added branch

CMakeLists.txt

@@ -79,7 +79,6 @@ include_directories(
 add_library(msckf_vio
   src/msckf_vio.cpp
   src/utils.cpp
-  src/image_handler.cpp
 )
 add_dependencies(msckf_vio
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
@@ -88,7 +87,6 @@ add_dependencies(msckf_vio
 target_link_libraries(msckf_vio
   ${catkin_LIBRARIES}
   ${SUITESPARSE_LIBRARIES}
-  ${OpenCV_LIBRARIES}
 )
 
 # Msckf Vio nodelet
@@ -108,7 +106,6 @@ target_link_libraries(msckf_vio_nodelet
 add_library(image_processor
   src/image_processor.cpp
   src/utils.cpp
-  src/image_handler.cpp
 )
 add_dependencies(image_processor
   ${${PROJECT_NAME}_EXPORTED_TARGETS}

config/camchain-imucam-tum.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: [0.010171079892421483, -0.010816440029919381, 0.005942781769412756,
-    -0.001662284667857643]
-  distortion_model: equidistant
-  intrinsics: [380.81042871360756, 380.81194179427075, 510.29465304840727, 514.3304630538506]
-  resolution: [1024, 1024]
-  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: [0.01371679169245271, -0.015567360615942622, 0.00905043103315326,
-    -0.002347858896562788]
-  distortion_model: equidistant
-  intrinsics: [379.2869884263036, 379.26583742214524, 505.5666703237407, 510.2840961765407]
-  resolution: [1024, 1024]
-  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

@@ -15,34 +15,6 @@
 #include "imu_state.h"
 
 namespace msckf_vio {
-
-struct Frame{
-  cv::Mat image;
-  double exposureTime_ms;
-};
-
-typedef std::map<StateIDType, Frame, std::less<StateIDType>,
-        Eigen::aligned_allocator<
-        std::pair<StateIDType, Frame> > > movingWindow;
-
-struct IlluminationParameter{
-  double frame_bias;
-  double frame_gain;
-  double feature_bias;
-  double feature_gain;
-};
-
-struct CameraCalibration{
-  std::string distortion_model;
-  cv::Vec2i resolution;
-  cv::Vec4d intrinsics;
-  cv::Vec4d distortion_coeffs;
-  movingWindow moving_window;
-  cv::Mat featureVisu;
-};
-
-
-
 /*
  * @brief CAMState Stored camera state in order to
  *    form measurement model.
@@ -63,9 +35,6 @@ struct CAMState {
   // Position of the camera frame in the world frame.
   Eigen::Vector3d position;
 
-  // Illumination Information of the frame
-  IlluminationParameter illumination; 
-
   // These two variables should have the same physical
   // interpretation with `orientation` and `position`.
   // There two variables are used to modify the measurement

include/msckf_vio/feature.hpp

@@ -16,8 +16,6 @@
 #include <Eigen/Geometry>
 #include <Eigen/StdVector>
 
-#include "image_handler.h"
-
 #include "math_utils.hpp"
 #include "imu_state.h"
 #include "cam_state.h"
@@ -59,11 +57,11 @@ struct Feature {
 
   // Constructors for the struct.
   Feature(): id(0), position(Eigen::Vector3d::Zero()),
-    is_initialized(false), is_anchored(false) {}
+    is_initialized(false) {}
 
   Feature(const FeatureIDType& new_id): id(new_id),
     position(Eigen::Vector3d::Zero()),
-    is_initialized(false), is_anchored(false) {}
+    is_initialized(false) {}
 
   /*
    * @brief cost Compute the cost of the camera observations
@@ -116,19 +114,6 @@ struct Feature {
   inline bool checkMotion(
       const CamStateServer& cam_states) const;
 
-  /*
-   * @brief InitializeAnchor generates the NxN patch around the
-   *        feature in the Anchor image
-   * @param cam_states: A map containing all recorded images 
-   *        currently presented in the camera state vector
-   * @return the irradiance of the Anchor NxN Patch 
-   * @return True if the Anchor can be estimated
-   */
-
-  bool initializeAnchor(
-   const CameraCalibration& cam);
-
-
   /*
    * @brief InitializePosition Intialize the feature position
    *    based on all current available measurements.
@@ -143,48 +128,6 @@ struct Feature {
   inline bool initializePosition(
       const CamStateServer& cam_states);
 
-/*
-*  @brief project PositionToCamera Takes a 3d position in a world frame
-*         and projects it into the passed camera frame using pinhole projection
-*         then distorts it using camera information to get 
-*         the resulting distorted pixel position  
-*/
-  inline cv::Point2f projectPositionToCamera(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  const CameraCalibration& cam,
-                  Eigen::Vector3d& in_p) const;
-
-  /*
-  * @brief IrradianceAnchorPatch_Camera returns irradiance values
-  *        of the Anchor Patch position in a camera frame
-  *
-  */
-
-  bool estimate_FrameIrradiance(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_estimate) const;
-
-  bool FrameIrradiance(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_measurement) const;
-
-  /*
-  * @brief projectPixelToPosition uses the calcualted pixels
-  *     of the anchor patch to generate 3D positions of all of em
-  */
-inline Eigen::Vector3d projectPixelToPosition(cv::Point2f in_p,
-          const CameraCalibration& cam);
-
-  /*
-  * @brief Irradiance returns irradiance value of a pixel
-  */
-
-  inline float PixelIrradiance(cv::Point2f pose, cv::Mat image) const;
 
   // An unique identifier for the feature.
   // In case of long time running, the variable
@@ -201,28 +144,13 @@ inline Eigen::Vector3d projectPixelToPosition(cv::Point2f in_p,
     Eigen::aligned_allocator<
       std::pair<const StateIDType, Eigen::Vector4d> > > observations;
 
-  // NxN Patch of Anchor Image
-  std::vector<double> anchorPatch;
-
-  // Position of NxN Patch in 3D space
-  std::vector<Eigen::Vector3d> anchorPatch_3d;
-
-  // Anchor Isometry
-  Eigen::Isometry3d T_anchor_w;
-
   // 3d postion of the feature in the world frame.
   Eigen::Vector3d position;
 
-  // inverse depth representation
-  double anchor_rho;
-
   // A indicator to show if the 3d postion of the feature
   // has been initialized or not.
   bool is_initialized;
-  bool is_anchored;
 
-  cv::Point2f anchor_center_pos;
-  cv::Point2f undist_anchor_center_pos;
   // Noise for a normalized feature measurement.
   static double observation_noise;
 
@@ -362,207 +290,8 @@ bool Feature::checkMotion(
   else return false;
 }
 
-bool Feature::estimate_FrameIrradiance(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_estimate) const
-{
-  // get irradiance of patch in anchor frame
-  // subtract estimated b and divide by a of anchor frame
-  // muliply by a and add b of this frame
-
-  auto anchor = observations.begin();
-  if(cam0.moving_window.find(anchor->first) == cam0.moving_window.end())
-    return false;
-
-  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;
-  double b_A = 0;
-  double a_l =frameExposureTime_ms;
-  double b_l = 0;
-  
-  //printf("frames: %lld, %lld\n", anchor->first, cam_state_id);
-  //printf("exposure: %f, %f\n", a_A, a_l);
-  
-  for (double anchorPixel : anchorPatch)
-  {
-    float irradiance = ((anchorPixel - b_A) / a_A ) * a_l - b_l;
-    anchorPatch_estimate.push_back(irradiance);
-  }
-
-}
-
-bool Feature::FrameIrradiance(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  CameraCalibration& cam0,
-                  std::vector<float>& anchorPatch_measurement) const
-{
-
-  // visu - feature
-  /*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
-  cv::Mat dottedFrame(current_image.size(), CV_8UC3);
-  cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
-  */
-
-  // project every point in anchorPatch_3d.
-  for (auto point : anchorPatch_3d)
-  {
-
-    cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);
-
-    // visu - feature
-    /*cv::Point xs(p_in_c0.x, p_in_c0.y);
-    cv::Point ys(p_in_c0.x, p_in_c0.y);
-    cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
-  */
-    float irradiance = PixelIrradiance(p_in_c0, cam0.moving_window.find(cam_state_id)->second.image);
-    anchorPatch_measurement.push_back(irradiance);
-    
-    // testing
-    //if(cam_state_id == observations.begin()->first)
-      //if(count++ == 4)
-        //printf("dist:\n \tpos: %f, %f\n\ttrue pos: %f, %f\n\n", p_in_c0.x, p_in_c0.y, anchor_center_pos.x, anchor_center_pos.y);
-    
-  }
-
-  // visu - feature
-  //cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
-  /*if(cam0.featureVisu.empty())
-    cam0.featureVisu = dottedFrame.clone();
-  else
-    cv::hconcat(cam0.featureVisu, dottedFrame, cam0.featureVisu);
-  */
-
-}
-
-float Feature::PixelIrradiance(cv::Point2f pose, cv::Mat image) const
-{
-  return (float)image.at<uint8_t>(pose.x, pose.y);
-}
-
-cv::Point2f Feature::projectPositionToCamera(
-                  const CAMState& cam_state,
-                  const StateIDType& cam_state_id,
-                  const CameraCalibration& cam,
-                  Eigen::Vector3d& in_p) const
-{
-  Eigen::Isometry3d T_c0_w;
-
-  cv::Point2f out_p;
-
-  // transfrom position to camera frame
-  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);
-
-  out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
-
- // 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, 
-                                                 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;
-}
-
-Eigen::Vector3d Feature::projectPixelToPosition(cv::Point2f in_p,
-          const CameraCalibration& cam)
-{
-  // use undistorted position of point of interest
-  // project it back into 3D space using pinhole model
-  // save resulting NxN positions for this feature
-
-  Eigen::Vector3d PositionInCamera(in_p.x/anchor_rho, in_p.y/anchor_rho, 1/anchor_rho);
-  Eigen::Vector3d PositionInWorld= T_anchor_w.linear()*PositionInCamera + T_anchor_w.translation();
-  return PositionInWorld;
-  //printf("%f, %f, %f\n",PositionInWorld[0], PositionInWorld[1], PositionInWorld[2]);
-}
-
-//@test center projection must always be initial feature projection
-bool Feature::initializeAnchor(
-   const CameraCalibration& cam)
-{
-
-  //initialize patch Size
-  //TODO make N size a ros parameter
-  int N = 3;
-  int n = (int)(N-1)/2;
-
-  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;
-
-  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;
-
-  // get feature in undistorted pixel space
-  cv::Point2f und_pix_p = image_handler::distortPoint(cv::Point2f(u, v), 
-                                                    cam.intrinsics, 
-                                                    cam.distortion_model, 
-                                                    0);
-  // create vector of patch in pixel plane
-  std::vector<cv::Point2f> und_pix_v;
-  for(double u_run = -n; u_run <= n; u_run++)
-    for(double v_run = -n; v_run <= n; v_run++)
-      und_pix_v.push_back(cv::Point2f(und_pix_p.x-u_run, und_pix_p.y-v_run));
-  
-
-
-  //create undistorted pure points    
-  std::vector<cv::Point2f> und_v;
-  image_handler::undistortPoints(und_pix_v,
-                                cam.intrinsics,
-                                cam.distortion_model,
-                                0,
-                                und_v);
-//create distorted pixel points
-  std::vector<cv::Point2f> vec = image_handler::distortPoints(und_v,
-                                                             cam.intrinsics,
-                                                             cam.distortion_model,
-                                                             cam.distortion_coeffs);
-
-
-  // save anchor position for later visualisaztion
-  anchor_center_pos = vec[4];
-  for(auto point : vec)
-  {
-    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 : vec)
-    anchorPatch.push_back((double)anchorImage.at<uint8_t>((int)point.x,(int)point.y));
-
-  // project patch pixel to 3D space
-  for(auto point : und_v)
-    anchorPatch_3d.push_back(projectPixelToPosition(point, cam));
-
-  is_anchored = true;
-  return true;
-}
-
 bool Feature::initializePosition(
     const CamStateServer& cam_states) {
-
   // Organize camera poses and feature observations properly.
   std::vector<Eigen::Isometry3d,
     Eigen::aligned_allocator<Eigen::Isometry3d> > cam_poses(0);
@@ -598,7 +327,6 @@ bool Feature::initializePosition(
   // vector from the first camera frame in the buffer to this
   // camera frame.
   Eigen::Isometry3d T_c0_w = cam_poses[0];
-  T_anchor_w = T_c0_w;
   for (auto& pose : cam_poses)
     pose = pose.inverse() * T_c0_w;
 
