fixed Irradiance jacobain calculation, now division by pixel distance
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0be7047928
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82cd2c6771
@ -157,6 +157,14 @@ struct Feature {
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inline bool initializePosition(
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const CamStateServer& cam_states);
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cv::Point2f pixelDistanceAt(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const CameraCalibration& cam,
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Eigen::Vector3d& in_p) const;
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/*
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* @brief project PositionToCamera Takes a 3d position in a world frame
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* and projects it into the passed camera frame using pinhole projection
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@ -191,9 +199,7 @@ struct Feature {
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const StateIDType& cam_state_id,
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CameraCalibration& cam0,
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const std::vector<double> photo_r,
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std::stringstream& ss,
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cv::Point2f gradientVector,
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cv::Point2f residualVector) const;
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std::stringstream& ss) const;
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/* @brief takes a pure pixel position (1m from image)
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@ -407,8 +413,11 @@ bool Feature::estimate_FrameIrradiance(
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auto anchor = observations.begin();
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if(cam0.moving_window.find(anchor->first) == cam0.moving_window.end())
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{
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std::cout << "anchor not in buffer anymore!" << std::endl;
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return false;
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}
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double anchorExposureTime_ms = cam0.moving_window.find(anchor->first)->second.exposureTime_ms;
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double frameExposureTime_ms = cam0.moving_window.find(cam_state_id)->second.exposureTime_ms;
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@ -550,9 +559,7 @@ bool Feature::VisualizePatch(
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const StateIDType& cam_state_id,
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CameraCalibration& cam0,
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const std::vector<double> photo_r,
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std::stringstream& ss,
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cv::Point2f gradientVector,
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cv::Point2f residualVector) const
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std::stringstream& ss) const
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{
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double rescale = 1;
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@ -615,10 +622,9 @@ bool Feature::VisualizePatch(
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CV_FILLED);
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// irradiance grid projection
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namer.str(std::string());
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namer << "projection";
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cv::putText(irradianceFrame, namer.str() , cvPoint(30, 45+scale*N),
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cv::putText(irradianceFrame, namer.str(), cvPoint(30, 45+scale*N),
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cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(0,0,0), 1, CV_AA);
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for(int i = 0; i<N; i++)
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@ -682,8 +688,7 @@ bool Feature::VisualizePatch(
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cv::Point(30+scale*(N/2+0.5)+scale*gradientVector.x, 50+scale*(N+(N/2)+0.5)+scale*gradientVector.y),
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cv::Scalar(100, 0, 255),
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1);
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*/
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// residual gradient direction
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cv::arrowedLine(irradianceFrame,
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cv::Point(40+scale*(N+N/2+0.5), 15+scale*((N-0.5))),
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@ -691,11 +696,14 @@ bool Feature::VisualizePatch(
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cv::Scalar(0, 255, 175),
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3);
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*/
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cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
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/*
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// visualize position of used observations and resulting feature position
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/*
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cv::Mat positionFrame(anchorImage.size(), CV_8UC3, cv::Scalar(255, 240, 255));
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cv::resize(positionFrame, positionFrame, cv::Size(), rescale, rescale);
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@ -728,7 +736,9 @@ bool Feature::VisualizePatch(
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cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
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*/
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*/
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// write feature position
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std::stringstream pos_s;
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pos_s << "u: " << observations.begin()->second(0) << " v: " << observations.begin()->second(1);
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@ -771,6 +781,44 @@ float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
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return ((float)image.at<uint8_t>(pose.y, pose.x))/255;
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}
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cv::Point2f Feature::pixelDistanceAt(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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const CameraCalibration& cam,
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Eigen::Vector3d& in_p) const
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{
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Eigen::Isometry3d T_c0_w;
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cv::Point2f out_p;
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cv::Point2f cam_p = projectPositionToCamera(cam_state, cam_state_id, cam, in_p);
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cv::Point2f surroundingPoint;
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// create vector of patch in pixel plane
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surroundingPoint = cv::Point2f(cam_p.x+1, cam_p.y+1);
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cv::Point2f pure_surroundingPoint;
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image_handler::undistortPoint(surroundingPoint,
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cam.intrinsics,
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cam.distortion_model,
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cam.distortion_coeffs,
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pure_surroundingPoint);
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cv::Point2f pure_Point;
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image_handler::undistortPoint(cam_p,
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cam.intrinsics,
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cam.distortion_model,
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cam.distortion_coeffs,
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pure_Point);
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cv::Point2f distance(fabs(pure_surroundingPoint.x - pure_Point.x), fabs(pure_surroundingPoint.y - pure_Point.y));
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return distance;
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}
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cv::Point2f Feature::projectPositionToCamera(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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@ -13,6 +13,13 @@
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namespace msckf_vio {
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inline double absoluted(double a){
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if(a>0)
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return a;
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else return -a;
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}
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/*
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* @brief Create a skew-symmetric matrix from a 3-element vector.
