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Repository: ChangwuLiu/InGVIO
Branch: master_github
Commit: eca739e894c6
Files: 144
Total size: 1019.3 KB
Directory structure:
gitextract_o7z2p0ui/
├── .gitignore
├── README.md
├── camera_model/
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── include/
│ │ ├── MeiCamera.h
│ │ ├── PinholeCamera.h
│ │ ├── camera.h
│ │ └── camera_factory.h
│ ├── package.xml
│ ├── src/
│ │ ├── MeiCamera.cpp
│ │ ├── PinholeCamera.cpp
│ │ ├── camera.cpp
│ │ └── camera_factory.cpp
│ └── test/
│ └── CMakeLists.txt
├── config/
│ ├── fw_zed2i_f9p/
│ │ ├── ingvio_mono.yaml
│ │ ├── ingvio_stereo.yaml
│ │ ├── mono_config.yaml
│ │ ├── stereo_left_config.yaml
│ │ └── stereo_right_config.yaml
│ └── sportsfield/
│ ├── ingvio_mono.yaml
│ ├── ingvio_stereo.yaml
│ ├── mono_config.yaml
│ ├── stereo_left_config.yaml
│ └── stereo_right_config.yaml
├── feature_tracker/
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── include/
│ │ ├── Color.h
│ │ ├── mono_parameters.h
│ │ ├── mono_tracker.h
│ │ ├── random_pair.hpp
│ │ ├── stereo_parameters.h
│ │ ├── stereo_tracker.h
│ │ └── tic_toc.hpp
│ ├── launch/
│ │ └── sportsfield/
│ │ ├── mono_tracker_sf.launch
│ │ └── stereo_tracker_sf.launch
│ ├── msg/
│ │ ├── MonoFrame.msg
│ │ ├── MonoMeas.msg
│ │ ├── StereoFrame.msg
│ │ └── StereoMeas.msg
│ ├── package.xml
│ └── src/
│ ├── mono_parameters.cpp
│ ├── mono_tracker.cpp
│ ├── mono_tracker_node.cpp
│ ├── stereo_parameters.cpp
│ ├── stereo_tracker.cpp
│ └── stereo_tracker_node.cpp
├── gnss_comm/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── README.md
│ ├── cmake/
│ │ ├── FindEigen.cmake
│ │ └── FindGlog.cmake
│ ├── docker/
│ │ ├── Dockerfile
│ │ └── Makefile
│ ├── include/
│ │ └── gnss_comm/
│ │ ├── gnss_constant.hpp
│ │ ├── gnss_ros.hpp
│ │ ├── gnss_spp.hpp
│ │ ├── gnss_utility.hpp
│ │ └── rinex_helper.hpp
│ ├── msg/
│ │ ├── GnssBestXYZMsg.msg
│ │ ├── GnssEphemMsg.msg
│ │ ├── GnssGloEphemMsg.msg
│ │ ├── GnssMeasMsg.msg
│ │ ├── GnssObsMsg.msg
│ │ ├── GnssPVTSolnMsg.msg
│ │ ├── GnssSvsMsg.msg
│ │ ├── GnssTimeMsg.msg
│ │ ├── GnssTimePulseInfoMsg.msg
│ │ └── StampedFloat64Array.msg
│ ├── package.xml
│ └── src/
│ ├── gnss_ros.cpp
│ ├── gnss_spp.cpp
│ ├── gnss_utility.cpp
│ └── rinex_helper.cpp
└── ingvio_estimator/
├── CMakeLists.txt
├── LICENSE
├── README.md
├── cmake/
│ ├── FindSuiteSparse.cmake
│ └── ROS1.cmake
├── launch/
│ ├── ingvio_mono_fw.launch
│ ├── ingvio_mono_fw_record.launch
│ ├── ingvio_mono_sf.launch
│ ├── ingvio_mono_sf_record.launch
│ ├── ingvio_stereo_fw.launch
│ ├── ingvio_stereo_fw_record.launch
│ ├── ingvio_stereo_sf.launch
│ └── ingvio_stereo_sf_record.launch
├── package.xml
├── rviz/
│ ├── ingvio_mono.rviz
│ └── ingvio_stereo.rviz
├── src/
│ ├── AnchoredLandmark.cpp
│ ├── AnchoredLandmark.h
│ ├── AuxGammaFunc.cpp
│ ├── AuxGammaFunc.h
│ ├── Color.h
│ ├── GnssData.cpp
│ ├── GnssData.h
│ ├── GnssManager.cpp
│ ├── GnssManager.h
│ ├── GnssProcessor.cpp
│ ├── GnssSync.cpp
│ ├── GnssSync.h
│ ├── GnssUpdate.cpp
│ ├── GnssUpdate.h
│ ├── GvioAligner.cpp
│ ├── GvioAligner.h
│ ├── ImuPropagator.cpp
│ ├── ImuPropagator.h
│ ├── IngvioFilter.cpp
│ ├── IngvioFilter.h
│ ├── IngvioNode.cpp
│ ├── IngvioParams.cpp
│ ├── IngvioParams.h
│ ├── KeyframeUpdate.cpp
│ ├── KeyframeUpdate.h
│ ├── LandmarkUpdate.cpp
│ ├── LandmarkUpdate.h
│ ├── MapServer.cpp
│ ├── MapServer.h
│ ├── MapServerManager.cpp
│ ├── MapServerManager.h
│ ├── PoseState.cpp
│ ├── PoseState.h
│ ├── RemoveLostUpdate.cpp
│ ├── RemoveLostUpdate.h
│ ├── State.cpp
│ ├── State.h
│ ├── StateManager.cpp
│ ├── StateManager.h
│ ├── SwMargUpdate.cpp
│ ├── SwMargUpdate.h
│ ├── TicToc.h
│ ├── Triangulator.cpp
│ ├── Triangulator.h
│ ├── Update.cpp
│ ├── Update.h
│ ├── VecState.cpp
│ └── VecState.h
└── test/
├── GenerateNoise.cpp
├── GenerateNoise.h
├── TestMapServer.cpp
├── TestPropagator.cpp
├── TestStateManager.cpp
└── TestTriangulator.cpp
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
*.kdev4
================================================
FILE: README.md
================================================
# InGVIO
An invariant filter for visual-inertial-raw GNSS fusion.
**Paper:** InGVIO: A Consistent Invariant Filter For Fast and High-Accuracy GNSS-Visual-Inertial Odometry
**Paper Author:** Changwu Liu, Chen Jiang and Haowen Wang
**Paper Status:** Manuscript submitted to RA-L for possible publication. Preprint version available on ArXiv.
**Current Paper Link:** https://arxiv.org/abs/2210.15145
InGVIO is an invariant filter approach for fusion of monocular/stereo camera, IMU and raw GNSS measurements including pseudo ranges and Doppler shifts. InGVIO is intrinsically consistent under conditional infinitesimal invariance of the GNSS-Visual-Inertial system. InGVIO has the following key features: (a) fast due to decoupled IMU propagation, key-frame marginalization strategy and no SLAM-features; (b) accurate due to intrinsic consistency maintenance; (c) better convergence properties than 'naive' EKF-based filters.
Moreover, we offer our fixed-wing datasets in the form of ROS Bags including stereo-visual, IMU and raw-GNSS measurements.
**Fixed-Wing Dataset Link:** https://cloud.tsinghua.edu.cn/d/65ecf6768563421faaed/
password to extract: LCW@uav_18
**Fixed-Wing Dataset Videos:** The videos are uploaded to the link that stores the fixed-wing datasets.
The links to the datasets will be continuously updated. The config files for this dataset are contained in the InGVIO code configuration in path 'config/fw_zed2i_f9p'.
## 1. System Requirements
### 1.1 Support of C++ 14 Features
The compiler should at least support c++14 standards.
### 1.2 ROS-Noetic System
InGVIO is developed under [ROS-Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) with its default OpenCV4 library. However, InGVIO should be working on ROS-Melodic with OpenCV3. In the future, we may add support to ROS 2.
### 1.3 Eigen Library
Eigen is a fantastic matrix computation library. InGVIO is developed under [Eigen3.3.7](https://eigen.tuxfamily.org/index.php?title=Main_Page). Other Eigen 3 versions should be OK for InGVIO.
### 1.4 SuiteSparse Library
We use [SuiteSparse](https://github.com/DrTimothyAldenDavis/SuiteSparse/releases) Library for sparse QR-decomposition in visual updates.
### 1.5 gnss_comm Library
A wrapper for GNSS messages in ROS. See [gnss_comm](https://github.com/HKUST-Aerial-Robotics/gnss_comm). The fantastic optimization-based work [GVINS](https://github.com/HKUST-Aerial-Robotics/GVINS) also relies on this library. We reserve a copy of gnss_comm in this repo.
## 2. Build InGVIO
Download or clone this repo to your ROS workspace.
```
cd ~/ws_catkin
catkin_make
```
Source the setup file to let ROS recognize the related launch files.
```
source devel/setup.bash
```
## 3. Run with Our Fixed-Wing Datasets
First download and unzip our fixed-wing dataset to your environment.
The 'fw_zed2i_f9p' folder contains the configuration files for fixed-wing datasets. To run InGVIO in your environment, the following should be conducted first.
Please adjust and modify the paths in 'config/fw_zed2i_f9p/ingvio_mono.yaml' and 'config/fw_zed2i_f9p/ingvio_stereo.yaml' to the case in your environment.
If you want to record the output topics, please set your output dir in 'ingvio/launch/ingvio_mono, stereo_fw_record.launch' files.
To run with monocular camera, please enter:
```
roslaunch ingvio_estimator ingvio_mono_fw.launch
```
For stereo-case, please enter:
```
roslaunch ingvio_estimator ingvio_stereo_fw.launch
```
To record the output topics, you can directly use our script file by:
```
roslaunch ingvio_estimator ingvio_mono_fw_record.launch
roslaunch ingvio_estimator ingvio_stereo_fw_record.launch
```
Rviz will be automatically launched. Run the ROS Bag to see the results:
```
rosbag play fw_easy.bag --pause
```
## 4. Run with GVINS Public Datasets
### 4.1 Configuration Settings
The GVINS datasets can be acquired from [GitHub - HKUST-Aerial-Robotics/GVINS-Dataset](https://github.com/HKUST-Aerial-Robotics/GVINS-Dataset). The config files for GVINS Datasets are already integrated in 'config/sportsfield'. It's valid for all 3 datasets provided by GVINS.
To run InGVIO in your environment, the following should be conducted first.
Please adjust and modify the paths in 'config/sports_field/ingvio_mono.yaml' and 'config/sports_field/ingvio_stereo.yaml' to the case in your environment.
If you want to record the output topics, please set your output dir in 'ingvio/launch/ingvio_mono, stereo_sf_record.launch' files.
To run with monocular camera, please enter:
```
roslaunch ingvio_estimator ingvio_mono_sf.launch
```
For stereo-case, please enter:
```
roslaunch ingvio_estimator ingvio_stereo_sf.launch
```
To record the output topics, you can directly use our script file by:
```
roslaunch ingvio_estimator ingvio_mono_sf_record.launch
roslaunch ingvio_estimator ingvio_stereo_sf_record.launch
```
Rviz will be automatically launched. Run the ROS Bag to see the results:
```
rosbag play sports_field.bag --pause
rosbag play complex_environment.bag --pause
rosbag play urban_driving.bag --pause
```
### 4.2 Parameter Tuning Hints
**For sports_field.bag:** Monocular/Stereo Case: max_pts_frame = 150/110, visual_noise = 0.12, gnss_chi2_test = false, imu_buffer_size = 3000.
**For urban_driving.bag:** Monocular/Stereo Case: max_pts_frame = 150/110, visual_noise = 0.12, gnss_chi2_test = true, imu_buffer_size = 3000. To avoid polluted GNSS measurements, a stronger version could be gnss_chi2_test = false, gnss_strong_reject = true.
**For indoors_outdoors.bag:** Monocular/Stereo Case: max_pts_frame = 150/110, visual_noise = 0.18, gnss_chi2_test = false, gnss_strong_reject = true.
Please modify or try other parameters if the above behave not well. Good parameters may be different under different environment settings.
## 5. Acknowledgements
The realization of the type-based index system in filter framework is inspired by [OpenVINS](https://github.com/rpng/open_vins). The author himself has learned lots of programming skills in SLAM by reading the codes of OpenVINS.
The [gnss_comm](https://github.com/HKUST-Aerial-Robotics/gnss_comm) provided by GVINS is a great wrapper in developing codes involving raw GNSS measurements in ROS.
## 6. License
This software is open-sourced under GPLv3 license. See [GNU GPL v3.0 - GNU](https://www.gnu.org/licenses/gpl-3.0.html).
Please cite our paper if you use either our code or our fixed-wing datasets.
================================================
FILE: camera_model/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(camera_model)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
)
if(EXISTS "/usr/include/eigen3")
include_directories("/usr/include/eigen3")
else()
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
endif()
find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
find_package(OpenCV REQUIRED)
catkin_package(
INCLUDE_DIRS include
LIBRARIES camera_model
CATKIN_DEPENDS roscpp std_msgs
)
include_directories(
${PROJECT_SOURCE_DIR}/include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
# if(EXISTS "${PROJECT_SOURCE_DIR}/test/")
# enable_testing()
# add_subdirectory(${PROJECT_SOURCE_DIR}/test)
# endif()
add_library(camera_model
src/camera.cpp
src/MeiCamera.cpp
src/PinholeCamera.cpp
src/camera_factory.cpp
)
target_link_libraries(camera_model ${Boost_LIBRARIES} ${OpenCV_LIBS})
================================================
FILE: camera_model/LICENSE
================================================
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================================================
FILE: camera_model/include/MeiCamera.h
================================================
/** This File is part of Camera Model
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include "camera.h"
#include <cmath>
namespace camera_model
{
class MeiCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
Parameters(const std::string& cameraName, int w, int h, double xi, double k1, double k2, double p1, double p2, double gamma1, double gamma2, double u0, double v0);
double& xi();
double& k1();
double& k2();
double& p1();
double& p2();
double& gamma1();
double& gamma2();
double& u0();
double& v0();
double xi() const;
double k1() const;
double k2() const;
double p1() const;
double p2() const;
double gamma1() const;
double gamma2() const;
double u0() const;
double v0() const;
bool readFromYamlFile(const std::string& filename) override;
void writeToYamlFile(const std::string& filename) const override;
Parameters& operator= (const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
double m_xi;
double m_k1;
double m_k2;
double m_p1;
double m_p2;
double m_gamma1;
double m_gamma2;
double m_u0;
double m_v0;
};
MeiCamera();
MeiCamera(const std::string& cameraName, int imageWidth, int imageHeight, double xi, double k1, double k2, double p1, double p2, double gamma1, double gamma2, double u0, double v0);
MeiCamera(const Parameters& params);
Camera::ModelType modelType(void) const override;
const std::string& cameraName(void) const override;
int imageWidth(void) const override;
int imageHeight(void) const override;
double getNormalPixel() const override;
void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const override;
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const override;
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const override;
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const override;
template <typename T>
static void spaceToPlane(const T* const params, const T* const q, const T* const t, const Eigen::Matrix<T, 3, 1>& P, Eigen::Matrix<T, 2, 1>& p);
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J) const;
int parameterCount() const override;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec) override;
void writeParameters(std::vector<double>& parameterVec) const override;
void writeParametersToYamlFile(const std::string& filename) const override;
std::string parametersToString(void) const override;
private:
Parameters mParameters;
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
bool m_noDistortion;
};
typedef boost::shared_ptr<MeiCamera> MeiCameraPtr;
typedef boost::shared_ptr<const MeiCamera> MeiCameraConstPtr;
template <typename T>
void MeiCamera::spaceToPlane(const T* const params, const T* const q, const T* const t, const Eigen::Matrix<T, 3, 1>& P, Eigen::Matrix<T, 2, 1>& p)
{
Eigen::Vector3d Pw((double)P(0), (double)P(1), (double)P(2));
Eigen::Vector3d tw((double)t(0), (double)t(1), (double)t(2));
Eigen::Quaterniond qw;
qw.w() = (double) q[3];
qw.x() = (double) q[0];
qw.y() = (double) q[1];
qw.z() = (double) q[2];
qw.normalized();
Eigen::Vector3d transP = qw.toRotationMatrix()*Pw + tw;
T P_c[3];
P_c[0] = T(transP(0));
P_c[1] = T(transP(1));
P_c[2] = T(transP(2));
T xi = params[0];
T k1 = params[1];
T k2 = params[2];
T p1 = params[3];
T p2 = params[4];
T gamma1 = params[5];
T gamma2 = params[6];
T alpha = T(0);
T u0 = params[7];
T v0 = params[8];
T len = std::sqrt(P_c[0]*P_c[0] + P_c[1]*P_c[1] + P_c[2]*P_c[2]);
P_c[0] /= len;
P_c[1] /= len;
P_c[2] /= len;
T u = P_c[0]/(P_c[2] + xi);
T v = P_c[1]/(P_c[2] + xi);
T rho_sqr = u*u + v*v;
T L = T(1.0) + k1*rho_sqr + k2*rho_sqr*rho_sqr;
T du = T(2.0)*p1*u*v + p2*(rho_sqr + T(2.0)*u*u);
T dv = p1*(rho_sqr + T(2.0)*v*v) + T(2.0)*p2*u*v;
u = L*u + du;
v = L*v + dv;
p(0) = gamma1*(u + alpha*v) + u0;
p(1) = gamma2*v + v0;
}
}
================================================
FILE: camera_model/include/PinholeCamera.h
================================================
/** This File is part of Camera Model
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include "camera.h"
#include <cmath>
namespace camera_model
{
class PinholeCamera: public Camera
{
public:
class Parameters: public Camera::Parameters
{
public:
Parameters();
Parameters(const std::string& cameraName, int w, int h, double k1, double k2, double p1, double p2, double fx, double fy, double cx, double cy);
double& k1(void);
double& k2(void);
double& p1(void);
double& p2(void);
double& fx(void);
double& fy(void);
double& cx(void);
double& cy(void);
double xi(void) const;
double k1(void) const;
double k2(void) const;
double p1(void) const;
double p2(void) const;
double fx(void) const;
double fy(void) const;
double cx(void) const;
double cy(void) const;
bool readFromYamlFile(const std::string& filename) override;
void writeToYamlFile(const std::string& filename) const override;
Parameters& operator=(const Parameters& other);
friend std::ostream& operator<< (std::ostream& out, const Parameters& params);
private:
double m_k1;
double m_k2;
double m_p1;
double m_p2;
double m_fx;
double m_fy;
double m_cx;
double m_cy;
};
PinholeCamera();
PinholeCamera(const std::string& cameraName, int imageWidth, int imageHeight, double k1, double k2, double p1, double p2, double fx, double fy, double cx, double cy);
