diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..c40dc14 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,288 @@ +cmake_minimum_required(VERSION 3.6) +project(VINS_Fusion) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +set(SOURCE_FILES + camera_models/camera_calib_example/calibrationdata/left-0000.png + camera_models/camera_calib_example/calibrationdata/left-0001.png + camera_models/camera_calib_example/calibrationdata/left-0002.png + camera_models/camera_calib_example/calibrationdata/left-0003.png + camera_models/camera_calib_example/calibrationdata/left-0004.png + camera_models/camera_calib_example/calibrationdata/left-0005.png + camera_models/camera_calib_example/calibrationdata/left-0006.png + camera_models/camera_calib_example/calibrationdata/left-0007.png + camera_models/camera_calib_example/calibrationdata/left-0008.png + camera_models/camera_calib_example/calibrationdata/left-0009.png + 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camera_models/include/camodocal/chessboard/Chessboard.h + camera_models/include/camodocal/chessboard/ChessboardCorner.h + camera_models/include/camodocal/chessboard/ChessboardQuad.h + camera_models/include/camodocal/chessboard/Spline.h + camera_models/include/camodocal/gpl/EigenQuaternionParameterization.h + camera_models/include/camodocal/gpl/EigenUtils.h + camera_models/include/camodocal/gpl/gpl.h + camera_models/include/camodocal/sparse_graph/Transform.h + camera_models/src/calib/CameraCalibration.cc + camera_models/src/camera_models/Camera.cc + camera_models/src/camera_models/CameraFactory.cc + camera_models/src/camera_models/CataCamera.cc + camera_models/src/camera_models/CostFunctionFactory.cc + camera_models/src/camera_models/EquidistantCamera.cc + camera_models/src/camera_models/PinholeCamera.cc + camera_models/src/camera_models/PinholeFullCamera.cc + camera_models/src/camera_models/ScaramuzzaCamera.cc + camera_models/src/chessboard/Chessboard.cc + 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config/kitti_odom/kitti_config13-21.yaml + config/kitti_raw/cam_09_30.yaml + config/kitti_raw/cam_10_03.yaml + config/kitti_raw/kitti_09_30_config.yaml + config/kitti_raw/kitti_10_03_config.yaml + config/mynteye/left_mei.yaml + config/mynteye/mynteye_mono_imu_config.yaml + config/mynteye/mynteye_stereo_config.yaml + config/mynteye/mynteye_stereo_imu_config.yaml + config/mynteye/right_mei.yaml + config/simulation/cam0_mei.yaml + config/simulation/cam1_mei.yaml + config/simulation/simulation_config.yaml + config/vi_car/cam0_mei.yaml + config/vi_car/cam0_pinhole.yaml + config/vi_car/cam1_mei.yaml + config/vi_car/cam1_pinhole.yaml + config/vi_car/vi_car.yaml + config/extrinsic_parameter_example.pdf + config/fisheye_mask.jpg + config/fisheye_mask_752x480.jpg + config/vins_rviz_config.rviz + global_fusion/models/car.dae + global_fusion/models/hummingbird.mesh + global_fusion/src/Factors.h + global_fusion/src/globalOpt.cpp + global_fusion/src/globalOpt.h + global_fusion/src/globalOptNode.cpp + global_fusion/src/tic_toc.h + global_fusion/ThirdParty/GeographicLib/include/Config.h + global_fusion/ThirdParty/GeographicLib/include/Constants.hpp + global_fusion/ThirdParty/GeographicLib/include/Geocentric.hpp + global_fusion/ThirdParty/GeographicLib/include/LocalCartesian.hpp + global_fusion/ThirdParty/GeographicLib/include/Math.hpp + global_fusion/ThirdParty/GeographicLib/src/Geocentric.cpp + global_fusion/ThirdParty/GeographicLib/src/LocalCartesian.cpp + global_fusion/ThirdParty/GeographicLib/src/Math.cpp + global_fusion/ThirdParty/GeographicLib/CMakeLists.txt + global_fusion/CMakeLists.txt + global_fusion/package.xml + loop_fusion/cmake/FindEigen.cmake + loop_fusion/src/ThirdParty/DBoW/BowVector.cpp + loop_fusion/src/ThirdParty/DBoW/BowVector.h + loop_fusion/src/ThirdParty/DBoW/DBoW2.h + loop_fusion/src/ThirdParty/DBoW/FBrief.cpp + loop_fusion/src/ThirdParty/DBoW/FBrief.h + loop_fusion/src/ThirdParty/DBoW/FClass.h + loop_fusion/src/ThirdParty/DBoW/FeatureVector.cpp + loop_fusion/src/ThirdParty/DBoW/FeatureVector.h + loop_fusion/src/ThirdParty/DBoW/QueryResults.cpp + loop_fusion/src/ThirdParty/DBoW/QueryResults.h + loop_fusion/src/ThirdParty/DBoW/ScoringObject.cpp + loop_fusion/src/ThirdParty/DBoW/ScoringObject.h + loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h + loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h + loop_fusion/src/ThirdParty/DUtils/DException.h + loop_fusion/src/ThirdParty/DUtils/DUtils.h + loop_fusion/src/ThirdParty/DUtils/Random.cpp + loop_fusion/src/ThirdParty/DUtils/Random.h + loop_fusion/src/ThirdParty/DUtils/Timestamp.cpp + loop_fusion/src/ThirdParty/DUtils/Timestamp.h + loop_fusion/src/ThirdParty/DVision/BRIEF.cpp + loop_fusion/src/ThirdParty/DVision/BRIEF.h + loop_fusion/src/ThirdParty/DVision/DVision.h + loop_fusion/src/ThirdParty/VocabularyBinary.cpp + loop_fusion/src/ThirdParty/VocabularyBinary.hpp + loop_fusion/src/utility/CameraPoseVisualization.cpp + loop_fusion/src/utility/CameraPoseVisualization.h + loop_fusion/src/utility/tic_toc.h + loop_fusion/src/utility/utility.cpp + loop_fusion/src/utility/utility.h + loop_fusion/src/keyframe.cpp + loop_fusion/src/keyframe.h + loop_fusion/src/parameters.h + loop_fusion/src/pose_graph.cpp + loop_fusion/src/pose_graph.h + loop_fusion/src/pose_graph_node.cpp + loop_fusion/CMakeLists.txt + loop_fusion/package.xml + support_files/image/car.png + support_files/image/car_gif.gif + support_files/image/euroc.gif + support_files/image/kitti.gif + support_files/image/kitti.png + support_files/image/kitti_rank.png + support_files/image/vins.png + support_files/image/vins_black.png + support_files/image/vins_logo.png + "support_files/paper/VINS-Mono: A Robust and Versatile Monocular\nVisual-Inertial State Estimator.pdf" + support_files/brief_k10L6.bin + support_files/brief_pattern.yml + support_files/paper_bib.txt + vins_estimator/cmake/FindEigen.cmake + vins_estimator/launch/vins_rviz.launch + vins_estimator/src/estimator/estimator.cpp + vins_estimator/src/estimator/estimator.h + vins_estimator/src/estimator/feature_manager.cpp + vins_estimator/src/estimator/feature_manager.h + vins_estimator/src/estimator/parameters.cpp + vins_estimator/src/estimator/parameters.h + vins_estimator/src/factor/imu_factor.h + vins_estimator/src/factor/initial_bias_factor.h + vins_estimator/src/factor/initial_pose_factor.h + vins_estimator/src/factor/integration_base.h + vins_estimator/src/factor/marginalization_factor.cpp + vins_estimator/src/factor/marginalization_factor.h + vins_estimator/src/factor/pose_local_parameterization.cpp + vins_estimator/src/factor/pose_local_parameterization.h + vins_estimator/src/factor/projection_factor.cpp + vins_estimator/src/factor/projection_factor.h + vins_estimator/src/factor/projectionOneFrameTwoCamFactor.cpp + vins_estimator/src/factor/projectionOneFrameTwoCamFactor.h + vins_estimator/src/factor/projectionTwoFrameOneCamFactor.cpp + vins_estimator/src/factor/projectionTwoFrameOneCamFactor.h + vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cpp + vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.h + vins_estimator/src/featureTracker/feature_tracker.cpp + vins_estimator/src/featureTracker/feature_tracker.h + vins_estimator/src/initial/initial_aligment.cpp + vins_estimator/src/initial/initial_alignment.h + vins_estimator/src/initial/initial_ex_rotation.cpp + vins_estimator/src/initial/initial_ex_rotation.h + vins_estimator/src/initial/initial_sfm.cpp + vins_estimator/src/initial/initial_sfm.h + vins_estimator/src/initial/solve_5pts.cpp + vins_estimator/src/initial/solve_5pts.h + vins_estimator/src/utility/CameraPoseVisualization.cpp + vins_estimator/src/utility/CameraPoseVisualization.h + vins_estimator/src/utility/tic_toc.h + vins_estimator/src/utility/utility.cpp + vins_estimator/src/utility/utility.h + vins_estimator/src/utility/visualization.cpp + vins_estimator/src/utility/visualization.h + vins_estimator/src/KITTIGPSTest.cpp + vins_estimator/src/KITTIOdomTest.cpp + vins_estimator/src/rosNodeTest.cpp + vins_estimator/CMakeLists.txt + vins_estimator/package.xml + LICENCE + README.md) + +add_executable(VINS_Fusion ${SOURCE_FILES}) \ No newline at end of file diff --git a/LICENCE b/LICENCE new file mode 100644 index 0000000..9cecc1d --- /dev/null +++ b/LICENCE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff --git a/camera_models/CMakeLists.txt b/camera_models/CMakeLists.txt new file mode 100644 index 0000000..3b61190 --- /dev/null +++ b/camera_models/CMakeLists.txt @@ -0,0 +1,68 @@ +cmake_minimum_required(VERSION 2.8.3) +project(camera_models) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC") + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + ) + +find_package(Boost REQUIRED COMPONENTS filesystem program_options system) +include_directories(${Boost_INCLUDE_DIRS}) + +find_package(OpenCV REQUIRED) + +# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3") +find_package(Ceres REQUIRED) +include_directories(${CERES_INCLUDE_DIRS}) + + +catkin_package( + INCLUDE_DIRS include + LIBRARIES camera_models + CATKIN_DEPENDS roscpp std_msgs +# DEPENDS system_lib + ) + +include_directories( + ${catkin_INCLUDE_DIRS} + ) + +include_directories("include") + +add_executable(Calibrations + src/intrinsic_calib.cc + src/chessboard/Chessboard.cc + src/calib/CameraCalibration.cc + src/camera_models/Camera.cc + src/camera_models/CameraFactory.cc + src/camera_models/CostFunctionFactory.cc + src/camera_models/PinholeCamera.cc + src/camera_models/PinholeFullCamera.cc + src/camera_models/CataCamera.cc + src/camera_models/EquidistantCamera.cc + src/camera_models/ScaramuzzaCamera.cc + src/sparse_graph/Transform.cc + src/gpl/gpl.cc + src/gpl/EigenQuaternionParameterization.cc) + +add_library(camera_models + src/chessboard/Chessboard.cc + src/calib/CameraCalibration.cc + src/camera_models/Camera.cc + src/camera_models/CameraFactory.cc + src/camera_models/CostFunctionFactory.cc + src/camera_models/PinholeCamera.cc + src/camera_models/PinholeFullCamera.cc + src/camera_models/CataCamera.cc + src/camera_models/EquidistantCamera.cc + src/camera_models/ScaramuzzaCamera.cc + src/sparse_graph/Transform.cc + src/gpl/gpl.cc + src/gpl/EigenQuaternionParameterization.cc) + +target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) +target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/camera_models/camera_calib_example/calibrationdata/left-0000.png b/camera_models/camera_calib_example/calibrationdata/left-0000.png new file mode 100644 index 0000000..2fc0de4 Binary files /dev/null and b/camera_models/camera_calib_example/calibrationdata/left-0000.png differ diff --git a/camera_models/camera_calib_example/calibrationdata/left-0001.png b/camera_models/camera_calib_example/calibrationdata/left-0001.png new file mode 100644 index 0000000..89a5d7e Binary files /dev/null and b/camera_models/camera_calib_example/calibrationdata/left-0001.png differ diff --git a/camera_models/camera_calib_example/calibrationdata/left-0002.png b/camera_models/camera_calib_example/calibrationdata/left-0002.png new file mode 100644 index 0000000..12dae33 Binary files /dev/null and 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+1,15 @@ +%YAML:1.0 +--- +model_type: KANNALA_BRANDT +camera_name: camera +image_width: 752 +image_height: 480 +projection_parameters: + k2: 3.0514929333970435e-03 + k3: 1.1408907470112554e-02 + k4: -1.8120028556338826e-02 + k5: 1.3690329192990333e-02 + mu: 4.6936828350396729e+02 + mv: 4.7009150903673395e+02 + u0: 3.5252230051016619e+02 + v0: 2.2951671053317494e+02 diff --git a/camera_models/camera_calib_example/kannala-brandt_result/camera_chessboard_data.dat b/camera_models/camera_calib_example/kannala-brandt_result/camera_chessboard_data.dat new file mode 100644 index 0000000..97ff434 Binary files /dev/null and b/camera_models/camera_calib_example/kannala-brandt_result/camera_chessboard_data.dat differ diff --git a/camera_models/camera_calib_example/mei_result/camera_camera_calib.yaml b/camera_models/camera_calib_example/mei_result/camera_camera_calib.yaml new file mode 100644 index 0000000..4937b7b --- /dev/null +++ b/camera_models/camera_calib_example/mei_result/camera_camera_calib.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 1.8087217573513699e+00 +distortion_parameters: + k1: -5.5722149398730970e-02 + k2: 5.2830313708627064e-01 + p1: -3.5759477628336721e-04 + p2: -2.5507955155386390e-04 +projection_parameters: + gamma1: 1.3182310349674190e+03 + gamma2: 1.3201698352651651e+03 + u0: 3.5263370550000445e+02 + v0: 2.2968719113611769e+02 diff --git a/camera_models/camera_calib_example/mei_result/camera_chessboard_data.dat b/camera_models/camera_calib_example/mei_result/camera_chessboard_data.dat new file mode 100644 index 0000000..30f9ac7 Binary files /dev/null and b/camera_models/camera_calib_example/mei_result/camera_chessboard_data.dat differ diff --git a/camera_models/camera_calib_example/pinhole_result/camera_camera_calib.yaml b/camera_models/camera_calib_example/pinhole_result/camera_camera_calib.yaml new file mode 100644 index 0000000..23db253 --- /dev/null +++ b/camera_models/camera_calib_example/pinhole_result/camera_camera_calib.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 752 +image_height: 480 +distortion_parameters: + k1: -2.9839715720368004e-01 + k2: 9.2224519780383304e-02 + p1: -1.1990340691398964e-04 + p2: -7.4597868881593333e-05 +projection_parameters: + fx: 4.6894439430045270e+02 + fy: 4.6967991177317379e+02 + cx: 3.5308385782265555e+02 + cy: 2.2974410036894824e+02 diff --git a/camera_models/camera_calib_example/pinhole_result/camera_chessboard_data.dat b/camera_models/camera_calib_example/pinhole_result/camera_chessboard_data.dat new file mode 100644 index 0000000..915eddf Binary files /dev/null and b/camera_models/camera_calib_example/pinhole_result/camera_chessboard_data.dat differ diff --git a/camera_models/camera_calib_example/readme.txt b/camera_models/camera_calib_example/readme.txt new file mode 100644 index 0000000..f249647 --- /dev/null +++ b/camera_models/camera_calib_example/readme.txt @@ -0,0 +1,8 @@ +# help for checking input parameters. +rosrun camera_models Calibrations --help + +# example pinhole model. +rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model pinhole + +# example mei model. +rosrun camera_models Calibrations -w 12 -h 8 -s 80 -i calibrationdata --camera-model mei diff --git a/camera_models/cmake/FindEigen.cmake b/camera_models/cmake/FindEigen.cmake new file mode 100644 index 0000000..cdeb305 --- /dev/null +++ b/camera_models/cmake/FindEigen.cmake @@ -0,0 +1,172 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2015 Google Inc. All rights reserved. +# http://ceres-solver.org/ +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Google Inc. nor the names of its contributors may be +# used to endorse or promote products derived from this software without +# specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindEigen.cmake - Find Eigen library, version >= 3. +# +# This module defines the following variables: +# +# EIGEN_FOUND: TRUE iff Eigen is found. +# EIGEN_INCLUDE_DIRS: Include directories for Eigen. +# +# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h +# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 +# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 +# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 +# +# The following variables control the behaviour of this module: +# +# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for eigen includes, e.g: /timbuktu/eigen3. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the +# include directory of any dependencies. + +# Called if we failed to find Eigen or any of it's required dependencies, +# unsets all public (designed to be used externally) variables and reports +# error message at priority depending upon [REQUIRED/QUIET/] argument. +macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) + unset(EIGEN_FOUND) + unset(EIGEN_INCLUDE_DIRS) + # Make results of search visible in the CMake GUI if Eigen has not + # been found so that user does not have to toggle to advanced view. + mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) + # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + if (Eigen_FIND_QUIETLY) + message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + elseif (Eigen_FIND_REQUIRED) + message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + else() + # Neither QUIETLY nor REQUIRED, use no priority which emits a message + # but continues configuration and allows generation. + message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + endif () + return() +endmacro(EIGEN_REPORT_NOT_FOUND) + +# Protect against any alternative find_package scripts for this library having +# been called previously (in a client project) which set EIGEN_FOUND, but not +# the other variables we require / set here which could cause the search logic +# here to fail. +unset(EIGEN_FOUND) + +# Search user-installed locations first, so that we prefer user installs +# to system installs where both exist. +list(APPEND EIGEN_CHECK_INCLUDE_DIRS + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include + /usr/include) +# Additional suffixes to try appending to each search path. +list(APPEND EIGEN_CHECK_PATH_SUFFIXES + eigen3 # Default root directory for Eigen. + Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 + Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 + +# Search supplied hint directories first if supplied. +find_path(EIGEN_INCLUDE_DIR + NAMES Eigen/Core + PATHS ${EIGEN_INCLUDE_DIR_HINTS} + ${EIGEN_CHECK_INCLUDE_DIRS} + PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) + +if (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + eigen_report_not_found( + "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " + "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") +endif (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + +# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets +# if called. +set(EIGEN_FOUND TRUE) + +# Extract Eigen version from Eigen/src/Core/util/Macros.h +if (EIGEN_INCLUDE_DIR) + set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) + if (NOT EXISTS ${EIGEN_VERSION_FILE}) + eigen_report_not_found( + "Could not find file: ${EIGEN_VERSION_FILE} " + "containing version information in Eigen install located at: " + "${EIGEN_INCLUDE_DIR}.") + else (NOT EXISTS ${EIGEN_VERSION_FILE}) + file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) + + string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" + EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" + EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") + + string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" + EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" + EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") + + string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" + EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" + EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 3.;2.;0 nonsense. + set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") + endif (NOT EXISTS ${EIGEN_VERSION_FILE}) +endif (EIGEN_INCLUDE_DIR) + +# Set standard CMake FindPackage variables if found. +if (EIGEN_FOUND) + set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) +endif (EIGEN_FOUND) + +# Handle REQUIRED / QUIET optional arguments and version. +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen + REQUIRED_VARS EIGEN_INCLUDE_DIRS + VERSION_VAR EIGEN_VERSION) + +# Only mark internal variables as advanced if we found Eigen, otherwise +# leave it visible in the standard GUI for the user to set manually. +if (EIGEN_FOUND) + mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) +endif (EIGEN_FOUND) diff --git a/camera_models/include/camodocal/calib/CameraCalibration.h b/camera_models/include/camodocal/calib/CameraCalibration.h new file mode 100644 index 0000000..ac80f69 --- /dev/null +++ b/camera_models/include/camodocal/calib/CameraCalibration.h @@ -0,0 +1,81 @@ +#ifndef CAMERACALIBRATION_H +#define CAMERACALIBRATION_H + +#include + +#include "camodocal/camera_models/Camera.h" + +namespace camodocal +{ + +class CameraCalibration +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + CameraCalibration(); + + CameraCalibration(Camera::ModelType modelType, + const std::string& cameraName, + const cv::Size& imageSize, + const cv::Size& boardSize, + float squareSize); + + void clear(void); + + void addChessboardData(const std::vector& corners); + + bool calibrate(void); + + int sampleCount(void) const; + std::vector >& imagePoints(void); + const std::vector >& imagePoints(void) const; + std::vector >& scenePoints(void); + const std::vector >& scenePoints(void) const; + CameraPtr& camera(void); + const CameraConstPtr camera(void) const; + + Eigen::Matrix2d& measurementCovariance(void); + const Eigen::Matrix2d& measurementCovariance(void) const; + + cv::Mat& cameraPoses(void); + const cv::Mat& cameraPoses(void) const; + + void drawResults(std::vector& images) const; + + void writeParams(const std::string& filename) const; + + bool writeChessboardData(const std::string& filename) const; + bool readChessboardData(const std::string& filename); + + void setVerbose(bool verbose); + +private: + bool calibrateHelper(CameraPtr& camera, + std::vector& rvecs, std::vector& tvecs) const; + + void optimize(CameraPtr& camera, + std::vector& rvecs, std::vector& tvecs) const; + + template + void readData(std::ifstream& ifs, T& data) const; + + template + void writeData(std::ofstream& ofs, T data) const; + + cv::Size m_boardSize; + float m_squareSize; + + CameraPtr m_camera; + cv::Mat m_cameraPoses; + + std::vector > m_imagePoints; + std::vector > m_scenePoints; + + Eigen::Matrix2d m_measurementCovariance; + + bool m_verbose; +}; + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/Camera.h b/camera_models/include/camodocal/camera_models/Camera.h new file mode 100644 index 0000000..68e2bd7 --- /dev/null +++ b/camera_models/include/camodocal/camera_models/Camera.h @@ -0,0 +1,148 @@ +#ifndef CAMERA_H +#define CAMERA_H + +#include +#include +#include +#include + +namespace camodocal +{ + +class Camera +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + enum ModelType + { + KANNALA_BRANDT, + MEI, + PINHOLE, + PINHOLE_FULL, + SCARAMUZZA + }; + + class Parameters + { + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + Parameters( ModelType modelType ); + + Parameters( ModelType modelType, const std::string& cameraName, int w, int h ); + + ModelType& modelType( void ); + std::string& cameraName( void ); + int& imageWidth( void ); + int& imageHeight( void ); + + ModelType modelType( void ) const; + const std::string& cameraName( void ) const; + int imageWidth( void ) const; + int imageHeight( void ) const; + + int nIntrinsics( void ) 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( void ) const = 0; + virtual const std::string& cameraName( void ) const = 0; + virtual int imageWidth( void ) const = 0; + virtual int imageHeight( void ) const = 0; + + virtual cv::Mat& mask( void ); + virtual const cv::Mat& mask( void ) const; + + virtual void estimateIntrinsics( const cv::Size& boardSize, + const std::vector< std::vector< cv::Point3f > >& objectPoints, + const std::vector< std::vector< cv::Point2f > >& imagePoints ) + = 0; + virtual void estimateExtrinsics( const std::vector< cv::Point3f >& objectPoints, + const std::vector< cv::Point2f >& imagePoints, + cv::Mat& rvec, + cv::Mat& tvec ) const; + + // Lift points from the image plane to the sphere + virtual void liftSphere( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const = 0; + //%output P + + // Lift points from the image plane to the projective space + virtual void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const = 0; + //%output P + + // Projects 3D points to the image plane (Pi function) + virtual void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p ) const = 0; + //%output p + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + // virtual void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + // Eigen::Matrix& J) const = 0; + //%output p + //%output J + + virtual void undistToPlane( const Eigen::Vector2d& p_u, Eigen::Vector2d& p ) const = 0; + //%output p + + // virtual void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) + // const = 0; + virtual cv::Mat initUndistortRectifyMap( cv::Mat& map1, + cv::Mat& map2, + float fx = -1.0f, + float fy = -1.0f, + cv::Size imageSize = cv::Size( 0, 0 ), + float cx = -1.0f, + float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye( 3, 3, CV_32F ) ) 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( void ) const = 0; + + /** + * \brief Calculates the reprojection distance between points + * + * \param P1 first 3D point coordinates + * \param P2 second 3D point coordinates + * \return euclidean distance in the plane + */ + double reprojectionDist( const Eigen::Vector3d& P1, const Eigen::Vector3d& P2 ) const; + + double reprojectionError( const std::vector< std::vector< cv::Point3f > >& objectPoints, + const std::vector< std::vector< cv::Point2f > >& imagePoints, + const std::vector< cv::Mat >& rvecs, + const std::vector< cv::Mat >& tvecs, + cv::OutputArray perViewErrors = cv::noArray( ) ) const; + + double reprojectionError( const Eigen::Vector3d& P, + const Eigen::Quaterniond& camera_q, + const Eigen::Vector3d& camera_t, + const Eigen::Vector2d& observed_p ) const; + + void projectPoints( const std::vector< cv::Point3f >& objectPoints, + const cv::Mat& rvec, + const cv::Mat& tvec, + std::vector< cv::Point2f >& imagePoints ) const; + + protected: + cv::Mat m_mask; +}; + +typedef boost::shared_ptr< Camera > CameraPtr; +typedef boost::shared_ptr< const Camera > CameraConstPtr; +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/CameraFactory.h b/camera_models/include/camodocal/camera_models/CameraFactory.h new file mode 100644 index 0000000..e3c2f28 --- /dev/null +++ b/camera_models/include/camodocal/camera_models/CameraFactory.h @@ -0,0 +1,32 @@ +#ifndef CAMERAFACTORY_H +#define CAMERAFACTORY_H + +#include +#include + +#include "camodocal/camera_models/Camera.h" + +namespace camodocal +{ + +class CameraFactory +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + CameraFactory(); + + static boost::shared_ptr 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 m_instance; +}; + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/CataCamera.h b/camera_models/include/camodocal/camera_models/CataCamera.h new file mode 100644 index 0000000..14384a5 --- /dev/null +++ b/camera_models/include/camodocal/camera_models/CataCamera.h @@ -0,0 +1,210 @@ +#ifndef CATACAMERA_H +#define CATACAMERA_H + +#include +#include + +#include "ceres/rotation.h" +#include "Camera.h" + +namespace camodocal +{ + +/** + * C. Mei, and P. Rives, Single View Point Omnidirectional Camera Calibration + * from Planar Grids, ICRA 2007 + */ + +class CataCamera: 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(void); + double& k1(void); + double& k2(void); + double& p1(void); + double& p2(void); + double& gamma1(void); + double& gamma2(void); + double& u0(void); + double& v0(void); + + double xi(void) const; + double k1(void) const; + double k2(void) const; + double p1(void) const; + double p2(void) const; + double gamma1(void) const; + double gamma2(void) const; + double u0(void) const; + double v0(void) const; + + bool readFromYamlFile(const std::string& filename); + void writeToYamlFile(const std::string& filename) const; + + 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; + }; + + CataCamera(); + + /** + * \brief Constructor from the projection model parameters + */ + CataCamera(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); + /** + * \brief Constructor from the projection model parameters + */ + CataCamera(const Parameters& params); + + Camera::ModelType modelType(void) const; + const std::string& cameraName(void) const; + int imageWidth(void) const; + int imageHeight(void) const; + + void estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints); + + // Lift points from the image plane to the sphere + void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Lift points from the image plane to the projective space + void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Projects 3D points to the image plane (Pi function) + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const; + //%output p + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const; + //%output p + //%output J + + void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const; + //%output p + + template + static void spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& 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; + + void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const; + cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx = -1.0f, float fy = -1.0f, + cv::Size imageSize = cv::Size(0, 0), + float cx = -1.0f, float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const; + + int parameterCount(void) const; + + const Parameters& getParameters(void) const; + void setParameters(const Parameters& parameters); + + void readParameters(const std::vector& parameterVec); + void writeParameters(std::vector& parameterVec) const; + + void writeParametersToYamlFile(const std::string& filename) const; + + std::string parametersToString(void) const; + +private: + Parameters mParameters; + + double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23; + bool m_noDistortion; +}; + +typedef boost::shared_ptr CataCameraPtr; +typedef boost::shared_ptr CataCameraConstPtr; + +template +void +CataCamera::spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p) +{ + T P_w[3]; + P_w[0] = T(P(0)); + P_w[1] = T(P(1)); + P_w[2] = T(P(2)); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = {q[3], q[0], q[1], q[2]}; + + T P_c[3]; + ceres::QuaternionRotatePoint(q_ceres, P_w, P_c); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + + // project 3D object point to the image plane + 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); //cameraParams.alpha(); + T u0 = params[7]; + T v0 = params[8]; + + // Transform to model plane + T len = 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; +} + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/CostFunctionFactory.h b/camera_models/include/camodocal/camera_models/CostFunctionFactory.h new file mode 100644 index 0000000..40260da --- /dev/null +++ b/camera_models/include/camodocal/camera_models/CostFunctionFactory.h @@ -0,0 +1,82 @@ +#ifndef COSTFUNCTIONFACTORY_H +#define COSTFUNCTIONFACTORY_H + +#include +#include + +#include "camodocal/camera_models/Camera.h" + +namespace ceres +{ + class CostFunction; +} + +namespace camodocal +{ + +enum +{ + CAMERA_INTRINSICS = 1 << 0, + CAMERA_POSE = 1 << 1, + POINT_3D = 1 << 2, + ODOMETRY_INTRINSICS = 1 << 3, + ODOMETRY_3D_POSE = 1 << 4, + ODOMETRY_6D_POSE = 1 << 5, + CAMERA_ODOMETRY_TRANSFORM = 1 << 6 +}; + +class CostFunctionFactory +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + CostFunctionFactory(); + + static boost::shared_ptr instance(void); + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p, + int flags) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat, + int