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* @note Performs the operation:
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@ -24,7 +24,7 @@
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<param name="PrintImages" value="true"/>
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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="3"/>
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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@ -1232,29 +1232,12 @@ void MsckfVio::PhotometricMeasurementJacobian(
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// one line of the NxN Jacobians
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Matrix<double, 1, 6> H_xi;
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Matrix<double, 1, 6> H_xA;
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Matrix<double, 1, 3> H_fi;
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MatrixXd H_xl = MatrixXd::Zero(feature.anchorPatch_3d.size(), 6);
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MatrixXd H_xAl = MatrixXd::Zero(feature.anchorPatch_3d.size(), 6);
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MatrixXd H_yl = MatrixXd::Zero(feature.anchorPatch_3d.size(), 3);
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auto frame = cam0.moving_window.find(cam_state_id)->second.image;
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//observation
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const Vector4d& z = feature.observations.find(cam_state_id)->second;
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//estimate photometric measurement
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std::vector<double> estimate_irradiance;
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std::vector<double> estimate_photo_z;
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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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// calculated here, because we need true 'estimate_irradiance' later for jacobi
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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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estimated_illumination.frame_gain * estimated_illumination.feature_gain +
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estimated_illumination.frame_bias + estimated_illumination.feature_bias);
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int count = 0;
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double dx, dy;
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@ -1271,19 +1254,17 @@ void MsckfVio::PhotometricMeasurementJacobian(
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Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
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cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
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z_irr_est.push_back(feature.PixelIrradiance(p_in_c0, frame));
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Matrix<double, 1, 2> dI_dhj = Matrix<double, 1, 2>::Zero();
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//calculate photom. residual
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photo_r.push_back(photo_z[count] - estimate_photo_z[count]);
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// add jacobians
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cv::Point2f pixelDistance = feature.pixelDistanceAt(cam_state, cam_state_id, cam0, point);
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// frame derivative calculated convoluting with kernel [-1, 0, 1]
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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(0, 1) = dy;
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dI_dhj(0, 0) = dx/pixelDistance.x;
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dI_dhj(0, 1) = dy/pixelDistance.y;
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// Compute the Jacobians.
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Matrix<double, 2, 3> dz_dpc0 = Matrix<double, 2, 3>::Zero();
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@ -1298,17 +1279,16 @@ void MsckfVio::PhotometricMeasurementJacobian(
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dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
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dpc0_dxc.rightCols(3) = -R_w_c0;
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Matrix3d dpc0_dpg = R_w_c0;
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H_xi = dI_dhj*dz_dpc0*dpc0_dxc;
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H_fi = dI_dhj*dz_dpc0*dpc0_dpg;
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dCpij_dGpij = quaternionToRotation(cam_state.orientation);
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Matrix3d dCpij_dGpij = quaternionToRotation(cam_state.orientation);
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//orientation takes camera frame to world frame, we wa
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dh_dGpij = dz_dpc0 * dCpij_dGpij;
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Matrix<double, 2, 3> dh_dGpij = dz_dpc0 * dCpij_dGpij;
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double rho = feature.rh
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double rho = feature.anchor_rho;
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Matrix<double, 3, 6> dGpj_XpAj = Matrix<double, 3, 6>::Zero();
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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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@ -1316,42 +1296,43 @@ void MsckfVio::PhotometricMeasurementJacobian(
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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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H_xA = dI_dhj*dh_dGpij*dGpj_XpAj
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H_xA = dI_dhj*dh_dGpij*dGpj_XpAj;
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H_xl.block<1, 6>(count, 0) = H_xi;
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H_yl.block<1, 3>(count, 0) = H_fi;
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H_xAl.block<1, 6>(count, 0) = H_xA;
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count++;
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}
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// Compute the residual.
