added 3d visualization and stepping through bag file - minor edits in jakobi
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@ -24,6 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
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pcl_conversions
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pcl_ros
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std_srvs
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visualization_msgs
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)
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## System dependencies are found with CMake's conventions
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@ -16,12 +16,17 @@
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#include <Eigen/Geometry>
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#include <Eigen/StdVector>
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#include <visualization_msgs/Marker.h>
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#include <visualization_msgs/MarkerArray.h>
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#include <geometry_msgs/Point.h>
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#include "image_handler.h"
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#include "math_utils.hpp"
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#include "imu_state.h"
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#include "cam_state.h"
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namespace msckf_vio {
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/*
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@ -168,6 +173,10 @@ struct Feature {
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std::vector<double>& anchorPatch_estimate,
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IlluminationParameter& estimatedIllumination) const;
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bool MarkerGeneration(
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ros::Publisher& marker_pub,
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const CamStateServer& cam_states) const;
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bool VisualizePatch(
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const CAMState& cam_state,
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const StateIDType& cam_state_id,
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@ -207,7 +216,7 @@ inline Eigen::Vector3d projectPixelToPosition(cv::Point2f in_p,
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std::vector<cv::Point2f> anchorPatch_ideal;
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std::vector<cv::Point2f> anchorPatch_real;
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// Position of NxN Patch in 3D space
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// Position of NxN Patch in 3D space in anchor camera frame
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std::vector<Eigen::Vector3d> anchorPatch_3d;
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// Anchor Isometry
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@ -406,6 +415,118 @@ bool Feature::estimate_FrameIrradiance(
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}
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}
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// generates markers for every camera position/observation
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// and estimated feature/path position
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bool Feature::MarkerGeneration(
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ros::Publisher& marker_pub,
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const CamStateServer& cam_states) const
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{
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visualization_msgs::MarkerArray ma;
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// add all camera states used for estimation
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int count = 0;
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for(auto observation : observations)
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{
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visualization_msgs::Marker marker;
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marker.header.frame_id = "world";
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marker.header.stamp = ros::Time::now();
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marker.ns = "cameras";
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marker.id = count++;
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marker.type = visualization_msgs::Marker::ARROW;
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marker.action = visualization_msgs::Marker::ADD;
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marker.pose.position.x = cam_states.find(observation.first)->second.position(0);
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marker.pose.position.y = cam_states.find(observation.first)->second.position(1);
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marker.pose.position.z = cam_states.find(observation.first)->second.position(2);
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// rotate form x to z axis
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Eigen::Vector4d q = quaternionMultiplication(Eigen::Vector4d(0, -0.707, 0, 0.707), cam_states.find(observation.first)->second.orientation);
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marker.pose.orientation.x = q(0);
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marker.pose.orientation.y = q(1);
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marker.pose.orientation.z = q(2);
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marker.pose.orientation.w = q(3);
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marker.scale.x = 0.15;
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marker.scale.y = 0.05;
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marker.scale.z = 0.05;
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if(count == 1)
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{
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marker.color.r = 0.0f;
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marker.color.g = 0.0f;
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marker.color.b = 1.0f;
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}
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else
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{
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marker.color.r = 0.0f;
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marker.color.g = 1.0f;
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marker.color.b = 0.0f;
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}
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marker.color.a = 1.0;
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marker.lifetime = ros::Duration(0);
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ma.markers.push_back(marker);
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}
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// 'delete' any existing cameras (make invisible)
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for(int i = count; i < 20; i++)
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{
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visualization_msgs::Marker marker;
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marker.header.frame_id = "world";
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marker.header.stamp = ros::Time::now();
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marker.ns = "cameras";
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marker.id = i;
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marker.type = visualization_msgs::Marker::ARROW;
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marker.action = visualization_msgs::Marker::ADD;
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marker.pose.orientation.w = 1;
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marker.color.a = 0.0;
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marker.lifetime = ros::Duration(1);
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ma.markers.push_back(marker);
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}
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//generate feature patch points position
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visualization_msgs::Marker marker;
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marker.header.frame_id = "world";
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marker.header.stamp = ros::Time::now();
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marker.ns = "patch";
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marker.id = 0;
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marker.type = visualization_msgs::Marker::POINTS;
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marker.action = visualization_msgs::Marker::ADD;
