예제 #1
0
// 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);
}
예제 #2
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));
	}

}
예제 #3
0
// 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);
}