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std::vector<float> z_irr;
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cv::Point2f z = cv::Point2f(feature.observations.find(cam_state_id)->second(0), feature.observations.find(cam_state_id)->second(1));
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feature.PatchAroundPurePixel(z, N, cam0, cam_state_id, z_irr);
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// calculate projected irradiance
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std::vector<double> projectionPatch;
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for(auto point : feature.anchorPatch_3d)
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{
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cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
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projectionPatch.push_back(feature.PixelIrradiance(p_in_c0, frame));
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}
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Eigen::VectorXd r_l = Eigen::VectorXd::Zero(count);
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Eigen::VectorXd r_l = Eigen::VectorXd::Zero(count-1);
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std::vector<double> residual_v;
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for(int i = 0; i < r_l.size(); i++)
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r_l(i) = z_irr[i]- feature.anchorPatch[i];
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{
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residual_v.push_back(projectionPatch[i]- feature.anchorPatch[i]);
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r_l(i) = projectionPatch[i] - feature.anchorPatch[i];
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}
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r = r_l;
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H_x = H_xl;
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H_y = H_xAl;
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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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std::stringstream ss;
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ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
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ss << "INFO:"; // << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
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if(PRINTIMAGES)
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{
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feature.MarkerGeneration(marker_pub, state_server.cam_states);
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feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r, ss, gradientVector, residualVector);
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feature.VisualizePatch(cam_state, cam_state_id, cam0, residual_v, ss);
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}
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return;
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@ -1426,9 +1407,8 @@ void MsckfVio::PhotometricFeatureJacobian(
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// Stack the Jacobians.
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H_xi.block(stack_cntr, 21+cam_state_cntr_anchor*7, H_yl.rows(), H_yl.cols()) = -H_yi;
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H_xi.block(stack_cntr, 21+cam_state_cntr*7, H_xl.rows(), H_xl.cols()) = H_xl;
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H_xi.block(stack_cntr, 21+cam_state_cntr_anchor*7, H_yl.rows(), H_yl.cols()) = H_yl;
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H_xi.block(stack_cntr, 21+cam_state_cntr*7, H_xl.rows(), H_xl.cols()) = -H_xl;
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r_i.segment(stack_cntr, N*N) = r_l;
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stack_cntr += N*N;
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@ -1439,7 +1419,7 @@ void MsckfVio::PhotometricFeatureJacobian(
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ofstream myfile;
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myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
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myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x. * r << endl;
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myfile << "Hx\n" << H_x << "r\n" << r << "\n x\n" << H_x.colPivHouseholderQr().solve(r) << endl;
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myfile.close();
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cout << "---------- LOGGED -------- " << endl;
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@ -1710,7 +1690,6 @@ void MsckfVio::measurementUpdate(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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MatrixXd P1 = H * state_server.state_cov * H.transpose();
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@ -1819,13 +1798,8 @@ void MsckfVio::removeLostFeatures() {
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else
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featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
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cout << "\n" << endl;
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cout << "H_xj: \n" << H_xj << endl;
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cout << "res: \n" << endl;
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cout << r_j << endl;
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if (gatingTest(H_xj, r_j, cam_state_ids.size()-1)) {
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if (gatingTest(H_xj, r_j, r_j.size()-1)){ //cam_state_ids.size()-1)) {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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r.segment(stack_cntr, r_j.rows()) = r_j;
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stack_cntr += H_xj.rows();
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@ -1986,14 +1960,8 @@ void MsckfVio::pruneCamStateBuffer() {
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PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
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else
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featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
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cout << "\n" << endl;
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cout << "H_xj: \n" << H_xj << endl;
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cout << "res: \n" << endl;
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cout << r_j << endl;
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if (gatingTest(H_xj, r_j, involved_cam_state_ids.size())) {
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if (gatingTest(H_xj, r_j, r_j.size()-1)) { //involved_cam_state_ids.size())) {
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H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
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r.segment(stack_cntr, r_j.rows()) = r_j;
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stack_cntr += H_xj.rows();
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