added debug launch file, added state augmentation, added jakobi concat; resulting jakobis do not pass gating test
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@ -496,7 +496,7 @@ bool Feature::initializeAnchor(
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//initialize patch Size
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//TODO make N size a ros parameter
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int N = 3;
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int N = 13;
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int n = (int)(N-1)/2;
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auto anchor = observations.begin();
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@ -162,6 +162,7 @@ class MsckfVio {
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// Measurement update
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void stateAugmentation(const double& time);
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void PhotometricStateAugmentation(const double& time);
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void addFeatureObservations(const CameraMeasurementConstPtr& msg);
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// This function is used to compute the measurement Jacobian
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// for a single feature observed at a single camera frame.
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@ -180,9 +181,9 @@ class MsckfVio {
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void PhotometricMeasurementJacobian(
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const StateIDType& cam_state_id,
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const FeatureIDType& feature_id,
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Eigen::Matrix<double, 4, 6>& H_x,
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Eigen::Matrix<double, 4, 3>& H_f,
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Eigen::Vector4d& r);
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Eigen::MatrixXd& H_x,
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Eigen::MatrixXd& H_y,
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Eigen::VectorXd& r);
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void PhotometricFeatureJacobian(
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const FeatureIDType& feature_id,
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@ -207,7 +208,7 @@ class MsckfVio {
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StateServer state_server;
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// Maximum number of camera states
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int max_cam_state_size;
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// Features used
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MapServer map_server;
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@ -224,6 +225,8 @@ class MsckfVio {
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CameraCalibration cam0;
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CameraCalibration cam1;
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// covariance data
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double irradiance_frame_bias;
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ros::Time image_save_time;
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66
launch/msckf_vio_debug_tum.launch
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66
launch/msckf_vio_debug_tum.launch
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@ -0,0 +1,66 @@
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<launch>
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<arg name="robot" default="firefly_sbx"/>
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<arg name="fixed_frame_id" default="world"/>
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<arg name="calibration_file"
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default="$(find msckf_vio)/config/camchain-imucam-tum.yaml"/>
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<!-- Image Processor Nodelet -->
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<include file="$(find msckf_vio)/launch/image_processor_tum.launch">
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<arg name="robot" value="$(arg robot)"/>
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<arg name="calibration_file" value="$(arg calibration_file)"/>
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</include>
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<!-- Msckf Vio Nodelet -->
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<group ns="$(arg robot)">
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<node pkg="nodelet" type="nodelet" name="vio"
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args='standalone msckf_vio/MsckfVioNodelet'
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output="screen"
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launch-prefix="xterm -e gdb --args">
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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<param name="publish_tf" value="true"/>
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<param name="frame_rate" value="20"/>
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<param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
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<param name="child_frame_id" value="odom"/>
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<param name="max_cam_state_size" value="20"/>
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<param name="position_std_threshold" value="8.0"/>
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<param name="rotation_threshold" value="0.2618"/>
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<param name="translation_threshold" value="0.4"/>
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<param name="tracking_rate_threshold" value="0.5"/>
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<!-- Feature optimization config -->
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<param name="feature/config/translation_threshold" value="-1.0"/>
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<!-- These values should be standard deviation -->
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<param name="noise/gyro" value="0.005"/>
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<param name="noise/acc" value="0.05"/>
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<param name="noise/gyro_bias" value="0.001"/>
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<param name="noise/acc_bias" value="0.01"/>
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<param name="noise/feature" value="0.035"/>
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<param name="initial_state/velocity/x" value="0.0"/>
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<param name="initial_state/velocity/y" value="0.0"/>
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<param name="initial_state/velocity/z" value="0.0"/>
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<!-- These values should be covariance -->
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<param name="initial_covariance/velocity" value="0.25"/>
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<param name="initial_covariance/gyro_bias" value="0.01"/>
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<param name="initial_covariance/acc_bias" value="0.01"/>
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<param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
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<param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
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<param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~cam0_image" to="/cam0/image_raw"/>
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<remap from="~cam1_image" to="/cam1/image_raw"/>
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<remap from="~features" to="image_processor/features"/>
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</node>
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</group>
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</launch>
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@ -51,6 +51,7 @@
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<param name="initial_covariance/acc_bias" value="0.01"/>
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<param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
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<param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
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<param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~cam0_image" to="/cam0/image_raw"/>
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@ -117,6 +117,10 @@ bool MsckfVio::loadParameters() {
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nh.param<double>("initial_covariance/extrinsic_translation_cov",
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extrinsic_translation_cov, 1e-4);
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// Get the initial irradiance covariance
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nh.param<double>("initial_covariance/irradiance_frame_bias",
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irradiance_frame_bias, 0.1);
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// get camera information (used for back projection)
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nh.param<string>("cam0/distortion_model",
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cam0.distortion_model, string("radtan"));
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@ -336,7 +340,7 @@ void MsckfVio::imageCallback(
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// Augment the state vector.
