/** \brief Constructor
*/
FeatureTrackerNode(ros::NodeHandle& nh): nh_(nh), fsm_(&multiCamera_){
static_assert(l2>=l1, "l2 must be larger than l1");
subImu_ = nh_.subscribe("imuMeas", 1000, &FeatureTrackerNode::imuCallback,this);
subImg_ = nh_.subscribe("/cam0/image_raw", 1000, &FeatureTrackerNode::imgCallback,this);
min_feature_count_ = 50;
max_feature_count_ = 20; // Maximal number of feature which is added at a time (not total)
cv::namedWindow("Tracker");
multiCamera_.cameras_[0].load("/home/michael/calibrations/p22035_equidist.yaml");
fsm_.allocateMissing();
};
/** \brief Constructor
*/
FilterState():fsm_(nullptr), transformFeatureOutputCT_(nullptr), featureOutputCov_((int)(FeatureOutput::D_),(int)(FeatureOutput::D_)){
usePredictionMerge_ = true;
imgTime_ = 0.0;
imageCounter_ = 0;
groundtruth_qCJ_.setIdentity();
groundtruth_JrJC_.setZero();
groundtruth_qJI_.setIdentity();
groundtruth_IrIJ_.setZero();
groundtruth_qCB_.setIdentity();
groundtruth_BrBC_.setZero();
plotGroundtruth_ = true;
state_.initFeatureManagers(fsm_);
fsm_.allocateMissing();
drawPB_ = 1;
drawPS_ = mtState::patchSize_*pow(2,mtState::nLevels_-1)+2*drawPB_;
}
/** \brief Sets the multicamera pointer
*
* @param mpMultiCamera - multicamera pointer;
*/
void setCamera(MultiCamera<nCam>* mpMultiCamera){
fsm_.setCamera(mpMultiCamera);
transformFeatureOutputCT_.mpMultiCamera_ = mpMultiCamera;
}
/** \brief Image callback, handling the tracking of MultilevelPatchFeature%s.
*
* The sequence of the callback can be summarized as follows:
* 1. Extract image from message. Compute the image pyramid from the extracted image.
* 2. Predict the position of the valid MultilevelPatchFeature%s in the current image,
* using the previous 2 image locations of these MultilevelPatchFeature%s.
* 3. Execute 2D patch alignment at the predicted MultilevelPatchFeature locations.
* If successful the matching status of the MultilevelPatchFeature is set to FOUND and its image location is updated.
* 4. Prune: Check the MultilevelPatchFeature%s in the MultilevelPatchSet for their quality (MultilevelPatchFeature::isGoodFeature()).
* If a bad quality of a MultilevelPatchFeature is recognized, it is set to invalid.
* 5. Get new features and add them to the MultilevelPatchSet, if there are too little valid MultilevelPatchFeature%s
* in the MultilevelPatchSet. MultilevelPatchFeature%s which are stated invalid are replaced by new features.
*
* @param img_msg - Image message (ros)
*/
void imgCallback(const sensor_msgs::ImageConstPtr & img_msg){
// Get image from msg
cv_bridge::CvImagePtr cv_ptr;
try {
cv_ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::TYPE_8UC1);
} catch (cv_bridge::Exception& e) {
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
cv_ptr->image.copyTo(img_);
// Timing
static double last_time = 0.0;
double current_time = img_msg->header.stamp.toSec();
// Pyramid
pyr_.computeFromImage(img_,true);
// Drawing
cvtColor(img_, draw_image_, CV_GRAY2RGB);
const int numPatchesPlot = 10;
draw_patches_ = cv::Mat::zeros(numPatchesPlot*(patchSize_*pow(2,nLevels_-1)+4),3*(patchSize_*pow(2,nLevels_-1)+4),CV_8UC1);
// Prediction
cv::Point2f dc;
for(unsigned int i=0;i<nMax_;i++){
if(fsm_.isValid_[i]){
dc = 0.75*(fsm_.features_[i].mpCoordinates_->get_c() - fsm_.features_[i].log_previous_.get_c());
fsm_.features_[i].log_previous_ = *(fsm_.features_[i].mpCoordinates_);
fsm_.features_[i].mpCoordinates_->set_c(fsm_.features_[i].mpCoordinates_->get_c() + dc);
if(!fsm_.features_[i].mpMultilevelPatch_->isMultilevelPatchInFrame(pyr_,*(fsm_.features_[i].mpCoordinates_),nLevels_-1,false)){
fsm_.features_[i].mpCoordinates_->set_c(fsm_.features_[i].log_previous_.get_c());
}
fsm_.features_[i].mpStatistics_->increaseStatistics(current_time);
for(int j=0;j<nCam_;j++){
