raphael/msckf_vio
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added scaling changes to dI/dh for pixel size

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This commit is contained in:
Raphael Maenle
2019-05-24 15:00:18 +02:00
parent e788854fe8
commit d9899227c2
7 changed files with 79 additions and 22 deletions
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56
src/msckf_vio.cpp
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@ -1225,6 +1225,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
const CAMState& cam_state = state_server.cam_states[cam_state_id];
const Feature& feature = map_server[feature_id];
const StateIDType anchor_state_id = feature.observations.begin()->first;
const CAMState anchor_state = state_server.cam_states[anchor_state_id];
// Cam0 pose.
Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
const Vector3d& t_c0_w = cam_state.position;
@ -1263,7 +1266,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
Eigen::MatrixXd H_pA(N*N, 6);
auto frame = cam0.moving_window.find(cam_state_id)->second.image;
auto anchor_frame = cam0.moving_window.find(anchor_state_id)->second.image;
//observation
const Vector4d& z = feature.observations.find(cam_state_id)->second;
@ -1291,8 +1294,10 @@ void MsckfVio::PhotometricMeasurementJacobian(
for (auto point : feature.anchorPatch_3d)
{
//cout << "____feature-measurement_____\n" << endl;
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);
cv::Point2f p_in_anchor = feature.projectPositionToCamera(anchor_state, anchor_state_id, cam0, point);
//add observation
photo_z.push_back(feature.PixelIrradiance(p_in_c0, frame));
@ -1300,13 +1305,17 @@ void MsckfVio::PhotometricMeasurementJacobian(
//calculate photom. residual
photo_r.push_back(photo_z[count] - estimate_photo_z[count]);
// add jacobians
//cout << "residual: " << photo_r.back() << endl;
// add jacobians
cv::Point2f pixelDistance = feature.pixelDistanceAt(anchor_state, anchor_state_id, cam0, point);
// calculate derivation for anchor frame, use position for derivation calculation
// frame derivative calculated convoluting with kernel [-1, 0, 1]
dx = feature.PixelIrradiance(cv::Point2f(p_in_c0.x+1, p_in_c0.y), frame) - feature.PixelIrradiance(cv::Point2f(p_in_c0.x-1, p_in_c0.y), frame);
dy = feature.PixelIrradiance(cv::Point2f(p_in_c0.x, p_in_c0.y+1), frame) - feature.PixelIrradiance(cv::Point2f(p_in_c0.x, p_in_c0.y-1), frame);
dI_dhj(0, 0) = dx;
dI_dhj(0, 1) = dy;
dx = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x+1, p_in_anchor.y), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x-1, p_in_anchor.y), anchor_frame);
dy = feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y+1), anchor_frame) - feature.PixelIrradiance(cv::Point2f(p_in_anchor.x, p_in_anchor.y-1), anchor_frame);
dI_dhj(0, 0) = dx/pixelDistance.x;
dI_dhj(0, 1) = dy/pixelDistance.y;
gradientVector.x += dx;
gradientVector.y += dy;
@ -1332,8 +1341,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
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
// d{}^Gp_P{ij} / \rho_i
double rho = feature.anchor_rho;
// Isometry T_anchor_w takes a vector in anchor frame to world frame
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));
@ -1345,13 +1355,18 @@ void MsckfVio::PhotometricMeasurementJacobian(
// Intermediate Jakobians
H_rhoj = dI_dhj * dh_dGpij * dGpj_drhoj; // 1 x 1
H_plj = dI_dhj * dh_dXplj; // 1 x 6
H_pAj = dI_dhj * dh_dGpij * dGpj_XpAj; // 1 x 6
H_plj = dI_dhj * dh_dXplj; // 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;
H_pA.block<1, 6>(count, 0) = H_pAj;
//cout << "H_pl\n" << H_plj << endl;
//cout << "H_pA\n" << H_pAj << endl;
//cout << "H_rho\n" << H_rhoj << endl;
count++;
}
@ -1491,15 +1506,18 @@ void MsckfVio::PhotometricFeatureJacobian(
MatrixXd A = svd_helper.matrixU().rightCols(jacobian_row_size - singularValues.size());
*/
H_x = A_null_space.transpose() * H_xi;
r = A_null_space.transpose() * r_i;
/*
ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x. * r << endl;
myfile.close();
cout << "---------- LOGGED -------- " << endl;
*/
if(PRINTIMAGES)
{
ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
myfile.close();
cout << "---------- LOGGED -------- " << endl;
}
if(PRINTIMAGES)
{
std::cout << "resume playback" << std::endl;
@ -1642,7 +1660,7 @@ void MsckfVio::featureJacobian(
ofstream myfile;
myfile.open ("/home/raphael/dev/MSCKF_ws/log.txt");
myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.ldlt().solve(r) << endl;
myfile << "Hx\n" << H_x << "r\n" << r << "from residual estimated error state: " << H_x.colPivHouseholderQr().solve(r) << endl;
myfile.close();
cout << "---------- LOGGED -------- " << endl;
return;
@ -1866,7 +1884,7 @@ void MsckfVio::removeLostFeatures() {
else
featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
if (gatingTest(H_xj, r_j, cam_state_ids.size()-1)) {
if (gatingTest(H_xj, r_j, r_j.size())) { //, cam_state_ids.size()-1)) {
H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
r.segment(stack_cntr, r_j.rows()) = r_j;
stack_cntr += H_xj.rows();
@ -2028,7 +2046,7 @@ void MsckfVio::pruneCamStateBuffer() {
else
featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
if (gatingTest(H_xj, r_j, involved_cam_state_ids.size())) {
if (gatingTest(H_xj, r_j, r_j.size())) {// involved_cam_state_ids.size())) {
H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
r.segment(stack_cntr, r_j.rows()) = r_j;
stack_cntr += H_xj.rows();