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added check if pre-undistorted, works for still distorted

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This commit is contained in:
Raphael Maenle 2019-06-27 17:27:47 +02:00
parent 655416a490
commit af1820a238
2 changed files with 57 additions and 28 deletions
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75
include/msckf_vio/feature.hpp
View File

@ -969,7 +969,7 @@ cv::Point2f Feature::projectPositionToCamera(
Eigen::Isometry3d T_c0_w;
cv::Point2f out_p;
cv::Point2f my_p;
// transfrom position to camera frame
Eigen::Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
const Eigen::Vector3d& t_c0_w = cam_state.position;
@ -980,11 +980,15 @@ cv::Point2f Feature::projectPositionToCamera(
// if(cam_state_id == observations.begin()->first)
//printf("undist:\n \tproj pos: %f, %f\n\ttrue pos: %f, %f\n", out_p.x, out_p.y, undist_anchor_center_pos.x, undist_anchor_center_pos.y);
cv::Point2f my_p = image_handler::distortPoint(out_p,
if (cam.distortion_model.substr(0,3) == "pre-")
my_p = cv::Point2f(out_p.x * cam.intrinsics[0] + cam.intrinsics[2], out_p.y * cam.intrinsics[1] + cam.intrinsics[3]);
else
my_p = image_handler::distortPoint(out_p,
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs);
// printf("truPosition: %f, %f, %f\n", position.x(), position.y(), position.z());
// printf("camPosition: %f, %f, %f\n", p_c0(0), p_c0(1), p_c0(2));
// printf("Photo projection: %f, %f\n", my_p[0].x, my_p[0].y);
@ -1008,8 +1012,6 @@ Eigen::Vector3d Feature::AnchorPixelToPosition(cv::Point2f in_p, const CameraCal
bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
{
//initialize patch Size
int n = (int)(N-1)/2;
@ -1037,51 +1039,68 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
auto u = anchor->second(0);//*cam.intrinsics[0] + cam.intrinsics[2];
auto v = anchor->second(1);//*cam.intrinsics[1] + cam.intrinsics[3];
//testing
undist_anchor_center_pos = cv::Point2f(u,v);
//for NxN patch pixels around feature
int count = 0;
// check if image has been pre-undistorted
if(cam.distortion_model.substr(0,3) == "pre-")
{
std::cout << "is a pre" << std::endl;
//project onto pixel plane
undist_anchor_center_pos = cv::Point2f(u * cam.intrinsics[0] + cam.intrinsics[2], v * cam.intrinsics[1] + cam.intrinsics[3]);
// get feature in undistorted pixel space
// this only reverts from 'pure' space into undistorted pixel space using camera matrix
cv::Point2f und_pix_p = image_handler::distortPoint(cv::Point2f(u, v),
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs);
// create vector of patch in pixel plane
for(double u_run = -n; u_run <= n; u_run++)
for(double v_run = -n; v_run <= n; v_run++)
anchorPatch_real.push_back(cv::Point2f(und_pix_p.x+u_run, und_pix_p.y+v_run));
// create vector of patch in pixel plane
for(double u_run = -n; u_run <= n; u_run++)
for(double v_run = -n; v_run <= n; v_run++)
anchorPatch_real.push_back(cv::Point2f(undist_anchor_center_pos.x+u_run, undist_anchor_center_pos.y+v_run));
//project back into u,v
for(int i = 0; i < N*N; i++)
anchorPatch_ideal.push_back(cv::Point2f((anchorPatch_real[i].x-cam.intrinsics[2])/cam.intrinsics[0], (anchorPatch_real[i].y-cam.intrinsics[3])/cam.intrinsics[1]));
}
else
{
// get feature in undistorted pixel space
// this only reverts from 'pure' space into undistorted pixel space using camera matrix
cv::Point2f und_pix_p = image_handler::distortPoint(cv::Point2f(u, v),
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs);
// create vector of patch in pixel plane
for(double u_run = -n; u_run <= n; u_run++)
for(double v_run = -n; v_run <= n; v_run++)
anchorPatch_real.push_back(cv::Point2f(und_pix_p.x+u_run, und_pix_p.y+v_run));
//create undistorted pure points
image_handler::undistortPoints(anchorPatch_real,
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs,
anchorPatch_ideal);
//create undistorted pure points
image_handler::undistortPoints(anchorPatch_real,
cam.intrinsics,
cam.distortion_model,
cam.distortion_coeffs,
anchorPatch_ideal);
}
// save anchor position for later visualisaztion
anchor_center_pos = anchorPatch_real[(N*N-1)/2];
// save true pixel Patch position
for(auto point : anchorPatch_real)
if(point.x - n < 0 || point.x + n >= cam.resolution(0) || point.y - n < 0 || point.y + n >= cam.resolution(1))
if(point.x - n < 0 || point.x + n >= cam.resolution(0)-1 || point.y - n < 0 || point.y + n >= cam.resolution(1)-1)
return false;
for(auto point : anchorPatch_real)
anchorPatch.push_back(PixelIrradiance(point, anchorImage));
// project patch pixel to 3D space in camera coordinate system
for(auto point : anchorPatch_ideal)
anchorPatch_3d.push_back(AnchorPixelToPosition(point, cam));
is_anchored = true;
return true;
}
bool Feature::initializeRho(const CamStateServer& cam_states) {
// Organize camera poses and feature observations properly.

10
src/msckf_vio.cpp
View File

@ -546,10 +546,20 @@ void MsckfVio::manageMovingWindow(
cv_bridge::CvImageConstPtr cam1_img_ptr = cv_bridge::toCvShare(cam1_img,
sensor_msgs::image_encodings::MONO8);
image_handler::undistortImage(cam0_img_ptr->image, cam0_img_ptr->image, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_img_ptr->image, cam1_img_ptr->image, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
// save image information into moving window
cam0.moving_window[state_server.imu_state.id].image = cam0_img_ptr->image.clone();
cam1.moving_window[state_server.imu_state.id].image = cam1_img_ptr->image.clone();
//TODO handle any massive overflow correctly (should be pruned, before this ever triggers)
while(cam0.moving_window.size() > 100)
{