flags) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Vector2d& observed_p, + int flags, bool optimize_cam_odo_z = true) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat, + int flags, bool optimize_cam_odo_z = true) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p, + int flags, bool optimize_cam_odo_z = true) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& camera, + const Eigen::Quaterniond& cam_odo_q, + const Eigen::Vector3d& cam_odo_t, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p, + int flags) const; + + ceres::CostFunction* generateCostFunction(const CameraConstPtr& cameraLeft, + const CameraConstPtr& cameraRight, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p_left, + const Eigen::Vector2d& observed_p_right) const; + +private: + static boost::shared_ptr m_instance; +}; + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/EquidistantCamera.h b/camera_models/include/camodocal/camera_models/EquidistantCamera.h new file mode 100644 index 0000000..4e172d3 --- /dev/null +++ b/camera_models/include/camodocal/camera_models/EquidistantCamera.h @@ -0,0 +1,215 @@ +#ifndef EQUIDISTANTCAMERA_H +#define EQUIDISTANTCAMERA_H + +#include +#include + +#include "ceres/rotation.h" +#include "Camera.h" + +namespace camodocal +{ + +/** + * J. Kannala, and S. Brandt, A Generic Camera Model and Calibration Method + * for Conventional, Wide-Angle, and Fish-Eye Lenses, PAMI 2006 + */ + +class EquidistantCamera: public Camera +{ +public: + class Parameters: public Camera::Parameters + { + public: + Parameters(); + Parameters(const std::string& cameraName, + int w, int h, + double k2, double k3, double k4, double k5, + double mu, double mv, + double u0, double v0); + + double& k2(void); + double& k3(void); + double& k4(void); + double& k5(void); + double& mu(void); + double& mv(void); + double& u0(void); + double& v0(void); + + double k2(void) const; + double k3(void) const; + double k4(void) const; + double k5(void) const; + double mu(void) const; + double mv(void) const; + double u0(void) const; + double v0(void) const; + + bool readFromYamlFile(const std::string& filename); + void writeToYamlFile(const std::string& filename) const; + + Parameters& operator=(const Parameters& other); + friend std::ostream& operator<< (std::ostream& out, const Parameters& params); + + private: + // projection + double m_k2; + double m_k3; + double m_k4; + double m_k5; + + double m_mu; + double m_mv; + double m_u0; + double m_v0; + }; + + EquidistantCamera(); + + /** + * \brief Constructor from the projection model parameters + */ + EquidistantCamera(const std::string& cameraName, + int imageWidth, int imageHeight, + double k2, double k3, double k4, double k5, + double mu, double mv, + double u0, double v0); + /** + * \brief Constructor from the projection model parameters + */ + EquidistantCamera(const Parameters& params); + + Camera::ModelType modelType(void) const; + const std::string& cameraName(void) const; + int imageWidth(void) const; + int imageHeight(void) const; + + void estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints); + + // Lift points from the image plane to the sphere + virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Lift points from the image plane to the projective space + void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Projects 3D points to the image plane (Pi function) + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const; + //%output p + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const; + //%output p + //%output J + + void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const; + //%output p + + template + static void spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p); + + void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const; + cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx = -1.0f, float fy = -1.0f, + cv::Size imageSize = cv::Size(0, 0), + float cx = -1.0f, float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const; + + int parameterCount(void) const; + + const Parameters& getParameters(void) const; + void setParameters(const Parameters& parameters); + + void readParameters(const std::vector& parameterVec); + void writeParameters(std::vector& parameterVec) const; + + void writeParametersToYamlFile(const std::string& filename) const; + + std::string parametersToString(void) const; + +private: + template + static T r(T k2, T k3, T k4, T k5, T theta); + + + void fitOddPoly(const std::vector& x, const std::vector& y, + int n, std::vector& coeffs) const; + + void backprojectSymmetric(const Eigen::Vector2d& p_u, + double& theta, double& phi) const; + + Parameters mParameters; + + double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23; +}; + +typedef boost::shared_ptr EquidistantCameraPtr; +typedef boost::shared_ptr EquidistantCameraConstPtr; + +template +T +EquidistantCamera::r(T k2, T k3, T k4, T k5, T theta) +{ + // k1 = 1 + return theta + + k2 * theta * theta * theta + + k3 * theta * theta * theta * theta * theta + + k4 * theta * theta * theta * theta * theta * theta * theta + + k5 * theta * theta * theta * theta * theta * theta * theta * theta * theta; +} + +template +void +EquidistantCamera::spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p) +{ + T P_w[3]; + P_w[0] = T(P(0)); + P_w[1] = T(P(1)); + P_w[2] = T(P(2)); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = {q[3], q[0], q[1], q[2]}; + + T P_c[3]; + ceres::QuaternionRotatePoint(q_ceres, P_w, P_c); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + + // project 3D object point to the image plane; + T k2 = params[0]; + T k3 = params[1]; + T k4 = params[2]; + T k5 = params[3]; + T mu = params[4]; + T mv = params[5]; + T u0 = params[6]; + T v0 = params[7]; + + T len = sqrt(P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]); + T theta = acos(P_c[2] / len); + T phi = atan2(P_c[1], P_c[0]); + + Eigen::Matrix p_u = r(k2, k3, k4, k5, theta) * Eigen::Matrix(cos(phi), sin(phi)); + + p(0) = mu * p_u(0) + u0; + p(1) = mv * p_u(1) + v0; +} + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/PinholeCamera.h b/camera_models/include/camodocal/camera_models/PinholeCamera.h new file mode 100644 index 0000000..f368a0b --- /dev/null +++ b/camera_models/include/camodocal/camera_models/PinholeCamera.h @@ -0,0 +1,196 @@ +#ifndef PINHOLECAMERA_H +#define PINHOLECAMERA_H + +#include +#include + +#include "ceres/rotation.h" +#include "Camera.h" + +namespace camodocal +{ + +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); + void writeToYamlFile(const std::string& filename) const; + + 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(); + + /** + * \brief Constructor from the projection model parameters + */ + 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); + /** + * \brief Constructor from the projection model parameters + */ + PinholeCamera(const Parameters& params); + + Camera::ModelType modelType(void) const; + const std::string& cameraName(void) const; + int imageWidth(void) const; + int imageHeight(void) const; + + void estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints); + + // Lift points from the image plane to the sphere + virtual void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Lift points from the image plane to the projective space + void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Projects 3D points to the image plane (Pi function) + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const; + //%output p + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const; + //%output p + //%output J + + void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const; + //%output p + + template + static void spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& 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; + + void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const; + cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx = -1.0f, float fy = -1.0f, + cv::Size imageSize = cv::Size(0, 0), + float cx = -1.0f, float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const; + + int parameterCount(void) const; + + const Parameters& getParameters(void) const; + void setParameters(const Parameters& parameters); + + void readParameters(const std::vector& parameterVec); + void writeParameters(std::vector& parameterVec) const; + + void writeParametersToYamlFile(const std::string& filename) const; + + std::string parametersToString(void) const; + +private: + Parameters mParameters; + + double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23; + bool m_noDistortion; +}; + +typedef boost::shared_ptr PinholeCameraPtr; +typedef boost::shared_ptr PinholeCameraConstPtr; + +template +void +PinholeCamera::spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p) +{ + T P_w[3]; + P_w[0] = T(P(0)); + P_w[1] = T(P(1)); + P_w[2] = T(P(2)); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = {q[3], q[0], q[1], q[2]}; + + T P_c[3]; + ceres::QuaternionRotatePoint(q_ceres, P_w, P_c); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + + // project 3D object point to the image plane + 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); //cameraParams.alpha(); + T cx = params[6]; + T cy = params[7]; + + // Transform to model plane + 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; +} + +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/PinholeFullCamera.h b/camera_models/include/camodocal/camera_models/PinholeFullCamera.h new file mode 100644 index 0000000..b391c8a --- /dev/null +++ b/camera_models/include/camodocal/camera_models/PinholeFullCamera.h @@ -0,0 +1,274 @@ +#ifndef PinholeFullCAMERA_H +#define PinholeFullCAMERA_H + +#include +#include + +#include "Camera.h" +#include "ceres/rotation.h" + +namespace camodocal +{ + +class PinholeFullCamera : public Camera +{ + public: + class Parameters : public Camera::Parameters + { + public: + Parameters( ); + Parameters( const std::string& cameraName, + int w, + int h, + double k1, + double k2, + double k3, + double k4, + double k5, + double k6, + double p1, + double p2, + double fx, + double fy, + double cx, + double cy ); + + double& k1( void ); + double& k2( void ); + double& k3( void ); + double& k4( void ); + double& k5( void ); + double& k6( 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 k3( void ) const; + double k4( void ) const; + double k5( void ) const; + double k6( 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 ); + void writeToYamlFile( const std::string& filename ) const; + + 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; + double m_k3; + double m_k4; + double m_k5; + double m_k6; + }; + + PinholeFullCamera( ); + + /** + * \brief Constructor from the projection model parameters + */ + PinholeFullCamera( const std::string& cameraName, + int imageWidth, + int imageHeight, + double k1, + double k2, + double k3, + double k4, + double k5, + double k6, + double p1, + double p2, + double fx, + double fy, + double cx, + double cy ); + /** + * \brief Constructor from the projection model parameters + */ + PinholeFullCamera( const Parameters& params ); + + Camera::ModelType modelType( void ) const; + const std::string& cameraName( void ) const; + int imageWidth( void ) const; + int imageHeight( void ) const; + cv::Size imageSize( ) const { return cv::Size( imageWidth( ), imageHeight( ) ); } + cv::Point2f getPrinciple( ) const + { + return cv::Point2f( mParameters.cx( ), mParameters.cy( ) ); + } + + void estimateIntrinsics( const cv::Size& boardSize, + const std::vector< std::vector< cv::Point3f > >& objectPoints, + const std::vector< std::vector< cv::Point2f > >& imagePoints ); + + void setInitIntrinsics( const std::vector< std::vector< cv::Point3f > >& objectPoints, + const std::vector< std::vector< cv::Point2f > >& imagePoints ) + { + Parameters params = getParameters( ); + + params.k1( ) = 0.0; + params.k2( ) = 0.0; + params.k3( ) = 0.0; + params.k4( ) = 0.0; + params.k5( ) = 0.0; + params.k6( ) = 0.0; + params.p1( ) = 0.0; + params.p2( ) = 0.0; + + double cx = params.imageWidth( ) / 2.0; + double cy = params.imageHeight( ) / 2.0; + params.cx( ) = cx; + params.cy( ) = cy; + params.fx( ) = 1200; + params.fy( ) = 1200; + + setParameters( params ); + } + + // Lift points from the image plane to the sphere + virtual void liftSphere( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const; + //%output P + + // Lift points from the image plane to the projective space + void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const; + //%output P + + void liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P, float image_scale ) const; + + // Projects 3D points to the image plane (Pi function) + void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p ) const; + //%output p + + void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p, float image_scalse ) const; + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + void spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p, Eigen::Matrix< double, 2, 3 >& J ) const; + //%output p + //%output J + + void undistToPlane( const Eigen::Vector2d& p_u, Eigen::Vector2d& p ) const; + //%output p + + 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; + + void initUndistortMap( cv::Mat& map1, cv::Mat& map2, double fScale = 1.0 ) const; + cv::Mat initUndistortRectifyMap( cv::Mat& map1, + cv::Mat& map2, + float fx = -1.0f, + float fy = -1.0f, + cv::Size imageSize = cv::Size( 0, 0 ), + float cx = -1.0f, + float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye( 3, 3, CV_32F ) ) const; + + int parameterCount( void ) const; + + const Parameters& getParameters( void ) const; + void setParameters( const Parameters& parameters ); + + void readParameters( const std::vector< double >& parameterVec ); + void writeParameters( std::vector< double >& parameterVec ) const; + + void writeParametersToYamlFile( const std::string& filename ) const; + + std::string parametersToString( void ) const; + + private: + Parameters mParameters; + + double m_inv_K11, m_inv_K13, m_inv_K22, m_inv_K23; + bool m_noDistortion; +}; + +typedef boost::shared_ptr< PinholeFullCamera > PinholeFullCameraPtr; +typedef boost::shared_ptr< const PinholeFullCamera > PinholeFullCameraConstPtr; + +template< typename T > +void +PinholeFullCamera::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 ) +{ + T P_w[3]; + P_w[0] = T( P( 0 ) ); + P_w[1] = T( P( 1 ) ); + P_w[2] = T( P( 2 ) ); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = { q[3], q[0], q[1], q[2] }; + + T P_c[3]; + ceres::QuaternionRotatePoint( q_ceres, P_w, P_c ); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + + // project 3D object point to the image plane + T k1 = params[0]; + T k2 = params[1]; + T k3 = params[2]; + T k4 = params[3]; + T k5 = params[4]; + T k6 = params[5]; + T p1 = params[6]; + T p2 = params[7]; + T fx = params[8]; + T fy = params[9]; + T alpha = T( 0 ); // cameraParams.alpha(); + T cx = params[10]; + T cy = params[11]; + + // Transform to model plane + T x = P_c[0] / P_c[2]; + T y = P_c[1] / P_c[2]; + // T z = P_c[2] / P_c[2]; + + T r2 = x * x + y * y; + T r4 = r2 * r2; + T r6 = r4 * r2; + T a1 = T( 2 ) * x * y; + T a2 = r2 + T( 2 ) * x * x; + T a3 = r2 + T( 2 ) * y * y; + T cdist = T( 1 ) + k1 * r2 + k2 * r4 + k3 * r6; + T icdist2 = T( 1. ) / ( T( 1 ) + k4 * r2 + k5 * r4 + k6 * r6 ); + T xd0 = x * cdist * icdist2 + p1 * a1 + p2 * a2; // + k[8] * r2 + k[9] * r4; + T yd0 = y * cdist * icdist2 + p1 * a3 + p2 * a1; // + k[10] * r2 + k[11] * r4; + + p( 0 ) = xd0 * fx + cx; + p( 1 ) = yd0 * fy + cy; +} +} + +#endif diff --git a/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h b/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h