fixed stop - go functionality via bagcontrol

.vscode/c_cpp_properties.json

@@ -1,16 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Linux",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "compilerPath": "/usr/bin/gcc",
-            "cStandard": "c11",
-            "cppStandard": "c++14",
-            "intelliSenseMode": "clang-x64"
-        }
-    ],
-    "version": 4
-}

.vscode/settings.json

@@ -1,6 +0,0 @@
-{
-    "files.associations": {
-        "core": "cpp",
-        "sparsecore": "cpp"
-    }
-}

config/camchain-imucam-euroc.yaml

@@ -9,7 +9,7 @@ cam0:
                      0,                   0,                   0,   1.000000000000000]
   camera_model: pinhole
   distortion_coeffs: [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
-  distortion_model: pre-radtan
+  distortion_model: radtan
   intrinsics: [458.654, 457.296, 367.215, 248.375]
   resolution: [752, 480]
   timeshift_cam_imu: 0.0
@@ -26,7 +26,7 @@ cam1:
                      0,                   0,                   0,   1.000000000000000]
   camera_model: pinhole
   distortion_coeffs: [-0.28368365,  0.07451284, -0.00010473, -3.55590700e-05]
-  distortion_model: pre-radtan
+  distortion_model: radtan
   intrinsics: [457.587, 456.134, 379.999, 255.238]
   resolution: [752, 480]
   timeshift_cam_imu: 0.0

config/camchain-imucam-tum-scaled.yaml

@@ -1,36 +0,0 @@
-cam0:
-  T_cam_imu:
-      [-0.9995378259923383,   0.02917807204183088,  -0.008530798463872679, 0.047094247958417004,
-      0.007526588843243184,   -0.03435493139706542, -0.9993813532126198,   -0.04788273017221637,
-      -0.029453096117288798,  -0.9989836729399656,  0.034119442089241274,  -0.0697294754693238,
-      0.0,                    0.0,                  0.0,                   1.0]
-  camera_model: pinhole
-  distortion_coeffs: [0.0034823894022493434, 0.0007150348452162257, -0.0020532361418706202,
-    0.00020293673591811182]
-  distortion_model: pre-equidistant
-  intrinsics: [190.97847715128717, 190.9733070521226, 254.93170605935475, 256.8974428996504]
-  resolution: [512, 512]
-  rostopic: /cam0/image_raw
-cam1:
-  T_cam_imu:
-    [-0.9995240747493029, 0.02986739485347808, -0.007717688852024281, -0.05374086123613335,
-    0.008095979457928231, 0.01256553460985914, -0.9998882749870535, -0.04648588412432889,
-    -0.02976708103202316, -0.9994748851595197, -0.0128013601698453, -0.07333210787623645,
-    0.0, 0.0, 0.0, 1.0]
-  T_cn_cnm1:
-    [0.9999994317488622, -0.0008361847221513937, -0.0006612844045898121, -0.10092123225528335,
-    0.0008042457277382264, 0.9988989443471681, -0.04690684567228134, -0.001964540595211977,
-    0.0006997790813734836, 0.04690628718225568, 0.9988990492196964, -0.0014663556043866572,
-    0.0, 0.0, 0.0, 1.0]
-  camera_model: pinhole
-  distortion_coeffs: [0.0034003170790442797, 0.001766278153469831, -0.00266312569781606,
-    0.0003299517423931039]
-  distortion_model: pre-equidistant
-  intrinsics: [190.44236969414825, 190.4344384721956, 252.59949716835982, 254.91723064636983]
-  resolution: [512, 512]
-  rostopic: /cam1/image_raw
-T_imu_body:
-  [1.0000, 0.0000, 0.0000, 0.0000,
-  0.0000, 1.0000, 0.0000, 0.0000,
-  0.0000, 0.0000, 1.0000, 0.0000,
-  0.0000, 0.0000, 0.0000, 1.0000]

include/msckf_vio/cam_state.h

@@ -18,8 +18,6 @@ namespace msckf_vio {
 
 struct Frame{
   cv::Mat image;
-  cv::Mat dximage;
-  cv::Mat dyimage;
   double exposureTime_ms;
 };
 
@@ -41,7 +39,6 @@ struct CameraCalibration{
   cv::Vec4d distortion_coeffs;
   movingWindow moving_window;
   cv::Mat featureVisu;
-  int id;
 };
 
 

include/msckf_vio/feature.hpp

@@ -137,7 +137,6 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
   inline bool checkMotion(
       const CamStateServer& cam_states) const;
 
-
   /*
    * @brief InitializeAnchor generates the NxN patch around the
    *        feature in the Anchor image
@@ -172,6 +171,7 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
                   Eigen::Vector3d& in_p) const;
 
 
+
 /*
 *  @brief project PositionToCamera Takes a 3d position in a world frame
 *         and projects it into the passed camera frame using pinhole projection
@@ -184,16 +184,6 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
                   const CameraCalibration& cam,
                   Eigen::Vector3d& in_p) const;
 
-  double CompleteCvKernel(
-                const cv::Point2f pose,
-                const StateIDType& cam_state_id,
-                CameraCalibration& cam,
-                std::string type) const;
-
-  double cvKernel(
-            const cv::Point2f pose,
-            std::string type) const;
-
   double Kernel(
             const cv::Point2f pose,
             const cv::Mat frame,
@@ -208,7 +198,7 @@ void Rhocost(const Eigen::Isometry3d& T_c0_ci,
   bool estimate_FrameIrradiance(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
-                  CameraCalibration& cam,
+                  CameraCalibration& cam0,
                   std::vector<double>& anchorPatch_estimate,
                   IlluminationParameter& estimatedIllumination) const;
 
@@ -216,17 +206,14 @@ bool MarkerGeneration(
                   ros::Publisher& marker_pub,
                   const CamStateServer& cam_states) const;
 
-bool VisualizeKernel(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0) const;
-
   bool VisualizePatch(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
-                  CameraCalibration& cam,
+                  CameraCalibration& cam0,
                   const Eigen::VectorXd& photo_r,
-                  std::stringstream& ss) const;
+                  std::stringstream& ss,
+                  cv::Point2f gradientVector,
+                  cv::Point2f residualVector) const;
   /*
   * @brief AnchorPixelToPosition uses the calcualted pixels
   *     of the anchor patch to generate 3D positions of all of em
@@ -277,14 +264,6 @@ inline Eigen::Vector3d AnchorPixelToPosition(cv::Point2f in_p,
   bool is_initialized;
   bool is_anchored;
 
-
-  cv::Mat abs_xderImage;
-  cv::Mat abs_yderImage;
-
-  cv::Mat xderImage;
-  cv::Mat yderImage;
-
-  cv::Mat anchorImage_blurred;
   cv::Point2f anchor_center_pos;
   cv::Point2f undist_anchor_center_pos;
   // Noise for a normalized feature measurement.
@@ -494,38 +473,6 @@ bool Feature::checkMotion(const CamStateServer& cam_states) const
   else return false;
 }
 
