added anchor information generation

include/msckf_vio/cam_state.h

@@ -62,6 +62,10 @@ struct CAMState {
 typedef std::map<StateIDType, CAMState, std::less<int>,
         Eigen::aligned_allocator<
         std::pair<const StateIDType, CAMState> > > CamStateServer;
+
+typedef std::map<StateIDType, cv::Mat, std::less<StateIDType>,
+        Eigen::aligned_allocator<
+        std::pair<StateIDType, cv::Mat> > > movingWindow;
 } // namespace msckf_vio
 
 #endif // MSCKF_VIO_CAM_STATE_H

include/msckf_vio/feature.hpp

@@ -114,6 +114,19 @@ struct Feature {
   inline bool checkMotion(
       const CamStateServer& cam_states) const;
 
+  /*
+   * @brief InitializeAnchor generates the NxN patch around the
+   *        feature in the Anchor image
+   * @param cam_states: A map containing all recorded images 
+   *        currently presented in the camera state vector
+   * @return the irradiance of the Anchor NxN Patch 
+   * @return True if the Anchor can be estimated
+   */
+
+  inline bool initializeAnchor(
+      const movingWindow& cam0_moving_window);
+
+
   /*
    * @brief InitializePosition Intialize the feature position
    *    based on all current available measurements.
@@ -145,7 +158,7 @@ struct Feature {
       std::pair<const StateIDType, Eigen::Vector4d> > > observations;
 
   // NxN Patch of Anchor Image
-  std::vector<double> patch;
+  std::vector<double> anchorPatch;
   // 3d postion of the feature in the world frame.
   Eigen::Vector3d position;
 
@@ -292,6 +305,29 @@ bool Feature::checkMotion(
   else return false;
 }
 
+bool Feature::initializeAnchor(
+   const movingWindow& cam0_moving_window)
+{
+
+  int N = 5;
+  int n = (int)(N-1)/2;
+
+  auto anchor = observations.begin();
+  if(cam0_moving_window.find(anchor->first) == cam0_moving_window.end())
+    return false;
+
+  cv::Mat anchorImage = cam0_moving_window.find(anchor->first)->second;
+  auto u = anchor->second(0)*anchorImage.rows/2 + anchorImage.rows/2;
+  auto v = anchor->second(1)*anchorImage.cols/2 + anchorImage.cols/2;
+  int count = 0;
+
+  for(int u_run = (int)u - n; u_run <= (int)u + n; u_run++)
+    for(int v_run = v - n; v_run <= v + n; v_run++)
+      anchorPatch.push_back(anchorImage.at<uint8_t>(u_run,v_run));
+
+  return true;
+}
+
 bool Feature::initializePosition(
     const CamStateServer& cam_states) {
   // Organize camera poses and feature observations properly.

include/msckf_vio/msckf_vio.h

@@ -23,6 +23,7 @@
 #include <sensor_msgs/Imu.h>
 #include <sensor_msgs/Image.h>
 #include <nav_msgs/Odometry.h>
+#include <std_msgs/Float64.h>
 #include <tf/transform_broadcaster.h>
 #include <std_srvs/Trigger.h>
 
@@ -106,13 +107,14 @@ class MsckfVio {
     void imuCallback(const sensor_msgs::ImuConstPtr& msg);
 
     /*
-     * @brief featureCallback
-     *    Callback function for feature measurements.
-     * @param msg Stereo feature measurements.
+     * @brief imageCallback
+     *    Callback function for feature measurements
+     *    Triggers measurement update
+     * @param msg
+     *    Camera 0 Image
+     *    Camera 1 Image
+     *    Stereo feature measurements.
      */
-    void featureCallback(const CameraMeasurementConstPtr& msg);
-
-
     void imageCallback (
     const sensor_msgs::ImageConstPtr& cam0_img,
     const sensor_msgs::ImageConstPtr& cam1_img,
@@ -200,14 +202,9 @@ class MsckfVio {
     std::vector<sensor_msgs::Imu> imu_msg_buffer;
 
     // Moving Window buffer
-    std::map<StateIDType, cv::Mat, std::less<StateIDType>,
-        Eigen::aligned_allocator<
-        std::pair<StateIDType, cv::Mat> > > cam0_moving_window;
+    movingWindow cam0_moving_window;
+    movingWindow cam1_moving_window;
 
-    std::map<StateIDType, cv::Mat, std::less<StateIDType>,
-        Eigen::aligned_allocator<
-        std::pair<StateIDType, cv::Mat> > > cam1_moving_window;
-    
     // Indicate if the gravity vector is set.
     bool is_gravity_set;