new file mode 100644 index 0000000..3d54aca --- /dev/null +++ b/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h @@ -0,0 +1,348 @@ +#ifndef SCARAMUZZACAMERA_H +#define SCARAMUZZACAMERA_H + +#include +#include + +#include "ceres/rotation.h" +#include "Camera.h" + +namespace camodocal +{ + +#define SCARAMUZZA_POLY_SIZE 5 +#define SCARAMUZZA_INV_POLY_SIZE 20 + +#define SCARAMUZZA_CAMERA_NUM_PARAMS (SCARAMUZZA_POLY_SIZE + SCARAMUZZA_INV_POLY_SIZE + 2 /*center*/ + 3 /*affine*/) + +/** + * Scaramuzza Camera (Omnidirectional) + * https://sites.google.com/site/scarabotix/ocamcalib-toolbox + */ + +class OCAMCamera: public Camera +{ +public: + class Parameters: public Camera::Parameters + { + public: + Parameters(); + + double& C(void) { return m_C; } + double& D(void) { return m_D; } + double& E(void) { return m_E; } + + double& center_x(void) { return m_center_x; } + double& center_y(void) { return m_center_y; } + + double& poly(int idx) { return m_poly[idx]; } + double& inv_poly(int idx) { return m_inv_poly[idx]; } + + double C(void) const { return m_C; } + double D(void) const { return m_D; } + double E(void) const { return m_E; } + + double center_x(void) const { return m_center_x; } + double center_y(void) const { return m_center_y; } + + double poly(int idx) const { return m_poly[idx]; } + double inv_poly(int idx) const { return m_inv_poly[idx]; } + + bool readFromYamlFile(const std::string& filename); + void writeToYamlFile(const std::string& filename) const; + + Parameters& operator=(const Parameters& other); + friend std::ostream& operator<< (std::ostream& out, const Parameters& params); + + private: + double m_poly[SCARAMUZZA_POLY_SIZE]; + double m_inv_poly[SCARAMUZZA_INV_POLY_SIZE]; + double m_C; + double m_D; + double m_E; + double m_center_x; + double m_center_y; + }; + + OCAMCamera(); + + /** + * \brief Constructor from the projection model parameters + */ + OCAMCamera(const Parameters& params); + + Camera::ModelType modelType(void) const; + const std::string& cameraName(void) const; + int imageWidth(void) const; + int imageHeight(void) const; + + void estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints); + + // Lift points from the image plane to the sphere + void liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Lift points from the image plane to the projective space + void liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const; + //%output P + + // Projects 3D points to the image plane (Pi function) + void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const; + //%output p + + // Projects 3D points to the image plane (Pi function) + // and calculates jacobian + //void spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + // Eigen::Matrix& J) const; + //%output p + //%output J + + void undistToPlane(const Eigen::Vector2d& p_u, Eigen::Vector2d& p) const; + //%output p + + template + static void spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p); + template + static void spaceToSphere(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& P_s); + template + static void LiftToSphere(const T* const params, + const Eigen::Matrix& p, + Eigen::Matrix& P); + + template + static void SphereToPlane(const T* const params, const Eigen::Matrix& P, + Eigen::Matrix& p); + + + void initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale = 1.0) const; + cv::Mat initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx = -1.0f, float fy = -1.0f, + cv::Size imageSize = cv::Size(0, 0), + float cx = -1.0f, float cy = -1.0f, + cv::Mat rmat = cv::Mat::eye(3, 3, CV_32F)) const; + + int parameterCount(void) const; + + const Parameters& getParameters(void) const; + void setParameters(const Parameters& parameters); + + void readParameters(const std::vector& parameterVec); + void writeParameters(std::vector& parameterVec) const; + + void writeParametersToYamlFile(const std::string& filename) const; + + std::string parametersToString(void) const; + +private: + Parameters mParameters; + + double m_inv_scale; +}; + +typedef boost::shared_ptr OCAMCameraPtr; +typedef boost::shared_ptr OCAMCameraConstPtr; + +template +void +OCAMCamera::spaceToPlane(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& p) +{ + T P_c[3]; + { + T P_w[3]; + P_w[0] = T(P(0)); + P_w[1] = T(P(1)); + P_w[2] = T(P(2)); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = {q[3], q[0], q[1], q[2]}; + + ceres::QuaternionRotatePoint(q_ceres, P_w, P_c); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + } + + T c = params[0]; + T d = params[1]; + T e = params[2]; + T xc[2] = { params[3], params[4] }; + + //T poly[SCARAMUZZA_POLY_SIZE]; + //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + // poly[i] = params[5+i]; + + T inv_poly[SCARAMUZZA_INV_POLY_SIZE]; + for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i]; + + T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1]; + T norm = T(0.0); + if (norm_sqr > T(0.0)) + norm = sqrt(norm_sqr); + + T theta = atan2(-P_c[2], norm); + T rho = T(0.0); + T theta_i = T(1.0); + + for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + { + rho += theta_i * inv_poly[i]; + theta_i *= theta; + } + + T invNorm = T(1.0) / norm; + T xn[2] = { + P_c[0] * invNorm * rho, + P_c[1] * invNorm * rho + }; + + p(0) = xn[0] * c + xn[1] * d + xc[0]; + p(1) = xn[0] * e + xn[1] + xc[1]; +} + +template +void +OCAMCamera::spaceToSphere(const T* const params, + const T* const q, const T* const t, + const Eigen::Matrix& P, + Eigen::Matrix& P_s) +{ + T P_c[3]; + { + T P_w[3]; + P_w[0] = T(P(0)); + P_w[1] = T(P(1)); + P_w[2] = T(P(2)); + + // Convert quaternion from Eigen convention (x, y, z, w) + // to Ceres convention (w, x, y, z) + T q_ceres[4] = {q[3], q[0], q[1], q[2]}; + + ceres::QuaternionRotatePoint(q_ceres, P_w, P_c); + + P_c[0] += t[0]; + P_c[1] += t[1]; + P_c[2] += t[2]; + } + + //T poly[SCARAMUZZA_POLY_SIZE]; + //for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + // poly[i] = params[5+i]; + + T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1] + P_c[2] * P_c[2]; + T norm = T(0.0); + if (norm_sqr > T(0.0)) + norm = sqrt(norm_sqr); + + P_s(0) = P_c[0] / norm; + P_s(1) = P_c[1] / norm; + P_s(2) = P_c[2] / norm; +} + +template +void +OCAMCamera::LiftToSphere(const T* const params, + const Eigen::Matrix& p, + Eigen::Matrix& P) +{ + T c = params[0]; + T d = params[1]; + T e = params[2]; + T cc[2] = { params[3], params[4] }; + T poly[SCARAMUZZA_POLY_SIZE]; + for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + poly[i] = params[5+i]; + + // Relative to Center + T p_2d[2]; + p_2d[0] = T(p(0)); + p_2d[1] = T(p(1)); + + T xc[2] = { p_2d[0] - cc[0], p_2d[1] - cc[1]}; + + T inv_scale = T(1.0) / (c - d * e); + + // Affine Transformation + T xc_a[2]; + + xc_a[0] = inv_scale * (xc[0] - d * xc[1]); + xc_a[1] = inv_scale * (-e * xc[0] + c * xc[1]); + + T norm_sqr = xc_a[0] * xc_a[0] + xc_a[1] * xc_a[1]; + T phi = sqrt(norm_sqr); + T phi_i = T(1.0); + T z = T(0.0); + + for (int i = 0; i < SCARAMUZZA_POLY_SIZE; i++) + { + if (i!=1) { + z += phi_i * poly[i]; + } + phi_i *= phi; + } + + T p_3d[3]; + p_3d[0] = xc[0]; + p_3d[1] = xc[1]; + p_3d[2] = -z; + + T p_3d_norm_sqr = p_3d[0] * p_3d[0] + p_3d[1] * p_3d[1] + p_3d[2] * p_3d[2]; + T p_3d_norm = sqrt(p_3d_norm_sqr); + + P << p_3d[0] / p_3d_norm, p_3d[1] / p_3d_norm, p_3d[2] / p_3d_norm; +} + +template +void OCAMCamera::SphereToPlane(const T* const params, const Eigen::Matrix& P, + Eigen::Matrix& p) { + T P_c[3]; + { + P_c[0] = T(P(0)); + P_c[1] = T(P(1)); + P_c[2] = T(P(2)); + } + + T c = params[0]; + T d = params[1]; + T e = params[2]; + T xc[2] = {params[3], params[4]}; + + T inv_poly[SCARAMUZZA_INV_POLY_SIZE]; + for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + inv_poly[i] = params[5 + SCARAMUZZA_POLY_SIZE + i]; + + T norm_sqr = P_c[0] * P_c[0] + P_c[1] * P_c[1]; + T norm = T(0.0); + if (norm_sqr > T(0.0)) norm = sqrt(norm_sqr); + + T theta = atan2(-P_c[2], norm); + T rho = T(0.0); + T theta_i = T(1.0); + + for (int i = 0; i < SCARAMUZZA_INV_POLY_SIZE; i++) { + rho += theta_i * inv_poly[i]; + theta_i *= theta; + } + + T invNorm = T(1.0) / norm; + T xn[2] = {P_c[0] * invNorm * rho, P_c[1] * invNorm * rho}; + + p(0) = xn[0] * c + xn[1] * d + xc[0]; + p(1) = xn[0] * e + xn[1] + xc[1]; +} +} + +#endif diff --git a/camera_models/include/camodocal/chessboard/Chessboard.h b/camera_models/include/camodocal/chessboard/Chessboard.h new file mode 100644 index 0000000..fb42198 --- /dev/null +++ b/camera_models/include/camodocal/chessboard/Chessboard.h @@ -0,0 +1,86 @@ +#ifndef CHESSBOARD_H +#define CHESSBOARD_H + +#include +#include + +namespace camodocal +{ + +// forward declarations +class ChessboardCorner; +typedef boost::shared_ptr ChessboardCornerPtr; +class ChessboardQuad; +typedef boost::shared_ptr ChessboardQuadPtr; + +class Chessboard +{ +public: + Chessboard(cv::Size boardSize, cv::Mat& image); + + void findCorners(bool useOpenCV = false); + const std::vector& getCorners(void) const; + bool cornersFound(void) const; + + const cv::Mat& getImage(void) const; + const cv::Mat& getSketch(void) const; + +private: + bool findChessboardCorners(const cv::Mat& image, + const cv::Size& patternSize, + std::vector& corners, + int flags, bool useOpenCV); + + bool findChessboardCornersImproved(const cv::Mat& image, + const cv::Size& patternSize, + std::vector& corners, + int flags); + + void cleanFoundConnectedQuads(std::vector& quadGroup, cv::Size patternSize); + + void findConnectedQuads(std::vector& quads, + std::vector& group, + int group_idx, int dilation); + +// int checkQuadGroup(std::vector& quadGroup, +// std::vector& outCorners, +// cv::Size patternSize); + + void labelQuadGroup(std::vector& quad_group, + cv::Size patternSize, bool firstRun); + + void findQuadNeighbors(std::vector& quads, int dilation); + + int augmentBestRun(std::vector& candidateQuads, int candidateDilation, + std::vector& existingQuads, int existingDilation); + + void generateQuads(std::vector& quads, + cv::Mat& image, int flags, + int dilation, bool firstRun); + + bool checkQuadGroup(std::vector& quads, + std::vector& corners, + cv::Size patternSize); + + void getQuadrangleHypotheses(const std::vector< std::vector >& contours, + std::vector< std::pair >& quads, + int classId) const; + + bool checkChessboard(const cv::Mat& image, cv::Size patternSize) const; + + bool checkBoardMonotony(std::vector& corners, + cv::Size patternSize); + + bool matchCorners(ChessboardQuadPtr& quad1, int corner1, + ChessboardQuadPtr& quad2, int corner2) const; + + cv::Mat mImage; + cv::Mat mSketch; + std::vector mCorners; + cv::Size mBoardSize; + bool mCornersFound; +}; + +} + +#endif diff --git a/camera_models/include/camodocal/chessboard/ChessboardCorner.h b/camera_models/include/camodocal/chessboard/ChessboardCorner.h new file mode 100644 index 0000000..8b0f2bb --- /dev/null +++ b/camera_models/include/camodocal/chessboard/ChessboardCorner.h @@ -0,0 +1,45 @@ +#ifndef CHESSBOARDCORNER_H +#define CHESSBOARDCORNER_H + +#include +#include + +namespace camodocal +{ + +class ChessboardCorner; +typedef boost::shared_ptr ChessboardCornerPtr; + +class ChessboardCorner +{ +public: + ChessboardCorner() : row(0), column(0), needsNeighbor(true), count(0) {} + + float meanDist(int &n) const + { + float sum = 0; + n = 0; + for (int i = 0; i < 4; ++i) + { + if (neighbors[i].get()) + { + float dx = neighbors[i]->pt.x - pt.x; + float dy = neighbors[i]->pt.y - pt.y; + sum += sqrt(dx*dx + dy*dy); + n++; + } + } + return sum / std::max(n, 1); + } + + cv::Point2f pt; // X and y coordinates + int row; // Row and column of the corner + int column; // in the found pattern + bool needsNeighbor; // Does the corner require a neighbor? + int count; // number of corner neighbors + ChessboardCornerPtr neighbors[4]; // pointer to all corner neighbors +}; + +} + +#endif diff --git a/camera_models/include/camodocal/chessboard/ChessboardQuad.h b/camera_models/include/camodocal/chessboard/ChessboardQuad.h new file mode 100644 index 0000000..9bb7784 --- /dev/null +++ b/camera_models/include/camodocal/chessboard/ChessboardQuad.h @@ -0,0 +1,29 @@ +#ifndef CHESSBOARDQUAD_H +#define CHESSBOARDQUAD_H + +#include + +#include "camodocal/chessboard/ChessboardCorner.h" + +namespace camodocal +{ + +class ChessboardQuad; +typedef boost::shared_ptr ChessboardQuadPtr; + +class ChessboardQuad +{ +public: + ChessboardQuad() : count(0), group_idx(-1), edge_len(FLT_MAX), labeled(false) {} + + int count; // Number of quad neighbors + int group_idx; // Quad group ID + float edge_len; // Smallest side length^2 + ChessboardCornerPtr corners[4]; // Coordinates of quad corners + ChessboardQuadPtr neighbors[4]; // Pointers of quad neighbors + bool labeled; // Has this corner been labeled? +}; + +} + +#endif diff --git a/camera_models/include/camodocal/chessboard/Spline.h b/camera_models/include/camodocal/chessboard/Spline.h new file mode 100644 index 0000000..5ac5809 --- /dev/null +++ b/camera_models/include/camodocal/chessboard/Spline.h @@ -0,0 +1,319 @@ +/* dynamo:- Event driven molecular dynamics simulator + http://www.marcusbannerman.co.uk/dynamo + Copyright (C) 2011 Marcus N Campbell Bannerman + + This program is free software: you can redistribute it and/or + modify it under the terms of the GNU General Public License + version 3 as published by the Free Software Foundation. + + 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 . +*/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +namespace ublas = boost::numeric::ublas; + +class Spline : private std::vector > +{ +public: + //The boundary conditions available + enum BC_type { + FIXED_1ST_DERIV_BC, + FIXED_2ND_DERIV_BC, + PARABOLIC_RUNOUT_BC + }; + + enum Spline_type { + LINEAR, + CUBIC + }; + + //Constructor takes the boundary conditions as arguments, this + //sets the first derivative (gradient) at the lower and upper + //end points + Spline(): + _valid(false), + _BCLow(FIXED_2ND_DERIV_BC), _BCHigh(FIXED_2ND_DERIV_BC), + _BCLowVal(0), _BCHighVal(0), + _type(CUBIC) + {} + + typedef std::vector > base; + typedef base::const_iterator const_iterator; + + //Standard STL read-only container stuff + const_iterator begin() const { return base::begin(); } + const_iterator end() const { return base::end(); } + void clear() { _valid = false; base::clear(); _data.clear(); } + size_t size() const { return base::size(); } + size_t max_size() const { return base::max_size(); } + size_t capacity() const { return base::capacity(); } + bool empty() const { return base::empty(); } + + //Add a point to the spline, and invalidate it so its + //recalculated on the next access + inline void addPoint(double x, double y) + { + _valid = false; + base::push_back(std::pair(x,y)); + } + + //Reset the boundary conditions + inline void setLowBC(BC_type BC, double val = 0) + { _BCLow = BC; _BCLowVal = val; _valid = false; } + + inline void setHighBC(BC_type BC, double val = 0) + { _BCHigh = BC; _BCHighVal = val; _valid = false; } + + void setType(Spline_type type) { _type = type; _valid = false; } + + //Check if the spline has been calculated, then generate the + //spline interpolated value + double operator()(double xval) + { + if (!