anchor_rho;
// Isometry T_anchor_w takes a vector in anchor frame to world frame
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));
dGpj_XpAj.block<3, 3>(0, 0) = - feature.T_anchor_w.linear()
* skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
feature.anchorPatch_ideal[count].y/(rho),
1/(rho)));
dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
// Intermediate Jakobians
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 1
H_plj = dI_dhj * dh_dXplj; // 1 x 6
H_pAj = dI_dhj * dh_dGpij * dGpj_XpAj; // 1 x 6
return true;
}
bool MsckfVio::PhotometricMeasurementJacobian(
const StateIDType& cam_state_id,
const FeatureIDType& feature_id,
MatrixXd& H_x, MatrixXd& H_y, VectorXd& r)
{
// Prepare all the required data.
const CAMState& cam_state = state_server.cam_states[cam_state_id];
const Feature& feature = map_server[feature_id];
//photometric observation
VectorXd r_photo = VectorXd::Zero(N*N);
// one line of the NxN Jacobians
Eigen::Matrix<double, 1, 1> H_rhoj;
Eigen::Matrix<double, 1, 6> H_plj;
@@ -1528,89 +1677,18 @@ bool MsckfVio::PhotometricMeasurementJacobian(
Eigen::MatrixXd H_pA(N*N, 6);
auto frame = cam0.moving_window.find(cam_state_id)->second.image;
auto anchor_frame = cam0.moving_window.find(anchor_state_id)->second.image;
//observation
const Vector4d& z = feature.observations.find(cam_state_id)->second;
//estimate photometric measurement
std::vector<double> estimate_irradiance;
std::vector<double> estimate_photo_z;
IlluminationParameter estimated_illumination;
feature.estimate_FrameIrradiance(cam_state, cam_state_id, cam0, estimate_irradiance, estimated_illumination);
// calculated here, because we need true 'estimate_irradiance' later for jacobi
for (auto& estimate_irradiance_j : estimate_irradiance)
estimate_photo_z.push_back (estimate_irradiance_j *
estimated_illumination.frame_gain * estimated_illumination.feature_gain +
estimated_illumination.frame_bias + estimated_illumination.feature_bias);
// calcualte residual of patch
PhotometricPatchPointResidual(cam_state_id, feature, r_photo);
// calculate jacobian for patch
int count = 0;
double dx, dy;
for (auto point : feature.anchorPatch_3d)
{
//cout << "____feature-measurement_____\n" << endl;
Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
cv::Point2f p_in_anchor = feature.projectPositionToCamera(anchor_state, anchor_state_id, cam0, point);
if(p_in_c0.x < 0 or p_in_c0.x > frame.cols-1 or p_in_c0.y < 0 or p_in_c0.y > frame.rows-1)
{
cout << "skipped" << endl;
return false;
}
//add observation
photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame));
//calculate photom. residual
r_photo(count) = photo_z[count] - estimate_photo_z[count];
//cout << "residual: " << photo_r.back() << endl;
// calculate derivation for anchor frame, use position for derivation calculation
// frame derivative calculated convoluting with kernel [-1, 0, 1]
dx = feature.cvKernel(p_in_anchor, "Sobel_x");
dy = feature.cvKernel(p_in_anchor, "Sobel_y");
// dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), anchor_frame);
// dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), anchor_frame);
dI_dhj(0, 0) = dx * cam0.intrinsics[0];
dI_dhj(0, 1) = dy * cam0.intrinsics[1];
//dh / d{}^Cp_{ij}
dh_dCpij(0, 0) = 1 / p_c0(2);
dh_dCpij(1, 1) = 1 / p_c0(2);
dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
dCpij_dGpij = quaternionToRotation(cam_state.orientation);
//orientation takes camera frame to world frame, we wa
dh_dGpij = dh_dCpij * dCpij_dGpij;
//dh / d X_{pl}
dCpij_dCGtheta = skewSymmetric(p_c0);
dCpij_dGpC = -quaternionToRotation(cam_state.orientation);
dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * dCpij_dCGtheta;
dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * dCpij_dGpC;
// d{}^Gp_P{ij} / \rho_i
double rho = feature.anchor_rho;
// Isometry T_anchor_w takes a vector in anchor frame to world frame
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));
dGpj_XpAj.block<3, 3>(0, 0) = - feature.T_anchor_w.linear()
* skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
feature.anchorPatch_ideal[count].y/(rho),
1/(rho)));
dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
// Intermediate Jakobians
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 1
H_plj = dI_dhj * dh_dXplj; // 1 x 6
H_pAj = dI_dhj * dh_dGpij * dGpj_XpAj; // 1 x 6
// get jacobi of single point in patch
PhotometricPatchPointJacobian(cam_state, feature, point, count, H_rhoj, H_plj, H_pAj);
// stack point into entire jacobi
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;
@@ -1618,48 +1696,31 @@ bool MsckfVio::PhotometricMeasurementJacobian(
count++;
}
cout << "done" << endl;
// construct the jacobian structure needed for nullspacing
MatrixXd H_xl = MatrixXd::Zero(N*N, 21+state_server.cam_states.size()*7);
MatrixXd H_yl = MatrixXd::Zero(N*N, N*N+1);
// set anchor Jakobi
// get position of anchor in cam states
ConstructJacobians(H_rho, H_pl, H_pA, feature, cam_state_id, H_xl, H_yl);
auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
H_xl.block(0, 21+cam_state_cntr_anchor*7, N*N, 6) = -H_pA;
// set frame Jakobi
//get position of current frame in cam states
auto cam_state_iter = state_server.cam_states.find(cam_state_id);
int cam_state_cntr = std::distance(state_server.cam_states.begin(), cam_state_iter);
// set jakobi of state
H_xl.block(0, 21+cam_state_cntr*7, N*N, 6) = -H_pl;
// set ones for irradiance bias
// H_xl.block(0, 21+cam_state_cntr*7+6, N*N, 1) = Eigen::ArrayXd::Ones(N*N);
// set irradiance error Block
H_yl.block(0, 0,N*N, N*N) = /* estimated_illumination.feature_gain * estimated_illumination.frame_gain * */ Eigen::MatrixXd::Identity(N*N, N*N);
// TODO make this calculation more fluent
/*for(int i = 0; i< N*N; i++)
H_yl(i, N*N+cam_state_cntr) = estimate_irradiance[i];
*/
H_yl.block(0, N*N, N*N, 1) = -H_rho;
// set to return values
H_x = H_xl;
H_y = H_yl;
r = r_photo;
std::stringstream ss;
ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
if(PRINTIMAGES)
{
{
// pregenerating information for visualization
std::stringstream ss;
auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
//get position of current frame in cam states
auto cam_state_iter = state_server.cam_states.find(cam_state_id);
int cam_state_cntr = std::distance(state_server.cam_states.begin(), cam_state_iter);
ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
// visualizing functions
feature.MarkerGeneration(marker_pub, state_server.cam_states);
feature.VisualizePatch(cam_state, cam_state_id, cam0, r_photo, ss);
//feature.VisualizeKernel(cam_state, cam_state_id, cam0);
@@ -1668,6 +1729,43 @@ bool MsckfVio::PhotometricMeasurementJacobian(
return true;
}
bool MsckfVio::ConstructJacobians(Eigen::MatrixXd& H_rho,
Eigen::MatrixXd& H_pl,
Eigen::MatrixXd& H_pA,
const Feature& feature,
const StateIDType& cam_state_id,
Eigen::MatrixXd& H_xl,
Eigen::MatrixXd& H_yl)
{
// get position of anchor in cam states
auto cam_state_anchor = state_server.cam_states.find(feature.observations.begin()->first);
int cam_state_cntr_anchor = std::distance(state_server.cam_states.begin(), cam_state_anchor);
// set anchor Jakobi
H_xl.block(0, 21+cam_state_cntr_anchor*7, N*N, 6) = -H_pA;
//get position of current frame in cam states
auto cam_state_iter = state_server.cam_states.find(cam_state_id);
// set frame Jakobi
int cam_state_cntr = std::distance(state_server.cam_states.begin(), cam_state_iter);
// set jakobi of state
H_xl.block(0, 21+cam_state_cntr*7, N*N, 6) = -H_pl;
// set ones for irradiance bias
// H_xl.block(0, 21+cam_state_cntr*7+6, N*N, 1) = Eigen::ArrayXd::Ones(N*N);
// set irradiance error Block
H_yl.block(0, 0,N*N, N*N) = /* estimated_illumination.feature_gain * estimated_illumination.frame_gain * */ Eigen::MatrixXd::Identity(N*N, N*N);
/*for(int i = 0; i< N*N; i++)
H_yl(i, N*N+cam_state_cntr) = estimate_irradiance[i];
*/
H_yl.block(0, N*N, N*N, 1) = -H_rho;
}
bool MsckfVio::PhotometricFeatureJacobian(
const FeatureIDType& feature_id,
@@ -1717,11 +1815,9 @@ bool MsckfVio::PhotometricFeatureJacobian(
r_i.segment(stack_cntr, N*N) = r_l;
stack_cntr += N*N;
}
if(stack_cntr == 0)
{
cout << "skip feature" << endl;
if(stack_cntr < 2*N*N)
return false;
}
// Project the residual and Jacobians onto the nullspace
// of H_yj.