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start_time = ros::Time::now();
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stateAugmentation(feature_msg->header.stamp.toSec());
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PhotometricStateAugmentation(feature_msg->header.stamp.toSec());
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double state_augmentation_time = (
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ros::Time::now()-start_time).toSec();
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@ -511,6 +515,10 @@ bool MsckfVio::resetCallback(
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nh.param<double>("initial_covariance/extrinsic_translation_cov",
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extrinsic_translation_cov, 1e-4);
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// Reset the irradiance covariance
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nh.param<double>("initial_covariance/irradiance_frame_bias",
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irradiance_frame_bias, 0.1);
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state_server.state_cov = MatrixXd::Zero(21, 21);
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for (int i = 3; i < 6; ++i)
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state_server.state_cov(i, i) = gyro_bias_cov;
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@ -820,6 +828,8 @@ void MsckfVio::stateAugmentation(const double& time) {
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// Resize the state covariance matrix.
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size_t old_rows = state_server.state_cov.rows();
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size_t old_cols = state_server.state_cov.cols();
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// add 7 for camera state + irradiance bias eta = b_l
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state_server.state_cov.conservativeResize(old_rows+6, old_cols+6);
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// Rename some matrix blocks for convenience.
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@ -839,10 +849,78 @@ void MsckfVio::stateAugmentation(const double& time) {
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MatrixXd state_cov_fixed = (state_server.state_cov +
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state_server.state_cov.transpose()) / 2.0;
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state_server.state_cov = state_cov_fixed;
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return;
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}
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void MsckfVio::PhotometricStateAugmentation(const double& time) {
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const Matrix3d& R_i_c = state_server.imu_state.R_imu_cam0;
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const Vector3d& t_c_i = state_server.imu_state.t_cam0_imu;
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// Add a new camera state to the state server.
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Matrix3d R_w_i = quaternionToRotation(
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state_server.imu_state.orientation);
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Matrix3d R_w_c = R_i_c * R_w_i;
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Vector3d t_c_w = state_server.imu_state.position +
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R_w_i.transpose()*t_c_i;
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state_server.cam_states[state_server.imu_state.id] =
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CAMState(state_server.imu_state.id);
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CAMState& cam_state = state_server.cam_states[
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state_server.imu_state.id];
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cam_state.time = time;
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cam_state.orientation = rotationToQuaternion(R_w_c);
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cam_state.position = t_c_w;
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cam_state.orientation_null = cam_state.orientation;
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cam_state.position_null = cam_state.position;
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// Update the covariance matrix of the state.
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// To simplify computation, the matrix J below is the nontrivial block
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// in Equation (16) in "A Multi-State Constraint Kalman Filter for Vision
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// -aided Inertial Navigation".
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Matrix<double, 6, 21> J = Matrix<double, 6, 21>::Zero();
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J.block<3, 3>(0, 0) = R_i_c;
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J.block<3, 3>(0, 15) = Matrix3d::Identity();
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J.block<3, 3>(3, 0) = skewSymmetric(R_w_i.transpose()*t_c_i);
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//J.block<3, 3>(3, 0) = -R_w_i.transpose()*skewSymmetric(t_c_i);
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J.block<3, 3>(3, 12) = Matrix3d::Identity();
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J.block<3, 3>(3, 18) = Matrix3d::Identity();
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// Resize the state covariance matrix.
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size_t old_rows = state_server.state_cov.rows();
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size_t old_cols = state_server.state_cov.cols();
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// add 7 for camera state + irradiance bias eta = b_l
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state_server.state_cov.conservativeResize(old_rows+7, old_cols+7);
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// Rename some matrix blocks for convenience.
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const Matrix<double, 21, 21>& P11 =
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state_server.state_cov.block<21, 21>(0, 0);
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const MatrixXd& P12 =
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state_server.state_cov.block(0, 21, 21, old_cols-21);
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// Fill in the augmented state covariance.