@@ -699,9 +427,6 @@ bool Feature::initializePosition(
     }
   }
 
-  //save inverse depth distance from camera
-  anchor_rho = solution(2);
-
   // Convert the feature position to the world frame.
   position = T_c0_w.linear()*final_position + T_c0_w.translation();
 

include/msckf_vio/image_handler.h

@@ -1,41 +0,0 @@
-#ifndef MSCKF_VIO_IMAGE_HANDLER_H
-#define MSCKF_VIO_IMAGE_HANDLER_H
-
-#include <vector>
-#include <boost/shared_ptr.hpp>
-#include <opencv2/opencv.hpp>
-#include <opencv2/video.hpp>
-
-#include <ros/ros.h>
-#include <cv_bridge/cv_bridge.h>
-
-
-namespace msckf_vio {
-/*
- * @brief utilities for msckf_vio
- */
-namespace image_handler {
-
-void undistortPoints(
-    const std::vector<cv::Point2f>& pts_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    const cv::Vec4d& distortion_coeffs,
-    std::vector<cv::Point2f>& pts_out,
-    const cv::Matx33d &rectification_matrix = cv::Matx33d::eye(),
-    const cv::Vec4d &new_intrinsics = cv::Vec4d(1,1,0,0));
-
-std::vector<cv::Point2f> distortPoints(
-    const std::vector<cv::Point2f>& pts_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    const cv::Vec4d& distortion_coeffs);
-
-cv::Point2f distortPoint(
-    const cv::Point2f& pt_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    const cv::Vec4d& distortion_coeffs);
-}
-}
-#endif

include/msckf_vio/image_processor.h

@@ -14,6 +14,10 @@
 #include <opencv2/opencv.hpp>
 #include <opencv2/video.hpp>
 
+#include <opencv2/cudaoptflow.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/cudaarithm.hpp>
+
 #include <ros/ros.h>
 #include <cv_bridge/cv_bridge.h>
 #include <image_transport/image_transport.h>
@@ -22,8 +26,6 @@
 #include <message_filters/subscriber.h>
 #include <message_filters/time_synchronizer.h>
 
-#include "cam_state.h"
-
 namespace msckf_vio {
 
 /*
@@ -310,7 +312,7 @@ private:
       const std::vector<unsigned char>& markers,
       std::vector<T>& refined_vec) {
     if (raw_vec.size() != markers.size()) {
-      ROS_WARN("The input size of raw_vec(%lu) and markers(%lu) does not match...",
+      ROS_WARN("The input size of raw_vec(%i) and markers(%i) does not match...",
           raw_vec.size(), markers.size());
     }
     for (int i = 0; i < markers.size(); ++i) {
@@ -334,8 +336,15 @@ private:
   std::vector<sensor_msgs::Imu> imu_msg_buffer;
 
   // Camera calibration parameters
-  CameraCalibration cam0;
+  std::string cam0_distortion_model;
-  CameraCalibration cam1;
+  cv::Vec2i cam0_resolution;
+  cv::Vec4d cam0_intrinsics;
+  cv::Vec4d cam0_distortion_coeffs;
+
+  std::string cam1_distortion_model;
+  cv::Vec2i cam1_resolution;
+  cv::Vec4d cam1_intrinsics;
+  cv::Vec4d cam1_distortion_coeffs;
 
   // Take a vector from cam0 frame to the IMU frame.
   cv::Matx33d R_cam0_imu;
@@ -358,6 +367,13 @@ private:
   boost::shared_ptr<GridFeatures> prev_features_ptr;
   boost::shared_ptr<GridFeatures> curr_features_ptr;
 
+  cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> d_pyrLK_sparse;
+
+  cv::cuda::GpuMat cam0_curr_img;
+  cv::cuda::GpuMat cam1_curr_img;
+  cv::cuda::GpuMat cam0_points_gpu;
+  cv::cuda::GpuMat cam1_points_gpu;
+
   // Number of features after each outlier removal step.
   int before_tracking;
   int after_tracking;

include/msckf_vio/msckf_vio.h

@@ -14,17 +14,11 @@
 #include <string>
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
-
 #include <boost/shared_ptr.hpp>
-#include <opencv2/opencv.hpp>
-#include <opencv2/video.hpp>
 
 #include <ros/ros.h>
 #include <sensor_msgs/Imu.h>
-#include <sensor_msgs/Image.h>
-#include <sensor_msgs/PointCloud.h>
 #include <nav_msgs/Odometry.h>
-#include <std_msgs/Float64.h>
 #include <tf/transform_broadcaster.h>
 #include <std_srvs/Trigger.h>
 
@@ -33,11 +27,6 @@
 #include "feature.hpp"
 #include <msckf_vio/CameraMeasurement.h>
 
-#include <cv_bridge/cv_bridge.h>
-#include <image_transport/image_transport.h>
-#include <message_filters/subscriber.h>
-#include <message_filters/time_synchronizer.h>
-
 namespace msckf_vio {
 /*
  * @brief MsckfVio Implements the algorithm in
@@ -108,18 +97,11 @@ class MsckfVio {
     void imuCallback(const sensor_msgs::ImuConstPtr& msg);
 
     /*
-     * @brief imageCallback
+     * @brief featureCallback
-     *    Callback function for feature measurements
+     *    Callback function for feature measurements.
-     *    Triggers measurement update
+     * @param msg Stereo feature measurements.
-     * @param msg
-     *    Camera 0 Image
-     *    Camera 1 Image
-     *    Stereo feature measurements.
      */
-    void imageCallback (
+    void featureCallback(const CameraMeasurementConstPtr& msg);
-    const sensor_msgs::ImageConstPtr& cam0_img,
-    const sensor_msgs::ImageConstPtr& cam1_img,
-    const CameraMeasurementConstPtr& feature_msg);
 
     /*
      * @brief publish Publish the results of VIO.
@@ -144,11 +126,6 @@ class MsckfVio {
     bool resetCallback(std_srvs::Trigger::Request& req,
         std_srvs::Trigger::Response& res);
 
-    void manageMovingWindow(
-        const sensor_msgs::ImageConstPtr& cam0_img,
-        const sensor_msgs::ImageConstPtr& cam1_img,
-        const CameraMeasurementConstPtr& feature_msg);
-
     // Filter related functions
     // Propogate the state
     void batchImuProcessing(
@@ -175,20 +152,6 @@ class MsckfVio {
     void featureJacobian(const FeatureIDType& feature_id,
         const std::vector<StateIDType>& cam_state_ids,
         Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
-
-
-    void PhotometricMeasurementJacobian(
-    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);
-
-    void PhotometricFeatureJacobian(
-    const FeatureIDType& feature_id,
-    const std::vector<StateIDType>& cam_state_ids,
-    Eigen::MatrixXd& H_x, Eigen::VectorXd& r);
-
     void measurementUpdate(const Eigen::MatrixXd& H,
         const Eigen::VectorXd& r);
     bool gatingTest(const Eigen::MatrixXd& H,
@@ -216,18 +179,6 @@ class MsckfVio {
     // transfer delay between IMU and Image messages.
     std::vector<sensor_msgs::Imu> imu_msg_buffer;
 
-    // Moving Window buffer
-    movingWindow cam0_moving_window;
-    movingWindow cam1_moving_window;
-
-    // Camera calibration parameters
-    CameraCalibration cam0;
-    CameraCalibration cam1;
-
-
-
-    ros::Time image_save_time;
-
     // Indicate if the gravity vector is set.
     bool is_gravity_set;
 
@@ -255,18 +206,12 @@ class MsckfVio {
 
     // Subscribers and publishers
     ros::Subscriber imu_sub;
+    ros::Subscriber feature_sub;
     ros::Publisher odom_pub;
     ros::Publisher feature_pub;
     tf::TransformBroadcaster tf_pub;
     ros::ServiceServer reset_srv;
 
-
-    message_filters::Subscriber<sensor_msgs::Image> cam0_img_sub;
-    message_filters::Subscriber<sensor_msgs::Image> cam1_img_sub;
-    message_filters::Subscriber<CameraMeasurement> feature_sub;
-
-    message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image, CameraMeasurement> image_sub;
-    
     // Frame id
     std::string fixed_frame_id;
     std::string child_frame_id;

include/msckf_vio/utils.h

@@ -11,6 +11,9 @@
 #include <ros/ros.h>
 #include <string>
 #include <opencv2/core/core.hpp>
+#include <opencv2/cudaoptflow.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/cudaarithm.hpp>
 #include <Eigen/Geometry>
 
 namespace msckf_vio {
@@ -18,6 +21,10 @@ namespace msckf_vio {
  * @brief utilities for msckf_vio
  */
 namespace utils {
+
+void download(const cv::cuda::GpuMat& d_mat, std::vector<uchar>& vec);
+void download(const cv::cuda::GpuMat& d_mat, std::vector<cv::Point2f>& vec);
+
 Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
                                     const std::string &field);
 

launch/image_processor_euroc.launch

@@ -8,8 +8,7 @@
   <group ns="$(arg robot)">
     <node pkg="nodelet" type="nodelet" name="image_processor"
       args="standalone msckf_vio/ImageProcessorNodelet"
-      output="screen"
+      output="screen">
-       >
 
