// for EKF, we publish Tcw
void publishPosewithCovariance(ros::Time stamp)
{
// SE3<> camPose = tracker_->GetCurrentPose();//Tcw
SE3<> camPose = camPose4pub;//Tcw
if (true) {
geometry_msgs::PoseWithCovarianceStampedPtr pose(new geometry_msgs::PoseWithCovarianceStamped);//Tcw
pose->header.stamp = stamp;
pose->header.frame_id = "/ptam_world_cov";
pose->pose.pose.position.x = camPose.get_translation()[0];
pose->pose.pose.position.y = camPose.get_translation()[1];
pose->pose.pose.position.z = camPose.get_translation()[2];
quat_from_so3(pose->pose.pose.orientation, camPose.get_rotation());
TooN::Matrix<6> covar = tracker_->GetPoseCovariance();
for (unsigned int i = 0; i < pose->pose.covariance.size(); i++){
pose->pose.covariance[i] = sqrt(fabs(covar[i % 6][i / 6]));
// cout << pose->pose.covariance[i] << ", ";
}
pose->pose.covariance[1] = tracker_->GetCurrentKeyFrame().dSceneDepthMedian;
// cout << "PTAM pose, Tcw: " << endl;
// cout << pose->pose.pose.position.x << ", " << pose->pose.pose.position.y << ", " << pose->pose.pose.position.z << endl;
// cout << pose->pose.pose.orientation.w << ", " << pose->pose.pose.orientation.x << ", "
// << pose->pose.pose.orientation.y << ", " << pose->pose.pose.orientation.z << endl;
SE3<> roboPose = se3IMUfromcam * camPose;//Twi = (Tic * Tcw).inv
roboPose = roboPose.inverse();
cout << "POSITION DIFF: "<< PoseEKF_wi.get_translation()[0]-roboPose.get_translation()[0] << ", " <<
PoseEKF_wi.get_translation()[1] - roboPose.get_translation()[1]<< ", " <<
PoseEKF_wi.get_translation()[2] - roboPose.get_translation()[2] << endl;
geometry_msgs::Quaternion quatRobo;
quat_from_so3(quatRobo, roboPose.get_rotation());//Riw
// cout << "PTAM pose, Twi: " << endl;
// cout << roboPose.get_translation()[0] << ", " << roboPose.get_translation()[1] << ", " << roboPose.get_translation()[2] << endl;
// cout << quatRobo.w << ", " << quatRobo.x << ", "
// << quatRobo.y << ", " << quatRobo.z << endl;
// cout << "Pose Covariance: " << endl;
// cout << pose->pose.covariance[0] << ", " << pose->pose.covariance[1] << ", " << pose->pose.covariance[2] << endl;
// cout << pose->pose.covariance[3] << ", " << pose->pose.covariance[4] << ", " << pose->pose.covariance[5] << endl;
// cout << pose->pose.covariance[6] << ", " << pose->pose.covariance[7] << ", " << pose->pose.covariance[8] << endl;
cam_posewithcov_pub_.publish(pose);
geometry_msgs::TransformStampedPtr quadpose(new geometry_msgs::TransformStamped);// for ros nodelets, publish ptr.
quadpose->header.stamp = stamp;
quadpose->header.frame_id = "/ptam_world";
quadpose->transform.translation.x = roboPose.get_translation()[0];
quadpose->transform.translation.y = roboPose.get_translation()[1];
quadpose->transform.translation.z = roboPose.get_translation()[2];
quat_from_so3(quadpose->transform.rotation, roboPose.get_rotation());
quad_pose_pub_.publish(quadpose);
logPose(stamp, roboPose);
}
}
// get Tcw
SE3<> imu2camWorld(pximu::AttitudeData attitude_data){
Matrix<3> Rroll = Data(1.0, 0, 0,//roll Rot(-roll)T=Rot(roll)
0, cos(attitude_data.roll), -sin(attitude_data.roll),
0, sin(attitude_data.roll), cos(attitude_data.roll));
Matrix<3> Rpitch = Data(cos(attitude_data.pitch), 0, -sin(attitude_data.pitch),//pitch Rot(-pitch)T=Rot(pitch)
0, 1.0, 0,
sin(attitude_data.pitch), 0, cos(attitude_data.pitch));
Matrix<3> roll = Data(1.0, 0, 0,//Rww1, because the roll and pitch angles are in
0, -1, 0, // a world frame which pointing downward.