PinholeCamera(const Parameters& params);
Camera::ModelType modelType(void) const override;
const std::string& cameraName(void) const override;
int imageWidth(void) const override;
int imageHeight(void) const override;
double getNormalPixel() const override;
void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const override;
void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const override;
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const override;
void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, Eigen::Matrix<double,2,3>& J) const;
void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const override;
template <typename T>
static void spaceToPlane(const T* const params, const T* const q, const T* const t, const Eigen::Matrix<T, 3, 1>& P, Eigen::Matrix<T, 2, 1>& p);
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const;
void distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J) const;
int parameterCount() const override;
const Parameters& getParameters(void) const;
void setParameters(const Parameters& parameters);
void readParameters(const std::vector<double>& parameterVec) override;
void writeParameters(std::vector<double>& parameterVec) const override;
void writeParametersToYamlFile(const std::string& filename) const override;
std::string parametersToString(void) const override;
private:
Parameters mParameters;
double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23;
bool m_noDistortion;
};
typedef boost::shared_ptr<PinholeCamera> PinholeCameraPtr;
typedef boost::shared_ptr<const PinholeCamera> PinholeCameraConstPtr;
template <typename T>
void PinholeCamera::spaceToPlane(const T* const params, const T* const q, const T* const t, const Eigen::Matrix<T, 3, 1>& P, Eigen::Matrix<T, 2, 1>& p)
{
Eigen::Vector3d Pw((double)P(0), (double)P(1), (double)P(2));
Eigen::Vector3d tw((double)t(0), (double)t(1), (double)t(2));
Eigen::Quaterniond qw;
qw.w() = (double) q[3];
qw.x() = (double) q[0];
qw.y() = (double) q[1];
qw.z() = (double) q[2];
qw.normalized();
Eigen::Vector3d transP = qw.toRotationMatrix()*Pw + tw;
T P_c[3];
P_c[0] = T(transP(0));
P_c[1] = T(transP(1));
P_c[2] = T(transP(2));
T k1 = params[0];
T k2 = params[1];
T p1 = params[2];
T p2 = params[3];
T fx = params[4];
T fy = params[5];
T alpha = T(0);
T cx = params[6];
T cy = params[7];
T u = P_c[0]/P_c[2];
T v = P_c[1]/P_c[2];
T rho_sqr = u*u + v*v;
T L = T(1.0) + k1*rho_sqr + k2*rho_sqr*rho_sqr;
T du = T(2.0)*p1*u*v + p2*(rho_sqr + T(2.0)*u*u);
T dv = p1*(rho_sqr + T(2.0)*v*v) + T(2.0)*p2*u*v;
u = L*u + du;
v = L*v + dv;
p(0) = fx*(u + alpha*v) + cx;
p(1) = fy*v + cy;
}
}
================================================
FILE: camera_model/include/camera.h
================================================
/** This File is part Camera Model
*
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include <boost/shared_ptr.hpp>
#include <Eigen/Dense>
#include <Eigen/Geometry>
#include <vector>
#include <opencv2/core/core.hpp>
#include <string>
#include <iostream>
namespace camera_model
{
class Camera
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
enum ModelType
{
MEI,
PINHOLE
};
class Parameters
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Parameters(ModelType modelType);
Parameters(ModelType modelType, const std::string& cameraName, int w, int h);
ModelType& modelType();
ModelType modelType() const;
std::string& cameraName();
const std::string& cameraName() const;
int& imageWidth();
int imageWidth() const;
int& imageHeight();
int imageHeight() const;
int nIntrinsics() const;
virtual bool readFromYamlFile(const std::string& filename) = 0;
virtual void writeToYamlFile(const std::string& filename) const = 0;
protected:
ModelType m_modelType;
int m_nIntrinsics;
std::string m_cameraName;
int m_imageWidth;
int m_imageHeight;
};
virtual ModelType modelType() const = 0;
virtual const std::string& cameraName() const = 0;
virtual int imageWidth() const = 0;
virtual int imageHeight() const = 0;
virtual cv::Mat& mask();
virtual const cv::Mat& mask() const;
virtual double getNormalPixel() const = 0;
// from the image plane to the sphere
virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;
// from the image plane to the projective space
virtual void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const = 0;
// from 3D points to the image plane
virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const = 0;
virtual void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const = 0;
virtual int parameterCount(void) const = 0;
virtual void readParameters(const std::vector<double>& parameters) = 0;
virtual void writeParameters(std::vector<double>& parameters) const = 0;
virtual void writeParametersToYamlFile(const std::string& filename) const = 0;
virtual std::string parametersToString() const = 0;
double reprojectionDist(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2) const;
double reprojectionError(const Eigen::Vector3d& P,
const Eigen::Quaterniond& camera_q,
const Eigen::Vector3d& camera_t,
const Eigen::Vector2d& observed_p) const;
protected:
cv::Mat m_mask;
};
typedef boost::shared_ptr<Camera> CameraPtr;
typedef boost::shared_ptr<const Camera> CameraConstPtr;
}
================================================
FILE: camera_model/include/camera_factory.h
================================================
/** This File is part of Camera Model
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include "camera.h"
namespace camera_model
{
class CameraFactory
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CameraFactory();
static boost::shared_ptr<CameraFactory> instance(void);
CameraPtr generateCamera(Camera::ModelType modelType, const std::string& cameraName, cv::Size imageSize) const;
CameraPtr generateCameraFromYamlFile(const std::string& filename);
private:
static boost::shared_ptr<CameraFactory> m_instance;
};
}
================================================
FILE: camera_model/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>camera_model</name>
<version>0.0.0</version>
<description>The camera_model package</description>
<maintainer email="lcw18@mails.tsinghua.edu.cn">lcw18</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: camera_model/src/MeiCamera.cpp
================================================
/** This File is part of Camera Model
*
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "MeiCamera.h"
#include <iomanip>
namespace camera_model
{
MeiCamera::Parameters::Parameters(): Camera::Parameters(MEI), m_xi(0.0), m_k1(0.0), m_k2(0.0), m_p1(0.0), m_p2(0.0), m_gamma1(0.0), m_gamma2(0.0), m_u0(0.0), m_v0(0.0)
{}
MeiCamera::Parameters::Parameters(const std::string& cameraName, int w, int h, double xi, double k1, double k2, double p1, double p2, double gamma1, double gamma2, double u0, double v0) : Camera::Parameters(MEI, cameraName, w, h), m_xi(xi), m_k1(k1), m_k2(k2), m_p1(p1), m_p2(p2), m_gamma1(gamma1), m_gamma2(gamma2), m_u0(u0), m_v0(v0)
{}
double& MeiCamera::Parameters::xi() { return m_xi;}
double& MeiCamera::Parameters::k1() { return m_k1;}
double& MeiCamera::Parameters::k2() { return m_k2;}
double& MeiCamera::Parameters::p1() { return m_p1;}
double& MeiCamera::Parameters::p2() { return m_p2;}
double& MeiCamera::Parameters::gamma1() { return m_gamma1;}
double& MeiCamera::Parameters::gamma2() { return m_gamma2;}
double& MeiCamera::Parameters::u0() { return m_u0;}
double& MeiCamera::Parameters::v0() { return m_v0;}
double MeiCamera::Parameters::xi() const { return m_xi;}
double MeiCamera::Parameters::k1() const { return m_k1;}
double MeiCamera::Parameters::k2() const { return m_k2;}
double MeiCamera::Parameters::p1() const { return m_p1;}
double MeiCamera::Parameters::p2() const { return m_p2;}
double MeiCamera::Parameters::gamma1() const { return m_gamma1;}
double MeiCamera::Parameters::gamma2() const { return m_gamma2;}
double MeiCamera::Parameters::u0() const { return m_u0;}
double MeiCamera::Parameters::v0() const { return m_v0;}
bool MeiCamera::Parameters::readFromYamlFile(const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened()) return false;
if (!fs["model_type"].isNone())
{
std::string sModelType;
fs["model_type"] >> sModelType;
if (sModelType.compare("MEI") != 0) return false;
}
m_modelType = MEI;
fs["camera_name"] >> m_cameraName;
m_imageWidth = static_cast<int>(fs["image_width"]);
m_imageHeight = static_cast<int>(fs["image_height"]);
cv::FileNode n = fs["mirror_parameters"];
m_xi = static_cast<double>(n["xi"]);
n = fs["distortion_parameters"];
m_k1 = static_cast<double>(n["k1"]);
m_k2 = static_cast<double>(n["k2"]);
m_p1 = static_cast<double>(n["p1"]);
m_p2 = static_cast<double>(n["p2"]);
n = fs["projection_parameters"];
m_gamma1 = static_cast<double>(n["gamma1"]);
m_gamma2 = static_cast<double>(n["gamma2"]);
m_u0 = static_cast<double>(n["u0"]);
m_v0 = static_cast<double>(n["v0"]);
return true;
}
void MeiCamera::Parameters::writeToYamlFile(const std::string& filename) const
{
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
fs << "model_type" << "MEI";
fs << "camera_name" << m_cameraName;
fs << "image_width" << m_imageWidth;
fs << "image_height" << m_imageHeight;
fs << "mirror_parameters";
fs << "{" << "xi" << m_xi << "}";
fs << "distortion_parameters";
fs << "{" << "k1" << m_k1
<< "k2" << m_k2
<< "p1" << m_p1
<< "p2" << m_p2 << "}";
fs << "projection_parameters";
fs << "{" << "gamma1" << m_gamma1
<< "gamma2" << m_gamma2
<< "u0" << m_u0
<< "v0" << m_v0 << "}";
fs.release();
}
MeiCamera::Parameters& MeiCamera::Parameters::operator=(const MeiCamera::Parameters& other)
{
if (this != &other)
{
m_modelType = other.m_modelType;
m_cameraName = other.m_cameraName;
m_imageWidth = other.m_imageWidth;
m_imageHeight = other.m_imageHeight;
m_xi = other.m_xi;
m_k1 = other.m_k1;
m_k2 = other.m_k2;
m_p1 = other.m_p1;
m_p2 = other.m_p2;
m_gamma1 = other.m_gamma1;
m_gamma2 = other.m_gamma2;
m_u0 = other.m_u0;
m_v0 = other.m_v0;
}
return *this;
}
std::ostream& operator<< (std::ostream& out, const MeiCamera::Parameters& params)
{
out << "Camera Parameters:" << std::endl;
out << " model_type " << "MEI" << std::endl;
out << " camera_name " << params.m_cameraName << std::endl;
out << " image_width " << params.m_imageWidth << std::endl;
out << " image_height " << params.m_imageHeight << std::endl;
out << "Mirror Parameters" << std::endl;
out << std::fixed << std::setprecision(10);
out << " xi " << params.m_xi << std::endl;
out << "Distortion Parameters" << std::endl;
out << " k1 " << params.m_k1 << std::endl
<< " k2 " << params.m_k2 << std::endl
<< " p1 " << params.m_p1 << std::endl
<< " p2 " << params.m_p2 << std::endl;
out << "Projection Parameters" << std::endl;
out << " gamma1 " << params.m_gamma1 << std::endl
<< " gamma2 " << params.m_gamma2 << std::endl
<< " u0 " << params.m_u0 << std::endl
<< " v0 " << params.m_v0 << std::endl;
return out;
}
MeiCamera::MeiCamera(): m_inv_K11(1.0), m_inv_K13(0.0), m_inv_K22(1.0), m_inv_K23(0.0), m_noDistortion(true)
{}
MeiCamera::MeiCamera(const std::string& cameraName, int imageWidth, int imageHeight, double xi, double k1, double k2, double p1, double p2, double gamma1, double gamma2, double u0, double v0) : mParameters(cameraName, imageWidth, imageHeight, xi, k1, k2, p1, p2, gamma1, gamma2, u0, v0)
{
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.gamma1();
m_inv_K13 = -mParameters.u0() / mParameters.gamma1();
m_inv_K22 = 1.0 / mParameters.gamma2();
m_inv_K23 = -mParameters.v0() / mParameters.gamma2();
}
MeiCamera::MeiCamera(const MeiCamera::Parameters& params) : mParameters(params)
{
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.gamma1();
m_inv_K13 = -mParameters.u0() / mParameters.gamma1();
m_inv_K22 = 1.0 / mParameters.gamma2();
m_inv_K23 = -mParameters.v0() / mParameters.gamma2();
}
Camera::ModelType MeiCamera::modelType() const
{
return mParameters.modelType();
}
const std::string& MeiCamera::cameraName() const
{
return mParameters.cameraName();
}
int MeiCamera::imageWidth() const
{
return mParameters.imageWidth();
}
int MeiCamera::imageHeight() const
{
return mParameters.imageHeight();
}
double MeiCamera::getNormalPixel() const
{
return 2.0/(mParameters.gamma1() + mParameters.gamma2());
}
void MeiCamera::liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
double mx_d, my_d,mx2_d, mxy_d, my2_d, mx_u, my_u;
double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
double lambda;
mx_d = m_inv_K11 * p(0) + m_inv_K13;
my_d = m_inv_K22 * p(1) + m_inv_K23;
if (m_noDistortion)
{
mx_u = mx_d;
my_u = my_d;
}
else
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
mx2_d = mx_d*mx_d;
my2_d = my_d*my_d;
mxy_d = mx_d*my_d;
rho2_d = mx2_d+my2_d;
rho4_d = rho2_d*rho2_d;
radDist_d = k1*rho2_d+k2*rho4_d;
Dx_d = mx_d*radDist_d + p2*(rho2_d+2*mx2_d) + 2*p1*mxy_d;
Dy_d = my_d*radDist_d + p1*(rho2_d+2*my2_d) + 2*p2*mxy_d;
inv_denom_d = 1/(1+4*k1*rho2_d+6*k2*rho4_d+8*p1*my_d+8*p2*mx_d);
mx_u = mx_d - inv_denom_d*Dx_d;
my_u = my_d - inv_denom_d*Dy_d;
}
double xi = mParameters.xi();
if (xi == 1.0)
{
lambda = 2.0/(mx_u*mx_u + my_u*my_u + 1.0);
P << lambda*mx_u, lambda*my_u, lambda - 1.0;
}
else
{
lambda = (xi + std::sqrt(1.0 + (1.0 - xi*xi)*(mx_u*mx_u + my_u*my_u))) / (1.0 + mx_u*mx_u + my_u*my_u);
P << lambda*mx_u, lambda*my_u, lambda - xi;
}
}
void MeiCamera::liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
double mx_d, my_d,mx2_d, mxy_d, my2_d, mx_u, my_u;
double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
mx_d = m_inv_K11 * p(0) + m_inv_K13;
my_d = m_inv_K22 * p(1) + m_inv_K23;
if (m_noDistortion)
{
mx_u = mx_d;
my_u = my_d;
}
else
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
mx2_d = mx_d*mx_d;
my2_d = my_d*my_d;
mxy_d = mx_d*my_d;
rho2_d = mx2_d+my2_d;
rho4_d = rho2_d*rho2_d;
radDist_d = k1*rho2_d+k2*rho4_d;
Dx_d = mx_d*radDist_d + p2*(rho2_d+2*mx2_d) + 2*p1*mxy_d;
Dy_d = my_d*radDist_d + p1*(rho2_d+2*my2_d) + 2*p2*mxy_d;
inv_denom_d = 1/(1+4*k1*rho2_d+6*k2*rho4_d+8*p1*my_d+8*p2*mx_d);
mx_u = mx_d - inv_denom_d*Dx_d;
my_u = my_d - inv_denom_d*Dy_d;
}
double xi = mParameters.xi();
if (xi == 1.0)
{
P << mx_u, my_u, (1.0 - mx_u*mx_u - my_u*my_u)/2.0;
}
else
{
rho2_d = mx_u*mx_u + my_u*my_u;
P << mx_u, my_u, 1.0 - xi*(rho2_d + 1.0)/(xi + std::sqrt(1.0 + (1.0 - xi*xi)*rho2_d));
}
P(0) = P(0)/P(2);
P(1) = P(1)/P(2);
P(2) = 1.0;
}
void MeiCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const
{
Eigen::Vector2d p_u, p_d;
double z = P(2) + mParameters.xi() * P.norm();
p_u << P(0) / z, P(1) / z;
if (m_noDistortion)
{
p_d = p_u;
}
else
{
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
p << mParameters.gamma1()*p_d(0) + mParameters.u0(),
mParameters.gamma2()*p_d(1) + mParameters.v0();
}
void MeiCamera::undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const
{
Eigen::Vector2d p_d;
if (m_noDistortion)
{
p_d = p_u;
}
else
{
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
p << mParameters.gamma1()*p_d(0) + mParameters.u0(),
mParameters.gamma2()*p_d(1) + mParameters.v0();
}
void MeiCamera::distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;
mx2_u = p_u(0)*p_u(0);
my2_u = p_u(1)*p_u(1);
mxy_u = p_u(0)*p_u(1);
rho2_u = mx2_u + my2_u;
rad_dist_u = k1*rho2_u + k2*rho2_u*rho2_u;
d_u(0) = p_u(0)*rad_dist_u + 2.0*p1*mxy_u + p2*(rho2_u + 2.0*mx2_u);
d_u(1) = p_u(1)*rad_dist_u + 2.0*p2*mxy_u + p1*(rho2_u + 2.0*my2_u);
}
void MeiCamera::distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J) const
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;
mx2_u = p_u(0)*p_u(0);
my2_u = p_u(1)*p_u(1);
mxy_u = p_u(0)*p_u(1);
rho2_u = mx2_u + my2_u;
rad_dist_u = k1*rho2_u + k2*rho2_u*rho2_u;
d_u(0) = p_u(0)*rad_dist_u + 2.0*p1*mxy_u + p2*(rho2_u + 2.0*mx2_u);
d_u(1) = p_u(1)*rad_dist_u + 2.0*p2*mxy_u + p1*(rho2_u + 2.0*my2_u);
J(0, 0) = 1.0 + rad_dist_u + k1*2.0*mx2_u + k2*rho2_u*4.0*mx2_u + 2.0*p1*p_u(1) + 6.0*p2*p_u(0);
J(0, 1) = k1*2.0*p_u(0)*p_u(1) + k2*4.0*rho2_u*p_u(0)*p_u(1) + p1*2.0*p_u(0) + 2.0*p2*p_u(1);
J(1, 0) = J(0, 1);
J(1, 1) = 1.0 + rad_dist_u + k1*2.0*my2_u + k2*rho2_u*4.0*my2_u + 6.0*p1*p_u(1) + 2.0*p2*p_u(0);
}
int MeiCamera::parameterCount() const
{
return 9;
}
const MeiCamera::Parameters& MeiCamera::getParameters() const
{
return mParameters;
}
void MeiCamera::setParameters(const MeiCamera::Parameters& parameters)
{
mParameters = parameters;
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.gamma1();
m_inv_K13 = -mParameters.u0() / mParameters.gamma1();
m_inv_K22 = 1.0 / mParameters.gamma2();
m_inv_K23 = -mParameters.v0() / mParameters.gamma2();
}
void MeiCamera::readParameters(const std::vector<double>& parameterVec)
{
if ((int)parameterVec.size() != parameterCount())
return;
Parameters params = getParameters();
params.xi() = parameterVec.at(0);
params.k1() = parameterVec.at(1);
params.k2() = parameterVec.at(2);