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state_server.state_cov.block(old_rows, 0, 6, old_cols) << J*P11, J*P12;
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state_server.state_cov.block(0, old_cols, old_rows, 6) =
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state_server.state_cov.block(old_rows, 0, 6, old_cols).transpose();
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state_server.state_cov.block<6, 6>(old_rows, old_cols) =
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J * P11 * J.transpose();
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// Add photometry P_eta and surrounding Zeros
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state_server.state_cov.block<1, 12>(old_rows+6, 0) = Matrix<double, 1, 12>::Zero();
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state_server.state_cov.block<12, 1>(0, old_cols+6) = Matrix<double, 12, 1>::Zero();
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state_server.state_cov(old_rows+6, old_cols+6) = irradiance_frame_bias;
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// Fix the covariance to be symmetric
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MatrixXd state_cov_fixed = (state_server.state_cov +
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state_server.state_cov.transpose()) / 2.0;
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state_server.state_cov = state_cov_fixed;
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return;
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}
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void MsckfVio::addFeatureObservations(
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const CameraMeasurementConstPtr& msg) {
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@ -879,7 +957,7 @@ void MsckfVio::addFeatureObservations(
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void MsckfVio::PhotometricMeasurementJacobian(
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const StateIDType& cam_state_id,
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const FeatureIDType& feature_id,
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Matrix<double, 4, 6>& H_x, Matrix<double, 4, 3>& H_f, Vector4d& r) {
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MatrixXd& H_x, MatrixXd& H_y, VectorXd& r) {
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// Prepare all the required data.
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const CAMState& cam_state = state_server.cam_states[cam_state_id];
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@ -890,7 +968,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
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const Vector3d& t_c0_w = cam_state.position;
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//temp N
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const int N = 3;
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const int N = 13;
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// Cam1 pose.
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Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
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@ -940,7 +1018,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
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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);
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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);
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dI_dhj(0, 0) = dx;
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dI_dhj(1, 0) = dy;
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dI_dhj(0, 1) = dy;
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//dh / d{}^Cp_{ij}
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dh_dCpij.block<2, 2>(0, 0) = Eigen::Matrix<double, 2, 2>::Identity();
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@ -949,15 +1027,15 @@ void MsckfVio::PhotometricMeasurementJacobian(
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dh_dGpij = dh_dCpij * quaternionToRotation(cam_state.orientation).transpose();
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//dh / d X_{pl}
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dh_dXplj.block<2, 3>(3, 0) = dh_dCpij * skewSymmetric(point);
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dh_dXplj.block<2, 3>(3, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation).transpose();
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dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * skewSymmetric(point);
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dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation).transpose();
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//d{}^Gp_P{ij} / \rho_i
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double rho = feature.anchor_rho;
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dGpi_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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dGpi_XpAj.block<3, 3>(3, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
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dGpi_XpAj.block<3, 3>(3, 3) = Matrix<double, 3, 3>::Identity();
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dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
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dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
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// Intermediate Jakobians
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H_rhoj = dI_dhj * dh_dGpij * dGpi_drhoj; // 1 x 3
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@ -973,9 +1051,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
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// calculate residual
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// visu -residual
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//printf("-----\n");
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//observation
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const Vector4d& z = feature.observations.find(cam_state_id)->second;
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@ -985,7 +1060,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
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IlluminationParameter estimated_illumination;
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feature.estimate_FrameIrradiance(cam_state, cam_state_id, cam0, estimate_irradiance, estimated_illumination);
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for (auto& estimate_irradiance_j : estimate_irradiance)
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estimate_photo_z.push_back(estimate_irradiance_j *
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estimate_photo_z.push_back (estimate_irradiance_j *
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estimated_illumination.frame_gain * estimated_illumination.feature_gain +
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estimated_illumination.frame_bias + estimated_illumination.feature_bias);
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@ -995,16 +1070,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
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for(int i = 0; i < photo_z.size(); i++)
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photo_r.push_back(photo_z[i] - estimate_photo_z[i]);
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// visu- residual
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//for(int i = 0; i < photo_z.size(); i++)
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// printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
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//Final Jakobians
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// cout << "------------------------" << endl;
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// cout << "rho" << H_rho.rows() << "x" << H_rho.cols() << "\n" << H_rho << endl;
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// cout << "l" << H_pl.rows() << "x" << H_pl.cols() << "\n" << H_pl << endl;
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// cout << "A" << H_pA.rows() << "x" << H_pA.cols() << "\n" << H_pA << endl;
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MatrixXd H_xl = MatrixXd::Zero(N*N, 21+state_server.cam_states.size()*7);
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MatrixXd H_yl = MatrixXd::Zero(N*N, N*N+state_server.cam_states.size()+1);
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@ -1033,46 +1098,14 @@ void MsckfVio::PhotometricMeasurementJacobian(
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H_yl(i, N*N+cam_state_cntr) = estimate_irradiance[i];
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H_yl.block(0, N*N+state_server.cam_states.size(), N*N, 1) = -H_rho;
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// Original calculation
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H_x = H_xl;
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H_y = H_yl;
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// Convert the feature position from the world frame to
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// the cam0 and cam1 frame.