-double Feature::CompleteCvKernel(
-                const cv::Point2f pose,
-                const StateIDType& cam_state_id,
-                CameraCalibration& cam,
-                std::string type) const
-{
-
-  double delta = 0;
-
-  if(type == "Sobel_x")
-    delta = ((double)cam.moving_window.find(cam_state_id)->second.dximage.at<short>(pose.y, pose.x))/255.;
-  else if (type == "Sobel_y")
-    delta = ((double)cam.moving_window.find(cam_state_id)->second.dyimage.at<short>(pose.y, pose.x))/255.;
-
-  return delta;
-}
-
-double Feature::cvKernel(
-                const cv::Point2f pose,
-                std::string type) const
-{
-
-  double delta = 0;
-
-  if(type == "Sobel_x")
-    delta = ((double)xderImage.at<short>(pose.y, pose.x))/255.;
-  else if (type == "Sobel_y")
-    delta = ((double)yderImage.at<short>(pose.y, pose.x))/255.;
-  return delta;
-
-}
-
 double Feature::Kernel(
                 const cv::Point2f pose,
                 const cv::Mat frame,
@@ -542,14 +489,14 @@ int offs = (int)(kernel.rows()-1)/2;
 
 for(int i = 0; i < kernel.rows(); i++)
   for(int j = 0; j < kernel.cols(); j++)
-    delta += ((float)frame.at<uint8_t>(pose.y+j-offs , pose.x+i-offs))/255. * (float)kernel(j,i);
+    delta += ((float)frame.at<uint8_t>(pose.y+j-offs , pose.x+i-offs))/255 * (float)kernel(j,i);
 
 return delta;
 }
 bool Feature::estimate_FrameIrradiance(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
-                  CameraCalibration& cam,
+                  CameraCalibration& cam0,
                   std::vector<double>& anchorPatch_estimate,
                   IlluminationParameter& estimated_illumination) const
 {
@@ -558,11 +505,11 @@ bool Feature::estimate_FrameIrradiance(
   // muliply by a and add b of this frame
 
   auto anchor = observations.begin();
-  if(cam.moving_window.find(anchor->first) == cam.moving_window.end())
+  if(cam0.moving_window.find(anchor->first) == cam0.moving_window.end())
     return false;
 
-  double anchorExposureTime_ms = cam.moving_window.find(anchor->first)->second.exposureTime_ms;
-  double frameExposureTime_ms = cam.moving_window.find(cam_state_id)->second.exposureTime_ms;
+  double anchorExposureTime_ms = cam0.moving_window.find(anchor->first)->second.exposureTime_ms;
+  double frameExposureTime_ms = cam0.moving_window.find(cam_state_id)->second.exposureTime_ms;
 
 
   double a_A = anchorExposureTime_ms;
@@ -697,55 +644,21 @@ bool Feature::MarkerGeneration(
   marker_pub.publish(ma);
 }
 
-
-bool Feature::VisualizeKernel(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0) const
-{
-  auto anchor = observations.begin();
-  cv::Mat anchorImage = cam0.moving_window.find(anchor->first)->second.image;
-
-  //cv::Mat xderImage;
-  //cv::Mat yderImage;
-
-  //cv::Sobel(anchorImage, xderImage, CV_8UC1, 1, 0, 3);
-  //cv::Sobel(anchorImage, yderImage, CV_8UC1, 0, 1, 3);
-
-
-  // cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
-  // cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
-
-  /*
-  for(int i = 1; i < anchorImage.rows-1; i++)
-    for(int j = 1; j < anchorImage.cols-1; j++)
-      xderImage2.at<uint8_t>(j,i) = 255.*fabs(Kernel(cv::Point2f(i,j), anchorImage_blurred, "Sobel_x"));
-  
-
-  for(int i = 1; i < anchorImage.rows-1; i++)
-    for(int j = 1; j < anchorImage.cols-1; j++)
-      yderImage2.at<uint8_t>(j,i) = 255.*fabs(Kernel(cv::Point2f(i,j), anchorImage_blurred, "Sobel_y"));
-  */
-  //cv::imshow("anchor", anchorImage);
-  cv::imshow("xder2", xderImage);
-  cv::imshow("yder2", yderImage);
-
-  cvWaitKey(0);
-} 
-
 bool Feature::VisualizePatch(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
-                  CameraCalibration& cam,
+                  CameraCalibration& cam0,
                   const Eigen::VectorXd& photo_r,
-                  std::stringstream& ss) const
+                  std::stringstream& ss,
+                  cv::Point2f gradientVector,
+                  cv::Point2f residualVector) const
 {
 
   double rescale = 1;
 
   //visu - anchor
   auto anchor = observations.begin();
-  cv::Mat anchorImage = cam.moving_window.find(anchor->first)->second.image;
+  cv::Mat anchorImage = cam0.moving_window.find(anchor->first)->second.image;
   cv::Mat dottedFrame(anchorImage.size(), CV_8UC3);
   cv::cvtColor(anchorImage, dottedFrame, CV_GRAY2RGB);
 
@@ -757,10 +670,10 @@ bool Feature::VisualizePatch(
     cv::Point ys(point.x, point.y);
     cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,255));
   }  
-  cam.featureVisu = dottedFrame.clone(); 
+  cam0.featureVisu = dottedFrame.clone(); 
 
   // visu - feature
-  cv::Mat current_image = cam.moving_window.find(cam_state_id)->second.image;
+  cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
   cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
   
   // set position in frame 
@@ -768,7 +681,7 @@ bool Feature::VisualizePatch(
   std::vector<double> projectionPatch;
   for(auto point : anchorPatch_3d)
   {
-    cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam, point);
+    cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);
     projectionPatch.push_back(PixelIrradiance(p_in_c0, current_image));
     // visu - feature
     cv::Point xs(p_in_c0.x, p_in_c0.y);
@@ -776,7 +689,7 @@ bool Feature::VisualizePatch(
     cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
   }  
 
-  cv::hconcat(cam.featureVisu, dottedFrame, cam.featureVisu);
+  cv::hconcat(cam0.featureVisu, dottedFrame, cam0.featureVisu);
 
 
   // patches visualization
@@ -823,14 +736,10 @@ bool Feature::VisualizePatch(
   cv::putText(irradianceFrame, namer.str() , cvPoint(30, 65+scale*2*N), 
     cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(0,0,0), 1, CV_AA);
 
-  cv::Point2f p_f;
-  if(cam.id == 0)
-    p_f = cv::Point2f(observations.find(cam_state_id)->second(0),observations.find(cam_state_id)->second(1));
-  else if(cam.id == 1)
-    p_f = cv::Point2f(observations.find(cam_state_id)->second(2),observations.find(cam_state_id)->second(3));
+  cv::Point2f p_f(observations.find(cam_state_id)->second(0),observations.find(cam_state_id)->second(1));
   // move to real pixels
+  p_f = image_handler::distortPoint(p_f, cam0.intrinsics, cam0.distortion_model, cam0.distortion_coeffs);
 