params.p1() = parameterVec.at(3);
params.p2() = parameterVec.at(4);
params.gamma1() = parameterVec.at(5);
params.gamma2() = parameterVec.at(6);
params.u0() = parameterVec.at(7);
params.v0() = parameterVec.at(8);
setParameters(params);
}
void MeiCamera::writeParameters(std::vector<double>& parameterVec) const
{
parameterVec.resize(parameterCount());
parameterVec.at(0) = mParameters.xi();
parameterVec.at(1) = mParameters.k1();
parameterVec.at(2) = mParameters.k2();
parameterVec.at(3) = mParameters.p1();
parameterVec.at(4) = mParameters.p2();
parameterVec.at(5) = mParameters.gamma1();
parameterVec.at(6) = mParameters.gamma2();
parameterVec.at(7) = mParameters.u0();
parameterVec.at(8) = mParameters.v0();
}
void MeiCamera::writeParametersToYamlFile(const std::string& filename) const
{
mParameters.writeToYamlFile(filename);
}
std::string MeiCamera::parametersToString() const
{
std::ostringstream oss;
oss << mParameters;
return oss.str();
}
}
================================================
FILE: camera_model/src/PinholeCamera.cpp
================================================
/** This File is part of Camera Model
*
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "PinholeCamera.h"
#include <iomanip>
namespace camera_model
{
PinholeCamera::Parameters::Parameters() : Camera::Parameters(PINHOLE), m_k1(0.0), m_k2(0.0), m_p1(0.0), m_p2(0.0), m_fx(0.0), m_fy(0.0), m_cx(0.0), m_cy(0.0)
{}
PinholeCamera::Parameters::Parameters(const std::string& cameraName, int w, int h, double k1, double k2, double p1, double p2, double fx, double fy, double cx, double cy) : Camera::Parameters(PINHOLE, cameraName, w, h), m_k1(k1), m_k2(k2), m_p1(p1), m_p2(p2), m_fx(fx), m_fy(fy), m_cx(cx), m_cy(cy)
{}
double& PinholeCamera::Parameters::k1(void) { return m_k1;}
double& PinholeCamera::Parameters::k2(void) { return m_k2;}
double& PinholeCamera::Parameters::p1(void) { return m_p1;}
double& PinholeCamera::Parameters::p2(void) { return m_p2;}
double& PinholeCamera::Parameters::fx(void) { return m_fx;}
double& PinholeCamera::Parameters::fy(void) { return m_fy;}
double& PinholeCamera::Parameters::cx(void) { return m_cx;}
double& PinholeCamera::Parameters::cy(void) { return m_cy;}
double PinholeCamera::Parameters::k1(void) const { return m_k1;}
double PinholeCamera::Parameters::k2(void) const { return m_k2;}
double PinholeCamera::Parameters::p1(void) const { return m_p1;}
double PinholeCamera::Parameters::p2(void) const { return m_p2;}
double PinholeCamera::Parameters::fx(void) const { return m_fx;}
double PinholeCamera::Parameters::fy(void) const { return m_fy;}
double PinholeCamera::Parameters::cx(void) const { return m_cx;}
double PinholeCamera::Parameters::cy(void) const { return m_cy;}
bool PinholeCamera::Parameters::readFromYamlFile(const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
{
return false;
}
if (!fs["model_type"].isNone())
{
std::string sModelType;
fs["model_type"] >> sModelType;
if (sModelType.compare("PINHOLE") != 0)
{
return false;
}
}
m_modelType = PINHOLE;
fs["camera_name"] >> m_cameraName;
m_imageWidth = static_cast<int>(fs["image_width"]);
m_imageHeight = static_cast<int>(fs["image_height"]);
cv::FileNode n = fs["distortion_parameters"];
m_k1 = static_cast<double>(n["k1"]);
m_k2 = static_cast<double>(n["k2"]);
m_p1 = static_cast<double>(n["p1"]);
m_p2 = static_cast<double>(n["p2"]);
n = fs["projection_parameters"];
m_fx = static_cast<double>(n["fx"]);
m_fy = static_cast<double>(n["fy"]);
m_cx = static_cast<double>(n["cx"]);
m_cy = static_cast<double>(n["cy"]);
return true;
}
void PinholeCamera::Parameters::writeToYamlFile(const std::string& filename) const
{
cv::FileStorage fs(filename, cv::FileStorage::WRITE);
fs << "model_type" << "PINHOLE";
fs << "camera_name" << m_cameraName;
fs << "image_width" << m_imageWidth;
fs << "image_height" << m_imageHeight;
// radial distortion: k1, k2
// tangential distortion: p1, p2
fs << "distortion_parameters";
fs << "{" << "k1" << m_k1
<< "k2" << m_k2
<< "p1" << m_p1
<< "p2" << m_p2 << "}";
// projection: fx, fy, cx, cy
fs << "projection_parameters";
fs << "{" << "fx" << m_fx
<< "fy" << m_fy
<< "cx" << m_cx
<< "cy" << m_cy << "}";
fs.release();
}
PinholeCamera::Parameters& PinholeCamera::Parameters::operator=(const PinholeCamera::Parameters& other)
{
if (this != &other)
{
m_modelType = other.m_modelType;
m_cameraName = other.m_cameraName;
m_imageWidth = other.m_imageWidth;
m_imageHeight = other.m_imageHeight;
m_k1 = other.m_k1;
m_k2 = other.m_k2;
m_p1 = other.m_p1;
m_p2 = other.m_p2;
m_fx = other.m_fx;
m_fy = other.m_fy;
m_cx = other.m_cx;
m_cy = other.m_cy;
}
return *this;
}
std::ostream& operator<< (std::ostream& out, const PinholeCamera::Parameters& params)
{
out << "Camera Parameters:" << std::endl;
out << " model_type " << "PINHOLE" << std::endl;
out << " camera_name " << params.m_cameraName << std::endl;
out << " image_width " << params.m_imageWidth << std::endl;
out << " image_height " << params.m_imageHeight << std::endl;
// radial distortion: k1, k2
// tangential distortion: p1, p2
out << "Distortion Parameters" << std::endl;
out << " k1 " << params.m_k1 << std::endl
<< " k2 " << params.m_k2 << std::endl
<< " p1 " << params.m_p1 << std::endl
<< " p2 " << params.m_p2 << std::endl;
// projection: fx, fy, cx, cy
out << "Projection Parameters" << std::endl;
out << " fx " << params.m_fx << std::endl
<< " fy " << params.m_fy << std::endl
<< " cx " << params.m_cx << std::endl
<< " cy " << params.m_cy << std::endl;
return out;
}
PinholeCamera::PinholeCamera() : m_inv_K11(1.0), m_inv_K13(0.0), m_inv_K22(1.0), m_inv_K23(0.0), m_noDistortion(true)
{}
PinholeCamera::PinholeCamera(const std::string& cameraName, int imageWidth, int imageHeight, double k1, double k2, double p1, double p2, double fx, double fy, double cx, double cy) : mParameters(cameraName, imageWidth, imageHeight, k1, k2, p1, p2, fx, fy, cx, cy)
{
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.fx();
m_inv_K13 = -mParameters.cx() / mParameters.fx();
m_inv_K22 = 1.0 / mParameters.fy();
m_inv_K23 = -mParameters.cy() / mParameters.fy();
}
PinholeCamera::PinholeCamera(const PinholeCamera::Parameters& params) : mParameters(params)
{
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.fx();
m_inv_K13 = -mParameters.cx() / mParameters.fx();
m_inv_K22 = 1.0 / mParameters.fy();
m_inv_K23 = -mParameters.cy() / mParameters.fy();
}
Camera::ModelType PinholeCamera::modelType(void) const
{
return mParameters.modelType();
}
const std::string& PinholeCamera::cameraName(void) const
{
return mParameters.cameraName();
}
int PinholeCamera::imageWidth(void) const
{
return mParameters.imageWidth();
}
int PinholeCamera::imageHeight(void) const
{
return mParameters.imageHeight();
}
double PinholeCamera::getNormalPixel() const
{
return 2.0/(mParameters.fx() + mParameters.fy());
}
void PinholeCamera::liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
liftProjective(p, P);
P.normalize();
}
void PinholeCamera::liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const
{
double mx_d, my_d,mx2_d, mxy_d, my2_d, mx_u, my_u;
double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
mx_d = m_inv_K11 * p(0) + m_inv_K13;
my_d = m_inv_K22 * p(1) + m_inv_K23;
if (m_noDistortion)
{
mx_u = mx_d;
my_u = my_d;
}
else
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
mx2_d = mx_d*mx_d;
my2_d = my_d*my_d;
mxy_d = mx_d*my_d;
rho2_d = mx2_d+my2_d;
rho4_d = rho2_d*rho2_d;
radDist_d = k1*rho2_d+k2*rho4_d;
Dx_d = mx_d*radDist_d + p2*(rho2_d+2*mx2_d) + 2*p1*mxy_d;
Dy_d = my_d*radDist_d + p1*(rho2_d+2*my2_d) + 2*p2*mxy_d;
inv_denom_d = 1/(1+4*k1*rho2_d+6*k2*rho4_d+8*p1*my_d+8*p2*mx_d);
mx_u = mx_d - inv_denom_d*Dx_d;
my_u = my_d - inv_denom_d*Dy_d;
}
P << mx_u, my_u, 1.0;
}
void PinholeCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const
{
Eigen::Vector2d p_u, p_d;
p_u << P(0) / P(2), P(1) / P(2);
if (m_noDistortion)
{
p_d = p_u;
}
else
{
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
p << mParameters.fx() * p_d(0) + mParameters.cx(),
mParameters.fy() * p_d(1) + mParameters.cy();
}
void PinholeCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, Eigen::Matrix<double,2,3>& J) const
{
Eigen::Vector2d p_u, p_d;
double norm, inv_denom;
double dxdmx, dydmx, dxdmy, dydmy;
norm = P.norm();
inv_denom = 1.0 / P(2);
p_u << inv_denom * P(0), inv_denom * P(1);
double dudx = inv_denom;
double dvdx = 0.0;
double dudy = 0.0;
double dvdy = inv_denom;
inv_denom = - inv_denom * inv_denom;
double dudz = P(0) * inv_denom;
double dvdz = P(1) * inv_denom;
if (m_noDistortion)
{
p_d = p_u;
}
else
{
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
double fx = mParameters.fx();
double fy = mParameters.fy();
// Make the product of the jacobians
// and add projection matrix jacobian
inv_denom = fx * (dudx * dxdmx + dvdx * dxdmy); // reuse
dvdx = fy * (dudx * dydmx + dvdx * dydmy);
dudx = inv_denom;
inv_denom = fx * (dudy * dxdmx + dvdy * dxdmy); // reuse
dvdy = fy * (dudy * dydmx + dvdy * dydmy);
dudy = inv_denom;
inv_denom = fx * (dudz * dxdmx + dvdz * dxdmy); // reuse
dvdz = fy * (dudz * dydmx + dvdz * dydmy);
dudz = inv_denom;
// Apply generalised projection matrix
p << fx * p_d(0) + mParameters.cx(),
fy * p_d(1) + mParameters.cy();
J << dudx, dudy, dudz,
dvdx, dvdy, dvdz;
}
void PinholeCamera::undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const
{
Eigen::Vector2d p_d;
if (m_noDistortion)
{
p_d = p_u;
}
else
{
// Apply distortion
Eigen::Vector2d d_u;
distortion(p_u, d_u);
p_d = p_u + d_u;
}
// Apply generalised projection matrix
p << mParameters.fx() * p_d(0) + mParameters.cx(),
mParameters.fy() * p_d(1) + mParameters.cy();
}
void PinholeCamera::distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u) const
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;
mx2_u = p_u(0) * p_u(0);
my2_u = p_u(1) * p_u(1);
mxy_u = p_u(0) * p_u(1);
rho2_u = mx2_u + my2_u;
rad_dist_u = k1 * rho2_u + k2 * rho2_u * rho2_u;
d_u << p_u(0) * rad_dist_u + 2.0 * p1 * mxy_u + p2 * (rho2_u + 2.0 * mx2_u),
p_u(1) * rad_dist_u + 2.0 * p2 * mxy_u + p1 * (rho2_u + 2.0 * my2_u);
}
void PinholeCamera::distortion(const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J) const
{
double k1 = mParameters.k1();
double k2 = mParameters.k2();
double p1 = mParameters.p1();
double p2 = mParameters.p2();
double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;
mx2_u = p_u(0) * p_u(0);
my2_u = p_u(1) * p_u(1);
mxy_u = p_u(0) * p_u(1);
rho2_u = mx2_u + my2_u;
rad_dist_u = k1 * rho2_u + k2 * rho2_u * rho2_u;
d_u << p_u(0) * rad_dist_u + 2.0 * p1 * mxy_u + p2 * (rho2_u + 2.0 * mx2_u),
p_u(1) * rad_dist_u + 2.0 * p2 * mxy_u + p1 * (rho2_u + 2.0 * my2_u);
double dxdmx = 1.0 + rad_dist_u + k1 * 2.0 * mx2_u + k2 * rho2_u * 4.0 * mx2_u + 2.0 * p1 * p_u(1) + 6.0 * p2 * p_u(0);
double dydmx = k1 * 2.0 * p_u(0) * p_u(1) + k2 * 4.0 * rho2_u * p_u(0) * p_u(1) + p1 * 2.0 * p_u(0) + 2.0 * p2 * p_u(1);
double dxdmy = dydmx;
double dydmy = 1.0 + rad_dist_u + k1 * 2.0 * my2_u + k2 * rho2_u * 4.0 * my2_u + 6.0 * p1 * p_u(1) + 2.0 * p2 * p_u(0);
J << dxdmx, dxdmy,
dydmx, dydmy;
}
int PinholeCamera::parameterCount(void) const
{
return 8;
}
const PinholeCamera::Parameters& PinholeCamera::getParameters(void) const
{
return mParameters;
}
void PinholeCamera::setParameters(const PinholeCamera::Parameters& parameters)
{
mParameters = parameters;
if ((mParameters.k1() == 0.0) && (mParameters.k2() == 0.0) && (mParameters.p1() == 0.0) && (mParameters.p2() == 0.0))
{
m_noDistortion = true;
}
else
{
m_noDistortion = false;
}
m_inv_K11 = 1.0 / mParameters.fx();
m_inv_K13 = -mParameters.cx() / mParameters.fx();
m_inv_K22 = 1.0 / mParameters.fy();
m_inv_K23 = -mParameters.cy() / mParameters.fy();
}
void PinholeCamera::readParameters(const std::vector<double>& parameterVec)
{
if ((int)parameterVec.size() != parameterCount())
{
return;
}
Parameters params = getParameters();
params.k1() = parameterVec.at(0);
params.k2() = parameterVec.at(1);
params.p1() = parameterVec.at(2);
params.p2() = parameterVec.at(3);
params.fx() = parameterVec.at(4);
params.fy() = parameterVec.at(5);
params.cx() = parameterVec.at(6);
params.cy() = parameterVec.at(7);
setParameters(params);
}
void PinholeCamera::writeParameters(std::vector<double>& parameterVec) const
{
parameterVec.resize(parameterCount());
parameterVec.at(0) = mParameters.k1();
parameterVec.at(1) = mParameters.k2();
parameterVec.at(2) = mParameters.p1();
parameterVec.at(3) = mParameters.p2();
parameterVec.at(4) = mParameters.fx();
parameterVec.at(5) = mParameters.fy();
parameterVec.at(6) = mParameters.cx();
parameterVec.at(7) = mParameters.cy();
}
void PinholeCamera::writeParametersToYamlFile(const std::string& filename) const
{
mParameters.writeToYamlFile(filename);
}
std::string PinholeCamera::parametersToString(void) const
{
std::ostringstream oss;
oss << mParameters;
return oss.str();
}
}
================================================
FILE: camera_model/src/camera.cpp
================================================
/** This File is part of Camera Model
*
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "camera.h"
namespace camera_model
{
Camera::Parameters::Parameters(ModelType modelType): m_modelType(modelType), m_imageWidth(0), m_imageHeight(0)
{
switch (modelType)
{
case PINHOLE:
m_nIntrinsics = 8;
break;
case MEI:
default:
m_nIntrinsics = 9;
}
}
Camera::Parameters::Parameters(ModelType modelType, const std::string& cameraName, int w, int h): m_modelType(modelType), m_cameraName(cameraName), m_imageWidth(w), m_imageHeight(h)
{
switch (modelType)
{
case PINHOLE:
m_nIntrinsics = 8;
break;
case MEI:
default:
m_nIntrinsics = 9;
}
}
Camera::ModelType& Camera::Parameters::modelType()
{
return m_modelType;
}
std::string& Camera::Parameters::cameraName()
{
return m_cameraName;
}
int& Camera::Parameters::imageWidth()
{
return m_imageWidth;
}
int& Camera::Parameters::imageHeight()
{
return m_imageHeight;
}
Camera::ModelType Camera::Parameters::modelType() const
{
return m_modelType;
}
const std::string& Camera::Parameters::cameraName() const
{
return m_cameraName;
}
int Camera::Parameters::imageWidth() const
{
return m_imageWidth;
}
int Camera::Parameters::imageHeight() const
{
return m_imageHeight;
}
int Camera::Parameters::nIntrinsics() const
{
return m_nIntrinsics;
}
cv::Mat& Camera::mask()
{
return m_mask;
}
const cv::Mat& Camera::mask() const
{
return m_mask;
}
double Camera::reprojectionDist(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2) const
{
Eigen::Vector2d p1, p2;
spaceToPlane(P1, p1);
spaceToPlane(P2, p2);
return (p1-p2).norm();
}
double Camera::reprojectionError(const Eigen::Vector3d& P,
const Eigen::Quaterniond& camera_q,
const Eigen::Vector3d& camera_t,
const Eigen::Vector2d& observed_p) const
{
Eigen::Vector3d P_cam = camera_q.toRotationMatrix() * P + camera_t;
Eigen::Vector2d p;
spaceToPlane(P_cam, p);
return (p - observed_p).norm();
}
}
================================================
FILE: camera_model/src/camera_factory.cpp
================================================
/** This File is part of Camera Model
*
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Since some functions are adapted from GVINS <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "camera_factory.h"
#include "MeiCamera.h"
#include "PinholeCamera.h"
#include <boost/algorithm/string.hpp>
namespace camera_model
{
boost::shared_ptr<CameraFactory> CameraFactory::m_instance;
CameraFactory::CameraFactory() {}
boost::shared_ptr<CameraFactory> CameraFactory::instance(void)
{
if (m_instance.get() == 0)
m_instance.reset(new CameraFactory);
return m_instance;
}
CameraPtr CameraFactory::generateCamera(Camera::ModelType modelType, const std::string& cameraName, cv::Size imageSize) const
{
switch (modelType)
{
case Camera::PINHOLE:
{
PinholeCameraPtr camera(new PinholeCamera);
PinholeCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
case Camera::MEI:
default:
{
MeiCameraPtr camera(new MeiCamera);
MeiCamera::Parameters params = camera->getParameters();
params.cameraName() = cameraName;
params.imageWidth() = imageSize.width;
params.imageHeight() = imageSize.height;
camera->setParameters(params);
return camera;
}
}
}
CameraPtr CameraFactory::generateCameraFromYamlFile(const std::string& filename)
{
cv::FileStorage fs(filename, cv::FileStorage::READ);
if (!fs.isOpened())
return CameraPtr();
Camera::ModelType modelType = Camera::MEI;
if (!fs["model_type"].isNone())
{
std::string sModelType;
fs["model_type"] >> sModelType;
if (boost::iequals(sModelType, "MEI"))
{
modelType = Camera::MEI;
}
else if (boost::iequals(sModelType, "PINHOLE"))
{
modelType = Camera::PINHOLE;
}
else
{
std::cerr << "# ERROR: Unknown camera model type: " << sModelType << std::endl;
return CameraPtr();
}
}
switch (modelType)
{
case Camera::PINHOLE:
{
PinholeCameraPtr camera(new PinholeCamera);
PinholeCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
case Camera::MEI:
default:
{
MeiCameraPtr camera(new MeiCamera);
MeiCamera::Parameters params = camera->getParameters();
params.readFromYamlFile(filename);
camera->setParameters(params);
return camera;
}
}
return CameraPtr();
}
}
================================================
FILE: camera_model/test/CMakeLists.txt
================================================
# find_package(GTest REQUIRED)
# include_directories(${GTEST_INCLUDE_DIRS})
# add each test source file and executable items
# add_executable(test_common test_common.cpp)
# target_link_libraries(test_common ${GTEST_BOTH_LIBRARIES} pthread)
# gtest_discover_tests(test_common)
================================================
FILE: config/fw_zed2i_f9p/ingvio_mono.yaml
================================================
%YAML:1.0
# config for fw_zed2i_f9p
imu_topic: "/imu0"
feature_topic: "/mono_tracker/mono_feature"
cam_nums: 1
cam_left_file_path: "/home/lcw/VIO/ws_ingvio/src/config/fw_zed2i_f9p/mono_config.yaml"
max_sliding_window_poses: 25
is_key_frame: 1
max_landmark_features: 0
enable_gnss: 1
noise_gyro: 0.005
noise_accel: 0.09
noise_bias_gyro: 0.0005
noise_bias_accel: 0.009
noise_rcv_clockbias: 2.0
noise_rcv_clockbias_randomwalk: 0.2
init_cov_rot: 0.0
init_cov_pos: 0.0
init_cov_vel: 0.25
init_cov_bg: 0.01
init_cov_ba: 0.01
init_cov_ext_rot: 1.8e-02
init_cov_ext_pos: 2e-03
init_cov_rcv_clockbias: 2.0
init_cov_rcv_clockbias_randomwalk: 1.0
init_cov_yof: 0.015
gravity_norm: 9.8
max_imu_buffer_size: 10000
init_imu_buffer_sp: 100
trans_thres: 0.25
huber_epsilon: 0.01
conv_precision: 5e-08
init_damping: 1e-03
outer_loop_max_iter: 10
inner_loop_max_iter: 10
max_depth: 80.0
min_depth: 0.2
max_baseline_ratio: 80.0
chi2_max_dof: 150
chi2_thres: 0.95
visual_noise: 0.08
frame_select_interval: 23
gnss_ephem_topic: "/ublox_driver/ephem"
gnss_glo_ephem_topic: "/ublox_driver/glo_ephem"
gnss_meas_topic: "/ublox_driver/range_meas"
gnss_iono_params_topic: "/ublox_driver/iono_params"
rtk_gt_topic: "/ublox_driver/receiver_lla"
gnss_elevation_thres: 20.0
gnss_psr_std_thres: 8.0
gnss_dopp_std_thres: 8.0
gnss_track_num_thres: 20
use_fix_time_offset: 1
gnss_local_offset: -970047.18
gnss_chi2_test: 0
gnss_strong_reject: 0
gv_align_batch_size: 25
gv_align_max_iter: 10
gv_align_conv_epsilon: 1e-05
gv_align_vel_thres: 0.4
psr_noise_amp: 1.0
dopp_noise_amp: 1.0
is_adjust_yof: 0
================================================
FILE: config/fw_zed2i_f9p/ingvio_stereo.yaml
================================================
%YAML:1.0
# config for fw_zed2i_f9p
imu_topic: "/imu0"
feature_topic: "/stereo_tracker/stereo_feature"
cam_nums: 2
cam_left_file_path: "/home/lcw/VIO/ws_ingvio/src/config/fw_zed2i_f9p/stereo_left_config.yaml"
cam_right_file_path: "/home/lcw/VIO/ws_ingvio/src/config/fw_zed2i_f9p/stereo_right_config.yaml"
max_sliding_window_poses: 21
is_key_frame: 1
max_landmark_features: 0
enable_gnss: 1
noise_gyro: 0.005
noise_accel: 0.09
noise_bias_gyro: 0.0005
noise_bias_accel: 0.009
noise_rcv_clockbias: 2.0
noise_rcv_clockbias_randomwalk: 0.2
init_cov_rot: 0.0
init_cov_pos: 0.0
init_cov_vel: 0.25
init_cov_bg: 0.01
init_cov_ba: 0.01
init_cov_ext_rot: 1.8e-02
init_cov_ext_pos: 2e-03
init_cov_rcv_clockbias: 2.0
init_cov_rcv_clockbias_randomwalk: 1.0
init_cov_yof: 0.015
gravity_norm: 9.8
max_imu_buffer_size: 10000
init_imu_buffer_sp: 100
trans_thres: 0.25
huber_epsilon: 0.01
conv_precision: 5e-08
init_damping: 1e-03
outer_loop_max_iter: 10
inner_loop_max_iter: 10
max_depth: 80.0
min_depth: 0.2
max_baseline_ratio: 80.0
chi2_max_dof: 150
chi2_thres: 0.95
visual_noise: 0.08
frame_select_interval: 18
gnss_ephem_topic: "/ublox_driver/ephem"
gnss_glo_ephem_topic: "/ublox_driver/glo_ephem"
gnss_meas_topic: "/ublox_driver/range_meas"
gnss_iono_params_topic: "/ublox_driver/iono_params"
rtk_gt_topic: "/ublox_driver/receiver_lla"
gnss_elevation_thres: 20.0
gnss_psr_std_thres: 8.0
gnss_dopp_std_thres: 8.0
gnss_track_num_thres: 20
use_fix_time_offset: 1
gnss_local_offset: -970047.18
gnss_chi2_test: 0
gnss_strong_reject: 0
gv_align_batch_size: 25
gv_align_max_iter: 10
gv_align_conv_epsilon: 1e-05
gv_align_vel_thres: 0.4
psr_noise_amp: 1.0
dopp_noise_amp: 1.0
is_adjust_yof: 0
================================================
FILE: config/fw_zed2i_f9p/mono_config.yaml
================================================
%YAML:1.0
# config for fw_zed2i_f9p
# common parameters
imu_topic: "/imu0"
image_topic: "/cam0/image_raw"
# intrinsic
model_type: PINHOLE
camera_name: cam0
image_width: 1280
image_height: 720
distortion_parameters:
k1: -0.013323572637177162
k2: 0.012297484726727028
p1: -0.0008173313551158254
p2: -0.0036129297585792528
projection_parameters:
fx: 528.0821562999166
fy: 528.1818555071027
cx: 646.6309796410819
cy: 351.87255392593374
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [0.01301095634388352, -0.005070623738001712, 0.9999024971415602,
-0.9999097972900367, 0.003267771869320563, 0.01302762259241452,
-0.003333511424589375, -0.9999818050554322, -0.005027649516865795]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [0.03671615355111148, 0.02169026717979497, -0.0000578135929000942]
# feature tracker parameters
max_cnt: 100 # max feature number in feature tracking
min_dist: 35 # min distance between two features
freq: 0 # freq (Hz) of publishing tracking result. At least 10Hz for good
# estimation. If set 0, the frequence will be the same as raw image
F_threshold: 1.0 # ransac threshold (pixel)
show_track: 1 # publish tracking image as topic
show_timer: 0 # show time counting
timer_warning_thres: 50.0 # in (ms)
equalize: 1 # if image is too dark or light,
# turn on equalize to find enough features
================================================
FILE: config/fw_zed2i_f9p/stereo_left_config.yaml
================================================
%YAML:1.0
# config for fw_zed2i_f9p
#topic parameters
imu_topic: "/imu0"
cam_left_topic: "/cam0/image_raw"
cam_right_topic: "/cam1/image_raw"
# intrinsic
model_type: PINHOLE
camera_name: cam0
image_width: 1280
image_height: 720
distortion_parameters:
k1: -0.013323572637177162
k2: 0.012297484726727028
p1: -0.0008173313551158254
p2: -0.0036129297585792528
projection_parameters:
fx: 528.0821562999166
fy: 528.1818555071027
cx: 646.6309796410819
cy: 351.87255392593374
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [0.01301095634388352, -0.005070623738001712, 0.9999024971415602,
-0.9999097972900367, 0.003267771869320563, 0.01302762259241452,
-0.003333511424589375, -0.9999818050554322, -0.005027649516865795]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [0.03671615355111148, 0.02169026717979497, -0.0000578135929000942]
# tracker config
max_cnt: 60 # max feature number in feature tracking
min_dist: 45 # min distance between two features
freq: 0 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be the same as raw image
show_track: 1 # publish tracking image as topic
show_timer: 0 # show time counting
timer_warning_thres: 50.0 # in (ms)
equalize: 1 # if image is too dark or light, turn on equalize to find enough features
window_size: 20
epipolar_thres: 15.0
F_threshold: 1.0
print_track_info: 0
================================================
FILE: config/fw_zed2i_f9p/stereo_right_config.yaml
================================================
%YAML:1.0
# config for fw_zed2i_f9p
# intrinsic
model_type: PINHOLE
camera_name: cam1
image_width: 1280
image_height: 720
distortion_parameters:
k1: -0.013705400292675644
k2: 0.01351956571839721
p1: -0.000806913038206586
p2: -0.0028638404748635034
projection_parameters:
fx: 527.4644311562542
fy: 527.9383388808839
cx: 647.6983568199339
cy: 351.1977685749355
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [ 0.01129080808837021, -0.004471320310557636, 0.9999262597548844,
-0.9999301632412926, 0.00344058703135805, 0.01130623726631103,
-0.003490887129951881,-0.9999840847011319, -0.004432161040157589]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [0.03767186874423049, -0.0980688527108189, -0.0002632245838794373]
================================================
FILE: config/sportsfield/ingvio_mono.yaml
================================================
%YAML:1.0
# config for sportsfield
imu_topic: "/imu0"
feature_topic: "/mono_tracker/mono_feature"
cam_nums: 1
cam_left_file_path: "/home/lcw/VIO/ws_ingvio/src/config/sportsfield/mono_config.yaml"
max_sliding_window_poses: 35
is_key_frame: 1
max_landmark_features: 0
enable_gnss: 1
noise_gyro: 0.004
noise_accel: 0.08
noise_bias_gyro: 0.0002
noise_bias_accel: 0.008
noise_rcv_clockbias: 2.0
noise_rcv_clockbias_randomwalk: 0.2
init_cov_rot: 0.0
init_cov_pos: 0.0
init_cov_vel: 0.25
init_cov_bg: 0.01
init_cov_ba: 0.01
init_cov_ext_rot: 1.8e-02
init_cov_ext_pos: 2e-03
init_cov_rcv_clockbias: 2.0
init_cov_rcv_clockbias_randomwalk: 1.0
init_cov_yof: 0.015
gravity_norm: 9.8
max_imu_buffer_size: 3000
init_imu_buffer_sp: 300
trans_thres: 0.25
huber_epsilon: 0.01
conv_precision: 5e-08
init_damping: 1e-03
outer_loop_max_iter: 10
inner_loop_max_iter: 10
max_depth: 60.0
min_depth: 0.2
max_baseline_ratio: 80.0
chi2_max_dof: 150
chi2_thres: 0.95
visual_noise: 0.18
frame_select_interval: 28
gnss_ephem_topic: "/ublox_driver/ephem"
gnss_glo_ephem_topic: "/ublox_driver/glo_ephem"
gnss_meas_topic: "/ublox_driver/range_meas"
gnss_iono_params_topic: "/ublox_driver/iono_params"
rtk_gt_topic: "/ublox_driver/receiver_lla"
gnss_elevation_thres: 20.0
gnss_psr_std_thres: 8.0
gnss_dopp_std_thres: 8.0
gnss_track_num_thres: 20
use_fix_time_offset: 1
gnss_local_offset: -18.0
gnss_chi2_test: 0
gnss_strong_reject: 1
gv_align_batch_size: 45
gv_align_max_iter: 25
gv_align_conv_epsilon: 1e-05
gv_align_vel_thres: 0.4
psr_noise_amp: 1.0
dopp_noise_amp: 1.0
is_adjust_yof: 0
================================================
FILE: config/sportsfield/ingvio_stereo.yaml
================================================
%YAML:1.0
# config for sportsfield
imu_topic: "/imu0"
feature_topic: "/stereo_tracker/stereo_feature"
cam_nums: 2
cam_left_file_path: "/home/lcw/VIO/ws_ingvio/src/config/sportsfield/stereo_left_config.yaml"
cam_right_file_path: "/home/lcw/VIO/ws_ingvio/src/config/sportsfield/stereo_right_config.yaml"
max_sliding_window_poses: 27
is_key_frame: 1
max_landmark_features: 0
enable_gnss: 1
noise_gyro: 0.004
noise_accel: 0.08
noise_bias_gyro: 0.0002
noise_bias_accel: 0.008
noise_rcv_clockbias: 2.0
noise_rcv_clockbias_randomwalk: 0.2
init_cov_rot: 0.0
init_cov_pos: 0.0
init_cov_vel: 0.25
init_cov_bg: 0.01
init_cov_ba: 0.01
init_cov_ext_rot: 1.8e-02
init_cov_ext_pos: 2e-03
init_cov_rcv_clockbias: 2.0
init_cov_rcv_clockbias_randomwalk: 1.0
init_cov_yof: 0.015
gravity_norm: 9.8
max_imu_buffer_size: 3000
init_imu_buffer_sp: 300
trans_thres: 0.25
huber_epsilon: 0.01
conv_precision: 5e-07
init_damping: 1e-03
outer_loop_max_iter: 10
inner_loop_max_iter: 10
max_depth: 40.0
min_depth: 0.2
max_baseline_ratio: 80.0
chi2_max_dof: 150
chi2_thres: 0.95
visual_noise: 0.18
frame_select_interval: 18
gnss_ephem_topic: "/ublox_driver/ephem"
gnss_glo_ephem_topic: "/ublox_driver/glo_ephem"
gnss_meas_topic: "/ublox_driver/range_meas"
gnss_iono_params_topic: "/ublox_driver/iono_params"
rtk_gt_topic: "/ublox_driver/receiver_lla"
gnss_elevation_thres: 20.0
gnss_psr_std_thres: 8.0
gnss_dopp_std_thres: 8.0
gnss_track_num_thres: 20
use_fix_time_offset: 1
gnss_local_offset: -18.0
gnss_chi2_test: 0
gnss_strong_reject: 1
gv_align_batch_size: 25
gv_align_max_iter: 10
gv_align_conv_epsilon: 1e-05
gv_align_vel_thres: 0.4
psr_noise_amp: 1.0
dopp_noise_amp: 1.0
is_adjust_yof: 0
================================================
FILE: config/sportsfield/mono_config.yaml
================================================
%YAML:1.0
# config for sportsfield
# common parameters
imu_topic: "/imu0"
image_topic: "/cam1/image_raw"
# camera calibration
model_type: MEI
camera_name: camera
image_width: 752
image_height: 480
mirror_parameters:
xi: 1.8476540167437447
distortion_parameters:
k1: -0.06597811223735722
k2: 0.8559479340704287
p1: -0.0006445829733139821
p2: 0.0015137487236065916
projection_parameters:
gamma1: 1338.1845333957547
gamma2: 1340.1190112672946
u0: 378.7909740462579
v0: 217.69105287172025
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [ 0.9999014076382304, -0.0133731297219721, 0.0042818692791948,
0.0133731003056063, 0.9999105754655292, 0.0000355022536769,
-0.0042819611512717, 0.0000217631139403, 0.9999908321255077 ]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [0.0341738532732442, -0.0032623030537933, -0.0017782029037505]
# feature tracker parameters
max_cnt: 150 # max feature number in feature tracking
min_dist: 30 # min distance between two features
freq: 0 # freq (Hz) of publishing tracking result. At least 10Hz for good
# estimation. If set 0, the frequence will be the same as raw image
F_threshold: 1.0 # ransac threshold (pixel)
show_track: 1 # publish tracking image as topic
show_timer: 0 # show time counting
timer_warning_thres: 50.0 # in (ms)
equalize: 1 # if image is too dark or light,
# turn on equalize to find enough features
================================================
FILE: config/sportsfield/stereo_left_config.yaml
================================================
%YAML:1.0
# config for sportsfield
#topic parameters
imu_topic: "/imu0"
cam_left_topic: "/cam1/image_raw"
cam_right_topic: "/cam0/image_raw"
# intrinsic
model_type: MEI
camera_name: cam1
image_width: 752
image_height: 480
mirror_parameters:
xi: 1.8476540167437447
distortion_parameters:
k1: -0.06597811223735722
k2: 0.8559479340704287
p1: -0.0006445829733139821
p2: 0.0015137487236065916
projection_parameters:
gamma1: 1338.1845333957547
gamma2: 1340.1190112672946
u0: 378.7909740462579
v0: 217.69105287172025
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [0.9999890386957373, -0.0043227774403168, 0.0017989117755288,
0.0043276579084841, 0.9999869417854389, -0.0027180205355500,
-0.0017871388870994, 0.0027257758172719, 0.9999946881262878]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [-0.0759472920952561, -0.0039320527565750, -0.0016395029500217]
# tracker config
max_cnt: 110 # max feature number in feature tracking
min_dist: 30 # min distance between two features
freq: 0 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be the same as raw image
show_track: 1 # publish tracking image as topic
show_timer: 0 # show time counting
timer_warning_thres: 50.0 # in (ms)
equalize: 1 # if image is too dark or light, turn on equalize to find enough features
window_size: 20
epipolar_thres: 25.0
F_threshold: 2.0
print_track_info: 0
================================================
FILE: config/sportsfield/stereo_right_config.yaml
================================================
%YAML:1.0
# config for sportsfield
# intrinsic
model_type: MEI
camera_name: cam0
image_width: 752
image_height: 480
mirror_parameters:
xi: 1.8482000080983196
distortion_parameters:
k1: -0.05322412328104923
k2: 0.7676625579468673
p1: -0.00019942420435829978
p2: -0.0006936085281739436
projection_parameters:
gamma1: 1330.3922281659666
gamma2: 1332.49270401596
u0: 377.39301029010045
v0: 233.04955276185672
# extrinsic
extrinsicRotation: !!opencv-matrix # R^{imu}_{cam}
rows: 3
cols: 3
dt: d
data: [ 0.9999014076382304, -0.0133731297219721, 0.0042818692791948,
0.0133731003056063, 0.9999105754655292, 0.0000355022536769,
-0.0042819611512717, 0.0000217631139403, 0.9999908321255077 ]
extrinsicTranslation: !!opencv-matrix # t^{imu}_{cam}
rows: 3
cols: 1
dt: d
data: [0.0341738532732442, -0.0032623030537933, -0.0017782029037505]
================================================
FILE: feature_tracker/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(feature_tracker)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
message_filters
sensor_msgs
cv_bridge
camera_model
message_generation
)
find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
find_package(OpenCV REQUIRED)
add_message_files(
FILES
MonoMeas.msg
MonoFrame.msg
StereoMeas.msg
StereoFrame.msg
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
catkin_package()
include_directories(
${PROJECT_SOURCE_DIR}/include
"/usr/include/eigen3"
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_executable(mono_tracker
src/mono_tracker.cpp
src/mono_tracker_node.cpp
src/mono_parameters.cpp
)
add_executable(stereo_tracker
src/stereo_tracker.cpp
src/stereo_tracker_node.cpp
src/stereo_parameters.cpp
)
target_link_libraries(mono_tracker ${catkin_LIBRARIES} ${OpenCV_LIBS})
target_link_libraries(stereo_tracker ${catkin_LIBRARIES} ${OpenCV_LIBS})
================================================
FILE: feature_tracker/LICENSE
================================================
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
giving you legal permission to copy, distribute and/or modify it.
