// Finds the 3D position of a point (in reference frame B) given the inputs
TooN::Vector<3> MapMakerServerBase::ReprojectPoint(TooN::SE3<> se3AfromB, const TooN::Vector<3>& v3A,
const TooN::Vector<3>& v3B)
{
// Algorithm from Hartley & Zisserman's Multiple View Geometry book section 12.2
TooN::Matrix<3, 4> PDash;
PDash.slice<0, 0, 3, 3>() = se3AfromB.get_rotation().get_matrix();
PDash.slice<0, 3, 3, 1>() = se3AfromB.get_translation().as_col();
TooN::Matrix<4> A;
A[0][0] = -v3B[2];
A[0][1] = 0.0;
A[0][2] = v3B[0];
A[0][3] = 0.0;
A[1][0] = 0.0;
A[1][1] = -v3B[2];
A[1][2] = v3B[1];
A[1][3] = 0.0;
A[2] = v3A[0] * PDash[2] - v3A[2] * PDash[0];
A[3] = v3A[1] * PDash[2] - v3A[2] * PDash[1];
TooN::SVD<4, 4> svd(A);
TooN::Vector<4> v4Smallest = svd.get_VT()[3];
if (v4Smallest[3] == 0.0)
v4Smallest[3] = 0.00001;
return project(v4Smallest);
}
void MapView::plotCam(TooN::SE3<> droneToGlobal, bool xyCross, float thick, float len, float alpha)
{
glEnable(GL_DEPTH_TEST);
// draw cam
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glScaled(0.1,0.1,0.1);
CVD::glMultMatrix(mse3ViewerFromWorld * droneToGlobal);
SetupFrustum();
glLineWidth(thick*lineWidthFactor);
if(alpha < 1)
{
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
}
else
glDisable(GL_BLEND);
glBegin(GL_LINES);
glColor4f(1,0,0,alpha);
glVertex3f(-len, 0.0f, 0.0f);
glVertex3f(len, 0.0f, 0.0f);
glVertex3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, -len, 0.0f);
glColor4f(0,1,0,alpha);
glVertex3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, len, 0.0f);
glColor4f(1,1,1,alpha);
glVertex3f(0.0f, 0.0f, 0.0f);
glVertex3f(0.0f, 0.0f, len);
glEnd();
if(xyCross)
{
glLineWidth(1*lineWidthFactor);
glColor4f(1,1,1, alpha);
SetupModelView();
TooN::Vector<2> v2CamPosXY = droneToGlobal.get_translation().slice<0,2>();
glBegin(GL_LINES);
glColor4f(1,1,1, alpha);
glVertex2d(v2CamPosXY[0] - 0.04, v2CamPosXY[1] + 0.04);
glVertex2d(v2CamPosXY[0] + 0.04, v2CamPosXY[1] - 0.04);
glVertex2d(v2CamPosXY[0] - 0.04, v2CamPosXY[1] - 0.04);
glVertex2d(v2CamPosXY[0] + 0.04, v2CamPosXY[1] + 0.04);
glEnd();
}
glDisable(GL_BLEND);
glDisable(GL_DEPTH_TEST);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
// Draw the reference grid to give the user an idea of wether tracking is OK or not.
void PTAMWrapper::renderGrid(TooN::SE3<> camFromWorld)
{
myGLWindow->SetupViewport();
myGLWindow->SetupVideoOrtho();
myGLWindow->SetupVideoRasterPosAndZoom();
camFromWorld.get_translation() *= 1;
// The colour of the ref grid shows if the coarse stage of tracking was used
// (it's turned off when the camera is sitting still to reduce jitter.)
glColor4f(0,0,0,0.6);
// The grid is projected manually, i.e. GL receives projected 2D coords to draw.