0, 0, -1);
SE3<> camWorld = SE3<>();
Matrix<3> rotation = roll * Rpitch * Rroll; //Rwr*Rrc-->Rwc
camWorld.get_rotation() = rotation*se3IMUfromcam.get_rotation().get_matrix();
Vector<3> twr = makeVector(0.0, 0.0, 0.198);// twc = twr + Rwr * trc
Vector<3> twc = twr + rotation * se3IMUfromcam.get_translation();
camWorld.get_translation()[0] = 0.0;//twc[0]; //twc
camWorld.get_translation()[1] = 0.0;//twc[1]; // TODO: find out the bug why must use 0
camWorld.get_translation()[2] = twc[2];
camWorld = camWorld.inverse();//Tcw
cout<< "TCW INITIALIZED FROM IMU ATT. TWC: " << twc[0]<< ", " << twc[1]<< ", " << twc[2]<<endl;
return camWorld;
}
SE3<> IMU2camWorldfromQuat(Eigen::Quaternion<double> atti){// use ini attitude info from EKF node to ini ptam pose
Vector<4> attivec = makeVector(atti.w(), atti.x(), atti.y(), atti.z());//Rw1i
Matrix<3> iniOrientationEKF;
iniOrientationEKF = tag::quaternionToMatrix(attivec);
Matrix<3> roll = TooN::Data(1.0, 0, 0,//Rww1, because the roll and pitch angles are in
0, -1, 0, // a world frame which pointing downward.
0, 0, -1);
SE3<> camWorld = SE3<>();
Matrix<3> rotation;
if (tracker_->attitude_get)
rotation = iniOrientationEKF; //
else
rotation = roll * iniOrientationEKF;//Rwi = Rww1*Rw1i
camWorld.get_rotation() = rotation*se3IMUfromcam.get_rotation().get_matrix();//Rwc = (Rwi * Ric)
Vector<3> twr = makeVector(0.0, 0.0, 0.198);// twc = twr + Rwr * trc
Vector<3> twc = twr + rotation * se3IMUfromcam.get_translation();
camWorld.get_translation()[0] = 0.0;//twc[0]; //twc
camWorld.get_translation()[1] = 0.0;//twc[1];
camWorld.get_translation()[2] = twc[2];
camWorld = camWorld.inverse();//Tcw
cout<< "TCW INITIALIZED. TWC: " << twc[0]<< ", " << twc[1]<< ", " << twc[2]<<endl;
// cout<< camWorld.get_rotation().get_matrix()(2,2)<<endl;
return camWorld;
}
string serializeForOutput(SE3<double> pose)
{
stringstream so;
Vector<3>& trans=pose.get_translation();
Matrix<3, 3> rot=pose.get_rotation().get_matrix(); // row major
// output in column-major - for matlab! just use reshape(x,3,4)
for (uint32_t j = 0; j < 3; ++j)
for (uint32_t i = 0; i < 3; ++i)
so << rot(i, j) << "\t";
for (uint32_t i = 0; i < 3; ++i)
so << trans[i] << "\t";
return so.str();
}
int main(int argc, char ** argv){
test();
#if 0
SE3<> id(makeVector(1,0,0,0,0,0));
const SE3<F<double> > g = make_left_fad_se3(id);
for(int i = 0; i < 6; ++i)
cout << get_derivative(g.get_rotation().get_matrix(), i) << get_derivative(g.get_translation(), i) << "\n\n";
Vector<3> in = makeVector(1,2,3);
const Vector<3, F<double> > p = g * in;
cout << p << "\n" << get_jacobian<3,6>(p) << endl;
#endif
}
// the second camera pose in the master camera frames
SE3<> Load_camsec_para()
{
SE3<> campara;
ifstream cam_para_table;
string table_path = cam_para_path_second;
double temp1, temp2, temp3, temp4, temp5;
cam_para_table.open(table_path.c_str());
assert(cam_para_table.is_open());
// cam_para_table>>temp1>>temp2>>temp3>>temp4>>temp5;
Matrix<3> cam;
for (int i = 0; i < 3; i ++){
for (int j = 0; j < 3; j ++){
cam_para_table>>temp1;
cam(i, j) = temp1;
}
cam_para_table>>temp1;
campara.get_translation()[i] = temp1/1000.0;
}
campara.get_rotation() = cam;
return campara;//Tic
}
int main(int argc, char **argv) {
InitVars(argc, argv);
if (argc != 1) {
DLOG << "Usage: "<<argv[0];
return 0;
}
// Load the map and rotate to canonical image
