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
+     * @brief imageCallback
-     *    Callback function for feature measurements.
+     *    Callback function for feature measurements
-     * @param msg Stereo 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>,
+    movingWindow cam0_moving_window;
-        Eigen::aligned_allocator<
+    movingWindow cam1_moving_window;
-        std::pair<StateIDType, cv::Mat> > > cam0_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;
 

src/msckf_vio.cpp

@@ -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);
   }