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Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
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Vector3d p_c1 = R_w_c1 * (p_w-t_c1_w);
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//TODO make this more fluent as well
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count = 0;
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for(auto data : photo_r)
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r[count++] = data;
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// Compute the residual.
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r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
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p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
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// Compute the Jacobians.
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Matrix<double, 4, 3> dz_dpc0 = Matrix<double, 4, 3>::Zero();
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dz_dpc0(0, 0) = 1 / p_c0(2);
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dz_dpc0(1, 1) = 1 / p_c0(2);
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dz_dpc0(0, 2) = -p_c0(0) / (p_c0(2)*p_c0(2));
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dz_dpc0(1, 2) = -p_c0(1) / (p_c0(2)*p_c0(2));
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Matrix<double, 4, 3> dz_dpc1 = Matrix<double, 4, 3>::Zero();
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dz_dpc1(2, 0) = 1 / p_c1(2);
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dz_dpc1(3, 1) = 1 / p_c1(2);
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dz_dpc1(2, 2) = -p_c1(0) / (p_c1(2)*p_c1(2));
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dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
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Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
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dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
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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;
|
||||
|
||||
photo_z.clear();
|
||||
return;
|
||||
}
|
||||
|
||||
@ -1083,6 +1116,7 @@ void MsckfVio::PhotometricFeatureJacobian(
|
||||
|
||||
const auto& feature = map_server[feature_id];
|
||||
|
||||
int N = 13;
|
||||
// Check how many camera states in the provided camera
|
||||
// id camera has actually seen this feature.
|
||||
vector<StateIDType> valid_cam_state_ids(0);
|
||||
@ -1094,36 +1128,38 @@ void MsckfVio::PhotometricFeatureJacobian(
|
||||
}
|
||||
|
||||
int jacobian_row_size = 0;
|
||||
jacobian_row_size = 4 * valid_cam_state_ids.size();
|
||||
jacobian_row_size = N * N * valid_cam_state_ids.size();
|
||||
|
||||
MatrixXd H_xj = MatrixXd::Zero(jacobian_row_size,
|
||||
21+state_server.cam_states.size()*6);
|
||||
MatrixXd H_fj = MatrixXd::Zero(jacobian_row_size, 3);
|
||||
VectorXd r_j = VectorXd::Zero(jacobian_row_size);
|
||||
MatrixXd H_xi = MatrixXd::Zero(jacobian_row_size,
|
||||
21+state_server.cam_states.size()*7);
|
||||
MatrixXd H_yi = MatrixXd::Zero(jacobian_row_size, N*N+state_server.cam_states.size()+1);
|
||||
VectorXd r_i = VectorXd::Zero(jacobian_row_size);
|
||||
int stack_cntr = 0;
|
||||
|
||||
|
||||
// visu - residual
|
||||
printf("_____FEATURE:_____\n");
|
||||
//printf("_____FEATURE:_____\n");
|
||||
// visu - feature
|
||||
//cam0.featureVisu.release();
|
||||
|
||||
for (const auto& cam_id : valid_cam_state_ids) {
|
||||
|
||||
Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
|
||||
Matrix<double, 4, 3> H_fi = Matrix<double, 4, 3>::Zero();
|
||||
Vector4d r_i = Vector4d::Zero();
|
||||
PhotometricMeasurementJacobian(cam_id, feature.id, H_xi, H_fi, r_i);
|
||||
//Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
|
||||
//Matrix<double, 4, 3> H_fi = Matrix<double, 4, 3>::Zero();
|
||||
MatrixXd H_xl;
|
||||
MatrixXd H_yl;
|
||||
Eigen::VectorXd r_l = VectorXd::Zero(N*N);
|
||||
|
||||
PhotometricMeasurementJacobian(cam_id, feature.id, H_xl, H_yl, r_l);
|
||||
|
||||
auto cam_state_iter = state_server.cam_states.find(cam_id);
|
||||
int cam_state_cntr = std::distance(
|
||||
state_server.cam_states.begin(), cam_state_iter);
|
||||
|
||||
// Stack the Jacobians.