-  p_f = image_handler::distortPoint(p_f, cam.intrinsics, cam.distortion_model, cam.distortion_coeffs);
   for(int i = 0; i<N; i++)
   {
     for(int j = 0; j<N ; j++)
@@ -847,23 +756,22 @@ bool Feature::VisualizePatch(
   // residual grid projection, positive - red, negative - blue colored 
   namer.str(std::string());
   namer << "residual";
-  std::cout << "-- photo_r -- \n" << photo_r << " -- " << std::endl;
   cv::putText(irradianceFrame, namer.str() , cvPoint(30+scale*N, scale*N/2-5), 
     cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(0,0,0), 1, CV_AA);
 
   for(int i = 0; i<N; i++)
     for(int j = 0; j<N; j++)
-      if(photo_r(2*(i*N+j))>0)
+      if(photo_r(i*N+j)>0)
         cv::rectangle(irradianceFrame, 
                       cv::Point(40+scale*(N+i+1), 15+scale*(N/2+j)), 
                       cv::Point(40+scale*(N+i), 15+scale*(N/2+j+1)), 
-                      cv::Scalar(255 - photo_r(2*(i*N+j)+1)*255, 255 - photo_r(2*(i*N+j)+1)*255, 255),  
+                      cv::Scalar(255 - photo_r(i*N+j)*255, 255 - photo_r(i*N+j)*255, 255),  
                       CV_FILLED);
       else
         cv::rectangle(irradianceFrame, 
                       cv::Point(40+scale*(N+i+1), 15+scale*(N/2+j)), 
                       cv::Point(40+scale*(N+i), 15+scale*(N/2+j+1)), 
-                      cv::Scalar(255, 255 + photo_r(2*(i*N+j)+1)*255, 255 + photo_r(2*(i*N+j)+1)*255), 
+                      cv::Scalar(255, 255 + photo_r(i*N+j)*255, 255 + photo_r(i*N+j)*255), 
                       CV_FILLED);
 
   // gradient arrow
@@ -876,15 +784,14 @@ bool Feature::VisualizePatch(
   */
 
   // residual gradient direction
-      /*
   cv::arrowedLine(irradianceFrame,
                   cv::Point(40+scale*(N+N/2+0.5), 15+scale*((N-0.5))),
                   cv::Point(40+scale*(N+N/2+0.5)+scale*residualVector.x, 15+scale*(N-0.5)+scale*residualVector.y),
                   cv::Scalar(0, 255, 175),
                   3);
-       */           
                   
-  cv::hconcat(cam.featureVisu, irradianceFrame, cam.featureVisu);
+
+  cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);
       
 /*
   // visualize position of used observations and resulting feature position
@@ -916,15 +823,15 @@ bool Feature::VisualizePatch(
 
   // draw, x y position and arrow with direction - write z next to it
 
-  cv::resize(cam.featureVisu, cam.featureVisu, cv::Size(), rescale, rescale);
+  cv::resize(cam0.featureVisu, cam0.featureVisu, cv::Size(), rescale, rescale);
 
 
-  cv::hconcat(cam.featureVisu, positionFrame, cam.featureVisu);
+  cv::hconcat(cam0.featureVisu, positionFrame, cam0.featureVisu);
 */
   // write feature position
   std::stringstream pos_s;
   pos_s << "u: " << observations.begin()->second(0) << " v: " << observations.begin()->second(1);
-  cv::putText(cam.featureVisu, ss.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30), 
+  cv::putText(cam0.featureVisu, ss.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30), 
     cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(200,200,250), 1, CV_AA);
   // create line?
 
@@ -932,16 +839,16 @@ bool Feature::VisualizePatch(
 
   std::stringstream loc;
  // loc << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
-  //cv::imwrite(loc.str(), cam.featureVisu);
+  //cv::imwrite(loc.str(), cam0.featureVisu);
 
-  cv::imshow("patch", cam.featureVisu);
-  cvWaitKey(1);
+  cv::imshow("patch", cam0.featureVisu);
+  cvWaitKey(0);
 }
 
 float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
 {
 
-  return ((float)image.at<uint8_t>(pose.y, pose.x))/255.;
+  return ((float)image.at<uint8_t>(pose.y, pose.x))/255;
 }
 
 cv::Point2f Feature::pixelDistanceAt(
@@ -967,18 +874,14 @@ cv::Point2f Feature::pixelDistanceAt(
                                 cam.distortion_coeffs, 
                                 pure); 
 
-  // transfrom position to camera frame
-  // to get distance multiplier
-  Eigen::Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
-  const Eigen::Vector3d& t_c0_w = cam_state.position;
-  Eigen::Vector3d p_c0 = R_w_c0 * (in_p-t_c0_w);
-
-  // returns the distance between the pixel points in space
+  // returns the absolute pixel distance at pixels one metres away
   cv::Point2f distance(fabs(pure[0].x - pure[1].x), fabs(pure[2].y - pure[3].y));
 
   return distance;
 }
 
+
+
 cv::Point2f Feature::projectPositionToCamera(
                   const CAMState& cam_state,
                   const StateIDType& cam_state_id,
@@ -988,40 +891,26 @@ cv::Point2f Feature::projectPositionToCamera(
   Eigen::Isometry3d T_c0_w;
 
   cv::Point2f out_p;
-  cv::Point2f my_p;
-  // transfrom position to camera frame
 
-  // cam0 position
+  // transfrom position to camera frame
   Eigen::Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
   const Eigen::Vector3d& t_c0_w = cam_state.position;
-
-  // project point according to model
-  if(cam.id == 0)
-  {
   Eigen::Vector3d p_c0 = R_w_c0 * (in_p-t_c0_w);
+
   out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
 
-  }
-  // if camera is one, calcualte the cam1 position from cam0 position first
-  else if(cam.id == 1)
-  {  
-    // cam1 position
-    Eigen::Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
-    Eigen::Matrix3d R_w_c1 = R_c0_c1 * R_w_c0;
-    Eigen::Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
+ // 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);
  
-    Eigen::Vector3d p_c1 = R_w_c1 * (in_p-t_c1_w);
-    out_p = cv::Point2f(p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
-  }
-
-  // undistort point according to camera model
-  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, 
+  cv::Point2f 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);
+  
   return my_p;
 }
 
@@ -1046,48 +935,19 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
 
   auto anchor = observations.begin();
   if(cam.moving_window.find(anchor->first) == cam.moving_window.end())
-  {
     return false;
-  }
+
   cv::Mat anchorImage = cam.moving_window.find(anchor->first)->second.image;
-  cv::Mat anchorImage_deeper;
-  anchorImage.convertTo(anchorImage_deeper,CV_16S);
-  //TODO remove this?
-
-
-  cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3);
-  cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3);
-
-  xderImage/=8.;
-  yderImage/=8.;
-
-  cv::convertScaleAbs(xderImage, abs_xderImage);
-  cv::convertScaleAbs(yderImage, abs_yderImage);
-  
-  cv::GaussianBlur(anchorImage, anchorImage_blurred, cv::Size(3,3), 0, 0, cv::BORDER_DEFAULT);
 