fsm_.features_[i].mpStatistics_->status_[j] = UNKNOWN;
}
}
}
// Track valid features
FeatureCoordinates alignedCoordinates;
const double t1 = (double) cv::getTickCount();
for(unsigned int i=0;i<nMax_;i++){
if(fsm_.isValid_[i]){
fsm_.features_[i].log_prediction_ = *(fsm_.features_[i].mpCoordinates_);
if(alignment_.align2DComposed(alignedCoordinates,pyr_,*fsm_.features_[i].mpMultilevelPatch_,*fsm_.features_[i].mpCoordinates_,l2,l1,l1)){
fsm_.features_[i].mpStatistics_->status_[0] = TRACKED;
fsm_.features_[i].mpCoordinates_->set_c(alignedCoordinates.get_c());
fsm_.features_[i].log_previous_ = *(fsm_.features_[i].mpCoordinates_);
fsm_.features_[i].mpCoordinates_->drawPoint(draw_image_,cv::Scalar(0,255,255));
fsm_.features_[i].mpCoordinates_->drawLine(draw_image_,fsm_.features_[i].log_prediction_,cv::Scalar(0,255,255));
fsm_.features_[i].mpCoordinates_->drawText(draw_image_,std::to_string(i),cv::Scalar(0,255,255));
if(i==18){
for(int j=0;j<nLevels_;j++){
// std::cout << fsm_.features_[i].mpMultilevelPatch_->isValidPatch_[j] << std::endl;
// std::cout << fsm_.features_[i].mpMultilevelPatch_->patches_[j].dx_[0] << std::endl;
}
// std::cout << alignment_.A_.transpose() << std::endl;
// std::cout << alignment_.b_.transpose() << std::endl;
}
} else {
fsm_.features_[i].mpStatistics_->status_[0] = FAILED_ALIGNEMENT;
fsm_.features_[i].mpCoordinates_->drawPoint(draw_image_,cv::Scalar(0,0,255));
fsm_.features_[i].mpCoordinates_->drawText(draw_image_,std::to_string(fsm_.features_[i].idx_),cv::Scalar(0,0,255));
}
}
}
const double t2 = (double) cv::getTickCount();
ROS_INFO_STREAM(" Matching " << fsm_.getValidCount() << " patches (" << (t2-t1)/cv::getTickFrequency()*1000 << " ms)");
MultilevelPatch<nLevels_,patchSize_> mp;
for(unsigned int i=0;i<numPatchesPlot;i++){
if(fsm_.isValid_[i+10]){
fsm_.features_[i+10].mpMultilevelPatch_->drawMultilevelPatch(draw_patches_,cv::Point2i(2,2+i*(patchSize_*pow(2,nLevels_-1)+4)),1,false);
if(mp.isMultilevelPatchInFrame(pyr_,fsm_.features_[i+10].log_prediction_,nLevels_-1,false)){
mp.extractMultilevelPatchFromImage(pyr_,fsm_.features_[i+10].log_prediction_,nLevels_-1,false);
mp.drawMultilevelPatch(draw_patches_,cv::Point2i(patchSize_*pow(2,nLevels_-1)+6,2+i*(patchSize_*pow(2,nLevels_-1)+4)),1,false);
}
if(fsm_.features_[i+10].mpStatistics_->status_[0] == TRACKED
&& mp.isMultilevelPatchInFrame(pyr_,*fsm_.features_[i+10].mpCoordinates_,nLevels_-1,false)){
mp.extractMultilevelPatchFromImage(pyr_,*fsm_.features_[i+10].mpCoordinates_,nLevels_-1,false);
mp.drawMultilevelPatch(draw_patches_,cv::Point2i(2*patchSize_*pow(2,nLevels_-1)+10,2+i*(patchSize_*pow(2,nLevels_-1)+4)),1,false);
cv::rectangle(draw_patches_,cv::Point2i(0,i*(patchSize_*pow(2,nLevels_-1)+4)),cv::Point2i(patchSize_*pow(2,nLevels_-1)+3,(i+1)*(patchSize_*pow(2,nLevels_-1)+4)-1),cv::Scalar(255),2,8,0);
cv::rectangle(draw_patches_,cv::Point2i(patchSize_*pow(2,nLevels_-1)+4,i*(patchSize_*pow(2,nLevels_-1)+4)),cv::Point2i(2*patchSize_*pow(2,nLevels_-1)+7,(i+1)*(patchSize_*pow(2,nLevels_-1)+4)-1),cv::Scalar(255),2,8,0);
} else {
cv::rectangle(draw_patches_,cv::Point2i(0,i*(patchSize_*pow(2,nLevels_-1)+4)),cv::Point2i(patchSize_*pow(2,nLevels_-1)+3,(i+1)*(patchSize_*pow(2,nLevels_-1)+4)-1),cv::Scalar(0),2,8,0);
cv::rectangle(draw_patches_,cv::Point2i(patchSize_*pow(2,nLevels_-1)+4,i*(patchSize_*pow(2,nLevels_-1)+4)),cv::Point2i(2*patchSize_*pow(2,nLevels_-1)+7,(i+1)*(patchSize_*pow(2,nLevels_-1)+4)-1),cv::Scalar(0),2,8,0);
}
cv::putText(draw_patches_,std::to_string(fsm_.features_[i+10].idx_),cv::Point2i(2,2+i*(patchSize_*pow(2,nLevels_-1)+4)+10),cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255));
}
}
// Prune
// Check the MultilevelPatchFeature%s in the MultilevelPatchSet for their quality (isGoodFeature(...)).