       <rosparam command="load" file="$(arg calibration_file)"/>
       <param name="grid_row" value="4"/>

launch/image_processor_mynt.launch

@@ -1,33 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-mynt.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="image_processor"
-      args="standalone msckf_vio/ImageProcessorNodelet"
-      output="screen">
-
-      <rosparam command="load" file="$(arg calibration_file)"/>
-      <param name="grid_row" value="4"/>
-      <param name="grid_col" value="5"/>
-      <param name="grid_min_feature_num" value="3"/>
-      <param name="grid_max_feature_num" value="4"/>
-      <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="/mynteye/left/image_raw"/>
-      <remap from="~cam1_image" to="/mynteye/right/image_raw"/>
-
-    </node>
-  </group>
-
-</launch>

launch/image_processor_tum.launch

@@ -1,34 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-tum.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="image_processor"
-      args="standalone msckf_vio/ImageProcessorNodelet"
-      output="screen"
-       >
-
-      <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="4"/>
-      <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/msckf_vio_euroc.launch

@@ -53,9 +53,6 @@
       <param name="initial_covariance/extrinsic_translation_cov" value="2.5e-5"/>
 
       <remap from="~imu" to="/imu0"/>
-      <remap from="~cam0_image" to="/cam0/image_raw"/>
-      <remap from="~cam1_image" to="/cam1/image_raw"/>
-
       <remap from="~features" to="image_processor/features"/>
 
     </node>

launch/msckf_vio_mynt.launch

@@ -1,61 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="fixed_frame_id" default="world"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-mynt.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <include file="$(find msckf_vio)/launch/image_processor_mynt.launch">
-    <arg name="robot" value="$(arg robot)"/>
-    <arg name="calibration_file" value="$(arg calibration_file)"/>
-  </include>
-
-  <!-- Msckf Vio Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="vio"
-      args='standalone msckf_vio/MsckfVioNodelet'
-      output="screen">
-
-      <!-- Calibration parameters -->
-      <rosparam command="load" file="$(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="20"/>
-      <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"/>
-
-      <remap from="~imu" to="/mynteye/imu/data_raw"/>
-      <remap from="~features" to="image_processor/features"/>
-
-    </node>
-  </group>
-
-</launch>

launch/msckf_vio_tum.launch

@@ -1,64 +0,0 @@
-<launch>
-
-  <arg name="robot" default="firefly_sbx"/>
-  <arg name="fixed_frame_id" default="world"/>
-  <arg name="calibration_file"
-    default="$(find msckf_vio)/config/camchain-imucam-tum.yaml"/>
-
-  <!-- Image Processor Nodelet  -->
-  <include file="$(find msckf_vio)/launch/image_processor_tum.launch">
-    <arg name="robot" value="$(arg robot)"/>
-    <arg name="calibration_file" value="$(arg calibration_file)"/>
-  </include>
-
-  <!-- Msckf Vio Nodelet  -->
-  <group ns="$(arg robot)">
-    <node pkg="nodelet" type="nodelet" name="vio"
-      args='standalone msckf_vio/MsckfVioNodelet'
-      output="screen">
-
-      <!-- Calibration parameters -->
-      <rosparam command="load" file="$(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="20"/>
-      <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"/>
-
-      <remap from="~imu" to="/imu0"/>
-      <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>

msg/CameraMeasurement.msg

@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 # All features on the current image,
 # including tracked ones and newly detected ones.
 FeatureMeasurement[] features

package.xml

@@ -3,12 +3,13 @@
 
   <name>msckf_vio</name>
   <version>0.0.1</version>
-  <description>Multi-State Constraint Kalman Filter - Photometric expansion</description>
+  <description>Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation</description>
 
-  <maintainer email="raphael@maenle.net">Raphael Maenle</maintainer>
+  <maintainer email="sunke.polyu@gmail.com">Ke Sun</maintainer>
   <license>Penn Software License</license>
 
-  <author email="raphael@maenle.net">Raphael Maenle</author>
+  <author email="sunke.polyu@gmail.com">Ke Sun</author>
+  <author email="kartikmohta@gmail.com">Kartik Mohta</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 

pseudocode/pseudocode_image_processing

@@ -1,97 +0,0 @@
-
-
-stereo callback()
-
-	create image pyramids
-		_Constructs the image pyramid which can be passed to calcOpticalFlowPyrLK._
-.
-	if first Frame:
-		*initialize first Frame ()
-
-	else:
-		*track Features ()
-
-		*addnewFeatures ()
-
-		*pruneGridFeatures()
-			_removes worst features from any overflowing grid_
-
-	publish features (u1, v1, u2, v2)
-		_undistorts them beforehand_
-
-addnewFeatures()
-	*mask existing features
-	*detect new fast features
-	*collect in a grid, keep only best n per grid
-	*stereomatch()
-	*save inliers into a new feature with u,v on cam0 and cam1
-
-
-track Features()
-	*integrateIMUData ()
-		_uses existing IMU data between two frames to calc. rotation between the two frames_
-
-	*predictFeatureTracking()
-		_compensates the rotation between consecutive frames - rotates previous camera frame features to current camera rotation_
-
-	*calcOpticalFlowPyrLK()
-		_measures the change between the features in the previous frame and in the current frame (using the predicted features)_
-
-	*remove points outside of image region
-		_how does this even happen?_
-
-	*stereo match()
-		_find tracked features from optical flow in the camera 1 image_
-		_remove all features that could not be matched_
-
-	*twoPointRansac(cam0)
-	*twoPointRansac(cam1)
-		_remove any features outside best found ransac model_
-
-
-
-
-twoPointRansac()
-	*mark all points as inliers
-	*compensate rotation between frames
-	*normalize points
-	*calculate difference bewteen previous and current points
-	*mark large distances (over 50 pixels currently)
-	*calculate mean points distance
-	*return if inliers (non marked) < 3
-	*return if motion smaller than norm pixel unit
-	*ransac
-		*optimize with found inlier after random sample
-
-	*set inlier markers
-
-initialize first Frame()
-
-	features = FastFeatureDetector detect ()
-
-	*stereo match ()
-
-	group features into grid
-		- according to position in the image
-		- sorting them by response
-		- save the top responses
-		- save the top responses
-
-
-stereo match ()
-
-	*undistort cam0 Points
-	*project cam0 Points to cam1 to initialize points in cam1
-
-	*calculate lk optical flow
-		_used because camera calibrations not perfect enough_
-		_also, calculation more efficient, because LK calculated anyway_
-
-	*compute relative trans/rot between cam0 and cam1*
-
-	*remove outliers based on essential matrix
-		_essential matrix relates points in stereo image (pinhole model)_
-		for every point:
-			- calculate epipolar line of point in cam0
-			- calculate error of cam1 to epipolar line 
-			- remove if to big

pseudocode/pseudocode_msckf

@@ -1,82 +0,0 @@
-featureCallback
-	propagate IMU state()
-	state Augmentation()
-	add Feature Observations()
-
-	#the following possibly trigger ekf update step:
-	remove Lost Features ()
-	prune Camera State Buffer ()
-
-
-remove Lost Features()
-	every feature that does not have a current observation:
-		*just delete if not enough features
-
-		check Motion of Feature ()
-			_calculation here makes no sense - he uses pixel position as direction vector for feature?_
-		*initialize Position ()
-
-		caculate feature Jakobian and Residual()
-			*for every observation in this feature
-				- calculate u and v in camera frames, based on estimated feature position
-				- input results into jakobi d(measurement)/d(camera 0/1)
-				- input results into jakobi d(camera 0/1)/d(state) and jakobi d(camera 0/1)/d(feature position)
-				- project both jakobis to nullspace of feature position jakobi
-				- calculate residual: measurement - u and v of camera frames
-				- project residual onto nullspace of feature position jakobi
-
-			- stack residual and jakobians
-
-		gating Test()
-		
-		*measurementUpdate()
-			_use calculated residuals and jakobians to calculate change in error_
-measurementUpdate():
-	- QR reduce the stacked Measurment Jakobis
-	- calcualte Kalman Gain based on Measurement Jakobian, Error-State Covariance and Noise
-		_does some fancy shit here_
-	- calculate estimated error after observation: delta_x = KalmanGain * residual 
-	- add estimated error to state (imu states and cam states)
-
-initialize Position ():
-	* create initial guess for global feature position ()
-		_uses first feature measurement on left camera and last feature measurement of right camera_
-		- transform first measurement to plane of last measurement
-		- calcualte least square point between rays
-	* get position approximation using measured feature positions
-		_using Levenberg Marqhart iterative search_
-
-
-
-add Feature Observations()
-	* if feature not in map, add feature to map
-		_and add u0, v0, u1, v1 as first observation
-	* if feature in map, add new observation u0,v0,u1,v1
-
-
-
-state Augmentation()
-	* Add estimated cam position to state
-	* Update P with Jakobian of cam Position 
-
-
-propagate IMU state ()
-	_uses IMU process model for every saved IMU state_
-	
-	for every buffered imu state:
-		
-		*remove bias
-		
-		*Compute F and G matrix (continuous transition and noise cov.)
-			_using current orientation, gyro and acc. reading_
-		* approximate phi: phi = 1 + Fdt + ...
-
-		* calculate new state propagating through runge kutta
-		* modify transition matrix to have a propper null space?
-
-		* calculate Q = Phi*G*Q_noise*GT*PhiT
-		* calculate P = Phi*P*PhiT + Q
-
-
-	stateAugmentation ()
-		_save current IMU state as camera position_