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marker.pose.orientation.w = 1;
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marker.scale.x = 0.02;
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marker.scale.y = 0.02;
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marker.color.r = 1.0f;
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marker.color.g = 0.0f;
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marker.color.b = 0.0f;
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marker.color.a = 1.0;
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for(auto point : anchorPatch_3d)
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{
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geometry_msgs::Point p;
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p.x = point(0);
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p.y = point(1);
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p.z = point(2);
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marker.points.push_back(p);
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}
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ma.markers.push_back(marker);
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marker_pub.publish(ma);
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}
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bool Feature::VisualizePatch(
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const CAMState& cam_state,
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@ -490,11 +611,14 @@ bool Feature::VisualizePatch(
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cv::Scalar(255, 255 + photo_r[i*N+j]*255, 255 + photo_r[i*N+j]*255),
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CV_FILLED);
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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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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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// draw world zero
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cv::line(positionFrame,
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cv::Point(20,20),
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@ -510,20 +634,20 @@ bool Feature::VisualizePatch(
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// for every observation, get cam state
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for(auto obs : observations)
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{
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cam_state.find(obs->first);
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cv::line(positionFrame,
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cv::Point(20,20),
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cv::Point(30,20),
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cv::Scalar(255,0,0),
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CV_FILLED);
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}
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// draw, x y position and arrow with direction - write z next to it
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cv::resize(cam0.featureVisu, cam0.featureVisu, cv::Size(), rescale, rescale);
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cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
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cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
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cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
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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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@ -534,11 +658,11 @@ bool Feature::VisualizePatch(
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//save image
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std::stringstream loc;
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loc << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
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cv::imwrite(loc.str(), cam0.featureVisu);
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// loc << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
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//cv::imwrite(loc.str(), cam0.featureVisu);
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//cv::imshow("patch", cam0.featureVisu);
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//cvWaitKey(1);
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cv::imshow("patch", cam0.featureVisu);
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cvWaitKey(0);
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}
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float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
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@ -586,7 +710,7 @@ Eigen::Vector3d Feature::projectPixelToPosition(cv::Point2f in_p, const CameraCa
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// save resulting NxN positions for this feature
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Eigen::Vector3d PositionInCamera(in_p.x/anchor_rho, in_p.y/anchor_rho, 1/anchor_rho);
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Eigen::Vector3d PositionInWorld= T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
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Eigen::Vector3d PositionInWorld = T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
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return PositionInWorld;
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//printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
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}
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@ -653,7 +777,7 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
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for(auto point : anchorPatch_real)
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anchorPatch.push_back(PixelIrradiance(point, anchorImage));
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// project patch pixel to 3D space
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// project patch pixel to 3D space in camera coordinate system
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for(auto point : und_v)
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{
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anchorPatch_ideal.push_back(point);
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@ -43,6 +43,21 @@ inline void quaternionNormalize(Eigen::Vector4d& q) {
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return;
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}
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/*
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* @brief invert rotation of passed quaternion through conjugation
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* and return conjugation
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*/
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inline Eigen::Vector4d quaternionConjugate(Eigen::Vector4d& q)
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{
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Eigen::Vector4d p;
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p(0) = -q(0);
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p(1) = -q(1);
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p(2) = -q(2);
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p(3) = q(3);
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return p;
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}
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/*
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* @brief Perform q1 * q2
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*/
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@ -181,6 +181,9 @@ class MsckfVio {
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const Eigen::Vector3d& gyro,
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const Eigen::Vector3d& acc);
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// groundtruth state augmentation
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void truePhotometricStateAugmentation(const double& time);
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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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@ -230,7 +233,7 @@ class MsckfVio {
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bool GROUNDTRUTH;
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bool nan_flag;
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bool play;
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double last_time_bound;
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// Patch size for Photometry
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@ -241,6 +244,13 @@ class MsckfVio {
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// State vector
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StateServer state_server;