// If a bad quality of a MultilevelPatchFeature is recognized, it is set to invalid. New MultilevelPatchFeature%s
// replace the array places of invalid MultilevelPatchFeature%s in the MultilevelPatchSet.
int prune_count = 0;
for(unsigned int i=0;i<nMax_;i++){
if(fsm_.isValid_[i]){
if(fsm_.features_[i].mpStatistics_->status_[0] == FAILED_ALIGNEMENT){
fsm_.isValid_[i] = false;
prune_count++;
}
}
}
ROS_INFO_STREAM(" Pruned " << prune_count << " features");
// Extract feature patches
// Extract new MultilevelPatchFeature%s at the current tracked feature positions.
// Extracted multilevel patches are aligned with the image axes.
for(unsigned int i=0;i<nMax_;i++){
if(fsm_.isValid_[i]){
if(fsm_.features_[i].mpStatistics_->status_[0] == TRACKED
&& fsm_.features_[i].mpMultilevelPatch_->isMultilevelPatchInFrame(pyr_,*fsm_.features_[i].mpCoordinates_,nLevels_-1,true)){
fsm_.features_[i].mpMultilevelPatch_->extractMultilevelPatchFromImage(pyr_,*fsm_.features_[i].mpCoordinates_,nLevels_-1,true);
}
}
}
// Get new features, if there are too little valid MultilevelPatchFeature%s in the MultilevelPatchSet.
if(fsm_.getValidCount() < min_feature_count_){
std::vector<FeatureCoordinates> candidates;
ROS_INFO_STREAM(" Adding keypoints");
const double t1 = (double) cv::getTickCount();
for(int l=l1;l<=l2;l++){
pyr_.detectFastCorners(candidates,l,detectionThreshold);
}
const double t2 = (double) cv::getTickCount();
ROS_INFO_STREAM(" == Detected " << candidates.size() << " on levels " << l1 << "-" << l2 << " (" << (t2-t1)/cv::getTickFrequency()*1000 << " ms)");
// pruneCandidates(fsm_,candidates,0);
const double t3 = (double) cv::getTickCount();
// ROS_INFO_STREAM(" == Selected " << candidates.size() << " candidates (" << (t3-t2)/cv::getTickFrequency()*1000 << " ms)");
std::unordered_set<unsigned int> newSet = fsm_.addBestCandidates( candidates,pyr_,0,current_time,
l1,l2,max_feature_count_,nDetectionBuckets_, scoreDetectionExponent_,
penaltyDistance_, zeroDistancePenalty_,true,0.0);
const double t4 = (double) cv::getTickCount();
ROS_INFO_STREAM(" == Got " << fsm_.getValidCount() << " after adding " << newSet.size() << " features (" << (t4-t3)/cv::getTickFrequency()*1000 << " ms)");
for(auto it = newSet.begin();it != newSet.end();++it){
fsm_.features_[*it].log_previous_ = *(fsm_.features_[*it].mpCoordinates_);
for(int j=0;j<nCam_;j++){
fsm_.features_[*it].mpStatistics_->status_[j] = TRACKED;
}
}
}
cv::imshow("Tracker", draw_image_);
cv::imshow("Patches", draw_patches_);
cv::waitKey(30);
last_time = current_time;
}