int nHalfCells = 5;
int nTot = nHalfCells * 2 + 1;
CVD::Image<Vector<2> > imVertices(CVD::ImageRef(nTot,nTot));
for(int i=0; i<nTot; i++)
for(int j=0; j<nTot; j++)
{
Vector<3> v3;
v3[0] = (i - nHalfCells) * 1;
v3[1] = (j - nHalfCells) * 1;
v3[2] = 0.0;
Vector<3> v3Cam = camFromWorld * v3;
//v3Cam[2] *= 100;
if(v3Cam[2] < 0.001)
v3Cam = TooN::makeVector(100000*v3Cam[0],100000*v3Cam[1],0.0001);
imVertices[i][j] = mpCamera->Project(TooN::project(v3Cam))*0.5;
}
glEnable(GL_LINE_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glLineWidth(2);
for(int i=0; i<nTot; i++)
{
glBegin(GL_LINE_STRIP);
for(int j=0; j<nTot; j++)
CVD::glVertex(imVertices[i][j]);
glEnd();
glBegin(GL_LINE_STRIP);
for(int j=0; j<nTot; j++)
CVD::glVertex(imVertices[j][i]);
glEnd();
};
glLineWidth(1);
glColor3f(1,0,0);
}
void EstimationNode::publishTf(TooN::SE3<> trans, ros::Time stamp, int seq, std::string system)
{
trans = trans.inverse();
tf::Matrix3x3 m;
m[0][0] = trans.get_rotation().get_matrix()(0,0);
m[0][1] = trans.get_rotation().get_matrix()(0,1);
m[0][2] = trans.get_rotation().get_matrix()(0,2);
m[1][0] = trans.get_rotation().get_matrix()(1,0);
m[1][1] = trans.get_rotation().get_matrix()(1,1);
m[1][2] = trans.get_rotation().get_matrix()(1,2);
m[2][0] = trans.get_rotation().get_matrix()(2,0);
m[2][1] = trans.get_rotation().get_matrix()(2,1);
m[2][2] = trans.get_rotation().get_matrix()(2,2);
tf::Vector3 v;
v[0] = trans.get_translation()[0];
v[1] = trans.get_translation()[1];
v[2] = trans.get_translation()[2];
tf::Transform tr = tf::Transform(m,v);
tf::StampedTransform t = tf::StampedTransform(tr,stamp,"map",system);
tf_broadcaster.sendTransform(t);
if(logfilePTAMRaw != NULL)
{
pthread_mutex_lock(&(logPTAMRaw_CS));
// log:
// - filterPosePrePTAM estimated for videoFrameTimestamp-delayVideo.
// - PTAMResulttransformed estimated for videoFrameTimestamp-delayVideo. (using imu only for last step)
// - predictedPoseSpeed estimated for lastNfoTimestamp+filter->delayControl (actually predicting)
// - predictedPoseSpeedATLASTNFO estimated for lastNfoTimestamp (using imu only)
if(logfilePTAMRaw != NULL)
(*(logfilePTAMRaw)) << seq << " " << stamp << " " << tr.getOrigin().x() << " " << tr.getOrigin().y() << " " << tr.getOrigin().z() << " " <<
tr.getRotation().x() << " " << tr.getRotation().y() << " " << tr.getRotation().z() << " " << tr.getRotation().w() << std::endl;
pthread_mutex_unlock(&(logPTAMRaw_CS));
}
}
// Rotates/translates the whole map and all keyFrames
void MapMakerServerBase::ApplyGlobalTransformationToMap(TooN::SE3<> se3NewFromOld)
{
for (MultiKeyFramePtrList::iterator it = mMap.mlpMultiKeyFrames.begin(); it != mMap.mlpMultiKeyFrames.end(); ++it)
{
MultiKeyFrame& mkf = *(*it);
mkf.mse3BaseFromWorld = mkf.mse3BaseFromWorld * se3NewFromOld.inverse();
for (KeyFramePtrMap::iterator jiter = mkf.mmpKeyFrames.begin(); jiter != mkf.mmpKeyFrames.end(); ++jiter)
{
KeyFrame& kf = *(jiter->second);
kf.mse3CamFromWorld = kf.mse3CamFromBase * mkf.mse3BaseFromWorld;
}
}
for (MapPointPtrList::iterator it = mMap.mlpPoints.begin(); it != mMap.mlpPoints.end(); ++it)
{
MapPoint& point = *(*it);
point.mv3WorldPos = se3NewFromOld * point.mv3WorldPos;
point.RefreshPixelVectors();
}
}
void AbstractView::drawPose3D(const TooN::SE3<double> & pose)