   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);
 
-  // check if image has been pre-undistorted
-  if(cam.distortion_model.substr(0,3) == "pre")
-  {
-    //project onto pixel plane
-    undist_anchor_center_pos = cv::Point2f(u * cam.intrinsics[0] + cam.intrinsics[2], v * cam.intrinsics[1] + cam.intrinsics[3]);
-    // 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));
+  //for NxN patch pixels around feature
+  int count = 0;
 
-
-    //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), 
@@ -1107,14 +967,13 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
                                 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)-1 || point.y - n < 0 || point.y + n >= cam.resolution(1)-1)
+    if(point.x - n < 0 || point.x + n >= cam.resolution(0) || point.y - n < 0 || point.y + n >= cam.resolution(1))
       return false;
 
   for(auto point : anchorPatch_real)
@@ -1125,11 +984,9 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
     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.

include/msckf_vio/image_handler.h

@@ -16,16 +16,6 @@ namespace msckf_vio {
  */
 namespace image_handler {
 
-cv::Point2f pinholeDownProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
-cv::Point2f pinholeUpProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics);
-
-void undistortImage(
-  cv::InputArray src,
-  cv::OutputArray dst,
-  const std::string& distortion_model,
-  const cv::Vec4d& intrinsics,
-  const cv::Vec4d& distortion_coeffs);
-
 void undistortPoints(
     const std::vector<cv::Point2f>& pts_in,
     const cv::Vec4d& intrinsics,
@@ -55,7 +45,6 @@ void undistortPoint(
     cv::Point2f& pt_out,
     const cv::Matx33d &rectification_matrix = cv::Matx33d::eye(),
     const cv::Vec4d &new_intrinsics = cv::Vec4d(1,1,0,0));
-
 }
 }
 #endif

include/msckf_vio/image_processor.h

@@ -320,8 +320,6 @@ private:
     return;
   }
 
-  bool STREAMPAUSE;
-
   // Indicate if this is the first image message.
   bool is_first_img;
 

include/msckf_vio/msckf_vio.h

@@ -14,7 +14,7 @@
 #include <string>
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
-#include <math.h>
+
 #include <boost/shared_ptr.hpp>
 #include <opencv2/opencv.hpp>
 #include <opencv2/video.hpp>
@@ -38,8 +38,6 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.h>
 
-#define PI 3.14159265
-
 namespace msckf_vio {
 /*
  * @brief MsckfVio Implements the algorithm in
@@ -197,116 +195,58 @@ class MsckfVio {
     // for a single feature observed at a single camera frame.
     void measurementJacobian(const StateIDType& cam_state_id,
         const FeatureIDType& feature_id,
-        Eigen::Matrix<double, 4, 6>& H_x,
-        Eigen::Matrix<double, 4, 3>& H_f,
-        Eigen::Vector4d& r);
+        Eigen::Matrix<double, 2, 6>& H_x,
+        Eigen::Matrix<double, 2, 3>& H_f,
+        Eigen::Vector2d& r);
     // This function computes the Jacobian of all measurements viewed
     // in the given camera states of this feature.
-    bool featureJacobian(
-        const FeatureIDType& feature_id,
+    void featureJacobian(const FeatureIDType& feature_id,
         const std::vector<StateIDType>& cam_state_ids,
         Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
 
 
-    void twodotMeasurementJacobian(
-        const StateIDType& cam_state_id,
-        const FeatureIDType& feature_id,
-        Eigen::MatrixXd& H_x, Eigen::MatrixXd& H_y, Eigen::VectorXd& r);
-
-    bool ConstructJacobians(
-        Eigen::MatrixXd& H_rho,
-        Eigen::MatrixXd& H_pl,
-        Eigen::MatrixXd& H_pA,
-        const Feature& feature,
-        const StateIDType&  cam_state_id,
-        Eigen::MatrixXd& H_xl,
-        Eigen::MatrixXd& H_yl);
-
-    bool PhotometricPatchPointResidual(
-        const StateIDType& cam_state_id,
-        const Feature& feature, 
-        Eigen::VectorXd& r);
-
-    bool PhotometricPatchPointJacobian(
-        const CAMState& cam_state,
-        const StateIDType& cam_state_id,
-        const Feature& feature,
-        Eigen::Vector3d point,
-        int count,
-        Eigen::Matrix<double, 2, 1>& H_rhoj,
-        Eigen::Matrix<double, 2, 6>& H_plj,
-        Eigen::Matrix<double, 2, 6>& H_pAj,
-        Eigen::Matrix<double, 2, 4>& dI_dhj);
-
-    bool PhotometricMeasurementJacobian(
+    void PhotometricMeasurementJacobian(
     const StateIDType& cam_state_id,
     const FeatureIDType& feature_id,
     Eigen::MatrixXd& H_x,
     Eigen::MatrixXd& H_y,
     Eigen::VectorXd& r);
 
-
-    bool twodotFeatureJacobian(
+    void PhotometricFeatureJacobian(
     const FeatureIDType& feature_id,
     const std::vector<StateIDType>& cam_state_ids,
     Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
 
-    bool PhotometricFeatureJacobian(
-        const FeatureIDType& feature_id,
-        const std::vector<StateIDType>& cam_state_ids,
-        Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
-
-    void photometricMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
     void measurementUpdate(const Eigen::MatrixXd& H,
         const Eigen::VectorXd& r);
-    void twoMeasurementUpdate(const Eigen::MatrixXd& H, const Eigen::VectorXd& r);
-
     bool gatingTest(const Eigen::MatrixXd& H,
-        const Eigen::VectorXd&r, const int& dof, int filter=0);
+        const Eigen::VectorXd&r, const int& dof);
     void removeLostFeatures();
     void findRedundantCamStates(
         std::vector<StateIDType>& rm_cam_state_ids);
-
-    void pruneLastCamStateBuffer();
     void pruneCamStateBuffer();
     // Reset the system online if the uncertainty is too large.
     void onlineReset();
 
     // Photometry flag
-    int FILTER;
+    bool PHOTOMETRIC;
 
     // debug flag
-    bool STREAMPAUSE;
     bool PRINTIMAGES;
     bool GROUNDTRUTH;
 
     bool nan_flag;
     bool play;
     double last_time_bound;
-    double time_offset;
 
     // Patch size for Photometry
     int N;
-    // Image rescale
-    int SCALE; 
+
     // Chi squared test table.
     static std::map<int, double> chi_squared_test_table;
 
-    double eval_time;
-
-    IMUState timed_old_imu_state;
-    IMUState timed_old_true_state;
-
-    IMUState old_imu_state;
-    IMUState old_true_state;
-
-    // change in position
-    Eigen::Vector3d delta_position;
-    Eigen::Vector3d delta_orientation;
-
     // State vector
     StateServer state_server;
-    StateServer photometric_state_server;
 