@@ -2027,8 +2123,8 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
VectorXd delta_x = K * r;
cout << "reg rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
cout << "reg update: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
// cout << "reg rotate: " << delta_x[0] << ", " << delta_x[1] << ", " << delta_x[2] << endl;
cout << "reg: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
if(FILTER != 0) return;
@@ -2053,9 +2149,6 @@ void MsckfVio::measurementUpdate(const MatrixXd& H, const VectorXd& r) {
myfile.close();
}
delta_position = Eigen::Vector3d(delta_x[12], delta_x[13], delta_x[14]);
delta_orientation = Eigen::Vector3d(delta_x[0], delta_x[1], delta_x[2]);
// Update the IMU state.
const VectorXd& delta_x_imu = delta_x.head<21>();
@@ -2239,10 +2332,13 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
// Perform QR decompostion on H_sparse.
SPQR<SparseMatrix<double> > spqr_helper;
spqr_helper.setSPQROrdering(SPQR_ORDERING_NATURAL);
spqr_helper.compute(H_sparse);
cout << "comp" << endl;
spqr_helper.compute(H_sparse);
cout << "done" << endl;
MatrixXd H_temp;
VectorXd r_temp;
(spqr_helper.matrixQ().transpose() * H).evalTo(H_temp);
(spqr_helper.matrixQ().transpose() * r).evalTo(r_temp);
@@ -2261,6 +2357,7 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
Feature::observation_noise*MatrixXd::Identity(
H_thin.rows(), H_thin.rows());
//MatrixXd K_transpose = S.fullPivHouseholderQr().solve(H*P);
MatrixXd K_transpose = S.ldlt().solve(H_thin*P);
MatrixXd K = K_transpose.transpose();
// Compute the error of the state.
@@ -2271,28 +2368,27 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
if(PRINTIMAGES)
{
//octave
ofstream myfile;
myfile.open("/home/raphael/dev/octave/measurement2octave");
myfile << "# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>\n"
<< "# name: K\n"
<< "# type: matrix\n"
<< "# rows: " << K.rows() << "\n"
<< "# columns: " << K.cols() << "\n"
<< K << endl;
//octave
ofstream myfile;
myfile.open("/home/raphael/dev/octave/measurement2octave");
myfile << "# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>\n"
<< "# name: K\n"
<< "# type: matrix\n"
<< "# rows: " << K.rows() << "\n"
<< "# columns: " << K.cols() << "\n"
<< K << endl;
myfile << "# name: r\n"
<< "# type: matrix\n"
<< "# rows: " << r.rows() << "\n"
<< "# columns: " << r.cols() << "\n"
<< r << endl;
myfile << "# name: r\n"
<< "# type: matrix\n"
<< "# rows: " << r.rows() << "\n"
<< "# columns: " << r.cols() << "\n"
<< r << endl;
myfile.close();
myfile.close();
}
delta_position = Eigen::Vector3d(delta_x[12], delta_x[13], delta_x[14]);
delta_orientation = Eigen::Vector3d(delta_x[0], delta_x[1], delta_x[2]);
cout << "pho: " << delta_x[12] << ", " << delta_x[13] << ", " << delta_x[14] << endl;
const VectorXd& delta_x_imu = delta_x.head<21>();
@@ -2349,8 +2445,8 @@ void MsckfVio::photometricMeasurementUpdate(const MatrixXd& H, const VectorXd& r
bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof) {
MatrixXd P1 = H * state_server.state_cov * H.transpose();
MatrixXd P1 = H * state_server.state_cov * H.transpose();
MatrixXd P2 = Feature::observation_noise *
MatrixXd::Identity(H.rows(), H.rows());
@@ -2363,10 +2459,10 @@ bool MsckfVio::gatingTest(const MatrixXd& H, const VectorXd& r, const int& dof)
if (chi_squared_test_table[dof] == 0)
return false;
if (gamma < chi_squared_test_table[dof]) {