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// Ground truth state vector
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StateServer true_state_server;
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// error state based on ground truth
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StateServer err_state_server;
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// Maximum number of camera states
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int max_cam_state_size;
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@ -297,6 +307,7 @@ class MsckfVio {
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ros::Subscriber imu_sub;
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ros::Subscriber truth_sub;
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ros::Publisher odom_pub;
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ros::Publisher marker_pub;
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ros::Publisher feature_pub;
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tf::TransformBroadcaster tf_pub;
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ros::ServiceServer reset_srv;
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@ -21,6 +21,12 @@
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<!-- Photometry Flag-->
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<param name="PHOTOMETRIC" value="true"/>
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<!-- Debugging Flaggs -->
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<param name="PrintImages" value="true"/>
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<param name="GroundTruth" value="true"/>
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<param name="patch_size_n" value="7"/>
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<!-- Calibration parameters -->
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<rosparam command="load" file="$(arg calibration_file)"/>
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@ -18,6 +18,7 @@
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<depend>nav_msgs</depend>
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<depend>sensor_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>visualization_msgs</depend>
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<depend>eigen_conversions</depend>
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<depend>tf_conversions</depend>
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<depend>random_numbers</depend>
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@ -27,6 +27,10 @@
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#include <msckf_vio/math_utils.hpp>
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#include <msckf_vio/utils.h>
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#include <rosbag/bag.h>
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#include <std_msgs/Int32.h>
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#include <std_msgs/String.h>
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using namespace std;
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using namespace Eigen;
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@ -248,9 +252,14 @@ bool MsckfVio::loadParameters() {
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}
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bool MsckfVio::createRosIO() {
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// activating bag playing parameter, for debugging
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nh.setParam("/play_bag", true);
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odom_pub = nh.advertise<nav_msgs::Odometry>("odom", 10);
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feature_pub = nh.advertise<sensor_msgs::PointCloud2>(
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"feature_point_cloud", 10);
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marker_pub = nh.advertise<visualization_msgs::MarkerArray>("/visualization_marker_array", 10);
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reset_srv = nh.advertiseService("reset",
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&MsckfVio::resetCallback, this);
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@ -301,6 +310,19 @@ bool MsckfVio::initialize() {
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if (!createRosIO()) return false;
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ROS_INFO("Finish creating ROS IO...");
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/*
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rosbag::Bag bag;
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bag.open("/home/raphael/dev/MSCKF_ws/bag/TUM/dataset-corridor1_1024_16.bag", rosbag::bagmode::Read);
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for(rosbag::MessageInstance const m: rosbag::View(bag))
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{
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std_msgs::Int32::ConstPtr i = m.instantiate<std_msgs::Int32>();
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if (i != NULL)
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std::cout << i->data << std::endl;
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}
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bag.close();
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*/
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return true;
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}
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@ -349,10 +371,14 @@ void MsckfVio::imageCallback(
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// Propogate the IMU state.
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// that are received before the image feature_msg.
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ros::Time start_time = ros::Time::now();
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if(!GROUNDTRUTH)
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batchImuProcessing(feature_msg->header.stamp.toSec());
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else
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// save true state in seperate state vector
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if(GROUNDTRUTH)
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batchTruthProcessing(feature_msg->header.stamp.toSec());
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double imu_processing_time = (
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ros::Time::now()-start_time).toSec();
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@ -645,6 +671,19 @@ void MsckfVio::mocapOdomCallback(const nav_msgs::OdometryConstPtr& msg) {
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return;
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}
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void MsckfVio::calcErrorState()
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{
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// true_state_server - state_server = err_state_server
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StateServer errState;
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errState.imu_state.id = state_server.imu_state.id;
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errState.imu_state.time = state-server.imu_state.time;
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errState.imu_state.orientation = quaternionMultiplication(true_state_server.imu_state.orientation, quaterionConjugate(state_server.imu_state.orientation));
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errState.imu_state.position = true_state_server.imu_state.position - state_server.imu_state.position;
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errState.imu_state.velocity =
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}
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void MsckfVio::batchTruthProcessing(const double& time_bound) {
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// Counter how many IMU msgs in the buffer are used.
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@ -652,7 +691,7 @@ void MsckfVio::batchTruthProcessing(const double& time_bound) {
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for (const auto& truth_msg : truth_msg_buffer) {
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double truth_time = truth_msg.header.stamp.toSec();
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if (truth_time < state_server.imu_state.time) {
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if (truth_time < true_state_server.imu_state.time) {
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++used_truth_msg_cntr;
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continue;
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}
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@ -675,7 +714,7 @@ void MsckfVio::batchTruthProcessing(const double& time_bound) {
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last_time_bound = time_bound;
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// Set the state ID for the new IMU state.