For the developers' and authors' protection, the GPL clearly explains
that there is no warranty for this free software. For both users' and
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authors of previous versions.
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Notwithstanding any other provision of this License, you have
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THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
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If the disclaimer of warranty and limitation of liability provided
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.
================================================
FILE: feature_tracker/include/Color.h
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <iostream>
namespace color
{
inline std::ostream& setBlue(std::ostream& s)
{
s << "\033[0;1;34m";
return s;
}
inline std::ostream& setRed(std::ostream& s)
{
s << "\033[0;1;31m";
return s;
}
inline std::ostream& setGreen(std::ostream& s)
{
s << "\033[0;1;32m";
return s;
}
inline std::ostream& setYellow(std::ostream& s)
{
s << "\033[0;1;33m";
return s;
}
inline std::ostream& setWhite(std::ostream& s)
{
s << "\033[0;1;37m";
return s;
}
inline std::ostream& resetColor(std::ostream& s)
{
s << "\033[0m";
return s;
}
}
================================================
FILE: feature_tracker/include/mono_parameters.h
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* A few functions of the mono tracker mimic the realization from GVINS
* <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include <ros/ros.h>
#include <opencv2/highgui/highgui.hpp>
namespace feature_tracker
{
class MonoParameters
{
public:
MonoParameters();
int row, col;
int focal_length;
std::string image_topic;
std::string imu_topic;
std::string cam_name;
std::string cam_path;
int max_cnt;
int min_dist;
int window_size;
int freq;
double f_threshold;
int show_track;
int equalize;
double timer_warning_thres;
int show_timer;
void readParameters(ros::NodeHandle& n);
template <typename T>
static T readParam(ros::NodeHandle& n, std::string name);
};
template <typename T>
T MonoParameters::readParam(ros::NodeHandle& n, std::string name)
{
T ans;
if (n.getParam(name, ans))
{
ROS_INFO_STREAM("Loaded " << name << ": " << ans);
}
else
{
ROS_ERROR_STREAM("Failed to load: " << name);
n.shutdown();
}
return ans;
}
}
================================================
FILE: feature_tracker/include/mono_tracker.h
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* A few functions of the mono tracker mimic the realization from GVINS
* <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <iostream>
#include <string>
#include <vector>
#include <map>
#include <opencv2/opencv.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "tic_toc.hpp"
#include "camera_factory.h"
#include "MeiCamera.h"
#include "PinholeCamera.h"
#include "mono_parameters.h"
#include <feature_tracker/MonoMeas.h>
#include <feature_tracker/MonoFrame.h>
namespace feature_tracker
{
class MonoTracker
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
MonoTracker(ros::NodeHandle& n) : nh(n) {}
~MonoTracker() {}
MonoTracker(const MonoTracker&) = delete;
MonoTracker operator=(const MonoTracker&) = delete;
void init();
private:
ros::NodeHandle nh;
ros::Publisher pub_mono_features, pub_match;
ros::Subscriber sub_img;
void img_callback(const sensor_msgs::ImageConstPtr& img_msg);
MonoParameters param;
camera_model::CameraPtr m_camera;
bool pub_this_frame;
bool first_image_flag;
double first_image_time, last_image_time;
int pub_count;
static int n_id;
double cur_time, prev_time;
cv::Mat mask;
cv::Mat prev_img, cur_img, forw_img;
std::vector<cv::Point2f> prev_pts, cur_pts, forw_pts;
std::vector<cv::Point2f> prev_un_pts, cur_un_pts;
std::vector<cv::Point2f> pts_velocity;
std::vector<cv::Point2f> n_pts;
std::vector<int> ids;
std::vector<int> track_cnt;
std::map<int, cv::Point2f> cur_un_pts_map;
std::map<int, cv::Point2f> prev_un_pts_map;
void readImage(const cv::Mat& _img, double _cur_time);
void rejectWithF();
void setMask();
void addPoints();
void undistortedPoints();
void updateID();
bool inBorder(const cv::Point2f& pt);
template <typename T1, typename T2 = uchar>
void reduceVector(std::vector<T1>& v, std::vector<T2> status);
void readIntrinsicParameter(const std::string& calib_file);
};
typedef boost::shared_ptr<MonoTracker> MonoTrackerPtr;
template <typename T1, typename T2>
void MonoTracker::reduceVector(std::vector<T1>& v, std::vector<T2> status)
{
int j = 0;
for (int i = 0; i < int(v.size()); ++i)
if (status[i])
v[j++] = v[i];
v.resize(j);
}
}
================================================
FILE: feature_tracker/include/random_pair.hpp
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <vector>
#include <ctime>
#include <algorithm>
#include <cmath>
namespace feature_tracker
{
class RandomPairGenerator
{
public:
RandomPairGenerator(unsigned int n = 50) : xa(static_cast<int>(n*(n-1)/2)), count(0), N(n)
{
for (int i = 0; i < static_cast<int>(n*(n-1)/2); ++i)
xa[i] = i;
std::random_shuffle(xa.begin(), xa.end());
}
RandomPairGenerator(RandomPairGenerator& obj) = delete;
~RandomPairGenerator(){}
static void setRandomPairSeed()
{
srand((unsigned)time(NULL));
}
void generatePair(std::vector<unsigned int>& pair)
{
pair.clear();
unsigned int i = xa[count];
float k_max = (1.0+sqrt(i*8+9))/2.0;
float k_min = (-1.0+sqrt(i*8+9))/2.0;
float k_guess = floor(k_max);
unsigned int k;
if (k_guess < k_max && k_guess >= k_min)
k = static_cast<unsigned int>(k_guess);
else
k = static_cast<unsigned int>(k_guess)-1;
pair.push_back(N-k-1);
pair.push_back(N-k+i-static_cast<unsigned int>(k*(k-1)/2));
++count;
if (count >= static_cast<int>(N*(N-1)/2)) count = 0;
}
private:
std::vector<unsigned int> xa;
unsigned int count;
unsigned int N;
};
}
================================================
FILE: feature_tracker/include/stereo_parameters.h
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <ros/ros.h>
#include <opencv2/highgui/highgui.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
namespace feature_tracker
{
class StereoParameters
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
StereoParameters();
int row, col;
std::string image_left_topic;
std::string image_right_topic;
std::string cam_left_path;
std::string cam_right_path;
std::string cam_left_name;
std::string cam_right_name;
int max_cnt;
int min_dist;
int window_size;
int freq;
int show_track;
int show_timer;
double timer_warning_thres;
int equalize;
double epipolar_thres;
double F_threshold;
int print_track_info;
Eigen::Isometry3d T_cl2i, T_cr2i;
void readParameters(ros::NodeHandle& n);
template <typename T>
static T readParam(ros::NodeHandle& n, std::string name);
};
template <typename T>
T StereoParameters::readParam(ros::NodeHandle& n, std::string name)
{
T ans;
if (n.getParam(name, ans))
{
ROS_INFO_STREAM("Loaded " << name << ": " << ans);
}
else
{
ROS_ERROR_STREAM("Failed to load: " << name);
n.shutdown();
}
return ans;
}
}
================================================
FILE: feature_tracker/include/stereo_tracker.h
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#pragma once
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <iostream>
#include <string>
#include <vector>
#include <map>
#include <opencv2/opencv.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "tic_toc.hpp"
#include "camera_factory.h"
#include "MeiCamera.h"
#include "PinholeCamera.h"
#include "random_pair.hpp"
#include "stereo_parameters.h"
#include "feature_tracker/StereoMeas.h"
#include "feature_tracker/StereoFrame.h"
namespace feature_tracker
{
class StereoTracker
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
StereoTracker(ros::NodeHandle& n) : nh(n) {}
~StereoTracker() {}
StereoTracker(const StereoTracker&) = delete;
StereoTracker operator=(const StereoTracker&) = delete;
void init();
private:
ros::NodeHandle nh;
ros::Publisher pub_stereo_feature, pub_match;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> stereoSyncPolicy;
boost::shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> cam_left_sub_;
boost::shared_ptr<message_filters::Subscriber<sensor_msgs::Image>> cam_right_sub_;
boost::shared_ptr<message_filters::Synchronizer<stereoSyncPolicy>> stereo_sub_;
StereoParameters param;
camera_model::CameraPtr m_camera_left, m_camera_right;
cv::Mat mask;
bool first_image_flag;
double first_image_time, last_image_time;
bool pub_this_frame;
unsigned long long int pub_count;
double cur_time, prev_time;
cv::Mat prev_left_img, cur_left_img, forw_left_img;
cv::Mat prev_right_img, cur_right_img, forw_right_img;
std::vector<cv::Point2f> prev_left_pts, cur_left_pts, forw_left_pts;
std::vector<cv::Point2f> prev_right_pts, cur_right_pts, forw_right_pts;
std::vector<cv::Point2f> prev_left_un_pts, cur_left_un_pts;
std::vector<cv::Point2f> prev_right_un_pts, cur_right_un_pts;
std::vector<unsigned long long int> ids;
std::vector<unsigned int> track_cnt;
std::vector<cv::Point2f> n_left_pts, n_right_pts;
static unsigned long long int n_id;
void stereo_callback(const sensor_msgs::Image::ConstPtr& cam_left_msg, const sensor_msgs::Image::ConstPtr& cam_right_msg);
void readIntrinsicParameters();
void processStereoImage(const cv::Mat& _left_img, const cv::Mat& _right_img, double _cur_time);
bool inBorder(const cv::Point2f& pt);
void markStereoMatchOutlier(const std::vector<cv::Point2f>& left_pts, const std::vector<cv::Point2f>& right_pts, std::vector<uchar>& status);
void rejectWithTwinRANSAC();
void setMask();
void addPoints();
void undistortedPoints();
void updateID();
static void publishStereoImg(const cv::Mat& left_img, const cv::Mat& right_img, const std::vector<cv::Point2f>& left_pts, const std::vector<cv::Point2f>& right_pts, const int row, const int col, bool pair_line = true);
void predictHomography(const std::vector<cv::Point2f>& left_pts, std::vector<cv::Point2f>& right_pts);
template <typename T1, typename T2 = uchar>
void reduceVector(std::vector<T1>& v, std::vector<T2> status);
template <typename T1, typename T2 = uchar>
void reduceTwinVector(std::vector<T1>& v1, std::vector<T1>& v2, std::vector<T2> status);
template <typename T1, typename T2 = uchar>
void reduceQuadVector(std::vector<T1>& v1, std::vector<T1>& v2, std::vector<T1>& v3, std::vector<T1>& v4, std::vector<T2> status);
};
typedef boost::shared_ptr<StereoTracker> StereoTrackerPtr;
template <typename T1, typename T2>
void StereoTracker::reduceVector(std::vector<T1>& v, std::vector<T2> status)
{
int j = 0;
for (int i = 0; i < int(v.size()); ++i)
if (status[i])
v[j++] = v[i];
v.resize(j);
}
template <typename T1, typename T2>
void StereoTracker::reduceTwinVector(std::vector<T1>& v1, std::vector<T1>& v2, std::vector<T2> status)
{
if (v1.size() != v2.size())
ROS_WARN("[Stereo Tracker]: Reduce twin vectors, size: %i and %i are not equal!", int(v1.size()), int(v2.size()));
int j = 0;
for (int i = 0; i < int(v1.size()); ++i)
if (status[i])
{
v1[j] = v1[i];
v2[j] = v2[i];
++j;
}
v1.resize(j);
v2.resize(j);
}
template <typename T1, typename T2>
void StereoTracker::reduceQuadVector(std::vector<T1>& v1, std::vector<T1>& v2, std::vector<T1>& v3, std::vector<T1>& v4, std::vector<T2> status)
{
if (!(v1.size() == v2.size() && v2.size() == v3.size() && v3.size() == v4.size()))
ROS_WARN("[Stereo Tracker]: Reduce quad vectors, size: %i, %i, %i and %i are not equal!", int(v1.size()), int(v2.size()), int(v3.size()), int(v4.size()));
int j = 0;
for (int i = 0; i < int(v1.size()); ++i)
if (status[i])
{
v1[j] = v1[i];
v2[j] = v2[i];
v3[j] = v3[i];
v4[j] = v4[i];
++j;
}
v1.resize(j);
v2.resize(j);
v3.resize(j);
v4.resize(j);
}
}
================================================
FILE: feature_tracker/include/tic_toc.hpp
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* A few functions of the mono tracker mimic the realization from GVINS
* <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#pragma once
#include <ctime>
#include <cstdlib>
#include <chrono>
namespace feature_tracker
{
class TicToc
{
public:
TicToc()
{
tic();
}
void tic()
{
start = std::chrono::system_clock::now();
}
double toc()
{
end = std::chrono::system_clock::now();
std::chrono::duration<double> elapsed_seconds = end - start;
return elapsed_seconds.count() * 1000.0;
}
private:
std::chrono::time_point<std::chrono::system_clock> start, end;
};
}
================================================
FILE: feature_tracker/launch/sportsfield/mono_tracker_sf.launch
================================================
<launch>
<arg name="config_path" default = "$(find feature_tracker)/../config/sportsfield/mono_config.yaml" />
<node name="mono_tracker" pkg="feature_tracker" type="mono_tracker" output="screen">
<param name="config_file" type="string" value="$(arg config_path)" />
</node>
</launch>
================================================
FILE: feature_tracker/launch/sportsfield/stereo_tracker_sf.launch
================================================
<launch>
<arg name="config_path_left" default = "$(find feature_tracker)/../config/sportsfield/stereo_left_config.yaml" />
<arg name="config_path_right" default = "$(find feature_tracker)/../config/sportsfield/stereo_right_config.yaml" />
<node name="stereo_tracker" pkg="feature_tracker" type="stereo_tracker" output="screen">
<param name="config_file_left" type="string" value="$(arg config_path_left)" />
<param name="config_file_right" type="string" value="$(arg config_path_right)" />
</node>
</launch>
================================================
FILE: feature_tracker/msg/MonoFrame.msg
================================================
std_msgs/Header header
MonoMeas[] mono_features
================================================
FILE: feature_tracker/msg/MonoMeas.msg
================================================
uint64 id
float64 u0
float64 v0
================================================
FILE: feature_tracker/msg/StereoFrame.msg
================================================
std_msgs/Header header
StereoMeas[] stereo_features
================================================
FILE: feature_tracker/msg/StereoMeas.msg
================================================
uint64 id
float64 u0
float64 v0
float64 u1
float64 v1
================================================
FILE: feature_tracker/package.xml
================================================
<?xml version="1.0"?>
<package format="2">
<name>feature_tracker</name>
<version>0.0.0</version>
<description>The mono and stereo feature_tracker package</description>
<maintainer email="lcw18@mails.tsinghua.edu.cn">lcw18</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>nodelet</exec_depend>
<exec_depend>pluginlib</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<depend>roslib</depend>
<depend>rosbag</depend>
<depend>message_filters</depend>
<depend>sensor_msgs</depend>
<depend>eigen_conversions</depend>
<depend>cv_bridge</depend>
<depend>image_transport</depend>
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
================================================
FILE: feature_tracker/src/mono_parameters.cpp
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* A few functions of the mono tracker mimic the realization from GVINS
* <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "mono_parameters.h"
namespace feature_tracker
{
MonoParameters::MonoParameters() : row(480), col(752), focal_length(460), image_topic("/cam1/image_raw"), imu_topic("/imu0"), cam_name("camera"), cam_path("~"), max_cnt(150), min_dist(30), window_size(20), freq(0), f_threshold(1.0), show_track(1), equalize(1)
{}
void MonoParameters::readParameters(ros::NodeHandle& n)
{
std::string config_file;
config_file = readParam<std::string>(n, "config_file");
cv::FileStorage fs(config_file, cv::FileStorage::READ);
if (!fs.isOpened())
{
ROS_ERROR("ERROR: Wrong path to mono config yaml files!");
n.shutdown();
}
cam_path = config_file;
row = fs["image_height"];
col = fs["image_width"];
focal_length = 460;
fs["image_topic"] >> image_topic;
fs["imu_topic"] >> imu_topic;
fs["camera_name"] >> cam_name;
max_cnt = fs["max_cnt"];
min_dist = fs["min_dist"];
window_size = 20;
freq = fs["freq"];
if (freq == 0) freq = 100;
f_threshold = fs["F_threshold"];
show_track = fs["show_track"];
show_timer = fs["show_timer"];
timer_warning_thres = fs["timer_warning_thres"];
equalize = fs["equalize"];
fs.release();
}
}
================================================
FILE: feature_tracker/src/mono_tracker.cpp
================================================
/** This File is part of Feature Tracker
*
* Copyright (C) 2022 Changwu Liu (cwliu529@163.com,
* lcw18@mails.tsinghua.edu.cn (valid until 2023))
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* A few functions of the mono tracker mimic the realization from GVINS
* <https://github.com/HKUST-Aerial-Robotics/GVINS>
* GVINS is under GPLv3 License.