     // Ground truth state vector 
     StateServer true_state_server;
@@ -369,7 +309,6 @@ class MsckfVio {
     // Subscribers and publishers
     ros::Subscriber imu_sub;
     ros::Subscriber truth_sub;
-    ros::Publisher truth_odom_pub;
     ros::Publisher odom_pub;
     ros::Publisher marker_pub;
     ros::Publisher feature_pub;

launch/image_processor_tinytum.launch

@@ -1,38 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="image_processor"
-      args="standalone msckf_vio/ImageProcessorNodelet"
-      output="screen"
-       >
-
-      <!-- Debugging Flaggs -->
-      <param name="StreamPause" value="true"/>
-
-      <rosparam command="load" file="$(arg calibration_file)"/>
-      <param name="grid_row" value="4"/>
-      <param name="grid_col" value="4"/>
-      <param name="grid_min_feature_num" value="3"/>
-      <param name="grid_max_feature_num" value="5"/>
-      <param name="pyramid_levels" value="3"/>
-      <param name="patch_size" value="15"/>
-      <param name="fast_threshold" value="10"/>
-      <param name="max_iteration" value="30"/>
-      <param name="track_precision" value="0.01"/>
-      <param name="ransac_threshold" value="3"/>
-      <param name="stereo_threshold" value="5"/>
-
-      <remap from="~imu" to="/imu0"/>
-      <remap from="~cam0_image" to="/cam0/image_raw"/>
-      <remap from="~cam1_image" to="/cam1/image_raw"/>
-
-
-    </node>
-  </group>
-
-</launch>

launch/image_processor_tum.launch

@@ -11,9 +11,6 @@
       output="screen"
        >
 
-      <!-- Debugging Flaggs -->
-      <param name="StreamPause" value="true"/>
-
       <rosparam command="load" file="$(arg calibration_file)"/>
       <param name="grid_row" value="4"/>
       <param name="grid_col" value="4"/>

launch/msckf_vio_debug_tum.launch

@@ -25,7 +25,7 @@
       <param name="PrintImages" value="true"/>
       <param name="GroundTruth" value="false"/>
 
-      <param name="patch_size_n" value="3"/>
+      <param name="patch_size_n" value="7"/>
 
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>

launch/msckf_vio_euroc.launch

@@ -17,18 +17,6 @@
       args='standalone msckf_vio/MsckfVioNodelet'
       output="screen">
 
-
-      <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="1"/>
-
-      <!-- Debugging Flaggs -->
-      <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="true"/>
-      <param name="GroundTruth" value="false"/>
-
-      <param name="patch_size_n" value="5"/>
-      <param name="image_scale" value ="1"/>
-
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>
 

launch/msckf_vio_tinytum.launch

@@ -1,77 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="fixed_frame_id" default="world"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <include file="$(find msckf_vio)/launch/image_processor_tinytum.launch">
-    <arg name="robot" value="$(arg robot)"/>
-    <arg name="calibration_file" value="$(arg calibration_file)"/>
-  </include>
-
-  <!-- Msckf Vio Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="vio"
-      args='standalone msckf_vio/MsckfVioNodelet'
-      output="screen">
-
-      <param name="FILTER" value="0"/>
-
-      <!-- Debugging Flaggs -->
-      <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="false"/>
-      <param name="GroundTruth" value="false"/>
-
-      <param name="patch_size_n" value="3"/>
-      <param name="image_scale" value ="1"/>
-
-      <!-- Calibration parameters -->
-      <rosparam command="load" file="$(arg calibration_file)"/>
-
-      <param name="publish_tf" value="true"/>
-      <param name="frame_rate" value="20"/>
-      <param name="fixed_frame_id" value="$(arg fixed_frame_id)"/>
-      <param name="child_frame_id" value="odom"/>
-      <param name="max_cam_state_size" value="12"/>
-      <param name="position_std_threshold" value="8.0"/>
-
-      <param name="rotation_threshold" value="0.2618"/>
-      <param name="translation_threshold" value="0.4"/>
-      <param name="tracking_rate_threshold" value="0.5"/>
-
-      <!-- Feature optimization config -->
-      <param name="feature/config/translation_threshold" value="-1.0"/>
-
-      <!-- These values should be standard deviation -->
-      <param name="noise/gyro" value="0.005"/>
-      <param name="noise/acc" value="0.05"/>
-      <param name="noise/gyro_bias" value="0.001"/>
-      <param name="noise/acc_bias" value="0.01"/>
-      <param name="noise/feature" value="0.035"/>
-
-      <param name="initial_state/velocity/x" value="0.0"/>
-      <param name="initial_state/velocity/y" value="0.0"/>
-      <param name="initial_state/velocity/z" value="0.0"/>
-
-      <!-- These values should be covariance -->
-      <param name="initial_covariance/velocity" value="0.25"/>
-      <param name="initial_covariance/gyro_bias" value="0.01"/>
-      <param name="initial_covariance/acc_bias" value="0.01"/>
-      <param name="initial_covariance/extrinsic_rotation_cov" value="3.0462e-4"/>
-      <param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
-      <param name="initial_covariance/irradiance_frame_bias" value="0.1"/>
-
-      <remap from="~imu" to="/imu0"/>
-      <remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
-      <remap from="~cam0_image" to="/cam0/image_raw"/>
-      <remap from="~cam1_image" to="/cam1/image_raw"/>
-
-      <remap from="~features" to="image_processor/features"/>
-
-    </node>
-  </group>
-
-
-</launch>

launch/msckf_vio_tum.launch

@@ -17,16 +17,14 @@
       args='standalone msckf_vio/MsckfVioNodelet'
       output="screen">
 
-
-      <!-- Filter Flag, 0 = msckf, 1 = photometric, 2 = two -->
-      <param name="FILTER" value="1"/>
+      <!-- Photometry Flag-->
+      <param name="PHOTOMETRIC" value="true"/>
 
       <!-- Debugging Flaggs -->
-      <param name="StreamPause" value="true"/>
-      <param name="PrintImages" value="false"/>
+      <param name="PrintImages" value="true"/>
       <param name="GroundTruth" value="false"/>
 
-      <param name="patch_size_n" value="3"/>
+      <param name="patch_size_n" value="1"/>
       <!-- Calibration parameters -->
       <rosparam command="load" file="$(arg calibration_file)"/>
 