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state_server.imu_state.id = IMUState::next_id++;
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true_state_server.imu_state.id = IMUState::next_id++;
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// Remove all used Truth msgs.
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truth_msg_buffer.erase(truth_msg_buffer.begin(),
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@ -687,7 +726,7 @@ void MsckfVio::processTruthtoIMU(const double& time,
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const Vector4d& m_rot,
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const Vector3d& m_trans){
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IMUState& imu_state = state_server.imu_state;
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IMUState& imu_state = true_state_server.imu_state;
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double dtime = time - imu_state.time;
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Vector4d& q = imu_state.orientation;
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@ -706,7 +745,7 @@ void MsckfVio::processTruthtoIMU(const double& time,
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imu_state.velocity_null = imu_state.velocity;
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// Update the state info
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state_server.imu_state.time = time;
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true_state_server.imu_state.time = time;
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}
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@ -905,7 +944,6 @@ void MsckfVio::stateAugmentation(const double& time)
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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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@ -945,6 +983,33 @@ void MsckfVio::stateAugmentation(const double& time)
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return;
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}
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void MsckfVio::truePhotometricStateAugmentation(const double& time)
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{
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const Matrix3d& true_R_i_c = true_state_server.imu_state.R_imu_cam0;
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const Vector3d& true_t_c_i = true_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 true_R_w_i = quaternionToRotation(
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true_state_server.imu_state.orientation);
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Matrix3d true_R_w_c = R_i_c * R_w_i;
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Vector3d true_t_c_w = true_state_server.imu_state.position +
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R_w_i.transpose()*t_c_i;
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|
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true_state_server.cam_states[true_state_server.imu_state.id] =
|
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CAMState(state_server.imu_state.id);
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CAMState& true_cam_state = true_state_server.cam_states[
|
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true_state_server.imu_state.id];
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true_cam_state.time = time;
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true_cam_state.orientation = rotationToQuaternion(true_R_w_c);
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true_cam_state.position = t_c_w;
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true_cam_state.orientation_null = true_cam_state.orientation;
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true_cam_state.position_null = true_cam_state.position;
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|
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return;
|
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}
|
||||
|
||||
void MsckfVio::PhotometricStateAugmentation(const double& time)
|
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{
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|
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@ -1068,9 +1133,6 @@ void MsckfVio::PhotometricMeasurementJacobian(
|
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Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
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Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
|
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|
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// 3d feature position in the world frame.
|
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// And its observation with the stereo cameras.
