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added image rescaling factor

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This commit is contained in:
Raphael Maenle 2019-07-16 09:53:30 +02:00
parent 0ef71b9220
commit e94d4a06b5
5 changed files with 29 additions and 22 deletions
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3
include/msckf_vio/msckf_vio.h
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@ -286,7 +286,8 @@ class MsckfVio {
// Patch size for Photometry // Patch size for Photometry
int N; int N;
// Image rescale
int SCALE;
// Chi squared test table. // Chi squared test table.
static std::map<int, double> chi_squared_test_table; static std::map<int, double> chi_squared_test_table;

6
launch/image_processor_tinytum.launch
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@ -27,9 +27,9 @@
<param name="ransac_threshold" value="3"/> <param name="ransac_threshold" value="3"/>
<param name="stereo_threshold" value="5"/> <param name="stereo_threshold" value="5"/>
<remap from="~imu" to="/imu0"/> <remap from="~imu" to="/imu02"/>
<remap from="~cam0_image" to="/cam0/image_raw"/> <remap from="~cam0_image" to="/cam0/image_raw2"/>
<remap from="~cam1_image" to="/cam1/image_raw"/> <remap from="~cam1_image" to="/cam1/image_raw2"/>
</node> </node>

7
launch/msckf_vio_euroc.launch
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@ -19,14 +19,15 @@
<!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two --> <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
<param name="FILTER" value="2"/> <param name="FILTER" value="1"/>
<!-- Debugging Flaggs --> <!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/> <param name="StreamPause" value="true"/>
<param name="PrintImages" value="false"/> <param name="PrintImages" value="true"/>
<param name="GroundTruth" value="false"/> <param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="3"/> <param name="patch_size_n" value="5"/>
<param name="image_scale" value ="1"/>
<!-- Calibration parameters --> <!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/> <rosparam command="load" file="$(arg calibration_file)"/>

4
launch/msckf_vio_tinytum.launch
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@ -25,7 +25,9 @@
<param name="PrintImages" value="false"/> <param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/> <param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/> <param name="patch_size_n" value="3"/>
<param name="image_scale" value ="1"/>
<!-- Calibration parameters --> <!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/> <rosparam command="load" file="$(arg calibration_file)"/>

31
src/msckf_vio.cpp
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@ -137,6 +137,8 @@ bool MsckfVio::loadParameters() {
// Get the photometric patch size // Get the photometric patch size
nh.param<int>("patch_size_n", nh.param<int>("patch_size_n",
N, 3); N, 3);
// Get rescaling factor for image
nh.param<int>("image_scale", SCALE, 1);
// get camera information (used for back projection) // get camera information (used for back projection)
nh.param<string>("cam0/distortion_model", nh.param<string>("cam0/distortion_model",
@ -425,10 +427,10 @@ void MsckfVio::imageCallback(
// the origin. // the origin.
if (is_first_img) { if (is_first_img) {
is_first_img = false; is_first_img = false;
cam0.intrinsics *=0.5; //cam0.intrinsics *=SCALE;
cam1.intrinsics *=0.5; //cam1.intrinsics *=SCALE;
cam0.resolution *=0.5; //cam0.resolution *=SCALE;
cam1.resolution *=0.5; //cam1.resolution *=SCALE;
state_server.imu_state.time = feature_msg->header.stamp.toSec(); state_server.imu_state.time = feature_msg->header.stamp.toSec();
} }
static double max_processing_time = 0.0; static double max_processing_time = 0.0;
@ -550,22 +552,23 @@ void MsckfVio::manageMovingWindow(
cv::Mat new_cam0; cv::Mat new_cam0;
cv::Mat new_cam1; cv::Mat new_cam1;
cam0.intrinsics *=2; //cam0.intrinsics *=float(1./SCALE);
cam1.intrinsics *=2; //cam1.intrinsics *=float(1./SCALE);
cam0.resolution *=2; //cam0.resolution *=float(1./SCALE);
cam1.resolution *=2; //cam1.resolution *=float(1./SCALE);
image_handler::undistortImage(cam0_img_ptr->image, new_cam0, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs); image_handler::undistortImage(cam0_img_ptr->image, new_cam0, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
image_handler::undistortImage(cam1_img_ptr->image, new_cam1, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs); image_handler::undistortImage(cam1_img_ptr->image, new_cam1, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
cam0.intrinsics *=0.5; //cam0.intrinsics *=SCALE;
cam1.intrinsics *=0.5; //cam1.intrinsics *=SCALE;
cam0.resolution *=0.5; //cam0.resolution *=SCALE;
cam1.resolution *=0.5; //cam1.resolution *=SCALE;
//resize //resize
int SCALE = 1;yy
cv::Mat new_cam02; cv::Mat new_cam02;
cv::Mat new_cam12; cv::Mat new_cam12;
cv::resize(new_cam0, new_cam02, cv::Size(), 0.5, 0.5); cv::resize(new_cam0, new_cam02, cv::Size(), SCALE, SCALE);
cv::resize(new_cam1, new_cam12, cv::Size(), 0.5, 0.5); cv::resize(new_cam1, new_cam12, cv::Size(), SCALE, SCALE);
// save image information into moving window // save image information into moving window
cam0.moving_window[state_server.imu_state.id].image = new_cam02.clone(); cam0.moving_window[state_server.imu_state.id].image = new_cam02.clone();