src/image_handler.cpp

@@ -1,118 +0,0 @@
-#include <iostream>
-#include <algorithm>
-#include <set>
-#include <Eigen/Dense>
-
-#include <sensor_msgs/image_encodings.h>
-#include <random_numbers/random_numbers.h>
-
-#include <msckf_vio/CameraMeasurement.h>
-#include <msckf_vio/TrackingInfo.h>
-#include <msckf_vio/image_processor.h>
-
-namespace msckf_vio {
-namespace image_handler {
-
-
-void undistortPoints(
-    const std::vector<cv::Point2f>& pts_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    const cv::Vec4d& distortion_coeffs,
-    std::vector<cv::Point2f>& pts_out,
-    const cv::Matx33d &rectification_matrix,
-    const cv::Vec4d &new_intrinsics) {
-
-  if (pts_in.size() == 0) return;
-
-  const cv::Matx33d K(
-      intrinsics[0], 0.0, intrinsics[2],
-      0.0, intrinsics[1], intrinsics[3],
-      0.0, 0.0, 1.0);
-
-  const cv::Matx33d K_new(
-      new_intrinsics[0], 0.0, new_intrinsics[2],
-      0.0, new_intrinsics[1], new_intrinsics[3],
-      0.0, 0.0, 1.0);
-
-  if (distortion_model == "radtan") {
-    cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
-                        rectification_matrix, K_new);
-  } else if (distortion_model == "equidistant") {
-    cv::fisheye::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
-                                 rectification_matrix, K_new);
-  } 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,
-                        rectification_matrix, K_new);
-  }
-
-  return;
-}
-
-std::vector<cv::Point2f> distortPoints(
-    const std::vector<cv::Point2f>& pts_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    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);
-
-  std::vector<cv::Point2f> pts_out;
-  if (distortion_model == "radtan") {
-    std::vector<cv::Point3f> homogenous_pts;
-    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
-    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
-                      distortion_coeffs, pts_out);
-  } else if (distortion_model == "equidistant") {
-    cv::fisheye::distortPoints(pts_in, pts_out, K, distortion_coeffs);
-  } else {
-    ROS_WARN_ONCE("The model %s is unrecognized, using radtan instead...",
-                  distortion_model.c_str());
-    std::vector<cv::Point3f> homogenous_pts;
-    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
-    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
-                      distortion_coeffs, pts_out);
-  }
-
-  return pts_out;
-}
-
-cv::Point2f distortPoint(
-    const cv::Point2f& pt_in,
-    const cv::Vec4d& intrinsics,
-    const std::string& distortion_model,
-    const cv::Vec4d& distortion_coeffs) {
-
-  std::vector<cv::Point2f> pts_in;
-  pts_in.push_back(pt_in);
-
-  const cv::Matx33d K(intrinsics[0], 0.0, intrinsics[2],
-                      0.0, intrinsics[1], intrinsics[3],
-                      0.0, 0.0, 1.0);
-
-  std::vector<cv::Point2f> pts_out;
-  if (distortion_model == "radtan") {
-    std::vector<cv::Point3f> homogenous_pts;
-    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
-    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
-                      distortion_coeffs, pts_out);
-  } else if (distortion_model == "equidistant") {
-    cv::fisheye::distortPoints(pts_in, pts_out, K, distortion_coeffs);
-  } else {
-    ROS_WARN_ONCE("The model %s is unrecognized, using radtan instead...",
-                  distortion_model.c_str());
-    std::vector<cv::Point3f> homogenous_pts;
-    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
-    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
-                      distortion_coeffs, pts_out);
-  }
-
-  return pts_out[0];
-}
-
-	} // namespace image_handler
-} // namespace msckf_vio

src/image_processor.cpp

@@ -17,7 +17,6 @@
 #include <msckf_vio/TrackingInfo.h>
 #include <msckf_vio/image_processor.h>
 #include <msckf_vio/utils.h>
-#include <msckf_vio/image_handler.h>
 
 using namespace std;
 using namespace cv;
@@ -44,49 +43,49 @@ ImageProcessor::~ImageProcessor() {
 bool ImageProcessor::loadParameters() {
   // Camera calibration parameters
   nh.param<string>("cam0/distortion_model",
-      cam0.distortion_model, string("radtan"));
+      cam0_distortion_model, string("radtan"));
   nh.param<string>("cam1/distortion_model",
-      cam1.distortion_model, string("radtan"));
+      cam1_distortion_model, string("radtan"));
 
   vector<int> cam0_resolution_temp(2);
   nh.getParam("cam0/resolution", cam0_resolution_temp);
-  cam0.resolution[0] = cam0_resolution_temp[0];
+  cam0_resolution[0] = cam0_resolution_temp[0];
-  cam0.resolution[1] = cam0_resolution_temp[1];
+  cam0_resolution[1] = cam0_resolution_temp[1];
 
   vector<int> cam1_resolution_temp(2);
   nh.getParam("cam1/resolution", cam1_resolution_temp);
-  cam1.resolution[0] = cam1_resolution_temp[0];
+  cam1_resolution[0] = cam1_resolution_temp[0];
-  cam1.resolution[1] = cam1_resolution_temp[1];
+  cam1_resolution[1] = cam1_resolution_temp[1];
 
   vector<double> cam0_intrinsics_temp(4);
   nh.getParam("cam0/intrinsics", cam0_intrinsics_temp);
-  cam0.intrinsics[0] = cam0_intrinsics_temp[0];
+  cam0_intrinsics[0] = cam0_intrinsics_temp[0];
-  cam0.intrinsics[1] = cam0_intrinsics_temp[1];
+  cam0_intrinsics[1] = cam0_intrinsics_temp[1];
-  cam0.intrinsics[2] = cam0_intrinsics_temp[2];
+  cam0_intrinsics[2] = cam0_intrinsics_temp[2];
-  cam0.intrinsics[3] = cam0_intrinsics_temp[3];
+  cam0_intrinsics[3] = cam0_intrinsics_temp[3];
 
   vector<double> cam1_intrinsics_temp(4);
   nh.getParam("cam1/intrinsics", cam1_intrinsics_temp);
-  cam1.intrinsics[0] = cam1_intrinsics_temp[0];
+  cam1_intrinsics[0] = cam1_intrinsics_temp[0];
-  cam1.intrinsics[1] = cam1_intrinsics_temp[1];
+  cam1_intrinsics[1] = cam1_intrinsics_temp[1];
-  cam1.intrinsics[2] = cam1_intrinsics_temp[2];
+  cam1_intrinsics[2] = cam1_intrinsics_temp[2];
-  cam1.intrinsics[3] = cam1_intrinsics_temp[3];
+  cam1_intrinsics[3] = cam1_intrinsics_temp[3];
 
   vector<double> cam0_distortion_coeffs_temp(4);
   nh.getParam("cam0/distortion_coeffs",
       cam0_distortion_coeffs_temp);
-  cam0.distortion_coeffs[0] = cam0_distortion_coeffs_temp[0];
+  cam0_distortion_coeffs[0] = cam0_distortion_coeffs_temp[0];
-  cam0.distortion_coeffs[1] = cam0_distortion_coeffs_temp[1];
+  cam0_distortion_coeffs[1] = cam0_distortion_coeffs_temp[1];
-  cam0.distortion_coeffs[2] = cam0_distortion_coeffs_temp[2];
+  cam0_distortion_coeffs[2] = cam0_distortion_coeffs_temp[2];
-  cam0.distortion_coeffs[3] = cam0_distortion_coeffs_temp[3];
+  cam0_distortion_coeffs[3] = cam0_distortion_coeffs_temp[3];
 
   vector<double> cam1_distortion_coeffs_temp(4);
   nh.getParam("cam1/distortion_coeffs",
       cam1_distortion_coeffs_temp);
-  cam1.distortion_coeffs[0] = cam1_distortion_coeffs_temp[0];
+  cam1_distortion_coeffs[0] = cam1_distortion_coeffs_temp[0];
-  cam1.distortion_coeffs[1] = cam1_distortion_coeffs_temp[1];
+  cam1_distortion_coeffs[1] = cam1_distortion_coeffs_temp[1];
-  cam1.distortion_coeffs[2] = cam1_distortion_coeffs_temp[2];
+  cam1_distortion_coeffs[2] = cam1_distortion_coeffs_temp[2];
-  cam1.distortion_coeffs[3] = cam1_distortion_coeffs_temp[3];
+  cam1_distortion_coeffs[3] = cam1_distortion_coeffs_temp[3];
 
   cv::Mat     T_imu_cam0 = utils::getTransformCV(nh, "cam0/T_cam_imu");
   cv::Matx33d R_imu_cam0(T_imu_cam0(cv::Rect(0,0,3,3)));
@@ -124,27 +123,27 @@ bool ImageProcessor::loadParameters() {
       processor_config.stereo_threshold, 3);
 
   ROS_INFO("===========================================");
-  ROS_INFO("cam0.resolution: %d, %d",
+  ROS_INFO("cam0_resolution: %d, %d",
-      cam0.resolution[0], cam0.resolution[1]);
+      cam0_resolution[0], cam0_resolution[1]);
   ROS_INFO("cam0_intrinscs: %f, %f, %f, %f",
-      cam0.intrinsics[0], cam0.intrinsics[1],
+      cam0_intrinsics[0], cam0_intrinsics[1],
-      cam0.intrinsics[2], cam0.intrinsics[3]);
+      cam0_intrinsics[2], cam0_intrinsics[3]);
-  ROS_INFO("cam0.distortion_model: %s",
+  ROS_INFO("cam0_distortion_model: %s",
-      cam0.distortion_model.c_str());
+      cam0_distortion_model.c_str());
   ROS_INFO("cam0_distortion_coefficients: %f, %f, %f, %f",
-      cam0.distortion_coeffs[0], cam0.distortion_coeffs[1],
+      cam0_distortion_coeffs[0], cam0_distortion_coeffs[1],
-      cam0.distortion_coeffs[2], cam0.distortion_coeffs[3]);
+      cam0_distortion_coeffs[2], cam0_distortion_coeffs[3]);
 
-  ROS_INFO("cam1.resolution: %d, %d",
+  ROS_INFO("cam1_resolution: %d, %d",
-      cam1.resolution[0], cam1.resolution[1]);
+      cam1_resolution[0], cam1_resolution[1]);
   ROS_INFO("cam1_intrinscs: %f, %f, %f, %f",
-      cam1.intrinsics[0], cam1.intrinsics[1],
+      cam1_intrinsics[0], cam1_intrinsics[1],
-      cam1.intrinsics[2], cam1.intrinsics[3]);
+      cam1_intrinsics[2], cam1_intrinsics[3]);
-  ROS_INFO("cam1.distortion_model: %s",
+  ROS_INFO("cam1_distortion_model: %s",
-      cam1.distortion_model.c_str());
+      cam1_distortion_model.c_str());
   ROS_INFO("cam1_distortion_coefficients: %f, %f, %f, %f",
-      cam1.distortion_coeffs[0], cam1.distortion_coeffs[1],
+      cam1_distortion_coeffs[0], cam1_distortion_coeffs[1],
-      cam1.distortion_coeffs[2], cam1.distortion_coeffs[3]);
+      cam1_distortion_coeffs[2], cam1_distortion_coeffs[3]);
 
   cout << R_imu_cam0 << endl;
   cout << t_imu_cam0.t() << endl;
@@ -171,6 +170,10 @@ bool ImageProcessor::loadParameters() {
       processor_config.ransac_threshold);
   ROS_INFO("stereo_threshold: %f",
       processor_config.stereo_threshold);
+  ROS_INFO("OpenCV Major Version: %d",
+    CV_MAJOR_VERSION);
+  ROS_INFO("OpenCV Minor Version: %d",
+    CV_MINOR_VERSION);
   ROS_INFO("===========================================");
   return true;
 }
@@ -201,6 +204,13 @@ bool ImageProcessor::initialize() {
   detector_ptr = FastFeatureDetector::create(
       processor_config.fast_threshold);
 
+  //create gpu optical flow lk
+  d_pyrLK_sparse = cuda::SparsePyrLKOpticalFlow::create(
+          Size(processor_config.patch_size, processor_config.patch_size),
+          processor_config.pyramid_levels, 
+          processor_config.max_iteration,
+          true);
+
   if (!createRosIO()) return false;
   ROS_INFO("Finish creating ROS IO...");
 
@@ -220,7 +230,9 @@ void ImageProcessor::stereoCallback(
       sensor_msgs::image_encodings::MONO8);
 