Map map;
map.load_images = false;
map.Load();
Vector<3> lnR = makeVector(1.1531, 1.26237, -1.24435); // for lab_kitchen1
SE3<> scene_to_slam;
scene_to_slam.get_rotation() = SO3<>::exp(lnR);
map.scene_to_slam = SO3<>::exp(lnR);
// TODO: map.Load() should do this automatically
map.undistorter.Compute(ImageRef(640,480));
ptam::ATANCamera& cam = map.undistorter.cam;
vector<int> frame_ids;
ParseMultiRange(GV3::get<string>("CanonicalImages.InputFrames"), frame_ids);
COUNTED_FOREACH(int i, int id, frame_ids) {
if (id < 0 || id >= map.frame_specs.size()) {
DLOG << "Frame index " << id << " out of range"
<< " (there are " << map.frame_specs.size() << "frames available)";
} else {
const Frame& fs = map.frame_specs[frame_ids[i]];
if (!fs.lost) {
// Read the image and detect lines
ImageBundle image(fs.filename);
PeakLines lines;
lines.Compute(image, fs.pose, map);
SE3<> pose = fs.pose * scene_to_slam;
// Project vanishing points
Vector<3> vpts[3];
int vert_axis = 0;
for (int i = 0; i < 3; i++) {
vpts[i] = pose.get_rotation().get_matrix().T()[i];
if (abs(vpts[i][1]) > abs(vpts[vert_axis][1])) {
vert_axis = i;
}
}
int l_axis = (vert_axis+1)%3;
int r_axis = (vert_axis+2)%3;
// Compute the rotations
Matrix<3> R_l_inv, R_r_inv;
R_l_inv.T()[0] = positive(vpts[l_axis], 0);
R_l_inv.T()[1] = positive(vpts[vert_axis], 1);
R_l_inv.T()[2] = vpts[r_axis];
R_r_inv.T()[0] = positive(vpts[r_axis], 0);
R_r_inv.T()[1] = positive(vpts[vert_axis], 1);
R_r_inv.T()[2] = vpts[l_axis];
Matrix<3> R_l = LU<3>(R_l_inv).get_inverse();
Matrix<3> R_r = LU<3>(R_r_inv).get_inverse();
// Warp the images
ImageRGB<byte> canvas_l(image.sz()), canvas_r(image.sz());
canvas_l.Clear(PixelRGB<byte>(255,255,255));
canvas_r.Clear(PixelRGB<byte>(255,255,255));
for (int y = 0; y < image.ny(); y++) {
for (int x = 0; x < image.nx(); x++) {
Vector<3> dest = unproject(cam.UnProject(makeVector(x,y)));
Vector<3> l_src = R_l_inv * dest;
Vector<3> r_src = R_r_inv * dest;
Vector<2> l_im = cam.Project(project(l_src));
Vector<2> r_im = cam.Project(project(r_src));
ImageRef l_ir = round_pos(l_im);
ImageRef r_ir = round_pos(r_im);
if (image.contains(l_ir)) {
canvas_l[y][x] = image.rgb[l_ir];
}
if (image.contains(r_ir)) {
canvas_r[y][x] = image.rgb[r_ir];
}
}
}
ImageRGB<byte> canvas;
ImageCopy(image.rgb, canvas);
// Read ratios
double c_over_f = GV3::get<double>("CanonicalImage.LeftCOverF");
double f_over_c = 1.0 / c_over_f;
// Transfer some points
int horizon_y = image.ny()/2;
for (int j = 0; j < 50; j++) {
Vector<2> im_p1 = makeVector(rand()%image.nx(), rand()%image.ny());
Vector<2> ret_p1 = cam.UnProject(im_p1);
double y2;
if (ret_p1[1] > 0) {
y2 = -c_over_f * ret_p1[1];
} else {
y2 = -f_over_c * ret_p1[1];
}
Vector<2> ret_p2 = makeVector(ret_p1[0], y2);
Vector<2> im_p2 = cam.Project(ret_p2);
Vector<3> orig_ret_p1 = R_l * unproject(ret_p1);
Vector<3> orig_ret_p2 = R_l * unproject(ret_p2);
Vector<2> orig_im_p1 = cam.Project(project(orig_ret_p1));
Vector<2> orig_im_p2 = cam.Project(project(orig_ret_p2));
DrawLineClipped(canvas, orig_im_p1, orig_im_p2, BrightColors::Get(j));
DrawLineClipped(canvas_l, im_p1, im_p2, BrightColors::Get(j));
}
string basename = "out/canon"+PaddedInt(id, 4);
WriteImage(basename+"_left.png", canvas_l);
WriteImage(basename+"_right.png", canvas_r);
WriteImage(basename+"_orig.png", canvas);
}
}
}
}