@@ -73,6 +71,4 @@
     </node>
   </group>
 
-  <!--node name="player" pkg="bagcontrol" type="control.py" /-->
-
 </launch>

log

@@ -1,73 +0,0 @@
-# Created by Octave 3.8.1, Wed Jun 12 14:36:37 2019 CEST <raphael@raphael-desktop>
-# name: Hx
-# type: matrix
-# rows: 18
-# columns: 49
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 313.795 -58.7912 139.778 -46.7616 144.055 86.9644 0 -314.123 55.6434 -140.648 46.7616 -144.055 -86.9644 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 441.06 -94.50069999999999 174.424 -53.7653 204.822 120.248 0 -441.685 90.1101 -175.657 53.7653 -204.822 -120.248 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 225.35 -54.5629 77.60599999999999 -21.1425 105.886 60.3706 0 -225.756 52.3373 -78.2406 21.1425 -105.886 -60.3706 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 175.128 20.6203 175.127 -79.63939999999999 73.245 62.1868 0 -174.573 -22.5235 -175.576 79.63939999999999 -73.245 -62.1868 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 296.962 43.5469 311.307 -143.667 123.399 108.355 0 -295.905 -46.7952 -312.063 143.667 -123.399 -108.355 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 126.283 117.889 311.864 -161.264 38.8521 71.8019 0 -124.464 -119.541 -312.118 161.264 -38.8521 -71.8019 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 49.2502 63.7166 155.071 -80.81950000000001 12.7732 32.1826 0 -48.2934 -64.4113 -155.157 80.81950000000001 -12.7732 -32.1826 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 69.59699999999999 154.579 335.384 -179.355 9.212580000000001 62.0364 0 -67.35599999999999 -155.735 -335.462 179.355 -9.212580000000001 -62.0364 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
- 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -66.6965 304.947 500.218 -285.589 -71.31010000000001 55.5058 0 70.8009 -305.077 -499.831 285.589 71.31010000000001 -55.5058 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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-
-
-# name: Hy
-# type: matrix
-# rows: 18
-# columns: 14
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- 0 1.56267 0 0 0 0 0 0 0 0 0.453168 0 0 0.162961
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- 0 0 0 0 0 0 0 0 1.56267 0 0 0.360532 0 -0.318846
-
-
-# name: r
-# type: matrix
-# rows: 18
-# columns: 1
- 0.0354809
- 0.0153183
- 0.0570191
- -0.0372801
- 0.0878601
- 0.06811780000000001
- -0.00426164
- 5.162985999041026e-321
- 6.927779999999998e-310
- 0
- 2.121999999910509e-314
- 0
- 0
- 0
- 3.6073900000086e-313
- 4.446590812571219e-323
- 3.952525166729972e-323
- 3.952525166729972e-323
-
-

src/bagcontrol.py

@@ -1,64 +0,0 @@
-#!/usr/bin/env python
-import rosbag
-import rospy
-from sensor_msgs.msg import Imu, Image
-from geometry_msgs.msg import TransformStamped
-import time
-import signal
-import sys
-
-
-def signal_handler(sig, frame):
-        print('gracefully exiting the program.')
-        bag.close()
-        sys.exit(0)
-
-def main():
-    global bag
-
-    cam0_topic = '/cam0/image_raw'
-    cam1_topic = '/cam1/image_raw'
-    imu0_topic = '/imu0'
-    grnd_topic = '/vrpn_client/raw_transform'
-
-    rospy.init_node('controlbag')
-    rospy.set_param('play_bag', False)
-
-    cam0_pub = rospy.Publisher(cam0_topic, Image, queue_size=10)
-    cam1_pub = rospy.Publisher(cam1_topic, Image, queue_size=10)
-    imu0_pub = rospy.Publisher(imu0_topic, Imu, queue_size=10)
-    grnd_pub = rospy.Publisher(grnd_topic, TransformStamped, queue_size=10)
-
-    signal.signal(signal.SIGINT, signal_handler)
-
-    bag = rosbag.Bag('/home/raphael/dev/MSCKF_ws/bag/TUM/dataset-corridor1_1024_16.bag')
-    for topic, msg, t in bag.read_messages(topics=[cam0_topic, cam1_topic, imu0_topic, grnd_topic]):
-        
-        # pause if parameter set to false
-        flag = False
-        while not rospy.get_param('/play_bag'):
-            time.sleep(0.01)
-            if not flag:
-                print("stopped playback")
-                flag = not flag
-
-        if flag:
-            print("resume playback")
-
-        if topic == cam0_topic:
-            cam0_pub.publish(msg)
-
-        elif topic == cam1_topic:
-            cam1_pub.publish(msg)
-
-        elif topic == imu0_topic:
-            imu0_pub.publish(msg)
-
-        elif topic ==grnd_topic:
-            grnd_pub.publish(msg)
-
-        #print msg
-    bag.close()
-
-if __name__== "__main__":
-    main()

src/control.py

@@ -1,64 +0,0 @@
-#!/usr/bin/env python
-import rosbag
-import rospy
-from sensor_msgs.msg import Imu, Image
-from geometry_msgs.msg import TransformStamped
-import time
-import signal
-import sys
-
-
-def signal_handler(sig, frame):
-        print('gracefully exiting the program.')
-        bag.close()
-        sys.exit(0)
-
-def main():
-    global bag
-
-    cam0_topic = '/cam0/image_raw'
-    cam1_topic = '/cam1/image_raw'
-    imu0_topic = '/imu0'
-    grnd_topic = '/vrpn_client/raw_transform'
-
-    rospy.init_node('controlbag')
-    rospy.set_param('play_bag', False)
-
-    cam0_pub = rospy.Publisher(cam0_topic, Image, queue_size=10)
-    cam1_pub = rospy.Publisher(cam1_topic, Image, queue_size=10)
-    imu0_pub = rospy.Publisher(imu0_topic, Imu, queue_size=10)
-    grnd_pub = rospy.Publisher(grnd_topic, TransformStamped, queue_size=10)
-
-    signal.signal(signal.SIGINT, signal_handler)
-
-    bag = rosbag.Bag('/home/raphael/dev/MSCKF_ws/bag/TUM/dataset-corridor1_1024_16.bag')
-    for topic, msg, t in bag.read_messages(topics=[cam0_topic, cam1_topic, imu0_topic, grnd_topic]):
-        
-        # pause if parameter set to false
-        flag = False
-        while not rospy.get_param('/play_bag'):
-            time.sleep(0.01)
-            if not flag:
-                print("stopped playback")
-                flag = not flag
-
-        if flag:
-            print("resume playback")
-
-        if topic == cam0_topic:
-            cam0_pub.publish(msg)
-
-        elif topic == cam1_topic:
-            cam1_pub.publish(msg)
-
-        elif topic == imu0_topic:
-            imu0_pub.publish(msg)
-
-        elif topic ==grnd_topic:
-            grnd_pub.publish(msg)
-
-        #print msg
-    bag.close()
-
-if __name__== "__main__":
-    main()

src/image_handler.cpp

@@ -14,39 +14,6 @@ namespace msckf_vio {
 namespace image_handler {
 
 
-cv::Point2f pinholeDownProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics)
-{
-  return cv::Point2f(p_in.x * intrinsics[0] + intrinsics[2], p_in.y * intrinsics[1] + intrinsics[3]);
-}
-
-cv::Point2f pinholeUpProject(const cv::Point2f& p_in, const cv::Vec4d& intrinsics)
-{
-  return cv::Point2f((p_in.x - intrinsics[2])/intrinsics[0], (p_in.y - intrinsics[3])/intrinsics[1]);
-}
-
-void undistortImage(
-  cv::InputArray src,
-  cv::OutputArray dst,
-  const std::string& distortion_model,
-  const cv::Vec4d& intrinsics,
-  const cv::Vec4d& distortion_coeffs)
-{
-
-  const cv::Matx33d K(intrinsics[0], 0.0, intrinsics[2],
-                      0.0, intrinsics[1], intrinsics[3],
-                      0.0, 0.0, 1.0);
-
-  if (distortion_model == "pre-equidistant")
-      cv::fisheye::undistortImage(src, dst, K, distortion_coeffs, K);
-  else if (distortion_model == "equidistant")
-      src.copyTo(dst);
-
-  else if (distortion_model == "pre-radtan")
-      cv::undistort(src, dst, K, distortion_coeffs, K);
-  else if (distortion_model == "radtan")
-      src.copyTo(dst);
-
-}
 