   // Build the image pyramids once since they're used at multiple places
-  createImagePyramids();
+
+  // removed due to alternate cuda construct
+  //createImagePyramids();
 
   // Detect features in the first frame.
   if (is_first_img) {
@@ -297,6 +309,7 @@ void ImageProcessor::imuCallback(
 
 void ImageProcessor::createImagePyramids() {
   const Mat& curr_cam0_img = cam0_curr_img_ptr->image;
+  // TODO: build cuda optical flow
   buildOpticalFlowPyramid(
       curr_cam0_img, curr_cam0_pyramid_,
       Size(processor_config.patch_size, processor_config.patch_size),
@@ -304,6 +317,7 @@ void ImageProcessor::createImagePyramids() {
       BORDER_CONSTANT, false);
 
   const Mat& curr_cam1_img = cam1_curr_img_ptr->image;
+  // TODO: build cuda optical flow
   buildOpticalFlowPyramid(
       curr_cam1_img, curr_cam1_pyramid_,
       Size(processor_config.patch_size, processor_config.patch_size),
@@ -390,6 +404,7 @@ void ImageProcessor::predictFeatureTracking(
     const cv::Matx33f& R_p_c,
     const cv::Vec4d& intrinsics,
     vector<cv::Point2f>& compensated_pts) {
+
   // Return directly if there are no input features.
   if (input_pts.size() == 0) {
     compensated_pts.clear();
@@ -420,6 +435,7 @@ void ImageProcessor::trackFeatures() {
     cam0_curr_img_ptr->image.rows / processor_config.grid_row;
   static int grid_width =
     cam0_curr_img_ptr->image.cols / processor_config.grid_col;
+
   // Compute a rough relative rotation which takes a vector
   // from the previous frame to the current frame.
   Matx33f cam0_R_p_c;
@@ -453,8 +469,10 @@ void ImageProcessor::trackFeatures() {
   vector<unsigned char> track_inliers(0);
 
   predictFeatureTracking(prev_cam0_points,
-      cam0_R_p_c, cam0.intrinsics, curr_cam0_points);
+      cam0_R_p_c, cam0_intrinsics, curr_cam0_points);
 
+  //TODO: test change to sparse
+  /*
   calcOpticalFlowPyrLK(
       prev_cam0_pyramid_, curr_cam0_pyramid_,
       prev_cam0_points, curr_cam0_points,
@@ -465,6 +483,25 @@ void ImageProcessor::trackFeatures() {
         processor_config.max_iteration,
         processor_config.track_precision),
       cv::OPTFLOW_USE_INITIAL_FLOW);
+  */
+
+
+
+  cam0_curr_img = cv::cuda::GpuMat(cam0_curr_img_ptr->image);
+  cam1_curr_img = cv::cuda::GpuMat(cam1_curr_img_ptr->image);
+  cam0_points_gpu = cv::cuda::GpuMat(prev_cam0_points);
+  cam1_points_gpu = cv::cuda::GpuMat(curr_cam0_points);
+
+  cv::cuda::GpuMat inlier_markers_gpu;
+  d_pyrLK_sparse->calc(cam0_curr_img, 
+                       cam1_curr_img, 
+                       cam0_points_gpu, 
+                       cam1_points_gpu, 
+                       inlier_markers_gpu, 
+                       noArray());
+
+  utils::download(cam1_points_gpu, curr_cam0_points);
+  utils::download(inlier_markers_gpu, track_inliers);
 
   // Mark those tracked points out of the image region
   // as untracked.
@@ -548,14 +585,14 @@ void ImageProcessor::trackFeatures() {
   // Step 2 and 3: RANSAC on temporal image pairs of cam0 and cam1.
   vector<int> cam0_ransac_inliers(0);
   twoPointRansac(prev_matched_cam0_points, curr_matched_cam0_points,
-      cam0_R_p_c, cam0.intrinsics, cam0.distortion_model,
+      cam0_R_p_c, cam0_intrinsics, cam0_distortion_model,
-      cam0.distortion_coeffs, processor_config.ransac_threshold,
+      cam0_distortion_coeffs, processor_config.ransac_threshold,
       0.99, cam0_ransac_inliers);
 
   vector<int> cam1_ransac_inliers(0);
   twoPointRansac(prev_matched_cam1_points, curr_matched_cam1_points,
-      cam1_R_p_c, cam1.intrinsics, cam1.distortion_model,
+      cam1_R_p_c, cam1_intrinsics, cam1_distortion_model,
-      cam1.distortion_coeffs, processor_config.ransac_threshold,
+      cam1_distortion_coeffs, processor_config.ransac_threshold,
       0.99, cam1_ransac_inliers);
 
   // Number of features after ransac.
@@ -609,6 +646,7 @@ void ImageProcessor::stereoMatch(
     const vector<cv::Point2f>& cam0_points,
     vector<cv::Point2f>& cam1_points,
     vector<unsigned char>& inlier_markers) {
+
   if (cam0_points.size() == 0) return;
 
   if(cam1_points.size() == 0) {
@@ -616,15 +654,31 @@ void ImageProcessor::stereoMatch(
     // rotation from stereo extrinsics
     const cv::Matx33d R_cam0_cam1 = R_cam1_imu.t() * R_cam0_imu;
     vector<cv::Point2f> cam0_points_undistorted;
-    image_handler::undistortPoints(cam0_points, cam0.intrinsics, cam0.distortion_model,
+    undistortPoints(cam0_points, cam0_intrinsics, cam0_distortion_model,
-                    cam0.distortion_coeffs, cam0_points_undistorted,
+                    cam0_distortion_coeffs, cam0_points_undistorted,
                     R_cam0_cam1);
-
+    cam1_points = distortPoints(cam0_points_undistorted, cam1_intrinsics,
-    cam1_points = image_handler::distortPoints(cam0_points_undistorted, cam1.intrinsics,
+                                cam1_distortion_model, cam1_distortion_coeffs);
-                                cam1.distortion_model, cam1.distortion_coeffs);
   }
 
+  cam0_curr_img = cv::cuda::GpuMat(cam0_curr_img_ptr->image);
+  cam1_curr_img = cv::cuda::GpuMat(cam1_curr_img_ptr->image);
+  cam0_points_gpu = cv::cuda::GpuMat(cam0_points);
+  cam1_points_gpu = cv::cuda::GpuMat(cam1_points);
+
+  cv::cuda::GpuMat inlier_markers_gpu;
+  d_pyrLK_sparse->calc(cam0_curr_img, 
+                       cam1_curr_img, 
+                       cam0_points_gpu, 
+                       cam1_points_gpu, 
+                       inlier_markers_gpu, 
+                       noArray());
+
+  utils::download(cam1_points_gpu, cam1_points);
+  utils::download(inlier_markers_gpu, inlier_markers);
+
   // Track features using LK optical flow method.
+  /*
   calcOpticalFlowPyrLK(curr_cam0_pyramid_, curr_cam1_pyramid_,
       cam0_points, cam1_points,
       inlier_markers, noArray(),
@@ -634,7 +688,7 @@ void ImageProcessor::stereoMatch(
                    processor_config.max_iteration,
                    processor_config.track_precision),
       cv::OPTFLOW_USE_INITIAL_FLOW);
-
+  */
   // Mark those tracked points out of the image region
   // as untracked.
   for (int i = 0; i < cam1_points.size(); ++i) {
@@ -661,16 +715,16 @@ void ImageProcessor::stereoMatch(
   // essential matrix.
   vector<cv::Point2f> cam0_points_undistorted(0);
   vector<cv::Point2f> cam1_points_undistorted(0);
-  image_handler::undistortPoints(
+  undistortPoints(
-      cam0_points, cam0.intrinsics, cam0.distortion_model,
+      cam0_points, cam0_intrinsics, cam0_distortion_model,
-      cam0.distortion_coeffs, cam0_points_undistorted);
+      cam0_distortion_coeffs, cam0_points_undistorted);
-  image_handler::undistortPoints(
+  undistortPoints(
-      cam1_points, cam1.intrinsics, cam1.distortion_model,
+      cam1_points, cam1_intrinsics, cam1_distortion_model,
-      cam1.distortion_coeffs, cam1_points_undistorted);
+      cam1_distortion_coeffs, cam1_points_undistorted);
 
   double norm_pixel_unit = 4.0 / (
-      cam0.intrinsics[0]+cam0.intrinsics[1]+
+      cam0_intrinsics[0]+cam0_intrinsics[1]+
-      cam1.intrinsics[0]+cam1.intrinsics[1]);
+      cam1_intrinsics[0]+cam1_intrinsics[1]);
 
   for (int i = 0; i < cam0_points_undistorted.size(); ++i) {
     if (inlier_markers[i] == 0) continue;
@@ -697,8 +751,8 @@ void ImageProcessor::addNewFeatures() {
     cam0_curr_img_ptr->image.rows / processor_config.grid_row;
   static int grid_width =
     cam0_curr_img_ptr->image.cols / processor_config.grid_col;
-  // Create a mask to avoid redetecting existing features.
 
+  // Create a mask to avoid redetecting existing features.
   Mat mask(curr_img.rows, curr_img.cols, CV_8U, Scalar(1));
 
   for (const auto& features : *curr_features_ptr) {
@@ -718,6 +772,7 @@ void ImageProcessor::addNewFeatures() {
       mask(row_range, col_range) = 0;
     }
   }
+
   // Detect new features.
   vector<KeyPoint> new_features(0);
   detector_ptr->detect(curr_img, new_features, mask);
@@ -732,6 +787,7 @@ void ImageProcessor::addNewFeatures() {
     new_feature_sieve[
       row*processor_config.grid_col+col].push_back(feature);
   }
+
   new_features.clear();
   for (auto& item : new_feature_sieve) {
     if (item.size() > processor_config.grid_max_feature_num) {
@@ -744,6 +800,7 @@ void ImageProcessor::addNewFeatures() {
   }
 
   int detected_new_features = new_features.size();
+
   // Find the stereo matched points for the newly
   // detected features.
   vector<cv::Point2f> cam0_points(new_features.size());
@@ -771,6 +828,7 @@ void ImageProcessor::addNewFeatures() {
       static_cast<double>(detected_new_features) < 0.1)
     ROS_WARN("Images at [%f] seems unsynced...",
         cam0_curr_img_ptr->header.stamp.toSec());
+
   // Group the features into grids
   GridFeatures grid_new_features;
   for (int code = 0; code <
@@ -792,6 +850,7 @@ void ImageProcessor::addNewFeatures() {
     new_feature.cam1_point = cam1_point;
     grid_new_features[code].push_back(new_feature);
   }
+
   // Sort the new features in each grid based on its response.
   for (auto& item : grid_new_features)
     std::sort(item.second.begin(), item.second.end(),
@@ -841,6 +900,73 @@ void ImageProcessor::pruneGridFeatures() {
   return;
 }
 