//cout << "passed" << endl;
// cout << "passed" << endl;
return true;
} else {
//cout << "failed" << endl;
// cout << "failed" << endl;
return false;
}
}
@@ -2465,16 +2561,15 @@ void MsckfVio::removeLostFeatures() {
VectorXd pr_j;
MatrixXd twoH_xj;
VectorXd twor_j;
/*
if(PhotometricFeatureJacobian(feature.id, cam_state_ids, pH_xj, pr_j) == true);
if(PhotometricFeatureJacobian(feature.id, cam_state_ids, pH_xj, pr_j) == true)
{
if (gatingTest(pH_xj, pr_j, pr_j.size())) { //, cam_state_ids.size()-1)) {
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();
}
}*/
}
featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
twodotFeatureJacobian(feature.id, cam_state_ids, twoH_xj, twor_j);
@@ -2499,10 +2594,11 @@ void MsckfVio::removeLostFeatures() {
{
pH_x.conservativeResize(pstack_cntr, pH_x.cols());
pr.conservativeResize(pstack_cntr);
photometricMeasurementUpdate(pH_x, pr);
}
H_x.conservativeResize(stack_cntr, H_x.cols());
r.conservativeResize(stack_cntr);
@@ -2648,17 +2744,15 @@ void MsckfVio::pruneLastCamStateBuffer()
for (const auto& cam_state : state_server.cam_states)
involved_cam_state_ids.push_back(cam_state.first);
/*
if(PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, pH_xj, pr_j) == true);
{
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)) {
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();
}
}*/
}
featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);
@@ -2679,26 +2773,26 @@ void MsckfVio::pruneLastCamStateBuffer()
feature.observations.erase(cam_id);
}
if (pstack_cntr)
if(pstack_cntr)
{
pH_x.conservativeResize(pstack_cntr, pH_x.cols());
pr.conservativeResize(pstack_cntr);
photometricMeasurementUpdate(pH_x, pr);
photometricMeasurementUpdate(pH_x, pr);
}
H_x.conservativeResize(stack_cntr, H_x.cols());
r.conservativeResize(stack_cntr);
// Perform measurement update.
twoH_x.conservativeResize(twostack_cntr, twoH_x.cols());
twor.conservativeResize(twostack_cntr);
// Perform measurement update.
// Perform the measurement update step.
measurementUpdate(H_x, r);
twoMeasurementUpdate(twoH_x, twor);
//reduction
int cam_sequence = std::distance(state_server.cam_states.begin(),
state_server.cam_states.find(rm_cam_state_id));
@@ -2831,7 +2925,7 @@ void MsckfVio::pruneCamStateBuffer() {
if (involved_cam_state_ids.size() == 0) continue;
/*
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())) {
@@ -2839,7 +2933,8 @@ void MsckfVio::pruneCamStateBuffer() {
pr.segment(pstack_cntr, pr_j.rows()) = pr_j;
pstack_cntr += pH_xj.rows();
}
}*/
}
featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
twodotFeatureJacobian(feature.id, involved_cam_state_ids, twoH_xj, twor_j);
@@ -2860,23 +2955,24 @@ void MsckfVio::pruneCamStateBuffer() {
}
if(pstack_cntr > 0)
if(pstack_cntr)
{
pH_x.conservativeResize(pstack_cntr, pH_x.cols());
pr.conservativeResize(pstack_cntr);
pr.conservativeResize(pstack_cntr);
photometricMeasurementUpdate(pH_x, pr);
}
H_x.conservativeResize(stack_cntr, H_x.cols());
r.conservativeResize(stack_cntr);
twoH_x.conservativeResize(twostack_cntr, twoH_x.cols());
twor.conservativeResize(twostack_cntr);
// Perform measurement update.
// Perform the measurement update step.
measurementUpdate(H_x, r);
twoMeasurementUpdate(twoH_x, twor);
//reduction
for (const auto& cam_id : rm_cam_state_ids) {
int cam_sequence = std::distance(state_server.cam_states.begin(),