*/
#include "mono_tracker.h"
#include "Color.h"
namespace feature_tracker
{
int MonoTracker::n_id = 0;
void MonoTracker::init()
{
param.readParameters(nh);
readIntrinsicParameter(param.cam_path);
sub_img = nh.subscribe(param.image_topic, 100, &MonoTracker::img_callback, this);
pub_mono_features = nh.advertise<feature_tracker::MonoFrame>("mono_feature", 100);
pub_match = nh.advertise<sensor_msgs::Image>("mono_track", 100);
first_image_flag = true;
first_image_time = 0.0;
last_image_time = 0.0;
pub_this_frame = false;
pub_count = 1;
}
void MonoTracker::img_callback(const sensor_msgs::ImageConstPtr& img_msg)
{
TicToc mono_timer;
if (first_image_flag)
{
first_image_flag = false;
first_image_time = img_msg->header.stamp.toSec();
last_image_time = img_msg->header.stamp.toSec();
return;
}
if (img_msg->header.stamp.toSec() - last_image_time > 1.0 || img_msg->header.stamp.toSec() < last_image_time)
{
ROS_WARN("[Mono Tracker]: Image discontinue! Mono tracker reset!");
first_image_flag = true;
first_image_time = 0.0;
last_image_time = 0.0;
pub_count = 1;
pub_this_frame = false;
return;
}
last_image_time = img_msg->header.stamp.toSec();
if (std::round(1.0*pub_count/(last_image_time-first_image_time)) <= param.freq)
{
pub_this_frame = true;
if (std::fabs(1.0*pub_count/(last_image_time-first_image_time)-param.freq) < 0.01*param.freq)
{
first_image_time = last_image_time;
pub_count = 0;
}
}
else
{
pub_this_frame = false;
}
cv_bridge::CvImageConstPtr ptr;
if (img_msg->encoding == "8UC1")
{
sensor_msgs::Image img;
img.header = img_msg->header;
img.height = img_msg->height;
img.width = img_msg->width;
img.is_bigendian = img_msg->is_bigendian;
img.step = img_msg->step;
img.data = img_msg->data;
img.encoding = "mono8";
ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8);
}
else
ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8);
readImage(ptr->image, img_msg->header.stamp.toSec());
updateID();
if (pub_this_frame)
{
++pub_count;
feature_tracker::MonoFrame::Ptr mono_frame_ptr(new feature_tracker::MonoFrame);
mono_frame_ptr->header = img_msg->header;
for (int i = 0; i < ids.size(); ++i)
{
if (track_cnt[i] > 1)
{
feature_tracker::MonoMeas::Ptr mono_feature_ptr(new feature_tracker::MonoMeas);
mono_feature_ptr->id = ids[i];
mono_feature_ptr->u0 = cur_un_pts[i].x;
mono_feature_ptr->v0 = cur_un_pts[i].y;
mono_frame_ptr->mono_features.push_back(*mono_feature_ptr);
}
}
if (mono_frame_ptr->mono_features.size() > 0)
pub_mono_features.publish(mono_frame_ptr);
if (param.show_track)
{
ptr = cv_bridge::cvtColor(ptr, sensor_msgs::image_encodings::BGR8);
cv::Mat tmp_img = ptr->image;
for (unsigned int j = 0; j < cur_pts.size(); ++j)
{
double len = std::min(1.0, 1.0*track_cnt[j]/param.window_size);
cv::circle(tmp_img, cur_pts[j], 2, cv::Scalar(255*(1-len), 0, 255*len), 2);
}
pub_match.publish(ptr->toImageMsg());
}
}
if (param.show_timer)
{
double mono_time = mono_timer.toc();
if (mono_time <= param.timer_warning_thres)
std::cout << color::setBlue << "[MonoTracker]: Mono tracking processing time = " << mono_time << " (ms) " << color::resetColor << std::endl;
else
std::cout << color::setRed << "[MonoTracker]: Mono tracking processing time = " << mono_time << " (ms) " << color::resetColor << std::endl;
}
}
void MonoTracker::updateID()
{
for (unsigned int i = 0; i < ids.size(); ++i)
if (ids[i] == -1)
ids[i] = n_id++;
}
void MonoTracker::readImage(const cv::Mat& _img, double _cur_time)
{
cv::Mat img;
cur_time = _cur_time;
if (param.equalize)
{
cv::Ptr<cv::CLAHE> clahe = cv::createCLAHE(3.0, cv::Size(8, 8));
clahe->apply(_img, img);
}
else
img = _img;
if (forw_img.empty())
prev_img = cur_img = forw_img = img;
else
forw_img = img;
forw_pts.clear();
if (cur_pts.size() > 0)
{
std::vector<uchar> status;
std::vector<float> err;
cv::calcOpticalFlowPyrLK(cur_img, forw_img, cur_pts, forw_pts, status, err, cv::Size(21, 21), 3);
for (int i = 0; i < int(forw_pts.size()); ++i)
if (status[i] && !inBorder(forw_pts[i]))
status[i] = 0;
reduceVector<cv::Point2f>(prev_pts, status);
reduceVector<cv::Point2f>(cur_pts, status);
reduceVector<cv::Point2f>(forw_pts, status);
reduceVector<int>(ids, status);
reduceVector<cv::Point2f>(cur_un_pts, status);
reduceVector<int>(track_cnt, status);
}
for (auto& n: track_cnt)
++n;
if (pub_this_frame)
{
rejectWithF();
setMask();
int n_max_cnt = param.max_cnt - static_cast<int>(forw_pts.size());
if (n_max_cnt > 0)
{
if (mask.empty())
ROS_WARN("[Mono Tracker]: Mask is empty!");
if (mask.type() != CV_8UC1)
ROS_WARN("[Mono Tracker]: Mask type wrong!");
if (mask.size() != forw_img.size())
ROS_WARN("[Mono Tracker]: Mask size wrong!");
cv::goodFeaturesToTrack(forw_img, n_pts, n_max_cnt, 0.01, param.min_dist, mask);
}
else
n_pts.clear();
addPoints();
}
prev_img = cur_img;
prev_pts = cur_pts;
prev_un_pts = cur_un_pts;
cur_img = forw_img;
cur_pts = forw_pts;
undistortedPoints();
prev_time = cur_time;
}
void MonoTracker::addPoints()
{
for (auto& p: n_pts)
{
forw_pts.push_back(p);
ids.push_back(-1);
track_cnt.push_back(1);
}
}
void MonoTracker::undistortedPoints()
{
cur_un_pts.clear();
cur_un_pts_map.clear();
for (unsigned int i = 0; i < cur_pts.size(); ++i)
{
Eigen::Vector2d a(cur_pts[i].x, cur_pts[i].y);
Eigen::Vector3d b;
m_camera->liftProjective(a, b);
cur_un_pts.push_back(cv::Point2f(b.x()/b.z(), b.y()/b.z()));
cur_un_pts_map.insert(std::make_pair(ids[i], cv::Point2f(b.x()/b.z(), b.y()/b.z())));
}
if (!prev_un_pts_map.empty())
{
double dt = cur_time - prev_time;
pts_velocity.clear();
for (unsigned int i = 0; i < cur_un_pts.size(); ++i)
{
if (ids[i] != -1)
{
auto it = prev_un_pts_map.find(ids[i]);
if (it != prev_un_pts_map.end())
{
double v_x = (cur_un_pts[i].x - it->second.x) / dt;
double v_y = (cur_un_pts[i].y - it->second.y) / dt;
pts_velocity.push_back(cv::Point2f(v_x, v_y));
}
else
pts_velocity.push_back(cv::Point2f(0.0, 0.0));
}
else
pts_velocity.push_back(cv::Point2f(0.0, 0.0));
}
}
else
{
for (unsigned int i = 0; i < cur_pts.size(); ++i)
pts_velocity.push_back(cv::Point2f(0.0, 0.0));
}
prev_un_pts_map = cur_un_pts_map;
}
void MonoTracker::setMask()
{
mask = cv::Mat(param.row, param.col, CV_8UC1, cv::Scalar(255));
std::vector<std::pair<int, std::pair<cv::Point2f, int>>> cnt_pts_id;
for (unsigned int i = 0; i < forw_pts.size(); ++i)
cnt_pts_id.push_back(std::make_pair(track_cnt[i], std::make_pair(forw_pts[i], ids[i])));
std::sort(cnt_pts_id.begin(), cnt_pts_id.end(), [](const std::pair<int, std::pair<cv::Point2f, int>>& a, const std::pair<int, std::pair<cv::Point2f, int>>& b){ return a.first > b.first; });
forw_pts.clear();
ids.clear();
track_cnt.clear();
for (auto& it: cnt_pts_id)
{
if (mask.at<uchar>(it.second.first) == 255)
{
forw_pts.push_back(it.second.first);
ids.push_back(it.second.second);
track_cnt.push_back(it.first);
cv::circle(mask, it.second.first, param.min_dist, 0, -1);
}
}
}
void MonoTracker::rejectWithF()
{
if (forw_pts.size() >= 8)
{
std::vector<cv::Point2f> un_cur_pts(cur_pts.size()), un_forw_pts(forw_pts.size());
for (unsigned int i = 0; i < cur_pts.size(); ++i)
{
Eigen::Vector3d tmp_p;
m_camera->liftProjective(Eigen::Vector2d(cur_pts[i].x, cur_pts[i].y), tmp_p);
tmp_p.x() = param.focal_length*tmp_p.x()/tmp_p.z() + param.col/2.0;
tmp_p.y() = param.focal_length*tmp_p.y()/tmp_p.z() + param.row/2.0;
un_cur_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());
m_camera->liftProjective(Eigen::Vector2d(forw_pts[i].x, forw_pts[i].y), tmp_p);
tmp_p.x() = param.focal_length*tmp_p.x()/tmp_p.z() + param.col/2.0;
tmp_p.y() = param.focal_length*tmp_p.y()/tmp_p.z() + param.row/2.0;
un_forw_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y());
}
std::vector<uchar> status;
cv::findFundamentalMat(un_cur_pts, un_forw_pts, cv::FM_RANSAC, param.f_threshold, 0.99, status);
// int size_a = cur_pts.size();
reduceVector<cv::Point2f>(prev_pts, status);
reduceVector<cv::Point2f>(cur_pts, status);
reduceVector<cv::Point2f>(forw_pts, status);
reduceVector<cv::Point2f>(cur_un_pts, status);
reduceVector<int>(ids, status);
reduceVector<int>(track_cnt, status);
// ROS_INFO("FM RANSAC: %d points reduced to -> %lu: %f", size_a, forw_pts.size(), 1.0*forw_pts.size()/size_a);
}
}
bool Mon
gitextract_o7z2p0ui/
├── .gitignore
├── README.md
├── camera_model/
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── include/
│ │ ├── MeiCamera.h
│ │ ├── PinholeCamera.h
│ │ ├── camera.h
│ │ └── camera_factory.h
│ ├── package.xml
│ ├── src/
│ │ ├── MeiCamera.cpp
│ │ ├── PinholeCamera.cpp
│ │ ├── camera.cpp
│ │ └── camera_factory.cpp
│ └── test/
│ └── CMakeLists.txt
├── config/
│ ├── fw_zed2i_f9p/
│ │ ├── ingvio_mono.yaml
│ │ ├── ingvio_stereo.yaml
│ │ ├── mono_config.yaml
│ │ ├── stereo_left_config.yaml
│ │ └── stereo_right_config.yaml
│ └── sportsfield/
│ ├── ingvio_mono.yaml
│ ├── ingvio_stereo.yaml
│ ├── mono_config.yaml
│ ├── stereo_left_config.yaml
│ └── stereo_right_config.yaml
├── feature_tracker/
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── include/
│ │ ├── Color.h
│ │ ├── mono_parameters.h
│ │ ├── mono_tracker.h
│ │ ├── random_pair.hpp
│ │ ├── stereo_parameters.h
│ │ ├── stereo_tracker.h
│ │ └── tic_toc.hpp
│ ├── launch/
│ │ └── sportsfield/
│ │ ├── mono_tracker_sf.launch
│ │ └── stereo_tracker_sf.launch
│ ├── msg/
│ │ ├── MonoFrame.msg
│ │ ├── MonoMeas.msg
│ │ ├── StereoFrame.msg
│ │ └── StereoMeas.msg
│ ├── package.xml
│ └── src/
│ ├── mono_parameters.cpp
│ ├── mono_tracker.cpp
│ ├── mono_tracker_node.cpp
│ ├── stereo_parameters.cpp
│ ├── stereo_tracker.cpp
│ └── stereo_tracker_node.cpp
├── gnss_comm/
│ ├── .gitignore
│ ├── CMakeLists.txt
│ ├── LICENSE
│ ├── README.md
│ ├── cmake/
│ │ ├── FindEigen.cmake
│ │ └── FindGlog.cmake
│ ├── docker/
│ │ ├── Dockerfile
│ │ └── Makefile
│ ├── include/
│ │ └── gnss_comm/
│ │ ├── gnss_constant.hpp
│ │ ├── gnss_ros.hpp
│ │ ├── gnss_spp.hpp
│ │ ├── gnss_utility.hpp
│ │ └── rinex_helper.hpp
│ ├── msg/
│ │ ├── GnssBestXYZMsg.msg
│ │ ├── GnssEphemMsg.msg
│ │ ├── GnssGloEphemMsg.msg
│ │ ├── GnssMeasMsg.msg
│ │ ├── GnssObsMsg.msg
│ │ ├── GnssPVTSolnMsg.msg
│ │ ├── GnssSvsMsg.msg
│ │ ├── GnssTimeMsg.msg
│ │ ├── GnssTimePulseInfoMsg.msg
│ │ └── StampedFloat64Array.msg
│ ├── package.xml
│ └── src/
│ ├── gnss_ros.cpp
│ ├── gnss_spp.cpp
│ ├── gnss_utility.cpp
│ └── rinex_helper.cpp
└── ingvio_estimator/
├── CMakeLists.txt
├── LICENSE
├── README.md
├── cmake/
│ ├── FindSuiteSparse.cmake
│ └── ROS1.cmake
├── launch/
│ ├── ingvio_mono_fw.launch
│ ├── ingvio_mono_fw_record.launch
│ ├── ingvio_mono_sf.launch
│ ├── ingvio_mono_sf_record.launch
│ ├── ingvio_stereo_fw.launch
│ ├── ingvio_stereo_fw_record.launch
│ ├── ingvio_stereo_sf.launch
│ └── ingvio_stereo_sf_record.launch
├── package.xml
├── rviz/
│ ├── ingvio_mono.rviz
│ └── ingvio_stereo.rviz
├── src/
│ ├── AnchoredLandmark.cpp
│ ├── AnchoredLandmark.h
│ ├── AuxGammaFunc.cpp
│ ├── AuxGammaFunc.h
│ ├── Color.h
│ ├── GnssData.cpp
│ ├── GnssData.h
│ ├── GnssManager.cpp
│ ├── GnssManager.h
│ ├── GnssProcessor.cpp
│ ├── GnssSync.cpp
│ ├── GnssSync.h
│ ├── GnssUpdate.cpp
│ ├── GnssUpdate.h
│ ├── GvioAligner.cpp
│ ├── GvioAligner.h
│ ├── ImuPropagator.cpp
│ ├── ImuPropagator.h
│ ├── IngvioFilter.cpp
│ ├── IngvioFilter.h
│ ├── IngvioNode.cpp
│ ├── IngvioParams.cpp
│ ├── IngvioParams.h
│ ├── KeyframeUpdate.cpp
│ ├── KeyframeUpdate.h
│ ├── LandmarkUpdate.cpp
│ ├── LandmarkUpdate.h
│ ├── MapServer.cpp
│ ├── MapServer.h
│ ├── MapServerManager.cpp
│ ├── MapServerManager.h
│ ├── PoseState.cpp
│ ├── PoseState.h
│ ├── RemoveLostUpdate.cpp
│ ├── RemoveLostUpdate.h
│ ├── State.cpp
│ ├── State.h
│ ├── StateManager.cpp
│ ├── StateManager.h
│ ├── SwMargUpdate.cpp
│ ├── SwMargUpdate.h
│ ├── TicToc.h
│ ├── Triangulator.cpp
│ ├── Triangulator.h
│ ├── Update.cpp
│ ├── Update.h
│ ├── VecState.cpp
│ └── VecState.h
└── test/
├── GenerateNoise.cpp
├── GenerateNoise.h
├── TestMapServer.cpp
├── TestPropagator.cpp
├── TestStateManager.cpp
└── TestTriangulator.cpp
SYMBOL INDEX (240 symbols across 83 files)
FILE: camera_model/include/MeiCamera.h
function xi (line 49) | double xi() const;
FILE: camera_model/include/PinholeCamera.h
function namespace (line 28) | namespace camera_model
FILE: camera_model/include/camera_factory.h
function namespace (line 27) | namespace camera_model
FILE: camera_model/src/MeiCamera.cpp
type camera_model (line 27) | namespace camera_model
FILE: camera_model/src/PinholeCamera.cpp
type camera_model (line 27) | namespace camera_model
FILE: camera_model/src/camera.cpp
type camera_model (line 26) | namespace camera_model
FILE: camera_model/src/camera_factory.cpp
type camera_model (line 30) | namespace camera_model
function CameraPtr (line 44) | CameraPtr CameraFactory::generateCamera(Camera::ModelType modelType, c...
function CameraPtr (line 76) | CameraPtr CameraFactory::generateCameraFromYamlFile(const std::string&...
FILE: feature_tracker/include/Color.h
function namespace (line 24) | namespace color
FILE: feature_tracker/include/mono_parameters.h
function namespace (line 29) | namespace feature_tracker
FILE: feature_tracker/include/mono_tracker.h
function namespace (line 55) | namespace feature_tracker
FILE: feature_tracker/include/random_pair.hpp
type feature_tracker (line 27) | namespace feature_tracker
class RandomPairGenerator (line 29) | class RandomPairGenerator
method RandomPairGenerator (line 32) | RandomPairGenerator(unsigned int n = 50) : xa(static_cast<int>(n*(n-...
method RandomPairGenerator (line 38) | RandomPairGenerator(RandomPairGenerator& obj) = delete;
method setRandomPairSeed (line 41) | static void setRandomPairSeed()
method generatePair (line 46) | void generatePair(std::vector<unsigned int>& pair)
FILE: feature_tracker/include/stereo_parameters.h
function namespace (line 28) | namespace feature_tracker
FILE: feature_tracker/include/stereo_tracker.h
function namespace (line 54) | namespace feature_tracker
FILE: feature_tracker/include/tic_toc.hpp
type feature_tracker (line 30) | namespace feature_tracker
class TicToc (line 32) | class TicToc
method TicToc (line 35) | TicToc()
method tic (line 40) | void tic()
method toc (line 45) | double toc()
FILE: feature_tracker/src/mono_parameters.cpp
type feature_tracker (line 26) | namespace feature_tracker
FILE: feature_tracker/src/mono_tracker.cpp
type feature_tracker (line 28) | namespace feature_tracker
FILE: feature_tracker/src/mono_tracker_node.cpp
function main (line 26) | int main(int argc, char** argv)
FILE: feature_tracker/src/stereo_parameters.cpp
type feature_tracker (line 23) | namespace feature_tracker
FILE: feature_tracker/src/stereo_tracker.cpp
type feature_tracker (line 24) | namespace feature_tracker
FILE: feature_tracker/src/stereo_tracker_node.cpp
function main (line 22) | int main(int argc, char** argv)
FILE: gnss_comm/include/gnss_comm/gnss_constant.hpp
type gnss_comm (line 44) | namespace gnss_comm
type gtime_t (line 296) | struct gtime_t
type EphemBase (line 302) | struct EphemBase
type GloEphem (line 314) | struct GloEphem : EphemBase
type Ephem (line 326) | struct Ephem : EphemBase
type Obs (line 344) | struct Obs /* observation da...
type TimePulseInfo (line 362) | struct TimePulseInfo /* time pulse(PPS) information */
type BestSat (line 370) | struct BestSat
type BestPos (line 379) | struct BestPos
type BestVel (line 396) | struct BestVel
type BestXYZ (line 408) | struct BestXYZ
type PVTSolution (line 427) | struct PVTSolution
type PsrPos (line 444) | struct PsrPos
type PsrVel (line 461) | struct PsrVel
type SvInfo (line 474) | struct SvInfo
type TECEpoch (line 486) | struct TECEpoch
type EphemerideEpoch (line 498) | struct EphemerideEpoch
type SatState (line 506) | struct SatState
FILE: gnss_comm/include/gnss_comm/gnss_ros.hpp
type gnss_comm (line 39) | namespace gnss_comm
FILE: gnss_comm/include/gnss_comm/gnss_spp.hpp
type gnss_comm (line 27) | namespace gnss_comm
FILE: gnss_comm/include/gnss_comm/gnss_utility.hpp
type gnss_comm (line 49) | namespace gnss_comm
FILE: gnss_comm/include/gnss_comm/rinex_helper.hpp
type gnss_comm (line 35) | namespace gnss_comm
FILE: gnss_comm/src/gnss_ros.cpp
type gnss_comm (line 23) | namespace gnss_comm
function GnssEphemMsg (line 25) | GnssEphemMsg ephem2msg(const EphemPtr &ephem_ptr)
function EphemPtr (line 72) | EphemPtr msg2ephem(const GnssEphemMsgConstPtr &gnss_ephem_msg)
function GnssGloEphemMsg (line 111) | GnssGloEphemMsg glo_ephem2msg(const GloEphemPtr &glo_ephem_ptr)
function GloEphemPtr (line 143) | GloEphemPtr msg2glo_ephem(const GnssGloEphemMsgConstPtr &gnss_glo_ephe...