+void ImageProcessor::undistortPoints(
+    const vector<cv::Point2f>& pts_in,
+    const cv::Vec4d& intrinsics,
+    const string& distortion_model,
+    const cv::Vec4d& distortion_coeffs,
+    vector<cv::Point2f>& pts_out,
+    const cv::Matx33d &rectification_matrix,
+    const cv::Vec4d &new_intrinsics) {
+
+  if (pts_in.size() == 0) return;
+
+  const cv::Matx33d K(
+      intrinsics[0], 0.0, intrinsics[2],
+      0.0, intrinsics[1], intrinsics[3],
+      0.0, 0.0, 1.0);
+
+  const cv::Matx33d K_new(
+      new_intrinsics[0], 0.0, new_intrinsics[2],
+      0.0, new_intrinsics[1], new_intrinsics[3],
+      0.0, 0.0, 1.0);
+
+  if (distortion_model == "radtan") {
+    cv::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
+                        rectification_matrix, K_new);
+  } else if (distortion_model == "equidistant") {
+    cv::fisheye::undistortPoints(pts_in, pts_out, K, distortion_coeffs,
+                                 rectification_matrix, K_new);
+  } 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,
+                        rectification_matrix, K_new);
+  }
+
+  return;
+}
+
+vector<cv::Point2f> ImageProcessor::distortPoints(
+    const vector<cv::Point2f>& pts_in,
+    const cv::Vec4d& intrinsics,
+    const string& distortion_model,
+    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);
+
+  vector<cv::Point2f> pts_out;
+  if (distortion_model == "radtan") {
+    vector<cv::Point3f> homogenous_pts;
+    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
+    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
+                      distortion_coeffs, pts_out);
+  } else if (distortion_model == "equidistant") {
+    cv::fisheye::distortPoints(pts_in, pts_out, K, distortion_coeffs);
+  } else {
+    ROS_WARN_ONCE("The model %s is unrecognized, using radtan instead...",
+                  distortion_model.c_str());
+    vector<cv::Point3f> homogenous_pts;
+    cv::convertPointsToHomogeneous(pts_in, homogenous_pts);
+    cv::projectPoints(homogenous_pts, cv::Vec3d::zeros(), cv::Vec3d::zeros(), K,
+                      distortion_coeffs, pts_out);
+  }
+
+  return pts_out;
+}
+
 void ImageProcessor::integrateImuData(
     Matx33f& cam0_R_p_c, Matx33f& cam1_R_p_c) {
   // Find the start and the end limit within the imu msg buffer.
@@ -892,6 +1018,7 @@ void ImageProcessor::integrateImuData(
 void ImageProcessor::rescalePoints(
     vector<Point2f>& pts1, vector<Point2f>& pts2,
     float& scaling_factor) {
+
   scaling_factor = 0.0f;
 
   for (int i = 0; i < pts1.size(); ++i) {
@@ -921,7 +1048,7 @@ void ImageProcessor::twoPointRansac(
 
   // Check the size of input point size.
   if (pts1.size() != pts2.size())
-    ROS_ERROR("Sets of different size (%lu and %lu) are used...",
+    ROS_ERROR("Sets of different size (%i and %i) are used...",
         pts1.size(), pts2.size());
 
   double norm_pixel_unit = 2.0 / (intrinsics[0]+intrinsics[1]);
@@ -935,10 +1062,10 @@ void ImageProcessor::twoPointRansac(
   // Undistort all the points.
   vector<Point2f> pts1_undistorted(pts1.size());
   vector<Point2f> pts2_undistorted(pts2.size());
-  image_handler::undistortPoints(
+  undistortPoints(
       pts1, intrinsics, distortion_model,
       distortion_coeffs, pts1_undistorted);
-  image_handler::undistortPoints(
+  undistortPoints(
       pts2, intrinsics, distortion_model,
       distortion_coeffs, pts2_undistorted);
 
@@ -1156,6 +1283,7 @@ void ImageProcessor::twoPointRansac(
 }
 
 void ImageProcessor::publish() {
+
   // Publish features.
   CameraMeasurementPtr feature_msg_ptr(new CameraMeasurement);
   feature_msg_ptr->header.stamp = cam0_curr_img_ptr->header.stamp;
@@ -1175,12 +1303,12 @@ void ImageProcessor::publish() {
   vector<Point2f> curr_cam0_points_undistorted(0);
   vector<Point2f> curr_cam1_points_undistorted(0);
 
-  image_handler::undistortPoints(
+  undistortPoints(
-      curr_cam0_points, cam0.intrinsics, cam0.distortion_model,
+      curr_cam0_points, cam0_intrinsics, cam0_distortion_model,
-      cam0.distortion_coeffs, curr_cam0_points_undistorted);
+      cam0_distortion_coeffs, curr_cam0_points_undistorted);
-  image_handler::undistortPoints(
+  undistortPoints(
-      curr_cam1_points, cam1.intrinsics, cam1.distortion_model,
+      curr_cam1_points, cam1_intrinsics, cam1_distortion_model,
-      cam1.distortion_coeffs, curr_cam1_points_undistorted);
+      cam1_distortion_coeffs, curr_cam1_points_undistorted);
 
   for (int i = 0; i < curr_ids.size(); ++i) {
     feature_msg_ptr->features.push_back(FeatureMeasurement());

src/msckf_vio.cpp

@@ -53,7 +53,6 @@ map<int, double> MsckfVio::chi_squared_test_table;
 MsckfVio::MsckfVio(ros::NodeHandle& pnh):
   is_gravity_set(false),
   is_first_img(true),
-  image_sub(10),
   nh(pnh) {
   return;
 }
@@ -117,54 +116,6 @@ bool MsckfVio::loadParameters() {
   nh.param<double>("initial_covariance/extrinsic_translation_cov",
       extrinsic_translation_cov, 1e-4);
 
-  // get camera information (used for back projection)
-  nh.param<string>("cam0/distortion_model",
-      cam0.distortion_model, string("radtan"));
-  nh.param<string>("cam1/distortion_model",
-      cam1.distortion_model, string("radtan"));
-
-  vector<int> cam0_resolution_temp(2);
-  nh.getParam("cam0/resolution", cam0_resolution_temp);
-  cam0.resolution[0] = cam0_resolution_temp[0];
-  cam0.resolution[1] = cam0_resolution_temp[1];
-
-  vector<int> cam1_resolution_temp(2);
-  nh.getParam("cam1/resolution", cam1_resolution_temp);
-  cam1.resolution[0] = cam1_resolution_temp[0];
-  cam1.resolution[1] = cam1_resolution_temp[1];
-
-  vector<double> cam0_intrinsics_temp(4);
-  nh.getParam("cam0/intrinsics", cam0_intrinsics_temp);
-  cam0.intrinsics[0] = cam0_intrinsics_temp[0];
-  cam0.intrinsics[1] = cam0_intrinsics_temp[1];
-  cam0.intrinsics[2] = cam0_intrinsics_temp[2];
-  cam0.intrinsics[3] = cam0_intrinsics_temp[3];
-
-  vector<double> cam1_intrinsics_temp(4);
-  nh.getParam("cam1/intrinsics", cam1_intrinsics_temp);
-  cam1.intrinsics[0] = cam1_intrinsics_temp[0];
-  cam1.intrinsics[1] = cam1_intrinsics_temp[1];
-  cam1.intrinsics[2] = cam1_intrinsics_temp[2];
-  cam1.intrinsics[3] = cam1_intrinsics_temp[3];
-
-  vector<double> cam0_distortion_coeffs_temp(4);
-  nh.getParam("cam0/distortion_coeffs",
-      cam0_distortion_coeffs_temp);
-  cam0.distortion_coeffs[0] = cam0_distortion_coeffs_temp[0];
-  cam0.distortion_coeffs[1] = cam0_distortion_coeffs_temp[1];
-  cam0.distortion_coeffs[2] = cam0_distortion_coeffs_temp[2];
-  cam0.distortion_coeffs[3] = cam0_distortion_coeffs_temp[3];
-
-  vector<double> cam1_distortion_coeffs_temp(4);
-  nh.getParam("cam1/distortion_coeffs",
-      cam1_distortion_coeffs_temp);
-  cam1.distortion_coeffs[0] = cam1_distortion_coeffs_temp[0];
-  cam1.distortion_coeffs[1] = cam1_distortion_coeffs_temp[1];
-  cam1.distortion_coeffs[2] = cam1_distortion_coeffs_temp[2];
-  cam1.distortion_coeffs[3] = cam1_distortion_coeffs_temp[3];
-
-
-
   state_server.state_cov = MatrixXd::Zero(21, 21);
   for (int i = 3; i < 6; ++i)
     state_server.state_cov(i, i) = gyro_bias_cov;
@@ -220,12 +171,6 @@ bool MsckfVio::loadParameters() {
   cout << T_imu_cam0.linear() << endl;
   cout << T_imu_cam0.translation().transpose() << endl;
 
-  cout << "OpenCV version : " << CV_VERSION << endl;
-  cout << "Major version : " << CV_MAJOR_VERSION << endl;
-  cout << "Minor version : " << CV_MINOR_VERSION << endl;
-  cout << "Subminor version : " << CV_SUBMINOR_VERSION << endl;
-
-
   ROS_INFO("max camera state #: %d", max_cam_state_size);
   ROS_INFO("===========================================");
   return true;
@@ -241,14 +186,8 @@ bool MsckfVio::createRosIO() {
 
   imu_sub = nh.subscribe("imu", 100,
       &MsckfVio::imuCallback, this);
-
+  feature_sub = nh.subscribe("features", 40,
-  cam0_img_sub.subscribe(nh, "cam0_image", 10);
+      &MsckfVio::featureCallback, this);
-  cam1_img_sub.subscribe(nh, "cam1_image", 10);
-  feature_sub.subscribe(nh, "features", 10);
-
-  image_sub.connectInput(cam0_img_sub, cam1_img_sub, feature_sub);
-  image_sub.registerCallback(&MsckfVio::imageCallback, this);
-
 
   mocap_odom_sub = nh.subscribe("mocap_odom", 10,
       &MsckfVio::mocapOdomCallback, this);
@@ -288,8 +227,7 @@ bool MsckfVio::initialize() {
 }
 
 void MsckfVio::imuCallback(
-    const sensor_msgs::ImuConstPtr& msg)
+    const sensor_msgs::ImuConstPtr& msg) {
-{
 
   // IMU msgs are pushed backed into a buffer instead of
   // being processed immediately. The IMU msgs are processed
@@ -307,131 +245,6 @@ void MsckfVio::imuCallback(
   return;
 }
 
