raphael/msckf_vio
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added anchor information generation

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This commit is contained in:
Raphael Maenle
2019-04-12 11:02:58 +02:00
parent a6af82a269
commit a85a4745f2
4 changed files with 61 additions and 102 deletions
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98
src/msckf_vio.cpp
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@ -187,8 +187,6 @@ bool MsckfVio::createRosIO() {
imu_sub = nh.subscribe("imu", 100,
&MsckfVio::imuCallback, this);
//feature_sub = nh.subscribe("features", 40,
// &MsckfVio::featureCallback, this);
cam0_img_sub.subscribe(nh, "cam0_image", 10);
cam1_img_sub.subscribe(nh, "cam1_image", 10);
@ -236,7 +234,8 @@ bool MsckfVio::initialize() {
}
void MsckfVio::imuCallback(
const sensor_msgs::ImuConstPtr& msg) {
const sensor_msgs::ImuConstPtr& msg)
{
// IMU msgs are pushed backed into a buffer instead of
// being processed immediately. The IMU msgs are processed
@ -254,7 +253,7 @@ void MsckfVio::imuCallback(
return;
}
void MsckfVio::imageCallback (
void MsckfVio::imageCallback(
const sensor_msgs::ImageConstPtr& cam0_img,
const sensor_msgs::ImageConstPtr& cam1_img,
const CameraMeasurementConstPtr& feature_msg)
@ -358,9 +357,8 @@ void MsckfVio::manageMovingWindow(
cam0_moving_window[state_server.imu_state.id] = cam0_image_ptr->image.clone();
cam1_moving_window[state_server.imu_state.id] = cam1_image_ptr->image.clone();
std::cout << cam0_moving_window.begin()->second << std::endl;
//TODO handle massive overflow correctly (should be pruned, before this ever triggers)
//TODO handle any massive overflow correctly (should be pruned, before this ever triggers)
while(cam0_moving_window.size() > 100)
{
cam1_moving_window.erase(cam1_moving_window.begin());
@ -480,88 +478,6 @@ bool MsckfVio::resetCallback(
return true;
}
void MsckfVio::featureCallback(
const CameraMeasurementConstPtr& msg) {
// Return if the gravity vector has not been set.
if (!is_gravity_set) return;
// Start the system if the first image is received.
// The frame where the first image is received will be
// the origin.
if (is_first_img) {
is_first_img = false;
state_server.imu_state.time = 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();
// Propogate the IMU state.
// that are received before the image msg.
ros::Time start_time = ros::Time::now();
batchImuProcessing(msg->header.stamp.toSec());
double imu_processing_time = (
ros::Time::now()-start_time).toSec();
// Augment the state vector.
start_time = ros::Time::now();
stateAugmentation(msg->header.stamp.toSec());
double state_augmentation_time = (
ros::Time::now()-start_time).toSec();
// Add new observations for existing features or new
// features in the map server.
start_time = ros::Time::now();
addFeatureObservations(msg);
double add_observations_time = (
ros::Time::now()-start_time).toSec();
// Perform measurement update if necessary.
start_time = ros::Time::now();
removeLostFeatures();
double remove_lost_features_time = (
ros::Time::now()-start_time).toSec();
start_time = ros::Time::now();
pruneCamStateBuffer();
double prune_cam_states_time = (
ros::Time::now()-start_time).toSec();
// Publish the odometry.
start_time = ros::Time::now();
publish(msg->header.stamp);
double publish_time = (
ros::Time::now()-start_time).toSec();
// Reset the system if necessary.
onlineReset();
double processing_end_time = ros::Time::now().toSec();
double processing_time =
processing_end_time - processing_start_time;
if (processing_time > 1.0/frame_rate) {
++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);
}
return;
}
void MsckfVio::mocapOdomCallback(
const nav_msgs::OdometryConstPtr& msg) {
static bool first_mocap_odom_msg = true;
@ -1198,6 +1114,12 @@ void MsckfVio::removeLostFeatures() {
}
}
if(!feature.initializeAnchor(cam0_moving_window))
{
invalid_feature_ids.push_back(feature.id);
continue;
}
jacobian_row_size += 4*feature.observations.size() - 3;
processed_feature_ids.push_back(feature.id);
}