function GnssMeasMsg (line 169) | GnssMeasMsg meas2msg(const std::vector<ObsPtr> &meas)
function msg2meas (line 197) | std::vector<ObsPtr> msg2meas(const GnssMeasMsgConstPtr &gnss_meas_msg)
function GnssTimePulseInfoMsg (line 223) | GnssTimePulseInfoMsg tp_info2msg(const TimePulseInfoPtr &tp_info)
function TimePulseInfoPtr (line 232) | TimePulseInfoPtr msg2tp_info(const GnssTimePulseInfoMsgConstPtr &gnss_...
function GnssBestXYZMsg (line 241) | GnssBestXYZMsg best_xyz2msg(const BestXYZPtr &best_xyz)
function GnssPVTSolnMsg (line 258) | GnssPVTSolnMsg pvt2msg(const PVTSolutionPtr &pvt_soln)
function PVTSolutionPtr (line 281) | PVTSolutionPtr msg2pvt(const GnssPVTSolnMsgConstPtr &pvt_msg)
function GnssSvsMsg (line 304) | GnssSvsMsg svs2msg(const std::vector<SvInfo> &svs)
FILE: gnss_comm/src/gnss_spp.cpp
type gnss_comm (line 27) | namespace gnss_comm
function filter_L1 (line 29) | void filter_L1(const std::vector<ObsPtr> &obs, const std::vector<Ephem...
function sat_states (line 50) | std::vector<SatStatePtr> sat_states(const std::vector<ObsPtr> &obs,
function psr_res (line 99) | void psr_res(const Eigen::Matrix<double, 7, 1> &rcv_state, const std::...
function psr_pos (line 148) | Eigen::Matrix<double, 7, 1> psr_pos(const std::vector<ObsPtr> &obs,
function dopp_res (line 256) | void dopp_res(const Eigen::Matrix<double, 4, 1> &rcv_state, const Eige...
function dopp_vel (line 284) | Eigen::Matrix<double, 4, 1> dopp_vel(const std::vector<ObsPtr> &obs,
FILE: gnss_comm/src/gnss_utility.cpp
type gnss_comm (line 34) | namespace gnss_comm
function sat_no (line 48) | uint32_t sat_no(uint32_t sys, uint32_t prn)
function satsys (line 74) | uint32_t satsys(uint32_t sat, uint32_t *prn)
function gtime_t (line 101) | gtime_t epoch2time(const double *ep)
function time2epoch (line 123) | void time2epoch(gtime_t t, double *ep)
function gtime_t (line 151) | gtime_t gpst2time(uint32_t week, double tow)
function time2gpst (line 165) | double time2gpst(gtime_t t, uint32_t *week)
function gtime_t (line 180) | gtime_t gst2time(int week, double tow)
function time2gst (line 195) | double time2gst(gtime_t t, int *week)
function gtime_t (line 210) | gtime_t bdt2time(int week, double tow)
function time2bdt (line 225) | double time2bdt(gtime_t t, int *week)
function gtime_t (line 241) | gtime_t gpst2utc(gtime_t t)
function gtime_t (line 260) | gtime_t utc2gpst(gtime_t t)
function julian_day (line 271) | double julian_day(std::vector<double> datetime)
function leap_seconds_from_GPS_epoch (line 287) | uint32_t leap_seconds_from_GPS_epoch(std::vector<double> datetime)
function time2doy (line 299) | double time2doy(gtime_t time)
function time_diff (line 308) | double time_diff(gtime_t t1, gtime_t t2)
function gtime_t (line 313) | gtime_t time_add(gtime_t t, double sec)
function time2sec (line 322) | double time2sec(gtime_t time)
function gtime_t (line 327) | gtime_t sec2time(const double sec)
function geo2ecef (line 335) | Eigen::Vector3d geo2ecef(const Eigen::Vector3d &lla)
function ecef2geo (line 347) | Eigen::Vector3d ecef2geo(const Eigen::Vector3d &xyz)
function Kepler (line 390) | double Kepler(const double mk, const double es)
function eph2svdt (line 437) | double eph2svdt(const gtime_t &curr_time, const EphemPtr ephem_ptr)
function eph2pos (line 448) | Eigen::Vector3d eph2pos(const gtime_t &curr_time, const EphemPtr ephem...
function eph2vel (line 533) | Eigen::Vector3d eph2vel(const gtime_t &curr_time, const EphemPtr ephem...
function deq (line 642) | void deq(const Eigen::Vector3d &pos, const Eigen::Vector3d &vel, const...
function glo_orbit (line 664) | void glo_orbit(double dt, Eigen::Vector3d &pos, Eigen::Vector3d &vel, ...
function geph2svdt (line 684) | double geph2svdt(const gtime_t &curr_time, const GloEphemPtr geph_ptr)
function geph2pos (line 698) | Eigen::Vector3d geph2pos(const gtime_t &curr_time, const GloEphemPtr g...
function geph2vel (line 716) | Eigen::Vector3d geph2vel(const gtime_t &curr_time, const GloEphemPtr g...
function ecef2enu (line 733) | Eigen::Vector3d ecef2enu(const Eigen::Vector3d &ref_lla, const Eigen::...
function geo2rotation (line 745) | Eigen::Matrix3d geo2rotation(const Eigen::Vector3d &ref_geo)
function ecef2rotation (line 757) | Eigen::Matrix3d ecef2rotation(const Eigen::Vector3d &ref_ecef)
function sat_azel (line 762) | void sat_azel(const Eigen::Vector3d &rev_pos, const Eigen::Vector3d &s...
function interpc (line 774) | static double interpc(const double coef[], double lat)
function mapf (line 782) | static double mapf(double el, double a, double b, double c)
function nmf (line 797) | static void nmf(gtime_t time, const Eigen::Vector3d rev_lla, const dou...
function calculate_trop_delay (line 841) | double calculate_trop_delay(gtime_t time, const Eigen::Vector3d &rev_l...
function calculate_ion_delay (line 865) | double calculate_ion_delay(gtime_t t, const std::vector<double> &ion_p...
function sat2str (line 901) | std::string sat2str(uint32_t sat_no)
function L1_freq (line 933) | double L1_freq(const ObsPtr &obs, int *l1_idx)
function str2sat (line 964) | uint32_t str2sat(const std::string &sat_str)
function exec (line 990) | std::string exec(const std::string &cmd)
FILE: gnss_comm/src/rinex_helper.cpp
type gnss_comm (line 23) | namespace gnss_comm
function str2double (line 29) | static double str2double(const std::string &num_str)
function GloEphemPtr (line 39) | static GloEphemPtr rinex_line2glo_ephem(const std::vector<std::string>...
function EphemPtr (line 80) | static EphemPtr rinex_line2ephem(const std::vector<std::string> &ephem...
function rinex2ephems (line 172) | void rinex2ephems(const std::string &rinex_filepath, std::map<uint32_t...
function ObsPtr (line 225) | static ObsPtr rinex_line2obs(const std::string rinex_str,
function rinex2obs (line 297) | void rinex2obs(const std::string &rinex_filepath, std::vector<std::vec...
function rinex2iono_params (line 352) | void rinex2iono_params(const std::string &rinex_filepath, std::vector<...
function obs_index (line 397) | int obs_index(const uint32_t sys, const double freq)
function index_freq (line 422) | double index_freq(const ObsPtr &obs, const int band_idx, int &freq_idx)
function get_glo_freqo (line 478) | std::map<uint32_t, int> get_glo_freqo(const std::vector<std::vector<Ob...
function obs2rinex (line 506) | void obs2rinex(const std::string &rinex_filepath,
FILE: ingvio_estimator/src/AnchoredLandmark.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/AnchoredLandmark.h
function namespace (line 26) | namespace ingvio
FILE: ingvio_estimator/src/AuxGammaFunc.cpp
type ingvio (line 26) | namespace ingvio
function skew (line 28) | Eigen::Matrix3d skew(const Eigen::Vector3d& vec)
function vee (line 37) | Eigen::Vector3d vee(const Eigen::Matrix3d& mat)
function GammaFunc (line 46) | Eigen::Matrix3d GammaFunc(const Eigen::Vector3d& vec, int m)
function Psi1Func (line 115) | Eigen::Matrix3d Psi1Func(const Eigen::Vector3d& tilde_omega,
function Psi2Func (line 168) | Eigen::Matrix3d Psi2Func(const Eigen::Vector3d& tilde_omega,
FILE: ingvio_estimator/src/AuxGammaFunc.h
function namespace (line 25) | namespace ingvio
FILE: ingvio_estimator/src/Color.h
function namespace (line 25) | namespace color
FILE: ingvio_estimator/src/GnssData.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/GnssData.h
function namespace (line 25) | namespace ingvio
FILE: ingvio_estimator/src/GnssManager.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/GnssManager.h
function namespace (line 29) | namespace ingvio
FILE: ingvio_estimator/src/GnssProcessor.cpp
type ingvio (line 32) | namespace ingvio
FILE: ingvio_estimator/src/GnssSync.cpp
type ingvio (line 25) | namespace ingvio
FILE: ingvio_estimator/src/GnssSync.h
function namespace (line 29) | namespace ingvio
function class (line 57) | class GnssSync
FILE: ingvio_estimator/src/GnssUpdate.cpp
type ingvio (line 31) | namespace ingvio
FILE: ingvio_estimator/src/GnssUpdate.h
function namespace (line 33) | namespace ingvio
FILE: ingvio_estimator/src/GvioAligner.cpp
type ingvio (line 29) | namespace ingvio
FILE: ingvio_estimator/src/GvioAligner.h
function namespace (line 33) | namespace ingvio
FILE: ingvio_estimator/src/ImuPropagator.cpp
type ingvio (line 27) | namespace ingvio
FILE: ingvio_estimator/src/ImuPropagator.h
function namespace (line 38) | namespace ingvio
function storeImu (line 127) | void storeImu(const sensor_msgs::Imu::ConstPtr& imu_msg)
function getInitQuat (line 133) | bool getInitQuat(Eigen::Quaterniond& quat_init) const
FILE: ingvio_estimator/src/IngvioFilter.cpp
type ingvio (line 48) | namespace ingvio
FILE: ingvio_estimator/src/IngvioFilter.h
function namespace (line 42) | namespace ingvio
FILE: ingvio_estimator/src/IngvioNode.cpp
function main (line 25) | int main(int argc, char** argv)
FILE: ingvio_estimator/src/IngvioParams.cpp
type ingvio (line 25) | namespace ingvio
FILE: ingvio_estimator/src/IngvioParams.h
function namespace (line 30) | namespace ingvio
FILE: ingvio_estimator/src/KeyframeUpdate.cpp
type ingvio (line 39) | namespace ingvio
FILE: ingvio_estimator/src/KeyframeUpdate.h
function namespace (line 28) | namespace ingvio
FILE: ingvio_estimator/src/LandmarkUpdate.cpp
type ingvio (line 30) | namespace ingvio
FILE: ingvio_estimator/src/LandmarkUpdate.h
function namespace (line 29) | namespace ingvio
FILE: ingvio_estimator/src/MapServer.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/MapServer.h
function namespace (line 31) | namespace ingvio
function asRightVec (line 47) | struct StereoMeas
function class (line 69) | class FeatureInfo
type std (line 134) | typedef std::map<int, std::shared_ptr<FeatureInfo>> MapServer;
FILE: ingvio_estimator/src/MapServerManager.cpp
type ingvio (line 35) | namespace ingvio
FILE: ingvio_estimator/src/MapServerManager.h
function namespace (line 31) | namespace ingvio
FILE: ingvio_estimator/src/PoseState.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/PoseState.h
function namespace (line 28) | namespace ingvio
FILE: ingvio_estimator/src/RemoveLostUpdate.cpp
type ingvio (line 38) | namespace ingvio
FILE: ingvio_estimator/src/RemoveLostUpdate.h
function namespace (line 27) | namespace ingvio
FILE: ingvio_estimator/src/State.cpp
type ingvio (line 23) | namespace ingvio
function distance (line 182) | double distance(std::shared_ptr<State> state1, std::shared_ptr<State> ...
FILE: ingvio_estimator/src/State.h
function class (line 37) | class StateParams
type GNSSType (line 75) | enum GNSSType {GPS = 0, GLO, GAL, BDS, FS, YOF}
function nextMargTime (line 83) | double nextMargTime()
FILE: ingvio_estimator/src/StateManager.cpp
type ingvio (line 25) | namespace ingvio
FILE: ingvio_estimator/src/StateManager.h
function namespace (line 29) | namespace ingvio
FILE: ingvio_estimator/src/SwMargUpdate.cpp
type ingvio (line 40) | namespace ingvio
FILE: ingvio_estimator/src/SwMargUpdate.h
function namespace (line 27) | namespace ingvio
FILE: ingvio_estimator/src/TicToc.h
function namespace (line 30) | namespace ingvio
FILE: ingvio_estimator/src/Triangulator.cpp
type ingvio (line 28) | namespace ingvio
FILE: ingvio_estimator/src/Triangulator.h
function namespace (line 28) | namespace ingvio
FILE: ingvio_estimator/src/Update.cpp
type ingvio (line 25) | namespace ingvio
FILE: ingvio_estimator/src/Update.h
function namespace (line 31) | namespace ingvio
FILE: ingvio_estimator/src/VecState.cpp
type ingvio (line 23) | namespace ingvio
FILE: ingvio_estimator/src/VecState.h
function namespace (line 26) | namespace ingvio
function class (line 56) | class Vec3 : public Type
function class (line 97) | class Scalar : public Type
FILE: ingvio_estimator/test/GenerateNoise.cpp
type ingvio_test (line 25) | namespace ingvio_test
function generateGaussRandom (line 27) | double generateGaussRandom(const double& mean, const double& std)
function isSPD (line 43) | bool isSPD(const Eigen::MatrixXd& cov)
FILE: ingvio_estimator/test/GenerateNoise.h
function namespace (line 25) | namespace ingvio_test
FILE: ingvio_estimator/test/TestMapServer.cpp
type ingvio_test (line 42) | namespace ingvio_test
class TestMapServer (line 44) | class TestMapServer : public virtual ::testing::Test
method TestMapServer (line 47) | TestMapServer ()
method generateRandomMonoFrame (line 78) | feature_tracker::MonoFrameConstPtr generateRandomMonoFrame(const std...
method calcMonoMeas (line 100) | feature_tracker::MonoMeas::Ptr calcMonoMeas(int id, const Eigen::Vec...
method generateMonoFrame (line 113) | feature_tracker::MonoFrameConstPtr generateMonoFrame(double timestam...
method generateRandomStereoFrame (line 127) | feature_tracker::StereoFrameConstPtr generateRandomStereoFrame(const...
method calcStereoMeas (line 151) | feature_tracker::StereoMeas::Ptr calcStereoMeas(int id, const Eigen:...
method generateStereoFrame (line 169) | feature_tracker::StereoFrameConstPtr generateStereoFrame(double time...
function TEST_F (line 184) | TEST_F(TestMapServer, collectFeatureAndMarg)
function TEST_F (line 310) | TEST_F(TestMapServer, featureInfoTriMono)
function TEST_F (line 397) | TEST_F(TestMapServer, featureInfoTriStereo)
function TEST_F (line 484) | TEST_F(TestMapServer, changeAnchor)
function main (line 555) | int main(int argc, char** argv)
FILE: ingvio_estimator/test/TestPropagator.cpp
type ingvio_test (line 33) | namespace ingvio_test
class TestPropagator (line 35) | class TestPropagator : public virtual ::testing::Test
method TestPropagator (line 38) | TestPropagator() : _N(300)
function TEST_F (line 54) | TEST_F(TestPropagator, initGravity)
function TEST_F (line 114) | TEST_F(TestPropagator, oneStepProp)
function TEST_F (line 191) | TEST_F(TestPropagator, propaUntil)
function TEST_F (line 232) | TEST_F(TestPropagator, propagateAugment)
function main (line 262) | int main(int argc, char** argv)
FILE: ingvio_estimator/test/TestStateManager.cpp
type ingvio_test (line 29) | namespace ingvio_test
function TEST (line 31) | TEST(testState, BasicFuncs)
function TEST (line 53) | TEST(testState, StateAddMargProp)
class StateUpdateTest (line 158) | class StateUpdateTest : public virtual ::testing::Test
method StateUpdateTest (line 161) | StateUpdateTest()
function TEST_F (line 195) | TEST_F(StateUpdateTest, augmentPose)
function TEST_F (line 257) | TEST_F(StateUpdateTest, stateBoxPlus)
function TEST_F (line 478) | TEST_F(StateUpdateTest, stateCovUpdate)
class AddDelayedTest (line 559) | class AddDelayedTest : public virtual ::testing::Test
method AddDelayedTest (line 562) | AddDelayedTest()
function TEST_F (line 594) | TEST_F(AddDelayedTest, addVarInv)
function TEST_F (line 644) | TEST_F(AddDelayedTest, addVar)
function main (line 729) | int main(int argc, char** argv)
FILE: ingvio_estimator/test/TestTriangulator.cpp
type ingvio_test (line 30) | namespace ingvio_test
class TestTriangulator (line 32) | class TestTriangulator : public virtual ::testing::Test
method TestTriangulator (line 35) | TestTriangulator() : pf(Eigen::Vector3d(1.0, 2.0, 3.0))
method calcMonoMeas (line 102) | std::shared_ptr<MonoMeas> calcMonoMeas(const Eigen::Vector3d& pf, co...
method calcStereoMeas (line 114) | std::shared_ptr<StereoMeas> calcStereoMeas(const Eigen::Vector3d& pf...
function TEST_F (line 133) | TEST_F(TestTriangulator, monoTriangulate)
function TEST_F (line 156) | TEST_F(TestTriangulator, stereoTriangulate)
function main (line 181) | int main(int argc, char** argv)
Condensed preview — 144 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (1,083K chars).