-void MsckfVio::imageCallback(
-    const sensor_msgs::ImageConstPtr& cam0_img,
-    const sensor_msgs::ImageConstPtr& cam1_img,
-    const CameraMeasurementConstPtr& feature_msg)
-{
-  // Return if the gravity vector has not been set.
-  if (!is_gravity_set) return;
-
-  // Start the system if the first image is received.
-  // The frame where the first image is received will be
-  // the origin.
-  if (is_first_img) {
-    is_first_img = false;
-    state_server.imu_state.time = feature_msg->header.stamp.toSec();
-  }
-
-  static double max_processing_time = 0.0;
-  static int critical_time_cntr = 0;
-  double processing_start_time = ros::Time::now().toSec();
-
-  // Propogate the IMU state.
-  // that are received before the image feature_msg.
-  ros::Time start_time = ros::Time::now();
-  batchImuProcessing(feature_msg->header.stamp.toSec());
-  double imu_processing_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Augment the state vector.
-  start_time = ros::Time::now();
-  stateAugmentation(feature_msg->header.stamp.toSec());
-  double state_augmentation_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Add new observations for existing features or new
-  // features in the map server.
-  start_time = ros::Time::now();
-  addFeatureObservations(feature_msg);
-  double add_observations_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Add new images to moving window
-  start_time = ros::Time::now();
-  manageMovingWindow(cam0_img, cam1_img, feature_msg);
-  double manage_moving_window_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Perform measurement update if necessary.
-  start_time = ros::Time::now();
-  removeLostFeatures();
-  double remove_lost_features_time = (
-      ros::Time::now()-start_time).toSec();
-
-  start_time = ros::Time::now();
-  pruneCamStateBuffer();
-  double prune_cam_states_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Publish the odometry.
-  start_time = ros::Time::now();
-  publish(feature_msg->header.stamp);
-  double publish_time = (
-      ros::Time::now()-start_time).toSec();
-
-  // Reset the system if necessary.
-  onlineReset();
-
-  double processing_end_time = ros::Time::now().toSec();
-  double processing_time =
-    processing_end_time - processing_start_time;
-  if (processing_time > 1.0/frame_rate) {
-    ++critical_time_cntr;
-    ROS_INFO("\033[1;31mTotal processing time %f/%d...\033[0m",
-        processing_time, critical_time_cntr);
-    printf("IMU processing time: %f/%f\n",
-        imu_processing_time, imu_processing_time/processing_time);
-    printf("State augmentation time: %f/%f\n",
-        state_augmentation_time, state_augmentation_time/processing_time);
-    printf("Add observations time: %f/%f\n",
-        add_observations_time, add_observations_time/processing_time);
-    printf("Remove lost features time: %f/%f\n",
-        remove_lost_features_time, remove_lost_features_time/processing_time);
-    printf("Remove camera states time: %f/%f\n",
-        prune_cam_states_time, prune_cam_states_time/processing_time);
-    printf("Publish time: %f/%f\n",
-        publish_time, publish_time/processing_time);
-  }
-
-  return;
-}
-
-void MsckfVio::manageMovingWindow(
-  const sensor_msgs::ImageConstPtr& cam0_img,
-  const sensor_msgs::ImageConstPtr& cam1_img,
-  const CameraMeasurementConstPtr& feature_msg) {
-
-  //save exposure Time into moving window
-  cam0.moving_window[state_server.imu_state.id].exposureTime_ms = strtod(cam0_img->header.frame_id.data(), NULL) / 1000000;
-  cam1.moving_window[state_server.imu_state.id].exposureTime_ms = strtod(cam1_img->header.frame_id.data(), NULL) / 1000000;
-  if(cam0.moving_window[state_server.imu_state.id].exposureTime_ms < 1)
-    cam0.moving_window[state_server.imu_state.id].exposureTime_ms = 1;
-  if(cam1.moving_window[state_server.imu_state.id].exposureTime_ms < 1)
-    cam1.moving_window[state_server.imu_state.id].exposureTime_ms = 1;
-  if(cam0.moving_window[state_server.imu_state.id].exposureTime_ms > 100)
-    cam0.moving_window[state_server.imu_state.id].exposureTime_ms = 100;
-  if(cam1.moving_window[state_server.imu_state.id].exposureTime_ms > 100)
-    cam1.moving_window[state_server.imu_state.id].exposureTime_ms = 100;
-
-  // Get the current image.
-  cv_bridge::CvImageConstPtr cam0_img_ptr = cv_bridge::toCvShare(cam0_img,
-      sensor_msgs::image_encodings::MONO8);
-  cv_bridge::CvImageConstPtr cam1_img_ptr = cv_bridge::toCvShare(cam1_img,
-      sensor_msgs::image_encodings::MONO8);
-
-  // 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)
-  {
-    cam1.moving_window.erase(cam1.moving_window.begin());
-    cam0.moving_window.erase(cam0.moving_window.begin());
-  }
-}
-
 void MsckfVio::initializeGravityAndBias() {
 
   // Initialize gravity and gyro bias.
@@ -466,9 +279,7 @@ void MsckfVio::initializeGravityAndBias() {
     gravity_imu, -IMUState::gravity);
   state_server.imu_state.orientation =
     rotationToQuaternion(q0_i_w.toRotationMatrix().transpose());
-    // printf("gravity Norm %f\n", gravity_norm);
+
-    // printf("linear_acc %f, %f, %f\n", gravity_imu(0), gravity_imu(1), gravity_imu(2));
-    // printf("quaterniond: %f, %f, %f, %f\n", q0_i_w.w(),  q0_i_w.x(), q0_i_w.y(), q0_i_w.z());
   return;
 }
 
@@ -479,6 +290,7 @@ bool MsckfVio::resetCallback(
   ROS_WARN("Start resetting msckf vio...");
   // Temporarily shutdown the subscribers to prevent the
   // state from updating.
+  feature_sub.shutdown();
   imu_sub.shutdown();
 
   // Reset the IMU state.
@@ -536,16 +348,97 @@ bool MsckfVio::resetCallback(
   // Restart the subscribers.
   imu_sub = nh.subscribe("imu", 100,
       &MsckfVio::imuCallback, this);
+  feature_sub = nh.subscribe("features", 40,
+      &MsckfVio::featureCallback, this);
 
-//  feature_sub = nh.subscribe("features", 40,
+  // TODO: When can the reset fail?
-//      &MsckfVio::featureCallback, this);
-
-// TODO: When can the reset fail?
   res.success = true;
   ROS_WARN("Resetting msckf vio completed...");
   return true;
 }
 
+void MsckfVio::featureCallback(
+    const CameraMeasurementConstPtr& msg) {
+
+  // Return if the gravity vector has not been set.
+  if (!is_gravity_set) return;
+
+  // Start the system if the first image is received.
+  // The frame where the first image is received will be
+  // the origin.
+  if (is_first_img) {
+    is_first_img = false;
+    state_server.imu_state.time = msg->header.stamp.toSec();
+  }
+
+  static double max_processing_time = 0.0;
+  static int critical_time_cntr = 0;
+  double processing_start_time = ros::Time::now().toSec();
+
+  // Propogate the IMU state.
+  // that are received before the image msg.
+  ros::Time start_time = ros::Time::now();
+  batchImuProcessing(msg->header.stamp.toSec());
+  double imu_processing_time = (
+      ros::Time::now()-start_time).toSec();
+
+  // Augment the state vector.
+  start_time = ros::Time::now();
+  stateAugmentation(msg->header.stamp.toSec());
+  double state_augmentation_time = (
+      ros::Time::now()-start_time).toSec();
+
+  // Add new observations for existing features or new
+  // features in the map server.
+  start_time = ros::Time::now();
+  addFeatureObservations(msg);
+  double add_observations_time = (
+      ros::Time::now()-start_time).toSec();
+
+  // Perform measurement update if necessary.
+  start_time = ros::Time::now();
+  removeLostFeatures();
+  double remove_lost_features_time = (
+      ros::Time::now()-start_time).toSec();
+
+  start_time = ros::Time::now();
+  pruneCamStateBuffer();
+  double prune_cam_states_time = (
+      ros::Time::now()-start_time).toSec();
+
+  // Publish the odometry.
+  start_time = ros::Time::now();
+  publish(msg->header.stamp);
+  double publish_time = (
+      ros::Time::now()-start_time).toSec();
+
+  // Reset the system if necessary.
+  onlineReset();
+
+  double processing_end_time = ros::Time::now().toSec();
+  double processing_time =
+    processing_end_time - processing_start_time;
+  if (processing_time > 1.0/frame_rate) {
+    ++critical_time_cntr;
+    ROS_INFO("\033[1;31mTotal processing time %f/%d...\033[0m",
+        processing_time, critical_time_cntr);
+    //printf("IMU processing time: %f/%f\n",
+    //    imu_processing_time, imu_processing_time/processing_time);
+    //printf("State augmentation time: %f/%f\n",
+    //    state_augmentation_time, state_augmentation_time/processing_time);
+    //printf("Add observations time: %f/%f\n",
+    //    add_observations_time, add_observations_time/processing_time);
+    printf("Remove lost features time: %f/%f\n",
+        remove_lost_features_time, remove_lost_features_time/processing_time);
+    printf("Remove camera states time: %f/%f\n",
+        prune_cam_states_time, prune_cam_states_time/processing_time);
+    //printf("Publish time: %f/%f\n",
+    //    publish_time, publish_time/processing_time);
+  }
+
+  return;
+}
+
 void MsckfVio::mocapOdomCallback(
     const nav_msgs::OdometryConstPtr& msg) {
   static bool first_mocap_odom_msg = true;
@@ -823,7 +716,6 @@ void MsckfVio::stateAugmentation(const double& time) {
   cam_state.orientation_null = cam_state.orientation;
   cam_state.position_null = cam_state.position;
 
-
   // Update the covariance matrix of the state.
   // To simplify computation, the matrix J below is the nontrivial block
   // in Equation (16) in "A Multi-State Constraint Kalman Filter for Vision
@@ -862,7 +754,6 @@ void MsckfVio::stateAugmentation(const double& time) {
   return;
 }
 
-
 void MsckfVio::addFeatureObservations(
     const CameraMeasurementConstPtr& msg) {
 