|
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const Vector3d& p_w = feature.position;
|
||||
|
||||
//photometric observation
|
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std::vector<double> photo_z;
|
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@ -1080,8 +1142,12 @@ void MsckfVio::PhotometricMeasurementJacobian(
|
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Matrix<double, 2, 3> dh_dCpij = Matrix<double, 2, 3>::Zero();
|
||||
Matrix<double, 2, 3> dh_dGpij = Matrix<double, 2, 3>::Zero();
|
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Matrix<double, 2, 6> dh_dXplj = Matrix<double, 2, 6>::Zero();
|
||||
Matrix<double, 3, 1> dGpi_drhoj = Matrix<double, 3, 1>::Zero();
|
||||
Matrix<double, 3, 6> dGpi_XpAj = Matrix<double, 3, 6>::Zero();
|
||||
Matrix<double, 3, 1> dGpj_drhoj = Matrix<double, 3, 1>::Zero();
|
||||
Matrix<double, 3, 6> dGpj_XpAj = Matrix<double, 3, 6>::Zero();
|
||||
|
||||
Matrix<double, 3, 3> dCpij_dGpij = Matrix<double, 3, 3>::Zero();
|
||||
Matrix<double, 3, 3> dCpij_dCGtheta = Matrix<double, 3, 3>::Zero();
|
||||
Matrix<double, 3, 3> dCpij_dGpC = Matrix<double, 3, 3>::Zero();
|
||||
|
||||
// one line of the NxN Jacobians
|
||||
Eigen::Matrix<double, 1, 1> H_rhoj;
|
||||
@ -1099,7 +1165,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
|
||||
double dx, dy;
|
||||
for (auto point : feature.anchorPatch_3d)
|
||||
{
|
||||
Eigen::Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
|
||||
Eigen::Vector3d p_c0 = R_w_c0 * (point-t_c0_w);
|
||||
cv::Point2f p_in_c0 = feature.projectPositionToCamera(cam_state, cam_state_id, cam0, point);
|
||||
|
||||
//add observation
|
||||
@ -1118,27 +1184,31 @@ void MsckfVio::PhotometricMeasurementJacobian(
|
||||
dh_dCpij(0, 2) = -(p_c0(0))/(p_c0(2)*p_c0(2));
|
||||
dh_dCpij(1, 2) = -(p_c0(1))/(p_c0(2)*p_c0(2));
|
||||
|
||||
dCpij_dGpij = quaternionToRotation(cam_state.orientation);
|
||||
|
||||
//orientation takes camera frame to world frame, we wa
|
||||
dh_dGpij = dh_dCpij * quaternionToRotation(cam_state.orientation).transpose();
|
||||
dh_dGpij = dh_dCpij * dCpij_dGpij;
|
||||
|
||||
//dh / d X_{pl}
|
||||
dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * skewSymmetric(point);
|
||||
dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * -quaternionToRotation(cam_state.orientation).transpose();
|
||||
dCpij_dCGtheta = skewSymmetric(p_c0);
|
||||
dCpij_dGpC = -quaternionToRotation(cam_state.orientation);
|
||||
dh_dXplj.block<2, 3>(0, 0) = dh_dCpij * dCpij_dCGtheta;
|
||||
dh_dXplj.block<2, 3>(0, 3) = dh_dCpij * dCpij_dGpC;
|
||||
|
||||
//d{}^Gp_P{ij} / \rho_i
|
||||
double rho = feature.anchor_rho;
|
||||
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));
|
||||
dGpj_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));
|
||||
|
||||
dGpi_XpAj.block<3, 3>(0, 0) = - skewSymmetric(feature.T_anchor_w.linear()
|
||||
dGpj_XpAj.block<3, 3>(0, 0) = - skewSymmetric(feature.T_anchor_w.linear()
|
||||
* Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho),
|
||||
feature.anchorPatch_ideal[count].y/(rho),
|
||||
1/(rho)));
|
||||
dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
|
||||
dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
|
||||
|
||||
// Intermediate Jakobians
|
||||
H_rhoj = dI_dhj * dh_dGpij * dGpi_drhoj; // 1 x 3
|
||||
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 3
|
||||
H_plj = dI_dhj * dh_dXplj; // 1 x 6
|
||||
H_pAj = dI_dhj * dh_dGpij * dGpi_XpAj; // 1 x 6
|
||||
H_pAj = dI_dhj * dh_dGpij * dGpj_XpAj; // 1 x 6
|
||||
|
||||
H_rho.block<1, 1>(count, 0) = H_rhoj;
|
||||
H_pl.block<1, 6>(count, 0) = H_plj;
|
||||
@ -1209,7 +1279,10 @@ void MsckfVio::PhotometricMeasurementJacobian(
|
||||
std::stringstream ss;
|
||||
ss << "INFO:" << " anchor: " << cam_state_cntr_anchor << " frame: " << cam_state_cntr;
|
||||
if(PRINTIMAGES)
|
||||
{
|
||||
feature.MarkerGeneration(marker_pub, state_server.cam_states);
|
||||
feature.VisualizePatch(cam_state, cam_state_id, cam0, photo_r, ss);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
@ -1220,6 +1293,12 @@ void MsckfVio::PhotometricFeatureJacobian(
|
||||
MatrixXd& H_x, VectorXd& r)
|
||||
{
|
||||
|
||||
// stop playing bagfile if printing images
|
||||
if(PRINTIMAGES)
|
||||
{
|
||||
std::cout << "stopped playpack" << std::endl;
|
||||
nh.setParam("/play_bag", false);
|
||||
}
|
||||
const auto& feature = map_server[feature_id];
|
||||
|
||||
// Check how many camera states in the provided camera
|
||||
@ -1278,6 +1357,11 @@ void MsckfVio::PhotometricFeatureJacobian(
|
||||
H_x = A.transpose() * H_xi;
|
||||
r = A.transpose() * r_i;
|
||||
|
||||
if(PRINTIMAGES)
|
||||
{
|
||||
std::cout << "resume playback" << std::endl;
|
||||
nh.setParam("/play_bag", true);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user