[
{
"path": ".gitignore",
"chars": 8,
"preview": "*.kdev4\n"
},
{
"path": "README.md",
"chars": 6504,
"preview": "# InGVIO\n\nAn invariant filter for visual-inertial-raw GNSS fusion.\n\n**Paper:** InGVIO: A Consistent Invariant Filter For"
},
{
"path": "camera_model/CMakeLists.txt",
"chars": 1060,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(camera_model)\n\nset(CMAKE_BUILD_TYPE \"Release\")\nset(CMAKE_CXX_FLAGS \"${CMAK"
},
{
"path": "camera_model/LICENSE",
"chars": 35149,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
},
{
"path": "camera_model/include/MeiCamera.h",
"chars": 6425,
"preview": "/** This File is part of Camera Model\r\n * \r\n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\r\n * "
},
{
"path": "camera_model/include/PinholeCamera.h",
"chars": 6062,
"preview": "/** This File is part of Camera Model\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/include/camera.h",
"chars": 4295,
"preview": "/** This File is part Camera Model\n * \n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/include/camera_factory.h",
"chars": 1586,
"preview": "/** This File is part of Camera Model\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/package.xml",
"chars": 1419,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>camera_model</name>\n <version>0.0.0</version>\n <description>The camera_model p"
},
{
"path": "camera_model/src/MeiCamera.cpp",
"chars": 16852,
"preview": "/** This File is part of Camera Model\n * \n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/src/PinholeCamera.cpp",
"chars": 16511,
"preview": "/** This File is part of Camera Model\n * \n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/src/camera.cpp",
"chars": 3558,
"preview": "/** This File is part of Camera Model\n * \n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/src/camera_factory.cpp",
"chars": 4334,
"preview": "/** This File is part of Camera Model\n * \n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "camera_model/test/CMakeLists.txt",
"chars": 277,
"preview": "# find_package(GTest REQUIRED)\n# include_directories(${GTEST_INCLUDE_DIRS})\n\n# add each test source file and executable "
},
{
"path": "config/fw_zed2i_f9p/ingvio_mono.yaml",
"chars": 1586,
"preview": "%YAML:1.0\n# config for fw_zed2i_f9p\n\nimu_topic: \"/imu0\"\nfeature_topic: \"/mono_tracker/mono_feature\"\n\ncam_nums: 1\ncam_lef"
},
{
"path": "config/fw_zed2i_f9p/ingvio_stereo.yaml",
"chars": 1695,
"preview": "%YAML:1.0\n# config for fw_zed2i_f9p\n\nimu_topic: \"/imu0\"\nfeature_topic: \"/stereo_tracker/stereo_feature\"\n\ncam_nums: 2\ncam"
},
{
"path": "config/fw_zed2i_f9p/mono_config.yaml",
"chars": 1576,
"preview": "%YAML:1.0\n# config for fw_zed2i_f9p\n\n# common parameters\nimu_topic: \"/imu0\"\nimage_topic: \"/cam0/image_raw\"\n\n# intrinsic\n"
},
{
"path": "config/fw_zed2i_f9p/stereo_left_config.yaml",
"chars": 1611,
"preview": "%YAML:1.0\n# config for fw_zed2i_f9p\n\n#topic parameters\nimu_topic: \"/imu0\"\ncam_left_topic: \"/cam0/image_raw\"\ncam_right_to"
},
{
"path": "config/fw_zed2i_f9p/stereo_right_config.yaml",
"chars": 882,
"preview": "%YAML:1.0\n# config for fw_zed2i_f9p\n\n# intrinsic\nmodel_type: PINHOLE\ncamera_name: cam1\nimage_width: 1280\nimage_height: 7"
},
{
"path": "config/sportsfield/ingvio_mono.yaml",
"chars": 1578,
"preview": "%YAML:1.0\n# config for sportsfield\n\nimu_topic: \"/imu0\"\nfeature_topic: \"/mono_tracker/mono_feature\"\n\ncam_nums: 1\ncam_left"
},
{
"path": "config/sportsfield/ingvio_stereo.yaml",
"chars": 1684,
"preview": "%YAML:1.0\n# config for sportsfield\n\nimu_topic: \"/imu0\"\nfeature_topic: \"/stereo_tracker/stereo_feature\"\n\ncam_nums: 2\ncam_"
},
{
"path": "config/sportsfield/mono_config.yaml",
"chars": 1614,
"preview": "%YAML:1.0\n# config for sportsfield\n\n# common parameters\nimu_topic: \"/imu0\"\nimage_topic: \"/cam1/image_raw\"\n\n# camera cali"
},
{
"path": "config/sportsfield/stereo_left_config.yaml",
"chars": 1642,
"preview": "%YAML:1.0\n# config for sportsfield\n\n#topic parameters\nimu_topic: \"/imu0\"\ncam_left_topic: \"/cam1/image_raw\"\ncam_right_top"
},
{
"path": "config/sportsfield/stereo_right_config.yaml",
"chars": 916,
"preview": "%YAML:1.0\n# config for sportsfield\n\n# intrinsic\nmodel_type: MEI\ncamera_name: cam0\nimage_width: 752\nimage_height: 480\nmir"
},
{
"path": "feature_tracker/CMakeLists.txt",
"chars": 1125,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(feature_tracker)\n\nset(CMAKE_BUILD_TYPE \"Release\")\nset(CMAKE_CXX_FLAGS \"-st"
},
{
"path": "feature_tracker/LICENSE",
"chars": 35149,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
},
{
"path": "feature_tracker/include/Color.h",
"chars": 1624,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/mono_parameters.h",
"chars": 2251,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/mono_tracker.h",
"chars": 3834,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/random_pair.hpp",
"chars": 2406,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/stereo_parameters.h",
"chars": 2410,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/stereo_tracker.h",
"chars": 6813,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/include/tic_toc.hpp",
"chars": 1683,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/launch/sportsfield/mono_tracker_sf.launch",
"chars": 312,
"preview": "<launch>\n <arg name=\"config_path\" default = \"$(find feature_tracker)/../config/sportsfield/mono_config.yaml\" />\n \n"
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{
"path": "feature_tracker/launch/sportsfield/stereo_tracker_sf.launch",
"chars": 547,
"preview": "<launch>\n <arg name=\"config_path_left\" default = \"$(find feature_tracker)/../config/sportsfield/stereo_left_config.ya"
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{
"path": "feature_tracker/msg/MonoFrame.msg",
"chars": 48,
"preview": "std_msgs/Header header\nMonoMeas[] mono_features\n"
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{
"path": "feature_tracker/msg/MonoMeas.msg",
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"preview": "uint64 id\nfloat64 u0\nfloat64 v0\n"
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{
"path": "feature_tracker/msg/StereoFrame.msg",
"chars": 52,
"preview": "std_msgs/Header header\nStereoMeas[] stereo_features\n"
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"path": "feature_tracker/msg/StereoMeas.msg",
"chars": 54,
"preview": "uint64 id\nfloat64 u0\nfloat64 v0\nfloat64 u1\nfloat64 v1\n"
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"path": "feature_tracker/package.xml",
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"preview": "<?xml version=\"1.0\"?>\n<package format=\"2\">\n <name>feature_tracker</name>\n <version>0.0.0</version>\n <description>The "
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{
"path": "feature_tracker/src/mono_parameters.cpp",
"chars": 2475,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
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"path": "feature_tracker/src/mono_tracker.cpp",
"chars": 13585,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
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"chars": 1465,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
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"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
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"path": "feature_tracker/src/stereo_tracker.cpp",
"chars": 24846,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "feature_tracker/src/stereo_tracker_node.cpp",
"chars": 1291,
"preview": "/** This File is part of Feature Tracker\n * \n * Copyright (C) 2022 Changwu Liu (cwliu529@163.com,\n * "
},
{
"path": "gnss_comm/.gitignore",
"chars": 8,
"preview": ".vscode/"
},
{
"path": "gnss_comm/CMakeLists.txt",
"chars": 1467,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(gnss_comm)\n\nset(CMAKE_BUILD_TYPE \"release\")\nset(CMAKE_CXX_FLAGS \"-std=c++1"
},
{
"path": "gnss_comm/LICENSE",
"chars": 35149,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
},
{
"path": "gnss_comm/README.md",
"chars": 2443,
"preview": "# gnss_comm\n\n**Authors/Maintainers:** CAO Shaozu (shaozu.cao AT gmail.com)\n\nThe *gnss_comm* package contains basic defin"
},
{
"path": "gnss_comm/cmake/FindEigen.cmake",
"chars": 7887,
"preview": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ce"
},
{
"path": "gnss_comm/cmake/FindGlog.cmake",
"chars": 17466,
"preview": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ce"
},
{
"path": "gnss_comm/docker/Dockerfile",
"chars": 1150,
"preview": "FROM ros:kinetic-perception\n\nENV EIGEN_VERSION=\"3.3.3\"\nENV CATKIN_WS=/root/catkin_ws\n\n # set up thread number for b"
},
{
"path": "gnss_comm/docker/Makefile",
"chars": 277,
"preview": "all: help\n\nhelp:\n\t@echo \"\"\n\t@echo \"-- Help Menu\"\n\t@echo \"\"\n\t@echo \" 1. make build - build all images\"\n\t@e"
},
{
"path": "gnss_comm/include/gnss_comm/gnss_constant.hpp",
"chars": 23331,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/include/gnss_comm/gnss_ros.hpp",
"chars": 5782,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/include/gnss_comm/gnss_spp.hpp",
"chars": 5778,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/include/gnss_comm/gnss_utility.hpp",
"chars": 19488,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/include/gnss_comm/rinex_helper.hpp",
"chars": 3356,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/msg/GnssBestXYZMsg.msg",
"chars": 99,
"preview": "Header header\nfloat64[] pos\nfloat64[] pos_sigma\nfloat64[] vel\nfloat64[] vel_sigma\nuint32 num_svs"
},
{
"path": "gnss_comm/msg/GnssEphemMsg.msg",
"chars": 487,
"preview": "# This message contains GPS, Galileo and BeiDou ephemeris data\n\nuint32 sat\nGnssTimeMsg ttr\nGnssTimeMsg toe\nGnssTimeMsg t"
},
{
"path": "gnss_comm/msg/GnssGloEphemMsg.msg",
"chars": 326,
"preview": "# This message contains GLONASS ephemeris data\n\nuint32 sat\nGnssTimeMsg ttr\nGnssTimeMsg toe\nint32 freqo\nuint32 iode\nuint"
},
{
"path": "gnss_comm/msg/GnssMeasMsg.msg",
"chars": 90,
"preview": "# This message contains one-epoch measurements from multiple satellites\n\nGnssObsMsg[] meas"
},
{
"path": "gnss_comm/msg/GnssObsMsg.msg",
"chars": 861,
"preview": "# This message contains one-epoch measurements from one single satellite\n\nGnssTimeMsg time # measurement time\nuint32 "
},
{
"path": "gnss_comm/msg/GnssPVTSolnMsg.msg",
"chars": 1102,
"preview": "# This message contains information of UBX-NAV-PVT message. \n# reference: [1]. UBX-18010854-R08, page 132\n\nGnssTimeMsg t"
},
{
"path": "gnss_comm/msg/GnssSvsMsg.msg",
"chars": 133,
"preview": "Header header\nuint32[] sat\nuint32[] freqo\nbool[] health\nfloat64[] elev_degree\nfloat64[] az_degree\nuint32["
},
{
"path": "gnss_comm/msg/GnssTimeMsg.msg",
"chars": 132,
"preview": "# This message contains GNSS time expressed in the form of \n# GNSS week number and time of week(in seconds)\n\nuint32 week"
},
{
"path": "gnss_comm/msg/GnssTimePulseInfoMsg.msg",
"chars": 305,
"preview": "# This message contains information of UBX-TIM-TP message. \n# reference: [1]. UBX-18010854-R08, page 156\n\nGnssTimeMsg ti"
},
{
"path": "gnss_comm/msg/StampedFloat64Array.msg",
"chars": 69,
"preview": "# A list of float values with timestamp\n\nHeader header\nfloat64[] data"
},
{
"path": "gnss_comm/package.xml",
"chars": 752,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>gnss_comm</name>\n <version>1.0.0</version>\n <description>Definitions and utili"
},
{
"path": "gnss_comm/src/gnss_ros.cpp",
"chars": 12846,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/src/gnss_spp.cpp",
"chars": 16178,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/src/gnss_utility.cpp",
"chars": 42122,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "gnss_comm/src/rinex_helper.cpp",
"chars": 28313,
"preview": "/**\n* This file is part of gnss_comm.\n*\n* Copyright (C) 2021 Aerial Robotics Group, Hong Kong University of Science and "
},
{
"path": "ingvio_estimator/CMakeLists.txt",
"chars": 1173,
"preview": "cmake_minimum_required(VERSION 3.16)\nproject(ingvio_estimator)\n\nset(CMAKE_CXX_STANDARD 14)\nset(CMAKE_CXX_STANDARD_REQUIR"
},
{
"path": "ingvio_estimator/LICENSE",
"chars": 35149,
"preview": " GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free "
},
{
"path": "ingvio_estimator/README.md",
"chars": 6371,
"preview": "# InGVIO\n\nAn invariant filter for visual-inertial-raw GNSS fusion.\n\n**Paper:** InGVIO: A Consistent Invariant Filter For"
},
{
"path": "ingvio_estimator/cmake/FindSuiteSparse.cmake",
"chars": 21946,
"preview": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ce"
},
{
"path": "ingvio_estimator/cmake/ROS1.cmake",
"chars": 4548,
"preview": "cmake_minimum_required(VERSION 3.16)\n\nfind_package(catkin QUIET COMPONENTS\n roscpp\n roslib\n std_msgs\n messag"
},
{
"path": "ingvio_estimator/launch/ingvio_mono_fw.launch",
"chars": 747,
"preview": "<launch>\n <arg name=\"cam_config_path\" default = \"$(find feature_tracker)/../config/fw_zed2i_f9p/mono_config.yaml\" />\n"
},
{
"path": "ingvio_estimator/launch/ingvio_mono_fw_record.launch",
"chars": 656,
"preview": "<launch>\n <include file = \"$(find ingvio_estimator)/launch/ingvio_mono_fw.launch\" />\n \n <arg name = \"is_record_"
},
{
"path": "ingvio_estimator/launch/ingvio_mono_sf.launch",
"chars": 745,
"preview": "<launch>\n <arg name=\"cam_config_path\" default = \"$(find feature_tracker)/../config/sportsfield/mono_config.yaml\" />\n "
},
{
"path": "ingvio_estimator/launch/ingvio_mono_sf_record.launch",
"chars": 653,
"preview": "<launch>\n <include file = \"$(find ingvio_estimator)/launch/ingvio_mono_sf.launch\" />\n \n <arg name = \"is_record_"
},
{
"path": "ingvio_estimator/launch/ingvio_stereo_fw.launch",
"chars": 996,
"preview": "<launch>\n <arg name=\"cam_config_path_left\" default = \"$(find feature_tracker)/../config/fw_zed2i_f9p/stereo_left_conf"
},
{
"path": "ingvio_estimator/launch/ingvio_stereo_fw_record.launch",
"chars": 659,
"preview": "<launch>\n <include file = \"$(find ingvio_estimator)/launch/ingvio_stereo_fw.launch\" />\n \n <arg name = \"is_recor"
},
{
"path": "ingvio_estimator/launch/ingvio_stereo_sf.launch",
"chars": 993,
"preview": "<launch>\n <arg name=\"cam_config_path_left\" default = \"$(find feature_tracker)/../config/sportsfield/stereo_left_confi"
},
{
"path": "ingvio_estimator/launch/ingvio_stereo_sf_record.launch",
"chars": 656,
"preview": "<launch>\n <include file = \"$(find ingvio_estimator)/launch/ingvio_stereo_sf.launch\" />\n \n <arg name = \"is_recor"
},
{
"path": "ingvio_estimator/package.xml",
"chars": 1407,
"preview": "<?xml version=\"1.0\"?>\n<package format=\"3\">\n \n <name>ingvio_estimator</name>\n <version>1.0.0</version>\n <desc"
},
{
"path": "ingvio_estimator/rviz/ingvio_mono.rviz",
"chars": 7335,
"preview": "Panels:\n - Class: rviz/Displays\n Help Height: 0\n Name: Displays\n Property Tree Widget:\n Expanded:\n "
},
{
"path": "ingvio_estimator/rviz/ingvio_stereo.rviz",
"chars": 7349,
"preview": "Panels:\n - Class: rviz/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n "
},
{
"path": "ingvio_estimator/src/AnchoredLandmark.cpp",
"chars": 8629,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n* inertial-raw GNSS navigation. \n* \n"
},
{
"path": "ingvio_estimator/src/AnchoredLandmark.h",
"chars": 3565,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/AuxGammaFunc.cpp",
"chars": 7126,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/AuxGammaFunc.h",
"chars": 1619,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/Color.h",
"chars": 1698,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssData.cpp",
"chars": 1475,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssData.h",
"chars": 1693,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssManager.cpp",
"chars": 5258,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssManager.h",
"chars": 2319,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssProcessor.cpp",
"chars": 8161,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssSync.cpp",
"chars": 7944,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssSync.h",
"chars": 3956,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssUpdate.cpp",
"chars": 21433,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GnssUpdate.h",
"chars": 3943,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/GvioAligner.cpp",
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},
{
"path": "ingvio_estimator/src/GvioAligner.h",
"chars": 3656,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/ImuPropagator.cpp",
"chars": 13741,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/ImuPropagator.h",
"chars": 5930,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/IngvioFilter.cpp",
"chars": 18977,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/IngvioFilter.h",
"chars": 4306,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/IngvioNode.cpp",
"chars": 1379,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/IngvioParams.cpp",
"chars": 12408,
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},
{
"path": "ingvio_estimator/src/IngvioParams.h",
"chars": 4338,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/KeyframeUpdate.cpp",
"chars": 29024,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/KeyframeUpdate.h",
"chars": 4404,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/LandmarkUpdate.cpp",
"chars": 41164,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/LandmarkUpdate.h",
"chars": 6028,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/MapServer.cpp",
"chars": 2645,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/MapServer.h",
"chars": 4039,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/MapServerManager.cpp",
"chars": 18767,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/MapServerManager.h",
"chars": 5671,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/PoseState.cpp",
"chars": 7422,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/PoseState.h",
"chars": 6914,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/RemoveLostUpdate.cpp",
"chars": 21535,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/RemoveLostUpdate.h",
"chars": 2963,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/State.cpp",
"chars": 9224,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
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"path": "ingvio_estimator/src/State.h",
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"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
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{
"path": "ingvio_estimator/src/StateManager.cpp",
"chars": 29542,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
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{
"path": "ingvio_estimator/src/StateManager.h",
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"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/SwMargUpdate.cpp",
"chars": 28840,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
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"path": "ingvio_estimator/src/SwMargUpdate.h",
"chars": 4707,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/TicToc.h",
"chars": 1715,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/Triangulator.cpp",
"chars": 13360,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
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{
"path": "ingvio_estimator/src/Triangulator.h",
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{
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"path": "ingvio_estimator/src/Update.h",
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"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/VecState.cpp",
"chars": 1911,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/src/VecState.h",
"chars": 3546,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/test/GenerateNoise.cpp",
"chars": 1842,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/test/GenerateNoise.h",
"chars": 1160,
"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
},
{
"path": "ingvio_estimator/test/TestMapServer.cpp",
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{
"path": "ingvio_estimator/test/TestPropagator.cpp",
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{
"path": "ingvio_estimator/test/TestStateManager.cpp",
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"preview": "/** This File is part of InGVIO, an invariant filter for mono/stereo visual-\n * inertial-raw GNSS navigation. \n * "
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{
"path": "ingvio_estimator/test/TestTriangulator.cpp",
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}
]
About this extraction
This page contains the full source code of the ChangwuLiu/InGVIO GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 144 files (1019.3 KB), approximately 271.3k tokens, and a symbol index with 240 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.