 void undistortPoint(
     const cv::Point2f& pt_in,
@@ -76,37 +43,10 @@ void undistortPoint(
   if (distortion_model == "radtan") {
     cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
                         rectification_matrix, K_new);
-  } 
-  // equidistant
-  else if (distortion_model == "equidistant") {
+  } else if (distortion_model == "equidistant") {
     cv::fisheye::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
                                  rectification_matrix, K_new);
-  }
-  // fov
-  else if (distortion_model == "fov") {
-    for(int i = 0; i < pts_in.size(); i++)
-    {
-      float omega = distortion_coeffs[0];
-      float rd = sqrt(pts_in[i].x * pts_in[i].x + pts_in[i].y * pts_in[i].y);
-      float ru = tan(rd * omega)/(2 * tan(omega / 2));
-
-      cv::Point2f newPoint(
-              ((pts_in[i].x - intrinsics[2]) / intrinsics[0]) * (ru / rd),
-              ((pts_in[i].y - intrinsics[3]) / intrinsics[1]) * (ru / rd));
-
-      pts_out.push_back(newPoint);
-    }
-   }
-
-  else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
-  {
-    std::vector<cv::Point2f> temp_pts_out;
-    for(int i = 0; i < pts_in.size(); i++)
-      temp_pts_out.push_back(pinholeUpProject(pts_in[i], intrinsics));
-
-    pts_out = temp_pts_out;
-  } 
-   else {
+  } else {
     ROS_WARN_ONCE("The model %s is unrecognized, use radtan instead...",
                   distortion_model.c_str());
     cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
@@ -140,35 +80,10 @@ void undistortPoints(
   if (distortion_model == "radtan") {
     cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
                         rectification_matrix, K_new);
-  } 
-  else if (distortion_model == "equidistant") {
+  } else if (distortion_model == "equidistant") {
     cv::fisheye::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
                                  rectification_matrix, K_new);
-  } 
-  else if (distortion_model == "fov") {
-    for(int i = 0; i < pts_in.size(); i++)
-    {
-      float omega = distortion_coeffs[0];
-      float rd = sqrt(pts_in[i].x * pts_in[i].x + pts_in[i].y * pts_in[i].y);
-      float ru = tan(rd * omega)/(2 * tan(omega / 2));
-
-      cv::Point2f newPoint(
-              ((pts_in[i].x - intrinsics[2]) / intrinsics[0]) * (ru / rd),
-              ((pts_in[i].y - intrinsics[3]) / intrinsics[1]) * (ru / rd));
-
-      pts_out.push_back(newPoint);
-    }
-  }
-  else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
-  {
-    std::vector<cv::Point2f> temp_pts_out;
-    for(int i = 0; i < pts_in.size(); i++)
-      temp_pts_out.push_back(pinholeUpProject(pts_in[i], intrinsics));
-
-    pts_out = temp_pts_out;
-
-  }  
-  else {
+  } else {
     ROS_WARN_ONCE("The model %s is unrecognized, use radtan instead...",
                   distortion_model.c_str());
     cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
@@ -196,31 +111,7 @@ std::vector<cv::Point2f> distortPoints(
                       distortion_coeffs, pts_out);
   } else if (distortion_model == "equidistant") {
     cv::fisheye::distortPoints(pts_in, pts_out, K, distortion_coeffs);
-  }
-  else if (distortion_model == "fov") {
-    for(int i = 0; i < pts_in.size(); i++)
-    {
-      // based on 'straight lines have to be straight'
-      float ru = sqrt(pts_in[i].x * pts_in[i].x + pts_in[i].y * pts_in[i].y);
-      float omega = distortion_coeffs[0];
-      float rd = 1 / (omega)*atan(2*ru*tan(omega / 2));
-      
-      cv::Point2f newPoint(
-              pts_in[i].x * (rd/ru) * intrinsics[0] + intrinsics[2],
-              pts_in[i].y * (rd/ru) * intrinsics[1] + intrinsics[3]);
-
-      pts_out.push_back(newPoint);
-    }
-  }
-  else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
-  {
-    std::vector<cv::Point2f> temp_pts_out;
-    for(int i = 0; i < pts_in.size(); i++)
-      temp_pts_out.push_back(pinholeDownProject(pts_in[i], intrinsics));
-
-    pts_out = temp_pts_out;
-  }   
-   else {
+  } else {
     ROS_WARN_ONCE("The model %s is unrecognized, using radtan instead...",
                   distortion_model.c_str());
     std::vector<cv::Point3f> homogenous_pts;
@@ -253,31 +144,7 @@ cv::Point2f distortPoint(
                       distortion_coeffs, pts_out);
   } else if (distortion_model == "equidistant") {
     cv::fisheye::distortPoints(pts_in, pts_out, K, distortion_coeffs);
-  }
-  else if (distortion_model == "fov") {
-    for(int i = 0; i < pts_in.size(); i++)
-    {
-      // based on 'straight lines have to be straight'
-      float ru = sqrt(pts_in[i].x * pts_in[i].x + pts_in[i].y * pts_in[i].y);
-      float omega = distortion_coeffs[0];
-      float rd = 1 / (omega)*atan(2*ru*tan(omega / 2));
-      
-      cv::Point2f newPoint(
-              pts_in[i].x * (rd/ru) * intrinsics[0] + intrinsics[2],
-              pts_in[i].y * (rd/ru) * intrinsics[1] + intrinsics[3]);
-
-      pts_out.push_back(newPoint);
-    }
-  }
-  else if (distortion_model == "pre-equidistant" or distortion_model == "pre-radtan")
-  {
-    std::vector<cv::Point2f> temp_pts_out;
-    for(int i = 0; i < pts_in.size(); i++)
-      pts_out.push_back(pinholeDownProject(pts_in[i], intrinsics));
-
-    pts_out = temp_pts_out;
-  }    
-   else {
+  } else {
     ROS_WARN_ONCE("The model %s is unrecognized, using radtan instead...",
                   distortion_model.c_str());
     std::vector<cv::Point3f> homogenous_pts;

src/image_processor.cpp

@@ -42,9 +42,6 @@ ImageProcessor::~ImageProcessor() {
 }
 
 bool ImageProcessor::loadParameters() {
-
-  // debug parameters
-  nh.param<bool>("StreamPause", STREAMPAUSE, false);
   // Camera calibration parameters
   nh.param<string>("cam0/distortion_model",
       cam0.distortion_model, string("radtan"));
@@ -214,9 +211,7 @@ void ImageProcessor::stereoCallback(
     const sensor_msgs::ImageConstPtr& cam0_img,
     const sensor_msgs::ImageConstPtr& cam1_img) {
 