|
||||
H_xj.block<4, 6>(stack_cntr, 21+6*cam_state_cntr) = H_xi;
|
||||
H_fj.block<4, 3>(stack_cntr, 0) = H_fi;
|
||||
r_j.segment<4>(stack_cntr) = r_i;
|
||||
stack_cntr += 4;
|
||||
H_xi.block(stack_cntr, 0, H_xl.rows(), H_xl.cols()) = H_xl;
|
||||
H_yi.block(stack_cntr, 0, H_yl.rows(), H_yl.cols()) = H_yl;
|
||||
r_i.segment(stack_cntr, N*N) = r_l;
|
||||
stack_cntr += N*N;
|
||||
}
|
||||
// visu - feature
|
||||
/*
|
||||
@ -1141,13 +1177,14 @@ void MsckfVio::PhotometricFeatureJacobian(
|
||||
*/
|
||||
|
||||
// Project the residual and Jacobians onto the nullspace
|
||||
// of H_fj.
|
||||
JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);
|
||||
// of H_yj.
|
||||
|
||||
JacobiSVD<MatrixXd> svd_helper(H_yi, ComputeFullU | ComputeThinV);
|
||||
MatrixXd A = svd_helper.matrixU().rightCols(
|
||||
jacobian_row_size - 3);
|
||||
|
||||
H_x = A.transpose() * H_xj;
|
||||
r = A.transpose() * r_j;
|
||||
H_x = A.transpose() * H_xi;
|
||||
r = A.transpose() * r_i;
|
||||
|
||||
return;
|
||||
}
|
||||
@ -1290,6 +1327,7 @@ void MsckfVio::measurementUpdate(
|
||||
// complexity as in Equation (28), (29).
|
||||
MatrixXd H_thin;
|
||||
VectorXd r_thin;
|
||||
cout << " measurement update ..." << endl;
|
||||
|
||||
if (H.rows() > H.cols()) {
|
||||
// Convert H to a sparse matrix.
|
||||
@ -1480,12 +1518,18 @@ void MsckfVio::removeLostFeatures() {
|
||||
MatrixXd H_xj;
|
||||
VectorXd r_j;
|
||||
PhotometricFeatureJacobian(feature.id, cam_state_ids, H_xj, r_j);
|
||||
|
||||
if (gatingTest(H_xj, r_j, 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;
|
||||
stack_cntr += H_xj.rows();
|
||||
cout << "made gating test" << endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << "failed gating test" << endl;
|
||||
}
|
||||
|
||||
cout << " stacked features up" << endl;
|
||||
|
||||
// Put an upper bound on the row size of measurement Jacobian,
|
||||
// which helps guarantee the executation time.
|
||||
@ -1628,18 +1672,27 @@ void MsckfVio::pruneCamStateBuffer() {
|
||||
|
||||
MatrixXd H_xj;
|
||||
VectorXd r_j;
|
||||
|
||||
|
||||
cout << "getting featureJacobian...";
|
||||
PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
|
||||
cout << "done" << endl;
|
||||
|
||||
if (gatingTest(H_xj, r_j, 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;
|
||||
stack_cntr += H_xj.rows();
|
||||
cout << "made gating test" << endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
cout << "failed gating test" << endl;
|
||||
}
|
||||
|
||||
for (const auto& cam_id : involved_cam_state_ids)
|
||||
feature.observations.erase(cam_id);
|
||||
}
|
||||
|
||||
cout << " stacked features up" << endl;
|
||||
|
||||
H_x.conservativeResize(stack_cntr, H_x.cols());
|
||||
r.conservativeResize(stack_cntr);
|
||||
|
||||
@ -1728,6 +1781,10 @@ void MsckfVio::onlineReset() {
|
||||
nh.param<double>("initial_covariance/extrinsic_translation_cov",
|
||||
extrinsic_translation_cov, 1e-4);
|
||||
|
||||
// Reset the irradiance covariance
|
||||
nh.param<double>("initial_covariance/irradiance_frame_bias",
|
||||
irradiance_frame_bias, 0.1);
|
||||
|
||||
state_server.state_cov = MatrixXd::Zero(21, 21);
|
||||
for (int i = 3; i < 6; ++i)
|
||||
state_server.state_cov(i, i) = gyro_bias_cov;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user