{
glPushMatrix();
Vector<3> center = RobotVision::trans2center(pose);
glTranslate(center);
Vector<3> aa = pose.inverse().get_rotation().ln();
double angle = norm(aa);
if ( angle != 0.0 ) {
glRotatef( angle * 180.0 / M_PI, aa[0], aa[1], aa[2]);
}
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0.05, 0, 0));
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0, 0.05, 0));
drawLine3D(TooN::makeVector(0,0,0), TooN::makeVector(0, 0, 0.05));
drawLine3D(TooN::makeVector(0.025,0.025,0),
TooN::makeVector(-0.025, 0.025, 0));
drawLine3D(TooN::makeVector(-0.025,-0.025,0),
TooN::makeVector(-0.025, 0.025, 0));
drawLine3D(TooN::makeVector(-0.025,-0.025,0),
TooN::makeVector(0.025, -0.025, 0));
drawLine3D(TooN::makeVector(0.025,0.025,0),
TooN::makeVector(0.025, -0.025, 0));
glPopMatrix();
}
void PosedCamera::SetPose(const toon::SE3<>& pose) {
pose_ = pose;
invpose_ = pose.inverse();
}
void AbstractView::setPose(const TooN::SE3<>& T_wc )
{
T_cw_ = T_wc.inverse();
}
// Publish the current tracker pose
void SystemFrontendBase::PublishPose()
{
ROS_ASSERT(mpTracker);
if (mpTracker->GetTrackingQuality() == Tracker::NONE || mpTracker->IsLost())
return;
geometry_msgs::PoseWithCovarianceStamped pose_cov_msg;
pose_cov_msg.header.stamp = mpTracker->GetCurrentTimestamp();
pose_cov_msg.header.frame_id = "vision_world";
TooN::SE3<> pose = mpTracker->GetCurrentPose().inverse();
TooN::Matrix<3> rot = pose.get_rotation().get_matrix();
TooN::Matrix<6> cov = mpTracker->GetCurrentCovariance();
// clear cross correlation
cov.slice<0, 3, 3, 3>() = TooN::Zeros;
cov.slice<3, 0, 3, 3>() = TooN::Zeros;
// Change covariance matrix frame from camera to world
cov.slice<0, 0, 3, 3>() = rot * cov.slice<0, 0, 3, 3>() * rot.T();
cov.slice<3, 3, 3, 3>() = rot * cov.slice<3, 3, 3, 3>() * rot.T();
// Some hacky heuristics here
if (mpTracker->GetTrackingQuality() == Tracker::GOOD)
{
cov = cov * 1e2;
}
else if (mpTracker->GetTrackingQuality() == Tracker::DODGY)
{
cov = cov * 1e5;
}
else if (mpTracker->GetTrackingQuality() == Tracker::BAD)
{
cov = cov * 1e8;
}
pose_cov_msg.pose.pose = util::SE3ToPoseMsg(pose);
int numElems = 6;
for (int i = 0; i < numElems; ++i)
{
for (int j = 0; j < numElems; ++j)
{
pose_cov_msg.pose.covariance[i * numElems + j] = cov(i, j);
}
}
mPoseWithCovPub.publish(pose_cov_msg);
static tf::TransformBroadcaster br;
tf::Transform transform;
tf::poseMsgToTF(pose_cov_msg.pose.pose, transform);
br.sendTransform(tf::StampedTransform(transform, mpTracker->GetCurrentTimestamp(), "vision_world", "vision_pose"));
SE3Map mPoses = mpTracker->GetCurrentCameraPoses();
geometry_msgs::PoseArray pose_array_msg;
pose_array_msg.header.stamp = pose_cov_msg.header.stamp;
pose_array_msg.header.frame_id = pose_cov_msg.header.frame_id;
pose_array_msg.poses.resize(1 + mPoses.size());
pose_array_msg.poses[0] = pose_cov_msg.pose.pose;
int i = 1;
for (SE3Map::iterator it = mPoses.begin(); it != mPoses.end(); ++it, ++i)
{
pose_array_msg.poses[i] = util::SE3ToPoseMsg(it->second.inverse());
tf::poseMsgToTF(pose_array_msg.poses[i], transform);
br.sendTransform(tf::StampedTransform(transform, mpTracker->GetCurrentTimestamp(), "vision_world", it->first));
}
mPoseArrayPub.publish(pose_array_msg);
}