@@ -895,184 +786,6 @@ void MsckfVio::addFeatureObservations(
   return;
 }
 
-void MsckfVio::PhotometricMeasurementJacobian(
-    const StateIDType& cam_state_id,
-    const FeatureIDType& feature_id,
-    Matrix<double, 4, 6>& H_x, Matrix<double, 4, 3>& H_f, Vector4d& r) {
-
-  // Prepare all the required data.
-  const CAMState& cam_state = state_server.cam_states[cam_state_id];
-  const Feature& feature = map_server[feature_id];
-
-  // Cam0 pose.
-  Matrix3d R_w_c0 = quaternionToRotation(cam_state.orientation);
-  const Vector3d& t_c0_w = cam_state.position;
-
-  // Cam1 pose.
-  Matrix3d R_c0_c1 = CAMState::T_cam0_cam1.linear();
-  Matrix3d R_w_c1 = CAMState::T_cam0_cam1.linear() * R_w_c0;
-  Vector3d t_c1_w = t_c0_w - R_w_c1.transpose()*CAMState::T_cam0_cam1.translation();
-
-  // 3d feature position in the world frame.
-  // And its observation with the stereo cameras.
-  const Vector3d& p_w = feature.position;
-
-  //observation
-  const Vector4d& z = feature.observations.find(cam_state_id)->second;
-
-  //photometric observation
-  std::vector<float> photo_z;
-  feature.FrameIrradiance(cam_state, cam_state_id, cam0, photo_z);
-
-  // Convert the feature position from the world frame to
-  // the cam0 and cam1 frame.
-  Vector3d p_c0 = R_w_c0 * (p_w-t_c0_w);
-  Vector3d p_c1 = R_w_c1 * (p_w-t_c1_w);
-
-
-  //compute resulting esimtated position in image
-  cv::Point2f out_p = cv::Point2f(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2));
-  std::vector<cv::Point2f> out_v;
-  out_v.push_back(out_p);
-
-  // Compute the Jacobians.
-  Matrix<double, 4, 3> dz_dpc0 = Matrix<double, 4, 3>::Zero();
-  dz_dpc0(0, 0) = 1 / p_c0(2);
-  dz_dpc0(1, 1) = 1 / p_c0(2);
-  dz_dpc0(0, 2) = -p_c0(0) / (p_c0(2)*p_c0(2));
-  dz_dpc0(1, 2) = -p_c0(1) / (p_c0(2)*p_c0(2));
-
-  Matrix<double, 4, 3> dz_dpc1 = Matrix<double, 4, 3>::Zero();
-  dz_dpc1(2, 0) = 1 / p_c1(2);
-  dz_dpc1(3, 1) = 1 / p_c1(2);
-  dz_dpc1(2, 2) = -p_c1(0) / (p_c1(2)*p_c1(2));
-  dz_dpc1(3, 2) = -p_c1(1) / (p_c1(2)*p_c1(2));
-
-  Matrix<double, 3, 6> dpc0_dxc = Matrix<double, 3, 6>::Zero();
-  dpc0_dxc.leftCols(3) = skewSymmetric(p_c0);
-  dpc0_dxc.rightCols(3) = -R_w_c0;
-
-  Matrix<double, 3, 6> dpc1_dxc = Matrix<double, 3, 6>::Zero();
-  dpc1_dxc.leftCols(3) = R_c0_c1 * skewSymmetric(p_c0);
-  dpc1_dxc.rightCols(3) = -R_w_c1;
-
-  Matrix3d dpc0_dpg = R_w_c0;
-  Matrix3d dpc1_dpg = R_w_c1;
-
-  H_x = dz_dpc0*dpc0_dxc + dz_dpc1*dpc1_dxc;
-  H_f = dz_dpc0*dpc0_dpg + dz_dpc1*dpc1_dpg;
-
-  // Modifty the measurement Jacobian to ensure
-  // observability constrain.
-  Matrix<double, 4, 6> A = H_x;
-  Matrix<double, 6, 1> u = Matrix<double, 6, 1>::Zero();
-  u.block<3, 1>(0, 0) = quaternionToRotation(
-      cam_state.orientation_null) * IMUState::gravity;
-  u.block<3, 1>(3, 0) = skewSymmetric(
-      p_w-cam_state.position_null) * IMUState::gravity;
-  H_x = A - A*u*(u.transpose()*u).inverse()*u.transpose();
-  H_f = -H_x.block<4, 3>(0, 3);
-
-  // Compute the residual.
-  r = z - Vector4d(p_c0(0)/p_c0(2), p_c0(1)/p_c0(2),
-      p_c1(0)/p_c1(2), p_c1(1)/p_c1(2));
-
-  // visu -residual
-  //printf("-----\n");
-
-  //estimate photometric measurement
-  std::vector<float> estimate_photo_z;
-  feature.estimate_FrameIrradiance(cam_state, cam_state_id, cam0, estimate_photo_z);
-  std::vector<float> photo_r;
-  
-  //calculate photom. residual
-  for(int i = 0; i < photo_z.size(); i++)
-    photo_r.push_back(photo_z[i] - estimate_photo_z[i]);
-
-  // visu- residual
-  //for(int i = 0; i < photo_z.size(); i++)
-  //  printf("%.4f = %.4f - %.4f\n",photo_r[i], photo_z[i], estimate_photo_z[i]);
-
-  photo_z.clear();
-  return;
-}
-
-void MsckfVio::PhotometricFeatureJacobian(
-    const FeatureIDType& feature_id,
-    const std::vector<StateIDType>& cam_state_ids,
-    MatrixXd& H_x, VectorXd& r) {
-
-  const auto& feature = map_server[feature_id];
-
-  // Check how many camera states in the provided camera
-  // id camera has actually seen this feature.
-  vector<StateIDType> valid_cam_state_ids(0);
-  for (const auto& cam_id : cam_state_ids) {
-    if (feature.observations.find(cam_id) ==
-        feature.observations.end()) continue;
-
-    valid_cam_state_ids.push_back(cam_id);
-  }
-
-  int jacobian_row_size = 0;
-  jacobian_row_size = 4 * valid_cam_state_ids.size();
-
-  MatrixXd H_xj = MatrixXd::Zero(jacobian_row_size,
-      21+state_server.cam_states.size()*6);
-  MatrixXd H_fj = MatrixXd::Zero(jacobian_row_size, 3);
-  VectorXd r_j = VectorXd::Zero(jacobian_row_size);
-  int stack_cntr = 0;
-
-
-  // visu - residual
-  //printf("_____FEATURE:_____\n");
-  // visu - feature
-  //cam0.featureVisu.release();
-
-  for (const auto& cam_id : valid_cam_state_ids) {
-
-    Matrix<double, 4, 6> H_xi = Matrix<double, 4, 6>::Zero();
-    Matrix<double, 4, 3> H_fi = Matrix<double, 4, 3>::Zero();
-    Vector4d r_i = Vector4d::Zero();
-    PhotometricMeasurementJacobian(cam_id, feature.id, H_xi, H_fi, r_i);
-
-    auto cam_state_iter = state_server.cam_states.find(cam_id);
-    int cam_state_cntr = std::distance(
-        state_server.cam_states.begin(), cam_state_iter);
-
-    // Stack the Jacobians.
-    H_xj.block<4, 6>(stack_cntr, 21+6*cam_state_cntr) = H_xi;
-    H_fj.block<4, 3>(stack_cntr, 0) = H_fi;
-    r_j.segment<4>(stack_cntr) = r_i;
-    stack_cntr += 4;
-  }
-  // visu - feature
-  /*
-  if(!cam0.featureVisu.empty() && cam0.featureVisu.size().width > 3000)
-    imshow("feature", cam0.featureVisu);
-  cvWaitKey(1);
-
-  if((ros::Time::now() - image_save_time).toSec() > 1)
-  {
-    std::stringstream ss;
-    ss << "/home/raphael/dev/MSCKF_ws/img/feature_" << std::to_string(ros::Time::now().toSec()) << ".jpg";
-    imwrite(ss.str(), cam0.featureVisu);
-    image_save_time = ros::Time::now();
-  }
-  */
-
-  // Project the residual and Jacobians onto the nullspace
-  // of H_fj.
-  JacobiSVD<MatrixXd> svd_helper(H_fj, ComputeFullU | ComputeThinV);
-  MatrixXd A = svd_helper.matrixU().rightCols(
-      jacobian_row_size - 3);
-
-  H_x = A.transpose() * H_xj;
-  r = A.transpose() * r_j;
-
-  return;
-}
-
 void MsckfVio::measurementJacobian(
     const StateIDType& cam_state_id,
     const FeatureIDType& feature_id,
@@ -1360,14 +1073,6 @@ void MsckfVio::removeLostFeatures() {
         }
       }
     }
-    if(!feature.is_anchored)
-    {
-      if(!feature.initializeAnchor(cam0))
-      {
-        invalid_feature_ids.push_back(feature.id);
-        continue;
-      }
-    }
 
     jacobian_row_size += 4*feature.observations.size() - 3;
     processed_feature_ids.push_back(feature.id);
@@ -1400,7 +1105,7 @@ void MsckfVio::removeLostFeatures() {
 
     MatrixXd H_xj;
     VectorXd r_j;
-    PhotometricFeatureJacobian(feature.id, cam_state_ids, H_xj, r_j);
+    featureJacobian(feature.id, cam_state_ids, H_xj, r_j);
 
     if (gatingTest(H_xj, r_j, cam_state_ids.size()-1)) {
       H_x.block(stack_cntr, 0, H_xj.rows(), H_xj.cols()) = H_xj;
@@ -1498,6 +1203,7 @@ void MsckfVio::pruneCamStateBuffer() {
       feature.observations.erase(involved_cam_state_ids[0]);
       continue;
     }
+
     if (!feature.is_initialized) {
       // Check if the feature can be initialize.
       if (!feature.checkMotion(state_server.cam_states)) {
@@ -1515,15 +1221,7 @@ void MsckfVio::pruneCamStateBuffer() {
         }
       }
     }
-    if(!feature.is_anchored)
+
-    {
-      if(!feature.initializeAnchor(cam0))
-      {
-        for (const auto& cam_id : involved_cam_state_ids)
-              feature.observations.erase(cam_id);
-        continue;
-      }
-    }
     jacobian_row_size += 4*involved_cam_state_ids.size() - 3;
   }
 
@@ -1534,6 +1232,7 @@ void MsckfVio::pruneCamStateBuffer() {
       21+6*state_server.cam_states.size());
   VectorXd r = VectorXd::Zero(jacobian_row_size);
   int stack_cntr = 0;
+
   for (auto& item : map_server) {
     auto& feature = item.second;
     // Check how many camera states to be removed are associated
@@ -1549,8 +1248,8 @@ void MsckfVio::pruneCamStateBuffer() {
 
     MatrixXd H_xj;
     VectorXd r_j;
+    featureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
 
-    PhotometricFeatureJacobian(feature.id, involved_cam_state_ids, H_xj, r_j);
     if (gatingTest(H_xj, r_j, 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;
@@ -1599,8 +1298,6 @@ void MsckfVio::pruneCamStateBuffer() {
 
     // Remove this camera state in the state vector.
     state_server.cam_states.erase(cam_id);
-    cam0.moving_window.erase(cam_id);
-    cam1.moving_window.erase(cam_id);
   }
 
   return;

src/utils.cpp

@@ -11,6 +11,20 @@
 namespace msckf_vio {
 namespace utils {
 
+void download(const cv::cuda::GpuMat& d_mat, std::vector<cv::Point2f>& vec)
+{
+    vec.resize(d_mat.cols);
+    cv::Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
+    d_mat.download(mat);
+}
+
+void download(const cv::cuda::GpuMat& d_mat, std::vector<uchar>& vec)
+{
+    vec.resize(d_mat.cols);
+    cv::Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
+    d_mat.download(mat);
+}
+
 Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
                                     const std::string &field) {
   Eigen::Isometry3d T;