-    // stop playing bagfile if printing images
-  //if(STREAMPAUSE)
-   // nh.setParam("/play_bag_image", false);
+  //cout << "==================================" << endl;
 
   // Get the current image.
   cam0_curr_img_ptr = cv_bridge::toCvShare(cam0_img,
@@ -224,27 +219,12 @@ void ImageProcessor::stereoCallback(
   cam1_curr_img_ptr = cv_bridge::toCvShare(cam1_img,
       sensor_msgs::image_encodings::MONO8);
 
-  ros::Time start_time = ros::Time::now();
-
-
-  cv::Mat new_cam0;
-  cv::Mat new_cam1;
-
-  image_handler::undistortImage(cam0_curr_img_ptr->image, new_cam0, cam0.distortion_model, cam0.intrinsics, cam0.distortion_coeffs);
-  image_handler::undistortImage(cam1_curr_img_ptr->image, new_cam1, cam1.distortion_model, cam1.intrinsics, cam1.distortion_coeffs);
-  
-  new_cam0.copyTo(cam0_curr_img_ptr->image);
-  new_cam1.copyTo(cam1_curr_img_ptr->image);
-
-  //ROS_INFO("Publishing: %f",
-  //    (ros::Time::now()-start_time).toSec());
-
   // Build the image pyramids once since they're used at multiple places
   createImagePyramids();
 
   // Detect features in the first frame.
   if (is_first_img) {
-    start_time = ros::Time::now();
+    ros::Time start_time = ros::Time::now();
     initializeFirstFrame();
     //ROS_INFO("Detection time: %f",
     //    (ros::Time::now()-start_time).toSec());
@@ -257,7 +237,7 @@ void ImageProcessor::stereoCallback(
     //    (ros::Time::now()-start_time).toSec());
   } else {
     // Track the feature in the previous image.
-    start_time = ros::Time::now();
+    ros::Time start_time = ros::Time::now();
     trackFeatures();
     //ROS_INFO("Tracking time: %f",
     //    (ros::Time::now()-start_time).toSec());
@@ -265,7 +245,6 @@ void ImageProcessor::stereoCallback(
     // Add new features into the current image.
     start_time = ros::Time::now();
     addNewFeatures();
-    
     //ROS_INFO("Addition time: %f",
     //    (ros::Time::now()-start_time).toSec());
 
@@ -288,18 +267,16 @@ void ImageProcessor::stereoCallback(
   //    (ros::Time::now()-start_time).toSec());
 
   // Publish features in the current image.
-  start_time = ros::Time::now();
+  ros::Time start_time = ros::Time::now();
   publish();
   //ROS_INFO("Publishing: %f",
   //    (ros::Time::now()-start_time).toSec());
 
   // Update the previous image and previous features.
-  
   cam0_prev_img_ptr = cam0_curr_img_ptr;
   prev_features_ptr = curr_features_ptr;
   std::swap(prev_cam0_pyramid_, curr_cam0_pyramid_);
 
-
   // Initialize the current features to empty vectors.
   curr_features_ptr.reset(new GridFeatures());
   for (int code = 0; code <
@@ -307,10 +284,6 @@ void ImageProcessor::stereoCallback(
     (*curr_features_ptr)[code] = vector<FeatureMetaData>(0);
   }
 
-    // stop playing bagfile if printing images
-  //if(STREAMPAUSE)
-  //  nh.setParam("/play_bag_image", true);
-
   return;
 }
 
@@ -607,7 +580,6 @@ void ImageProcessor::trackFeatures() {
     ++after_ransac;
   }
 
-
   // Compute the tracking rate.
   int prev_feature_num = 0;
   for (const auto& item : *prev_features_ptr)
@@ -687,8 +659,6 @@ void ImageProcessor::stereoMatch(
 
   // Further remove outliers based on the known
   // essential matrix.
-
-
   vector<cv::Point2f> cam0_points_undistorted(0);
   vector<cv::Point2f> cam1_points_undistorted(0);
   image_handler::undistortPoints(
@@ -698,7 +668,6 @@ void ImageProcessor::stereoMatch(
       cam1_points, cam1.intrinsics, cam1.distortion_model,
       cam1.distortion_coeffs, cam1_points_undistorted);
 
-
   double norm_pixel_unit = 4.0 / (
       cam0.intrinsics[0]+cam0.intrinsics[1]+
       cam1.intrinsics[0]+cam1.intrinsics[1]);

src/shrinkImage.py

@@ -1,75 +0,0 @@
-#!/usr/bin/env python
-from __future__ import print_function
-
-import sys
-import rospy
-import cv2
-from std_msgs.msg import String
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge, CvBridgeError
-
-class image_converter:
-
-  def __init__(self):
-    self.image0_pub = rospy.Publisher("/cam0/new_image_raw",Image, queue_size=10)
-    self.image1_pub = rospy.Publisher("/cam1/new_image_raw",Image, queue_size=10)
-
-    self.bridge = CvBridge()
-    self.image0_sub = rospy.Subscriber("/cam0/image_raw",Image,self.callback_cam0)
-    self.image1_sub = rospy.Subscriber("/cam1/image_raw",Image,self.callback_cam1)
-
-  def callback_cam0(self,data):
-    try:
-      cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
-    except CvBridgeError as e:
-      print(e)
-
-    imgScale = 0.25
-    newX,newY = cv_image.shape[1]*imgScale, cv_image.shape[0]*imgScale
-    newimg = cv2.resize(cv_image,(int(newX),int(newY)))
-
-    newpub = self.bridge.cv2_to_imgmsg(newimg, "bgr8")
-    newdata = data
-    newdata.height = newpub.height
-    newdata.width = newpub.width
-    newdata.step = newpub.step
-    newdata.data = newpub.data
-    try:
-      self.image0_pub.publish(newdata)
-    except CvBridgeError as e:
-      print(e)
-
-  def callback_cam1(self,data):
-    try:
-      cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
-    except CvBridgeError as e:
-      print(e)
-
-    imgScale = 0.25
-    newX,newY = cv_image.shape[1]*imgScale, cv_image.shape[0]*imgScale
-    newimg = cv2.resize(cv_image,(int(newX),int(newY)))
-
-    newpub = self.bridge.cv2_to_imgmsg(newimg, "bgr8")
-    newdata = data
-    newdata.height = newpub.height
-    newdata.width = newpub.width
-    newdata.step = newpub.step
-    newdata.data = newpub.data
-
-    try:
-      self.image1_pub.publish(newdata)
-    except CvBridgeError as e:
-      print(e)
-
-
-def main(args):
-  ic = image_converter()
-  rospy.init_node('image_converter', anonymous=True)
-  try:
-    rospy.spin()
-  except KeyboardInterrupt:
-    print("Shutting down")
-  cv2.destroyAllWindows()
-
-if __name__ == '__main__':
-    main(sys.argv)