_valid) generate(); + + //Special cases when we're outside the range of the spline points + if (xval <= x(0)) return lowCalc(xval); + if (xval >= x(size()-1)) return highCalc(xval); + + //Check all intervals except the last one + for (std::vector::const_iterator iPtr = _data.begin(); + iPtr != _data.end()-1; ++iPtr) + if ((xval >= iPtr->x) && (xval <= (iPtr+1)->x)) + return splineCalc(iPtr, xval); + + return splineCalc(_data.end() - 1, xval); + } + +private: + + ///////PRIVATE DATA MEMBERS + struct SplineData { double x,a,b,c,d; }; + //vector of calculated spline data + std::vector _data; + //Second derivative at each point + ublas::vector _ddy; + //Tracks whether the spline parameters have been calculated for + //the current set of points + bool _valid; + //The boundary conditions + BC_type _BCLow, _BCHigh; + //The values of the boundary conditions + double _BCLowVal, _BCHighVal; + + Spline_type _type; + + ///////PRIVATE FUNCTIONS + //Function to calculate the value of a given spline at a point xval + inline double splineCalc(std::vector::const_iterator i, double xval) + { + const double lx = xval - i->x; + return ((i->a * lx + i->b) * lx + i->c) * lx + i->d; + } + + inline double lowCalc(double xval) + { + const double lx = xval - x(0); + + if (_type == LINEAR) + return lx * _BCHighVal + y(0); + + const double firstDeriv = (y(1) - y(0)) / h(0) - 2 * h(0) * (_data[0].b + 2 * _data[1].b) / 6; + + switch(_BCLow) + { + case FIXED_1ST_DERIV_BC: + return lx * _BCLowVal + y(0); + case FIXED_2ND_DERIV_BC: + return lx * lx * _BCLowVal + firstDeriv * lx + y(0); + case PARABOLIC_RUNOUT_BC: + return lx * lx * _ddy[0] + lx * firstDeriv + y(0); + } + throw std::runtime_error("Unknown BC"); + } + + inline double highCalc(double xval) + { + const double lx = xval - x(size() - 1); + + if (_type == LINEAR) + return lx * _BCHighVal + y(size() - 1); + + const double firstDeriv = 2 * h(size() - 2) * (_ddy[size() - 2] + 2 * _ddy[size() - 1]) / 6 + (y(size() - 1) - y(size() - 2)) / h(size() - 2); + + switch(_BCHigh) + { + case FIXED_1ST_DERIV_BC: + return lx * _BCHighVal + y(size() - 1); + case FIXED_2ND_DERIV_BC: + return lx * lx * _BCHighVal + firstDeriv * lx + y(size() - 1); + case PARABOLIC_RUNOUT_BC: + return lx * lx * _ddy[size()-1] + lx * firstDeriv + y(size() - 1); + } + throw std::runtime_error("Unknown BC"); + } + + //These just provide access to the point data in a clean way + inline double x(size_t i) const { return operator[](i).first; } + inline double y(size_t i) const { return operator[](i).second; } + inline double h(size_t i) const { return x(i+1) - x(i); } + + //Invert a arbitrary matrix using the boost ublas library + template + bool InvertMatrix(ublas::matrix A, + ublas::matrix& inverse) + { + using namespace ublas; + + // create a permutation matrix for the LU-factorization + permutation_matrix pm(A.size1()); + + // perform LU-factorization + int res = lu_factorize(A,pm); + if( res != 0 ) return false; + + // create identity matrix of "inverse" + inverse.assign(ublas::identity_matrix(A.size1())); + + // backsubstitute to get the inverse + lu_substitute(A, pm, inverse); + + return true; + } + + //This function will recalculate the spline parameters and store + //them in _data, ready for spline interpolation + void generate() + { + if (size() < 2) + throw std::runtime_error("Spline requires at least 2 points"); + + //If any spline points are at the same x location, we have to + //just slightly seperate them + { + bool testPassed(false); + while (!testPassed) + { + testPassed = true; + std::sort(base::begin(), base::end()); + + for (base::iterator iPtr = base::begin(); iPtr != base::end() - 1; ++iPtr) + if (iPtr->first == (iPtr+1)->first) + { + if ((iPtr+1)->first != 0) + (iPtr+1)->first += (iPtr+1)->first + * std::numeric_limits::epsilon() * 10; + else + (iPtr+1)->first = std::numeric_limits::epsilon() * 10; + testPassed = false; + break; + } + } + } + + const size_t e = size() - 1; + + switch (_type) + { + case LINEAR: + { + _data.resize(e); + for (size_t i(0); i < e; ++i) + { + _data[i].x = x(i); + _data[i].a = 0; + _data[i].b = 0; + _data[i].c = (y(i+1) - y(i)) / (x(i+1) - x(i)); + _data[i].d = y(i); + } + break; + } + case CUBIC: + { + ublas::matrix A(size(), size()); + for (size_t yv(0); yv <= e; ++yv) + for (size_t xv(0); xv <= e; ++xv) + A(xv,yv) = 0; + + for (size_t i(1); i < e; ++i) + { + A(i-1,i) = h(i-1); + A(i,i) = 2 * (h(i-1) + h(i)); + A(i+1,i) = h(i); + } + + ublas::vector C(size()); + for (size_t xv(0); xv <= e; ++xv) + C(xv) = 0; + + for (size_t i(1); i < e; ++i) + C(i) = 6 * + ((y(i+1) - y(i)) / h(i) + - (y(i) - y(i-1)) / h(i-1)); + + //Boundary conditions + switch(_BCLow) + { + case FIXED_1ST_DERIV_BC: + C(0) = 6 * ((y(1) - y(0)) / h(0) - _BCLowVal); + A(0,0) = 2 * h(0); + A(1,0) = h(0); + break; + case FIXED_2ND_DERIV_BC: + C(0) = _BCLowVal; + A(0,0) = 1; + break; + case PARABOLIC_RUNOUT_BC: + C(0) = 0; A(0,0) = 1; A(1,0) = -1; + break; + } + + switch(_BCHigh) + { + case FIXED_1ST_DERIV_BC: + C(e) = 6 * (_BCHighVal - (y(e) - y(e-1)) / h(e-1)); + A(e,e) = 2 * h(e - 1); + A(e-1,e) = h(e - 1); + break; + case FIXED_2ND_DERIV_BC: + C(e) = _BCHighVal; + A(e,e) = 1; + break; + case PARABOLIC_RUNOUT_BC: + C(e) = 0; A(e,e) = 1; A(e-1,e) = -1; + break; + } + + ublas::matrix AInv(size(), size()); + InvertMatrix(A,AInv); + + _ddy = ublas::prod(C, AInv); + + _data.resize(size()-1); + for (size_t i(0); i < e; ++i) + { + _data[i].x = x(i); + _data[i].a = (_ddy(i+1) - _ddy(i)) / (6 * h(i)); + _data[i].b = _ddy(i) / 2; + _data[i].c = (y(i+1) - y(i)) / h(i) - _ddy(i+1) * h(i) / 6 - _ddy(i) * h(i) / 3; + _data[i].d = y(i); + } + } + } + _valid = true; + } +}; diff --git a/camera_models/include/camodocal/gpl/EigenQuaternionParameterization.h b/camera_models/include/camodocal/gpl/EigenQuaternionParameterization.h new file mode 100644 index 0000000..3d08f0e --- /dev/null +++ b/camera_models/include/camodocal/gpl/EigenQuaternionParameterization.h @@ -0,0 +1,40 @@ +#ifndef EIGENQUATERNIONPARAMETERIZATION_H +#define EIGENQUATERNIONPARAMETERIZATION_H + +#include "ceres/local_parameterization.h" + +namespace camodocal +{ + +class EigenQuaternionParameterization : public ceres::LocalParameterization +{ +public: + virtual ~EigenQuaternionParameterization() {} + virtual bool Plus(const double* x, + const double* delta, + double* x_plus_delta) const; + virtual bool ComputeJacobian(const double* x, + double* jacobian) const; + virtual int GlobalSize() const { return 4; } + virtual int LocalSize() const { return 3; } + +private: + template + void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const; +}; + + +template +void +EigenQuaternionParameterization::EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const +{ + zw[0] = z[3] * w[0] + z[0] * w[3] + z[1] * w[2] - z[2] * w[1]; + zw[1] = z[3] * w[1] - z[0] * w[2] + z[1] * w[3] + z[2] * w[0]; + zw[2] = z[3] * w[2] + z[0] * w[1] - z[1] * w[0] + z[2] * w[3]; + zw[3] = z[3] * w[3] - z[0] * w[0] - z[1] * w[1] - z[2] * w[2]; +} + +} + +#endif + diff --git a/camera_models/include/camodocal/gpl/EigenUtils.h b/camera_models/include/camodocal/gpl/EigenUtils.h new file mode 100644 index 0000000..72b46c7 --- /dev/null +++ b/camera_models/include/camodocal/gpl/EigenUtils.h @@ -0,0 +1,418 @@ +#ifndef EIGENUTILS_H +#define EIGENUTILS_H + +#include + +#include "ceres/rotation.h" +#include "camodocal/gpl/gpl.h" + +namespace camodocal +{ + +// Returns the 3D cross product skew symmetric matrix of a given 3D vector +template +Eigen::Matrix skew(const Eigen::Matrix& vec) +{ + return (Eigen::Matrix() << T(0), -vec(2), vec(1), + vec(2), T(0), -vec(0), + -vec(1), vec(0), T(0)).finished(); +} + +template +typename Eigen::MatrixBase::PlainObject sqrtm(const Eigen::MatrixBase& A) +{ + Eigen::SelfAdjointEigenSolver es(A); + + return es.operatorSqrt(); +} + +template +Eigen::Matrix AngleAxisToRotationMatrix(const Eigen::Matrix& rvec) +{ + T angle = rvec.norm(); + if (angle == T(0)) + { + return Eigen::Matrix::Identity(); + } + + Eigen::Matrix axis; + axis = rvec.normalized(); + + Eigen::Matrix rmat; + rmat = Eigen::AngleAxis(angle, axis); + + return rmat; +} + +template +Eigen::Quaternion AngleAxisToQuaternion(const Eigen::Matrix& rvec) +{ + Eigen::Matrix rmat = AngleAxisToRotationMatrix(rvec); + + return Eigen::Quaternion(rmat); +} + +template +void AngleAxisToQuaternion(const Eigen::Matrix& rvec, T* q) +{ + Eigen::Quaternion quat = AngleAxisToQuaternion(rvec); + + q[0] = quat.x(); + q[1] = quat.y(); + q[2] = quat.z(); + q[3] = quat.w(); +} + +template +Eigen::Matrix RotationToAngleAxis(const Eigen::Matrix & rmat) +{ + Eigen::AngleAxis angleaxis; + angleaxis.fromRotationMatrix(rmat); + return angleaxis.angle() * angleaxis.axis(); + +} + +template +void QuaternionToAngleAxis(const T* const q, Eigen::Matrix& rvec) +{ + Eigen::Quaternion quat(q[3], q[0], q[1], q[2]); + + Eigen::Matrix rmat = quat.toRotationMatrix(); + + Eigen::AngleAxis angleaxis; + angleaxis.fromRotationMatrix(rmat); + + rvec = angleaxis.angle() * angleaxis.axis(); +} + +template +Eigen::Matrix QuaternionToRotation(const T* const q) +{ + T R[9]; + ceres::QuaternionToRotation(q, R); + + Eigen::Matrix rmat; + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 3; ++j) + { + rmat(i,j) = R[i * 3 + j]; + } + } + + return rmat; +} + +template +void QuaternionToRotation(const T* const q, T* rot) +{ + ceres::QuaternionToRotation(q, rot); +} + +template +Eigen::Matrix QuaternionMultMatLeft(const Eigen::Quaternion& q) +{ + return (Eigen::Matrix() << q.w(), -q.z(), q.y(), q.x(), + q.z(), q.w(), -q.x(), q.y(), + -q.y(), q.x(), q.w(), q.z(), + -q.x(), -q.y(), -q.z(), q.w()).finished(); +} + +template +Eigen::Matrix QuaternionMultMatRight(const Eigen::Quaternion& q) +{ + return (Eigen::Matrix() << q.w(), q.z(), -q.y(), q.x(), + -q.z(), q.w(), q.x(), q.y(), + q.y(), -q.x(), q.w(), q.z(), + -q.x(), -q.y(), -q.z(), q.w()).finished(); +} + +/// @param theta - rotation about screw axis +/// @param d - projection of tvec on the rotation axis +/// @param l - screw axis direction +/// @param m - screw axis moment +template +void AngleAxisAndTranslationToScrew(const Eigen::Matrix& rvec, + const Eigen::Matrix& tvec, + T& theta, T& d, + Eigen::Matrix& l, + Eigen::Matrix& m) +{ + + theta = rvec.norm(); + if (theta == 0) + { + l.setZero(); + m.setZero(); + std::cout << "Warning: Undefined screw! Returned 0. " << std::endl; + } + + l = rvec.normalized(); + + Eigen::Matrix t = tvec; + + d = t.transpose() * l; + + // point on screw axis - projection of origin on screw axis + Eigen::Matrix c; + c = 0.5 * (t - d * l + (1.0 / tan(theta / 2.0) * l).cross(t)); + + // c and hence the screw axis is not defined if theta is either 0 or M_PI + m = c.cross(l); +} + +template +Eigen::Matrix RPY2mat(T roll, T pitch, T yaw) +{ + Eigen::Matrix m; + + T cr = cos(roll); + T sr = sin(roll); + T cp = cos(pitch); + T sp = sin(pitch); + T cy = cos(yaw); + T sy = sin(yaw); + + m(0,0) = cy * cp; + m(0,1) = cy * sp * sr - sy * cr; + m(0,2) = cy * sp * cr + sy * sr; + m(1,0) = sy * cp; + m(1,1) = sy * sp * sr + cy * cr; + m(1,2) = sy * sp * cr - cy * sr; + m(2,0) = - sp; + m(2,1) = cp * sr; + m(2,2) = cp * cr; + return m; +} + +template +void mat2RPY(const Eigen::Matrix& m, T& roll, T& pitch, T& yaw) +{ + roll = atan2(m(2,1), m(2,2)); + pitch = atan2(-m(2,0), sqrt(m(2,1) * m(2,1) + m(2,2) * m(2,2))); + yaw = atan2(m(1,0), m(0,0)); +} + +template +Eigen::Matrix homogeneousTransform(const Eigen::Matrix& R, const Eigen::Matrix& t) +{ + Eigen::Matrix H; + H.setIdentity(); + + H.block(0,0,3,3) = R; + H.block(0,3,3,1) = t; + + return H; +} + +template +Eigen::Matrix poseWithCartesianTranslation(const T* const q, const T* const p) +{ + Eigen::Matrix pose = Eigen::Matrix::Identity(); + + T rotation[9]; + ceres::QuaternionToRotation(q, rotation); + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 3; ++j) + { + pose(i,j) = rotation[i * 3 + j]; + } + } + + pose(0,3) = p[0]; + pose(1,3) = p[1]; + pose(2,3) = p[2]; + + return pose; +} + +template +Eigen::Matrix poseWithSphericalTranslation(const T* const q, const T* const p, const T scale = T(1.0)) +{ + Eigen::Matrix pose = Eigen::Matrix::Identity(); + + T rotation[9]; + ceres::QuaternionToRotation(q, rotation); + for (int i = 0; i < 3; ++i) + { + for (int j = 0; j < 3; ++j) + { + pose(i,j) = rotation[i * 3 + j]; + } + } + + T theta = p[0]; + T phi = p[1]; + pose(0,3) = sin(theta) * cos(phi) * scale; + pose(1,3) = sin(theta) * sin(phi) * scale; + pose(2,3) = cos(theta) * scale; + + return pose; +} + +// Returns the Sampson error of a given essential matrix and 2 image points +template +T sampsonError(const Eigen::Matrix& E, + const Eigen::Matrix& p1, + const Eigen::Matrix& p2) +{ + Eigen::Matrix Ex1 = E * p1; + Eigen::Matrix Etx2 = E.transpose() * p2; + + T x2tEx1 = p2.dot(Ex1); + + // compute Sampson error + T err = square(x2tEx1) / (square(Ex1(0,0)) + square(Ex1(1,0)) + square(Etx2(0,0)) + square(Etx2(1,0))); + + return err; +} + +// Returns the Sampson error of a given rotation/translation and 2 image points +template +T sampsonError(const Eigen::Matrix& R, + const Eigen::Matrix& t, + const Eigen::Matrix& p1, + const Eigen::Matrix& p2) +{ + // construct essential matrix + Eigen::Matrix E = skew(t) * R; + + Eigen::Matrix Ex1 = E * p1; + Eigen::Matrix Etx2 = E.transpose() * p2; + + T x2tEx1 = p2.dot(Ex1); + + // compute Sampson error + T err = square(x2tEx1) / (square(Ex1(0,0)) + square(Ex1(1,0)) + square(Etx2(0,0)) + square(Etx2(1,0))); + + return err; +} + +// Returns the Sampson error of a given rotation/translation and 2 image points +template +T sampsonError(const Eigen::Matrix& H, + const Eigen::Matrix& p1, + const Eigen::Matrix& p2) +{ + Eigen::Matrix R = H.block(0, 0, 3, 3); + Eigen::Matrix t = H.block(0, 3, 3, 1); + + return sampsonError(R, t, p1, p2); +} + +template +Eigen::Matrix +transformPoint(const Eigen::Matrix& H, const Eigen::Matrix& P) +{ + Eigen::Matrix P_trans = H.block(0, 0, 3, 3) * P + H.block(0, 3, 3, 1); + + return P_trans; +} + +template +Eigen::Matrix +estimate3DRigidTransform(const std::vector, Eigen::aligned_allocator > >& points1, + const std::vector, Eigen::aligned_allocator > >& points2) +{ + // compute centroids + Eigen::Matrix c1, c2; + c1.setZero(); c2.setZero(); + + for (size_t i = 0; i < points1.size(); ++i) + { + c1 += points1.at(i); + c2 += points2.at(i); + } + + c1 /= points1.size(); + c2 /= points1.size(); + + Eigen::Matrix X(3, points1.size()); + Eigen::Matrix Y(3, points1.size()); + for (size_t i = 0; i < points1.size(); ++i) + { + X.col(i) = points1.at(i) - c1; + Y.col(i) = points2.at(i) - c2; + } + + Eigen::Matrix H = X * Y.transpose(); + + Eigen::JacobiSVD< Eigen::Matrix > svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV); + + Eigen::Matrix U = svd.matrixU(); + Eigen::Matrix V = svd.matrixV(); + if (U.determinant() * V.determinant() < 0.0) + { + V.col(2) *= -1.0; + } + + Eigen::Matrix R = V * U.transpose(); + Eigen::Matrix t = c2 - R * c1; + + return homogeneousTransform(R, t); +} + +template +Eigen::Matrix +estimate3DRigidSimilarityTransform(const std::vector, Eigen::aligned_allocator > >& points1, + const std::vector, Eigen::aligned_allocator > >& points2) +{ + // compute centroids + Eigen::Matrix c1, c2; + c1.setZero(); c2.setZero(); + + for (size_t i = 0; i < points1.size(); ++i) + { + c1 += points1.at(i); + c2 += points2.at(i); + } + + c1 /= points1.size(); + c2 /= points1.size(); + + Eigen::Matrix X(3, points1.size()); + Eigen::Matrix Y(3, points1.size()); + for (size_t i = 0; i < points1.size(); ++i) + { + X.col(i) = points1.at(i) - c1; + Y.col(i) = points2.at(i) - c2; + } + + Eigen::Matrix H = X * Y.transpose(); + + Eigen::JacobiSVD< Eigen::Matrix > svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV); + + Eigen::Matrix U = svd.matrixU(); + Eigen::Matrix V = svd.matrixV(); + if (U.determinant() * V.determinant() < 0.0) + { + V.col(2) *= -1.0; + } + + Eigen::Matrix R = V * U.transpose(); + + std::vector, Eigen::aligned_allocator > > rotatedPoints1(points1.size()); + for (size_t i = 0; i < points1.size(); ++i) + { + rotatedPoints1.at(i) = R * (points1.at(i) - c1); + } + + double sum_ss = 0.0, sum_tt = 0.0; + for (size_t i = 0; i < points1.size(); ++i) + { + sum_ss += (points1.at(i) - c1).squaredNorm(); + sum_tt += (points2.at(i) - c2).dot(rotatedPoints1.at(i)); + } + + double scale = sum_tt / sum_ss; + + Eigen::Matrix sR = scale * R; + Eigen::Matrix t = c2 - sR * c1; + + return homogeneousTransform(sR, t); +} + +} + +#endif diff --git a/camera_models/include/camodocal/gpl/gpl.h b/camera_models/include/camodocal/gpl/gpl.h new file mode 100644 index 0000000..9f511f6 --- /dev/null +++ b/camera_models/include/camodocal/gpl/gpl.h @@ -0,0 +1,111 @@ +#ifndef GPL_H +#define GPL_H + +#include +#include +#include + +namespace camodocal +{ + +template +const T clamp(const T& v, const T& a, const T& b) +{ + return std::min(b, std::max(a, v)); +} + +double hypot3(double x, double y, double z); +float hypot3f(float x, float y, float z); + +template +const T normalizeTheta(const T& theta) +{ + T normTheta = theta; + + while (normTheta < - M_PI) + { + normTheta += 2.0 * M_PI; + } + while (normTheta > M_PI) + { + normTheta -= 2.0 * M_PI; + } + + return normTheta; +} + +double d2r(double deg); +float d2r(float deg); +double r2d(double rad); +float r2d(float rad); + +double sinc(double theta); + +template +const T square(const T& x) +{ + return x * x; +} + +template +const T cube(const T& x) +{ + return x * x * x; +} + +template +const T random(const T& a, const T& b) +{ + return static_cast(rand()) / RAND_MAX * (b - a) + a; +} + +template +const T randomNormal(const T& sigma) +{ + T x1, x2, w; + + do + { + x1 = 2.0 * random(0.0, 1.0) - 1.0; + x2 = 2.0 * random(0.0, 1.0) - 1.0; + w = x1 * x1 + x2 * x2; + } + while (w >= 1.0 || w == 0.0); + + w = sqrt((-2.0 * log(w)) / w); + + return x1 * w * sigma; +} + +unsigned long long timeInMicroseconds(void); + +double timeInSeconds(void); + +void colorDepthImage(cv::Mat& imgDepth, + cv::Mat& imgColoredDepth, + float minRange, float maxRange); + +bool colormap(const std::string& name, unsigned char idx, + float& r, float& g, float& b); + +std::vector bresLine(int x0, int y0, int x1, int y1); +std::vector bresCircle(int x0, int y0, int r); + +void fitCircle(const std::vector& points, + double& centerX, double& centerY, double& radius); + +std::vector intersectCircles(double x1, double y1, double r1, + double x2, double y2, double r2); + +void LLtoUTM(double latitude, double longitude, + double& utmNorthing, double& utmEasting, + std::string& utmZone); +void UTMtoLL(double utmNorthing, double utmEasting, + const std::string& utmZone, + double& latitude, double& longitude); + +long int timestampDiff(uint64_t t1, uint64_t t2); + +} + +#endif diff --git a/camera_models/include/camodocal/sparse_graph/Transform.h b/camera_models/include/camodocal/sparse_graph/Transform.h new file mode 100644 index 0000000..c164b0a --- /dev/null +++ b/camera_models/include/camodocal/sparse_graph/Transform.h @@ -0,0 +1,38 @@ +#ifndef TRANSFORM_H +#define TRANSFORM_H + +#include +#include +#include + +namespace camodocal +{ + +class Transform +{ +public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + Transform(); + Transform(const Eigen::Matrix4d& H); + + Eigen::Quaterniond& rotation(void); + const Eigen::Quaterniond& rotation(void) const; + double* rotationData(void); + const double* const rotationData(void) const; + + Eigen::Vector3d& translation(void); + const Eigen::Vector3d& translation(void) const; + double* translationData(void); + const double* const translationData(void) const; + + Eigen::Matrix4d toMatrix(void) const; + +private: + Eigen::Quaterniond m_q; + Eigen::Vector3d m_t; +}; + +} + +#endif diff --git a/camera_models/package.xml b/camera_models/package.xml new file mode 100644 index 0000000..7c28ebb --- /dev/null +++ b/camera_models/package.xml @@ -0,0 +1,54 @@ + + + camera_models + 0.0.0 + The camera_models package + + + + + dvorak + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + roscpp + std_msgs + + + + + + + + \ No newline at end of file diff --git a/camera_models/readme.md b/camera_models/readme.md new file mode 100644 index 0000000..a986a9f --- /dev/null +++ b/camera_models/readme.md @@ -0,0 +1,15 @@ +part of [camodocal](https://github.com/hengli/camodocal) + +[Google Ceres](http://ceres-solver.org) is needed. + +# Calibration: + +Use [intrinsic_calib.cc](https://github.com/dvorak0/camera_model/blob/master/src/intrinsic_calib.cc) to calibrate your camera. + +# Undistortion: + +See [Camera.h](https://github.com/dvorak0/camera_model/blob/master/include/camodocal/camera_models/Camera.h) for general interface: + + - liftProjective: Lift points from the image plane to the projective space. + - spaceToPlane: Projects 3D points to the image plane (Pi function) + diff --git a/camera_models/src/calib/CameraCalibration.cc b/camera_models/src/calib/CameraCalibration.cc new file mode 100644 index 0000000..10543e9 --- /dev/null +++ b/camera_models/src/calib/CameraCalibration.cc @@ -0,0 +1,571 @@ +#include "camodocal/calib/CameraCalibration.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/sparse_graph/Transform.h" +#include "camodocal/gpl/EigenQuaternionParameterization.h" +#include "camodocal/gpl/EigenUtils.h" +#include "camodocal/camera_models/CostFunctionFactory.h" + +#include "ceres/ceres.h" +namespace camodocal +{ + +CameraCalibration::CameraCalibration() + : m_boardSize(cv::Size(0,0)) + , m_squareSize(0.0f) + , m_verbose(false) +{ + +} + +CameraCalibration::CameraCalibration(const Camera::ModelType modelType, + const std::string& cameraName, + const cv::Size& imageSize, + const cv::Size& boardSize, + float squareSize) + : m_boardSize(boardSize) + , m_squareSize(squareSize) + , m_verbose(false) +{ + m_camera = CameraFactory::instance()->generateCamera(modelType, cameraName, imageSize); +} + +void +CameraCalibration::clear(void) +{ + m_imagePoints.clear(); + m_scenePoints.clear(); +} + +void +CameraCalibration::addChessboardData(const std::vector& corners) +{ + m_imagePoints.push_back(corners); + + std::vector scenePointsInView; + for (int i = 0; i < m_boardSize.height; ++i) + { + for (int j = 0; j < m_boardSize.width; ++j) + { + scenePointsInView.push_back(cv::Point3f(i * m_squareSize, j * m_squareSize, 0.0)); + } + } + m_scenePoints.push_back(scenePointsInView); +} + +bool +CameraCalibration::calibrate(void) +{ + int imageCount = m_imagePoints.size(); + + // compute intrinsic camera parameters and extrinsic parameters for each of the views + std::vector rvecs; + std::vector tvecs; + bool ret = calibrateHelper(m_camera, rvecs, tvecs); + + m_cameraPoses = cv::Mat(imageCount, 6, CV_64F); + for (int i = 0; i < imageCount; ++i) + { + m_cameraPoses.at(i,0) = rvecs.at(i).at(0); + m_cameraPoses.at(i,1) = rvecs.at(i).at(1); + m_cameraPoses.at(i,2) = rvecs.at(i).at(2); + m_cameraPoses.at(i,3) = tvecs.at(i).at(0); + m_cameraPoses.at(i,4) = tvecs.at(i).at(1); + m_cameraPoses.at(i,5) = tvecs.at(i).at(2); + } + + // Compute measurement covariance. + std::vector > errVec(m_imagePoints.size()); + Eigen::Vector2d errSum = Eigen::Vector2d::Zero(); + size_t errCount = 0; + for (size_t i = 0; i < m_imagePoints.size(); ++i) + { + std::vector estImagePoints; + m_camera->projectPoints(m_scenePoints.at(i), rvecs.at(i), tvecs.at(i), + estImagePoints); + + for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j) + { + cv::Point2f pObs = m_imagePoints.at(i).at(j); + cv::Point2f pEst = estImagePoints.at(j); + + cv::Point2f err = pObs - pEst; + + errVec.at(i).push_back(err); + + errSum += Eigen::Vector2d(err.x, err.y); + } + + errCount += m_imagePoints.at(i).size(); + } + + Eigen::Vector2d errMean = errSum / static_cast(errCount); + + Eigen::Matrix2d measurementCovariance = Eigen::Matrix2d::Zero(); + for (size_t i = 0; i < errVec.size(); ++i) + { + for (size_t j = 0; j < errVec.at(i).size(); ++j) + { + cv::Point2f err = errVec.at(i).at(j); + double d0 = err.x - errMean(0); + double d1 = err.y - errMean(1); + + measurementCovariance(0,0) += d0 * d0; + measurementCovariance(0,1) += d0 * d1; + measurementCovariance(1,1) += d1 * d1; + } + } + measurementCovariance /= static_cast(errCount); + measurementCovariance(1,0) = measurementCovariance(0,1); + + m_measurementCovariance = measurementCovariance; + + return ret; +} + +int +CameraCalibration::sampleCount(void) const +{ + return m_imagePoints.size(); +} + +std::vector >& +CameraCalibration::imagePoints(void) +{ + return m_imagePoints; +} + +const std::vector >& +CameraCalibration::imagePoints(void) const +{ + return m_imagePoints; +} + +std::vector >& +CameraCalibration::scenePoints(void) +{ + return m_scenePoints; +} + +const std::vector >& +CameraCalibration::scenePoints(void) const +{ + return m_scenePoints; +} + +CameraPtr& +CameraCalibration::camera(void) +{ + return m_camera; +} + +const CameraConstPtr +CameraCalibration::camera(void) const +{ + return m_camera; +} + +Eigen::Matrix2d& +CameraCalibration::measurementCovariance(void) +{ + return m_measurementCovariance; +} + +const Eigen::Matrix2d& +CameraCalibration::measurementCovariance(void) const +{ + return m_measurementCovariance; +} + +cv::Mat& +CameraCalibration::cameraPoses(void) +{ + return m_cameraPoses; +} + +const cv::Mat& +CameraCalibration::cameraPoses(void) const +{ + return m_cameraPoses; +} + +void +CameraCalibration::drawResults(std::vector& images) const +{ + std::vector rvecs, tvecs; + + for (size_t i = 0; i < images.size(); ++i) + { + cv::Mat rvec(3, 1, CV_64F); + rvec.at(0) = m_cameraPoses.at(i,0); + rvec.at(1) = m_cameraPoses.at(i,1); + rvec.at(2) = m_cameraPoses.at(i,2); + + cv::Mat tvec(3, 1, CV_64F); + tvec.at(0) = m_cameraPoses.at(i,3); + tvec.at(1) = m_cameraPoses.at(i,4); + tvec.at(2) = m_cameraPoses.at(i,5); + + rvecs.push_back(rvec); + tvecs.push_back(tvec); + } + + int drawShiftBits = 4; + int drawMultiplier = 1 << drawShiftBits; + + cv::Scalar green(0, 255, 0); + cv::Scalar red(0, 0, 255); + + for (size_t i = 0; i < images.size(); ++i) + { + cv::Mat& image = images.at(i); + if (image.channels() == 1) + { + cv::cvtColor(image, image, CV_GRAY2RGB); + } + + std::vector estImagePoints; + m_camera->projectPoints(m_scenePoints.at(i), rvecs.at(i), tvecs.at(i), + estImagePoints); + + float errorSum = 0.0f; + float errorMax = std::numeric_limits::min(); + + for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j) + { + cv::Point2f pObs = m_imagePoints.at(i).at(j); + cv::Point2f pEst = estImagePoints.at(j); + + cv::circle(image, + cv::Point(cvRound(pObs.x * drawMultiplier), + cvRound(pObs.y * drawMultiplier)), + 5, green, 2, CV_AA, drawShiftBits); + + cv::circle(image, + cv::Point(cvRound(pEst.x * drawMultiplier), + cvRound(pEst.y * drawMultiplier)), + 5, red, 2, CV_AA, drawShiftBits); + + float error = cv::norm(pObs - pEst); + + errorSum += error; + if (error > errorMax) + { + errorMax = error; + } + } + + std::ostringstream oss; + oss << "Reprojection error: avg = " << errorSum / m_imagePoints.at(i).size() + << " max = " << errorMax; + + cv::putText(image, oss.str(), cv::Point(10, image.rows - 10), + cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255, 255, 255), + 1, CV_AA); + } +} + +void +CameraCalibration::writeParams(const std::string& filename) const +{ + m_camera->writeParametersToYamlFile(filename); +} + +bool +CameraCalibration::writeChessboardData(const std::string& filename) const +{ + std::ofstream ofs(filename.c_str(), std::ios::out | std::ios::binary); + if (!ofs.is_open()) + { + return false; + } + + writeData(ofs, m_boardSize.width); + writeData(ofs, m_boardSize.height); + writeData(ofs, m_squareSize); + + writeData(ofs, m_measurementCovariance(0,0)); + writeData(ofs, m_measurementCovariance(0,1)); + writeData(ofs, m_measurementCovariance(1,0)); + writeData(ofs, m_measurementCovariance(1,1)); + + writeData(ofs, m_cameraPoses.rows); + writeData(ofs, m_cameraPoses.cols); + writeData(ofs, m_cameraPoses.type()); + for (int i = 0; i < m_cameraPoses.rows; ++i) + { + for (int j = 0; j < m_cameraPoses.cols; ++j) + { + writeData(ofs, m_cameraPoses.at(i,j)); + } + } + + writeData(ofs, m_imagePoints.size()); + for (size_t i = 0; i < m_imagePoints.size(); ++i) + { + writeData(ofs, m_imagePoints.at(i).size()); + for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j) + { + const cv::Point2f& ipt = m_imagePoints.at(i).at(j); + + writeData(ofs, ipt.x); + writeData(ofs, ipt.y); + } + } + + writeData(ofs, m_scenePoints.size()); + for (size_t i = 0; i < m_scenePoints.size(); ++i) + { + writeData(ofs, m_scenePoints.at(i).size()); + for (size_t j = 0; j < m_scenePoints.at(i).size(); ++j) + { + const cv::Point3f& spt = m_scenePoints.at(i).at(j); + + writeData(ofs, spt.x); + writeData(ofs, spt.y); + writeData(ofs, spt.z); + } + } + + return true; +} + +bool +CameraCalibration::readChessboardData(const std::string& filename) +{ + std::ifstream ifs(filename.c_str(), std::ios::in | std::ios::binary); + if (!ifs.is_open()) + { + return false; + } + + readData(ifs, m_boardSize.width); + readData(ifs, m_boardSize.height); + readData(ifs, m_squareSize); + + readData(ifs, m_measurementCovariance(0,0)); + readData(ifs, m_measurementCovariance(0,1)); + readData(ifs, m_measurementCovariance(1,0)); + readData(ifs, m_measurementCovariance(1,1)); + + int rows, cols, type; + readData(ifs, rows); + readData(ifs, cols); + readData(ifs, type); + m_cameraPoses = cv::Mat(rows, cols, type); + + for (int i = 0; i < m_cameraPoses.rows; ++i) + { + for (int j = 0; j < m_cameraPoses.cols; ++j) + { + readData(ifs, m_cameraPoses.at(i,j)); + } + } + + size_t nImagePointSets; + readData(ifs, nImagePointSets); + + m_imagePoints.clear(); + m_imagePoints.resize(nImagePointSets); + for (size_t i = 0; i < m_imagePoints.size(); ++i) + { + size_t nImagePoints; + readData(ifs, nImagePoints); + m_imagePoints.at(i).resize(nImagePoints); + + for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j) + { + cv::Point2f& ipt = m_imagePoints.at(i).at(j); + readData(ifs, ipt.x); + readData(ifs, ipt.y); + } + } + + size_t nScenePointSets; + readData(ifs, nScenePointSets); + + m_scenePoints.clear(); + m_scenePoints.resize(nScenePointSets); + for (size_t i = 0; i < m_scenePoints.size(); ++i) + { + size_t nScenePoints; + readData(ifs, nScenePoints); + m_scenePoints.at(i).resize(nScenePoints); + + for (size_t j = 0; j < m_scenePoints.at(i).size(); ++j) + { + cv::Point3f& spt = m_scenePoints.at(i).at(j); + readData(ifs, spt.x); + readData(ifs, spt.y); + readData(ifs, spt.z); + } + } + + return true; +} + +void +CameraCalibration::setVerbose(bool verbose) +{ + m_verbose = verbose; +} + +bool +CameraCalibration::calibrateHelper(CameraPtr& camera, + std::vector& rvecs, std::vector& tvecs) const +{ + rvecs.assign(m_scenePoints.size(), cv::Mat()); + tvecs.assign(m_scenePoints.size(), cv::Mat()); + + // STEP 1: Estimate intrinsics + camera->estimateIntrinsics(m_boardSize, m_scenePoints, m_imagePoints); + + // STEP 2: Estimate extrinsics + for (size_t i = 0; i < m_scenePoints.size(); ++i) + { + camera->estimateExtrinsics(m_scenePoints.at(i), m_imagePoints.at(i), rvecs.at(i), tvecs.at(i)); + } + + if (m_verbose) + { + std::cout << "[" << camera->cameraName() << "] " + << "# INFO: " << "Initial reprojection error: " + << std::fixed << std::setprecision(3) + << camera->reprojectionError(m_scenePoints, m_imagePoints, rvecs, tvecs) + << " pixels" << std::endl; + } + + // STEP 3: optimization using ceres + optimize(camera, rvecs, tvecs); + + if (m_verbose) + { + double err = camera->reprojectionError(m_scenePoints, m_imagePoints, rvecs, tvecs); + std::cout << "[" << camera->cameraName() << "] " << "# INFO: Final reprojection error: " + << err << " pixels" << std::endl; + std::cout << "[" << camera->cameraName() << "] " << "# INFO: " + << camera->parametersToString() << std::endl; + } + + return true; +} + +void +CameraCalibration::optimize(CameraPtr& camera, + std::vector& rvecs, std::vector& tvecs) const +{ + // Use ceres to do optimization + ceres::Problem problem; + + std::vector > transformVec(rvecs.size()); + for (size_t i = 0; i < rvecs.size(); ++i) + { + Eigen::Vector3d rvec; + cv::cv2eigen(rvecs.at(i), rvec); + + transformVec.at(i).rotation() = Eigen::AngleAxisd(rvec.norm(), rvec.normalized()); + transformVec.at(i).translation() << tvecs[i].at(0), + tvecs[i].at(1), + tvecs[i].at(2); + } + + std::vector intrinsicCameraParams; + m_camera->writeParameters(intrinsicCameraParams); + + // create residuals for each observation + for (size_t i = 0; i < m_imagePoints.size(); ++i) + { + for (size_t j = 0; j < m_imagePoints.at(i).size(); ++j) + { + const cv::Point3f& spt = m_scenePoints.at(i).at(j); + const cv::Point2f& ipt = m_imagePoints.at(i).at(j); + + ceres::CostFunction* costFunction = + CostFunctionFactory::instance()->generateCostFunction(camera, + Eigen::Vector3d(spt.x, spt.y, spt.z), + Eigen::Vector2d(ipt.x, ipt.y), + CAMERA_INTRINSICS | CAMERA_POSE); + + ceres::LossFunction* lossFunction = new ceres::CauchyLoss(1.0); + problem.AddResidualBlock(costFunction, lossFunction, + intrinsicCameraParams.data(), + transformVec.at(i).rotationData(), + transformVec.at(i).translationData()); + } + + ceres::LocalParameterization* quaternionParameterization = + new EigenQuaternionParameterization; + + problem.SetParameterization(transformVec.at(i).rotationData(), + quaternionParameterization); + } + + std::cout << "begin ceres" << std::endl; + ceres::Solver::Options options; + options.max_num_iterations = 1000; + options.num_threads = 1; + + if (m_verbose) + { + options.minimizer_progress_to_stdout = true; + } + + ceres::Solver::Summary summary; + ceres::Solve(options, &problem, &summary); + std::cout << "end ceres" << std::endl; + + if (m_verbose) + { + std::cout << summary.FullReport() << std::endl; + } + + camera->readParameters(intrinsicCameraParams); + + for (size_t i = 0; i < rvecs.size(); ++i) + { + Eigen::AngleAxisd aa(transformVec.at(i).rotation()); + + Eigen::Vector3d rvec = aa.angle() * aa.axis(); + cv::eigen2cv(rvec, rvecs.at(i)); + + cv::Mat& tvec = tvecs.at(i); + tvec.at(0) = transformVec.at(i).translation()(0); + tvec.at(1) = transformVec.at(i).translation()(1); + tvec.at(2) = transformVec.at(i).translation()(2); + } +} + +template +void +CameraCalibration::readData(std::ifstream& ifs, T& data) const +{ + char* buffer = new char[sizeof(T)]; + + ifs.read(buffer, sizeof(T)); + + data = *(reinterpret_cast(buffer)); + + delete[] buffer; +} + +template +void +CameraCalibration::writeData(std::ofstream& ofs, T data) const +{ + char* pData = reinterpret_cast(&data); + + ofs.write(pData, sizeof(T)); +} + +} diff --git a/camera_models/src/camera_models/Camera.cc b/camera_models/src/camera_models/Camera.cc new file mode 100644 index 0000000..0ba8dc3 --- /dev/null +++ b/camera_models/src/camera_models/Camera.cc @@ -0,0 +1,252 @@ +#include "camodocal/camera_models/Camera.h" +#include "camodocal/camera_models/ScaramuzzaCamera.h" + +#include + +namespace camodocal +{ + +Camera::Parameters::Parameters(ModelType modelType) + : m_modelType(modelType) + , m_imageWidth(0) + , m_imageHeight(0) +{ + switch (modelType) + { + case KANNALA_BRANDT: + m_nIntrinsics = 8; + break; + case PINHOLE: + m_nIntrinsics = 8; + break; + case SCARAMUZZA: + m_nIntrinsics = SCARAMUZZA_CAMERA_NUM_PARAMS; + 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 KANNALA_BRANDT: + m_nIntrinsics = 8; + break; + case PINHOLE: + m_nIntrinsics = 8; + break; + case SCARAMUZZA: + m_nIntrinsics = SCARAMUZZA_CAMERA_NUM_PARAMS; + break; + case MEI: + default: + m_nIntrinsics = 9; + } +} + +Camera::ModelType& +Camera::Parameters::modelType(void) +{ + return m_modelType; +} + +std::string& +Camera::Parameters::cameraName(void) +{ + return m_cameraName; +} + +int& +Camera::Parameters::imageWidth(void) +{ + return m_imageWidth; +} + +int& +Camera::Parameters::imageHeight(void) +{ + return m_imageHeight; +} + +Camera::ModelType +Camera::Parameters::modelType(void) const +{ + return m_modelType; +} + +const std::string& +Camera::Parameters::cameraName(void) const +{ + return m_cameraName; +} + +int +Camera::Parameters::imageWidth(void) const +{ + return m_imageWidth; +} + +int +Camera::Parameters::imageHeight(void) const +{ + return m_imageHeight; +} + +int +Camera::Parameters::nIntrinsics(void) const +{ + return m_nIntrinsics; +} + +cv::Mat& +Camera::mask(void) +{ + return m_mask; +} + +const cv::Mat& +Camera::mask(void) const +{ + return m_mask; +} + +void +Camera::estimateExtrinsics(const std::vector& objectPoints, + const std::vector& imagePoints, + cv::Mat& rvec, cv::Mat& tvec) const +{ + std::vector Ms(imagePoints.size()); + for (size_t i = 0; i < Ms.size(); ++i) + { + Eigen::Vector3d P; + liftProjective(Eigen::Vector2d(imagePoints.at(i).x, imagePoints.at(i).y), P); + + P /= P(2); + + Ms.at(i).x = P(0); + Ms.at(i).y = P(1); + } + + // assume unit focal length, zero principal point, and zero distortion + cv::solvePnP(objectPoints, Ms, cv::Mat::eye(3, 3, CV_64F), cv::noArray(), rvec, tvec); +} + +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 std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints, + const std::vector& rvecs, + const std::vector& tvecs, + cv::OutputArray _perViewErrors) const +{ + int imageCount = objectPoints.size(); + size_t pointsSoFar = 0; + double totalErr = 0.0; + + bool computePerViewErrors = _perViewErrors.needed(); + cv::Mat perViewErrors; + if (computePerViewErrors) + { + _perViewErrors.create(imageCount, 1, CV_64F); + perViewErrors = _perViewErrors.getMat(); + } + + for (int i = 0; i < imageCount; ++i) + { + size_t pointCount = imagePoints.at(i).size(); + + pointsSoFar += pointCount; + + std::vector estImagePoints; + projectPoints(objectPoints.at(i), rvecs.at(i), tvecs.at(i), + estImagePoints); + + double err = 0.0; + for (size_t j = 0; j < imagePoints.at(i).size(); ++j) + { + err += cv::norm(imagePoints.at(i).at(j) - estImagePoints.at(j)); + } + + if (computePerViewErrors) + { + perViewErrors.at(i) = err / pointCount; + } + + totalErr += err; + } + + return totalErr / pointsSoFar; +} + +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(); +} + +void +Camera::projectPoints(const std::vector& objectPoints, + const cv::Mat& rvec, + const cv::Mat& tvec, + std::vector& imagePoints) const +{ + // project 3D object points to the image plane + imagePoints.reserve(objectPoints.size()); + + //double + cv::Mat R0; + cv::Rodrigues(rvec, R0); + + Eigen::MatrixXd R(3,3); + R << R0.at(0,0), R0.at(0,1), R0.at(0,2), + R0.at(1,0), R0.at(1,1), R0.at(1,2), + R0.at(2,0), R0.at(2,1), R0.at(2,2); + + Eigen::Vector3d t; + t << tvec.at(0), tvec.at(1), tvec.at(2); + + for (size_t i = 0; i < objectPoints.size(); ++i) + { + const cv::Point3f& objectPoint = objectPoints.at(i); + + // Rotate and translate + Eigen::Vector3d P; + P << objectPoint.x, objectPoint.y, objectPoint.z; + + P = R * P + t; + + Eigen::Vector2d p; + spaceToPlane(P, p); + + imagePoints.push_back(cv::Point2f(p(0), p(1))); + } +} + +} diff --git a/camera_models/src/camera_models/CameraFactory.cc b/camera_models/src/camera_models/CameraFactory.cc new file mode 100644 index 0000000..42e9ad1 --- /dev/null +++ b/camera_models/src/camera_models/CameraFactory.cc @@ -0,0 +1,190 @@ +#include "camodocal/camera_models/CameraFactory.h" + +#include + +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/EquidistantCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" +#include "camodocal/camera_models/PinholeFullCamera.h" +#include "camodocal/camera_models/ScaramuzzaCamera.h" + +#include "ceres/ceres.h" + +namespace camodocal +{ + +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::KANNALA_BRANDT: + { + EquidistantCameraPtr camera( new EquidistantCamera ); + + EquidistantCamera::Parameters params = camera->getParameters( ); + params.cameraName( ) = cameraName; + params.imageWidth( ) = imageSize.width; + params.imageHeight( ) = imageSize.height; + camera->setParameters( params ); + return camera; + } + 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::PINHOLE_FULL: + { + PinholeFullCameraPtr camera( new PinholeFullCamera ); + + PinholeFullCamera::Parameters params = camera->getParameters( ); + params.cameraName( ) = cameraName; + params.imageWidth( ) = imageSize.width; + params.imageHeight( ) = imageSize.height; + camera->setParameters( params ); + return camera; + } + case Camera::SCARAMUZZA: + { + OCAMCameraPtr camera( new OCAMCamera ); + + OCAMCamera::Parameters params = camera->getParameters( ); + params.cameraName( ) = cameraName; + params.imageWidth( ) = imageSize.width; + params.imageHeight( ) = imageSize.height; + camera->setParameters( params ); + return camera; + } + case Camera::MEI: + default: + { + CataCameraPtr camera( new CataCamera ); + + CataCamera::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, "kannala_brandt" ) ) + { + modelType = Camera::KANNALA_BRANDT; + } + else if ( boost::iequals( sModelType, "mei" ) ) + { + modelType = Camera::MEI; + } + else if ( boost::iequals( sModelType, "scaramuzza" ) ) + { + modelType = Camera::SCARAMUZZA; + } + else if ( boost::iequals( sModelType, "pinhole" ) ) + { + modelType = Camera::PINHOLE; + } + else if ( boost::iequals( sModelType, "PINHOLE_FULL" ) ) + { + modelType = Camera::PINHOLE_FULL; + } + else + { + std::cerr << "# ERROR: Unknown camera model: " << sModelType << std::endl; + return CameraPtr( ); + } + } + + switch ( modelType ) + { + case Camera::KANNALA_BRANDT: + { + EquidistantCameraPtr camera( new EquidistantCamera ); + + EquidistantCamera::Parameters params = camera->getParameters( ); + params.readFromYamlFile( filename ); + camera->setParameters( params ); + return camera; + } + case Camera::PINHOLE: + { + PinholeCameraPtr camera( new PinholeCamera ); + + PinholeCamera::Parameters params = camera->getParameters( ); + params.readFromYamlFile( filename ); + camera->setParameters( params ); + return camera; + } + case Camera::PINHOLE_FULL: + { + PinholeFullCameraPtr camera( new PinholeFullCamera ); + + PinholeFullCamera::Parameters params = camera->getParameters( ); + params.readFromYamlFile( filename ); + camera->setParameters( params ); + return camera; + } + case Camera::SCARAMUZZA: + { + OCAMCameraPtr camera( new OCAMCamera ); + + OCAMCamera::Parameters params = camera->getParameters( ); + params.readFromYamlFile( filename ); + camera->setParameters( params ); + return camera; + } + case Camera::MEI: + default: + { + CataCameraPtr camera( new CataCamera ); + + CataCamera::Parameters params = camera->getParameters( ); + params.readFromYamlFile( filename ); + camera->setParameters( params ); + return camera; + } + } + + return CameraPtr( ); +} +} diff --git a/camera_models/src/camera_models/CataCamera.cc b/camera_models/src/camera_models/CataCamera.cc new file mode 100644 index 0000000..7eacaa5 --- /dev/null +++ b/camera_models/src/camera_models/CataCamera.cc @@ -0,0 +1,1005 @@ +#include "camodocal/camera_models/CataCamera.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/gpl/gpl.h" + +namespace camodocal +{ + +CataCamera::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) +{ + +} + +CataCamera::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& +CataCamera::Parameters::xi(void) +{ + return m_xi; +} + +double& +CataCamera::Parameters::k1(void) +{ + return m_k1; +} + +double& +CataCamera::Parameters::k2(void) +{ + return m_k2; +} + +double& +CataCamera::Parameters::p1(void) +{ + return m_p1; +} + +double& +CataCamera::Parameters::p2(void) +{ + return m_p2; +} + +double& +CataCamera::Parameters::gamma1(void) +{ + return m_gamma1; +} + +double& +CataCamera::Parameters::gamma2(void) +{ + return m_gamma2; +} + +double& +CataCamera::Parameters::u0(void) +{ + return m_u0; +} + +double& +CataCamera::Parameters::v0(void) +{ + return m_v0; +} + +double +CataCamera::Parameters::xi(void) const +{ + return m_xi; +} + +double +CataCamera::Parameters::k1(void) const +{ + return m_k1; +} + +double +CataCamera::Parameters::k2(void) const +{ + return m_k2; +} + +double +CataCamera::Parameters::p1(void) const +{ + return m_p1; +} + +double +CataCamera::Parameters::p2(void) const +{ + return m_p2; +} + +double +CataCamera::Parameters::gamma1(void) const +{ + return m_gamma1; +} + +double +CataCamera::Parameters::gamma2(void) const +{ + return m_gamma2; +} + +double +CataCamera::Parameters::u0(void) const +{ + return m_u0; +} + +double +CataCamera::Parameters::v0(void) const +{ + return m_v0; +} + +bool +CataCamera::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(fs["image_width"]); + m_imageHeight = static_cast(fs["image_height"]); + + cv::FileNode n = fs["mirror_parameters"]; + m_xi = static_cast(n["xi"]); + + n = fs["distortion_parameters"]; + m_k1 = static_cast(n["k1"]); + m_k2 = static_cast(n["k2"]); + m_p1 = static_cast(n["p1"]); + m_p2 = static_cast(n["p2"]); + + n = fs["projection_parameters"]; + m_gamma1 = static_cast(n["gamma1"]); + m_gamma2 = static_cast(n["gamma2"]); + m_u0 = static_cast(n["u0"]); + m_v0 = static_cast(n["v0"]); + + return true; +} + +void +CataCamera::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; + + // mirror: xi + fs << "mirror_parameters"; + fs << "{" << "xi" << m_xi << "}"; + + // 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: gamma1, gamma2, u0, v0 + fs << "projection_parameters"; + fs << "{" << "gamma1" << m_gamma1 + << "gamma2" << m_gamma2 + << "u0" << m_u0 + << "v0" << m_v0 << "}"; + + fs.release(); +} + +CataCamera::Parameters& +CataCamera::Parameters::operator=(const CataCamera::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 CataCamera::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; + + // 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: gamma1, gamma2, u0, v0 + 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; +} + +CataCamera::CataCamera() + : m_inv_K11(1.0) + , m_inv_K13(0.0) + , m_inv_K22(1.0) + , m_inv_K23(0.0) + , m_noDistortion(true) +{ + +} + +CataCamera::CataCamera(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; + } + + // Inverse camera projection matrix parameters + 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(); +} + +CataCamera::CataCamera(const CataCamera::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; + } + + // Inverse camera projection matrix parameters + 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 +CataCamera::modelType(void) const +{ + return mParameters.modelType(); +} + +const std::string& +CataCamera::cameraName(void) const +{ + return mParameters.cameraName(); +} + +int +CataCamera::imageWidth(void) const +{ + return mParameters.imageWidth(); +} + +int +CataCamera::imageHeight(void) const +{ + return mParameters.imageHeight(); +} + +void +CataCamera::estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints) +{ + Parameters params = getParameters(); + + double u0 = params.imageWidth() / 2.0; + double v0 = params.imageHeight() / 2.0; + + double gamma0 = 0.0; + double minReprojErr = std::numeric_limits::max(); + + std::vector rvecs, tvecs; + rvecs.assign(objectPoints.size(), cv::Mat()); + tvecs.assign(objectPoints.size(), cv::Mat()); + + params.xi() = 1.0; + params.k1() = 0.0; + params.k2() = 0.0; + params.p1() = 0.0; + params.p2() = 0.0; + params.u0() = u0; + params.v0() = v0; + + // Initialize gamma (focal length) + // Use non-radial line image and xi = 1 + for (size_t i = 0; i < imagePoints.size(); ++i) + { + for (int r = 0; r < boardSize.height; ++r) + { + cv::Mat P(boardSize.width, 4, CV_64F); + for (int c = 0; c < boardSize.width; ++c) + { + const cv::Point2f& imagePoint = imagePoints.at(i).at(r * boardSize.width + c); + + double u = imagePoint.x - u0; + double v = imagePoint.y - v0; + + P.at(c, 0) = u; + P.at(c, 1) = v; + P.at(c, 2) = 0.5; + P.at(c, 3) = -0.5 * (square(u) + square(v)); + } + + cv::Mat C; + cv::SVD::solveZ(P, C); + + double t = square(C.at(0)) + square(C.at(1)) + C.at(2) * C.at(3); + if (t < 0.0) + { + continue; + } + + // check that line image is not radial + double d = sqrt(1.0 / t); + double nx = C.at(0) * d; + double ny = C.at(1) * d; + if (hypot(nx, ny) > 0.95) + { + continue; + } + + double gamma = sqrt(C.at(2) / C.at(3)); + + params.gamma1() = gamma; + params.gamma2() = gamma; + setParameters(params); + + for (size_t j = 0; j < objectPoints.size(); ++j) + { + estimateExtrinsics(objectPoints.at(j), imagePoints.at(j), rvecs.at(j), tvecs.at(j)); + } + + double reprojErr = reprojectionError(objectPoints, imagePoints, rvecs, tvecs, cv::noArray()); + + if (reprojErr < minReprojErr) + { + minReprojErr = reprojErr; + gamma0 = gamma; + } + } + } + + if (gamma0 <= 0.0 && minReprojErr >= std::numeric_limits::max()) + { + std::cout << "[" << params.cameraName() << "] " + << "# INFO: CataCamera model fails with given data. " << std::endl; + + return; + } + + params.gamma1() = gamma0; + params.gamma2() = gamma0; + setParameters(params); +} + +/** + * \brief Lifts a point from the image plane to the unit sphere + * + * \param p image coordinates + * \param P coordinates of the point on the sphere + */ +void +CataCamera::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; + + // Lift points to normalised plane + 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 + { + // Apply inverse distortion model + if (0) + { + double k1 = mParameters.k1(); + double k2 = mParameters.k2(); + double p1 = mParameters.p1(); + double p2 = mParameters.p2(); + + // Inverse distortion model + // proposed by Heikkila + 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; + } + else + { + // Recursive distortion model + int n = 6; + Eigen::Vector2d d_u; + distortion(Eigen::Vector2d(mx_d, my_d), d_u); + // Approximate value + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + + for (int i = 1; i < n; ++i) + { + distortion(Eigen::Vector2d(mx_u, my_u), d_u); + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + } + } + } + + // Lift normalised points to the sphere (inv_hslash) + 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 + 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; + } +} + +/** + * \brief Lifts a point from the image plane to its projective ray + * + * \param p image coordinates + * \param P coordinates of the projective ray + */ +void +CataCamera::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; + //double lambda; + + // Lift points to normalised plane + 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 + { + if (0) + { + double k1 = mParameters.k1(); + double k2 = mParameters.k2(); + double p1 = mParameters.p1(); + double p2 = mParameters.p2(); + + // Apply inverse distortion model + // proposed by Heikkila + 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; + } + else + { + // Recursive distortion model + int n = 8; + Eigen::Vector2d d_u; + distortion(Eigen::Vector2d(mx_d, my_d), d_u); + // Approximate value + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + + for (int i = 1; i < n; ++i) + { + distortion(Eigen::Vector2d(mx_u, my_u), d_u); + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + } + } + } + + // Obtain a projective ray + 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 + { + // Reuse variable + rho2_d = mx_u * mx_u + my_u * my_u; + P << mx_u, my_u, 1.0 - xi * (rho2_d + 1.0) / (xi + sqrt(1.0 + (1.0 - xi * xi) * rho2_d)); + } +} + + +/** + * \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +CataCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const +{ + Eigen::Vector2d p_u, p_d; + + // Project points to the normalised plane + double z = P(2) + mParameters.xi() * P.norm(); + p_u << P(0) / z, P(1) / z; + + 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.gamma1() * p_d(0) + mParameters.u0(), + mParameters.gamma2() * p_d(1) + mParameters.v0(); +} + +#if 0 +/** + * \brief Project a 3D point to the image plane and calculate Jacobian + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +CataCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const +{ + double xi = mParameters.xi(); + + Eigen::Vector2d p_u, p_d; + double norm, inv_denom; + double dxdmx, dydmx, dxdmy, dydmy; + + norm = P.norm(); + // Project points to the normalised plane + inv_denom = 1.0 / (P(2) + xi * norm); + p_u << inv_denom * P(0), inv_denom * P(1); + + // Calculate jacobian + inv_denom = inv_denom * inv_denom / norm; + double dudx = inv_denom * (norm * P(2) + xi * (P(1) * P(1) + P(2) * P(2))); + double dvdx = -inv_denom * xi * P(0) * P(1); + double dudy = dvdx; + double dvdy = inv_denom * (norm * P(2) + xi * (P(0) * P(0) + P(2) * P(2))); + inv_denom = inv_denom * (-xi * P(2) - norm); // reuse variable + double dudz = P(0) * inv_denom; + double dvdz = P(1) * inv_denom; + + 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; + } + + double gamma1 = mParameters.gamma1(); + double gamma2 = mParameters.gamma2(); + + // Make the product of the jacobians + // and add projection matrix jacobian + inv_denom = gamma1 * (dudx * dxdmx + dvdx * dxdmy); // reuse + dvdx = gamma2 * (dudx * dydmx + dvdx * dydmy); + dudx = inv_denom; + + inv_denom = gamma1 * (dudy * dxdmx + dvdy * dxdmy); // reuse + dvdy = gamma2 * (dudy * dydmx + dvdy * dydmy); + dudy = inv_denom; + + inv_denom = gamma1 * (dudz * dxdmx + dvdz * dxdmy); // reuse + dvdz = gamma2 * (dudz * dydmx + dvdz * dydmy); + dudz = inv_denom; + + // Apply generalised projection matrix + p << gamma1 * p_d(0) + mParameters.u0(), + gamma2 * p_d(1) + mParameters.v0(); + + J << dudx, dudy, dudz, + dvdx, dvdy, dvdz; +} +#endif + +/** + * \brief Projects an undistorted 2D point p_u to the image plane + * + * \param p_u 2D point coordinates + * \return image point coordinates + */ +void +CataCamera::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.gamma1() * p_d(0) + mParameters.u0(), + mParameters.gamma2() * p_d(1) + mParameters.v0(); +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_u + */ +void +CataCamera::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); +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * and calculate Jacobian + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_u + */ +void +CataCamera::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; +} + +void +CataCamera::initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale) const +{ + cv::Size imageSize(mParameters.imageWidth(), mParameters.imageHeight()); + + cv::Mat mapX = cv::Mat::zeros(imageSize, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize, CV_32F); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + double mx_u = m_inv_K11 / fScale * u + m_inv_K13 / fScale; + double my_u = m_inv_K22 / fScale * v + m_inv_K23 / fScale; + + double xi = mParameters.xi(); + double d2 = mx_u * mx_u + my_u * my_u; + + Eigen::Vector3d P; + P << mx_u, my_u, 1.0 - xi * (d2 + 1.0) / (xi + sqrt(1.0 + (1.0 - xi * xi) * d2)); + + Eigen::Vector2d p; + spaceToPlane(P, p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); +} + +cv::Mat +CataCamera::initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx, float fy, + cv::Size imageSize, + float cx, float cy, + cv::Mat rmat) const +{ + if (imageSize == cv::Size(0, 0)) + { + imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight()); + } + + cv::Mat mapX = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + + Eigen::Matrix3f K_rect; + + if (cx == -1.0f && cy == -1.0f) + { + K_rect << fx, 0, imageSize.width / 2, + 0, fy, imageSize.height / 2, + 0, 0, 1; + } + else + { + K_rect << fx, 0, cx, + 0, fy, cy, + 0, 0, 1; + } + + if (fx == -1.0f || fy == -1.0f) + { + K_rect(0,0) = mParameters.gamma1(); + K_rect(1,1) = mParameters.gamma2(); + } + + Eigen::Matrix3f K_rect_inv = K_rect.inverse(); + + Eigen::Matrix3f R, R_inv; + cv::cv2eigen(rmat, R); + R_inv = R.inverse(); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + Eigen::Vector3f xo; + xo << u, v, 1; + + Eigen::Vector3f uo = R_inv * K_rect_inv * xo; + + Eigen::Vector2d p; + spaceToPlane(uo.cast(), p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); + + cv::Mat K_rect_cv; + cv::eigen2cv(K_rect, K_rect_cv); + return K_rect_cv; +} + +int +CataCamera::parameterCount(void) const +{ + return 9; +} + +const CataCamera::Parameters& +CataCamera::getParameters(void) const +{ + return mParameters; +} + +void +CataCamera::setParameters(const CataCamera::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 +CataCamera::readParameters(const std::vector& 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 +CataCamera::writeParameters(std::vector& 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 +CataCamera::writeParametersToYamlFile(const std::string& filename) const +{ + mParameters.writeToYamlFile(filename); +} + +std::string +CataCamera::parametersToString(void) const +{ + std::ostringstream oss; + oss << mParameters; + + return oss.str(); +} + +} diff --git a/camera_models/src/camera_models/CostFunctionFactory.cc b/camera_models/src/camera_models/CostFunctionFactory.cc new file mode 100644 index 0000000..2bcdb14 --- /dev/null +++ b/camera_models/src/camera_models/CostFunctionFactory.cc @@ -0,0 +1,1384 @@ +#include "camodocal/camera_models/CostFunctionFactory.h" + +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/EquidistantCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" +#include "camodocal/camera_models/PinholeFullCamera.h" +#include "camodocal/camera_models/ScaramuzzaCamera.h" +#include "ceres/ceres.h" + +namespace camodocal +{ + +template< typename T > +void +worldToCameraTransform( const T* const q_cam_odo, + const T* const t_cam_odo, + const T* const p_odo, + const T* const att_odo, + T* q, + T* t, + bool optimize_cam_odo_z = true ) +{ + Eigen::Quaternion< T > q_z_inv( cos( att_odo[0] / T( 2 ) ), T( 0 ), T( 0 ), -sin( att_odo[0] / T( 2 ) ) ); + Eigen::Quaternion< T > q_y_inv( cos( att_odo[1] / T( 2 ) ), T( 0 ), -sin( att_odo[1] / T( 2 ) ), T( 0 ) ); + Eigen::Quaternion< T > q_x_inv( cos( att_odo[2] / T( 2 ) ), -sin( att_odo[2] / T( 2 ) ), T( 0 ), T( 0 ) ); + + Eigen::Quaternion< T > q_zyx_inv = q_x_inv * q_y_inv * q_z_inv; + + T q_odo[4] = { q_zyx_inv.w( ), q_zyx_inv.x( ), q_zyx_inv.y( ), q_zyx_inv.z( ) }; + + T q_odo_cam[4] = { q_cam_odo[3], -q_cam_odo[0], -q_cam_odo[1], -q_cam_odo[2] }; + + T q0[4]; + ceres::QuaternionProduct( q_odo_cam, q_odo, q0 ); + + T t0[3]; + T t_odo[3] = { p_odo[0], p_odo[1], p_odo[2] }; + + ceres::QuaternionRotatePoint( q_odo, t_odo, t0 ); + + t0[0] += t_cam_odo[0]; + t0[1] += t_cam_odo[1]; + + if ( optimize_cam_odo_z ) + { + t0[2] += t_cam_odo[2]; + } + + ceres::QuaternionRotatePoint( q_odo_cam, t0, t ); + t[0] = -t[0]; + t[1] = -t[1]; + t[2] = -t[2]; + + // Convert quaternion from Ceres convention (w, x, y, z) + // to Eigen convention (x, y, z, w) + q[0] = q0[1]; + q[1] = q0[2]; + q[2] = q0[3]; + q[3] = q0[0]; +} + +template< class CameraT > +class ReprojectionError1 +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ReprojectionError1( const Eigen::Vector3d& observed_P, const Eigen::Vector2d& observed_p ) + : m_observed_P( observed_P ) + , m_observed_p( observed_p ) + , m_sqrtPrecisionMat( Eigen::Matrix2d::Identity( ) ) + { + } + + ReprojectionError1( const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat ) + : m_observed_P( observed_P ) + , m_observed_p( observed_p ) + , m_sqrtPrecisionMat( sqrtPrecisionMat ) + { + } + + ReprojectionError1( const std::vector< double >& intrinsic_params, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p ) + : m_intrinsic_params( intrinsic_params ) + , m_observed_P( observed_P ) + , m_observed_p( observed_p ) + { + } + + // variables: camera intrinsics and camera extrinsics + template< typename T > + bool operator( )( const T* const intrinsic_params, const T* const q, const T* const t, T* residuals ) const + { + Eigen::Matrix< T, 3, 1 > P = m_observed_P.cast< T >( ); + + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params, q, t, P, predicted_p ); + + Eigen::Matrix< T, 2, 1 > e = predicted_p - m_observed_p.cast< T >( ); + + Eigen::Matrix< T, 2, 1 > e_weighted = m_sqrtPrecisionMat.cast< T >( ) * e; + + residuals[0] = e_weighted( 0 ); + residuals[1] = e_weighted( 1 ); + + return true; + } + + // variables: camera-odometry transforms and odometry poses + template< typename T > + bool operator( )( const T* const q_cam_odo, + const T* const t_cam_odo, + const T* const p_odo, + const T* const att_odo, + T* residuals ) const + { + T q[4], t[3]; + worldToCameraTransform( q_cam_odo, t_cam_odo, p_odo, att_odo, q, t ); + + Eigen::Matrix< T, 3, 1 > P = m_observed_P.cast< T >( ); + + std::vector< T > intrinsic_params( m_intrinsic_params.begin( ), m_intrinsic_params.end( ) ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params.data( ), q, t, P, predicted_p ); + + residuals[0] = predicted_p( 0 ) - T( m_observed_p( 0 ) ); + residuals[1] = predicted_p( 1 ) - T( m_observed_p( 1 ) ); + + return true; + } + + // private: + // camera intrinsics + std::vector< double > m_intrinsic_params; + + // observed 3D point + Eigen::Vector3d m_observed_P; + + // observed 2D point + Eigen::Vector2d m_observed_p; + + // square root of precision matrix + Eigen::Matrix2d m_sqrtPrecisionMat; +}; + +// variables: camera extrinsics, 3D point +template< class CameraT > +class ReprojectionError2 +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ReprojectionError2( const std::vector< double >& intrinsic_params, const Eigen::Vector2d& observed_p ) + : m_intrinsic_params( intrinsic_params ) + , m_observed_p( observed_p ) + { + } + + template< typename T > + bool operator( )( const T* const q, const T* const t, const T* const point, T* residuals ) const + { + Eigen::Matrix< T, 3, 1 > P; + P( 0 ) = T( point[0] ); + P( 1 ) = T( point[1] ); + P( 2 ) = T( point[2] ); + + std::vector< T > intrinsic_params( m_intrinsic_params.begin( ), m_intrinsic_params.end( ) ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params.data( ), q, t, P, predicted_p ); + + residuals[0] = predicted_p( 0 ) - T( m_observed_p( 0 ) ); + residuals[1] = predicted_p( 1 ) - T( m_observed_p( 1 ) ); + + return true; + } + + private: + // camera intrinsics + std::vector< double > m_intrinsic_params; + + // observed 2D point + Eigen::Vector2d m_observed_p; +}; + +template< class CameraT > +class ReprojectionError3 +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ReprojectionError3( const Eigen::Vector2d& observed_p ) + : m_observed_p( observed_p ) + , m_sqrtPrecisionMat( Eigen::Matrix2d::Identity( ) ) + , m_optimize_cam_odo_z( true ) + { + } + + ReprojectionError3( const Eigen::Vector2d& observed_p, const Eigen::Matrix2d& sqrtPrecisionMat ) + : m_observed_p( observed_p ) + , m_sqrtPrecisionMat( sqrtPrecisionMat ) + , m_optimize_cam_odo_z( true ) + { + } + + ReprojectionError3( const std::vector< double >& intrinsic_params, const Eigen::Vector2d& observed_p ) + : m_intrinsic_params( intrinsic_params ) + , m_observed_p( observed_p ) + , m_sqrtPrecisionMat( Eigen::Matrix2d::Identity( ) ) + , m_optimize_cam_odo_z( true ) + { + } + + ReprojectionError3( const std::vector< double >& intrinsic_params, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat ) + : m_intrinsic_params( intrinsic_params ) + , m_observed_p( observed_p ) + , m_sqrtPrecisionMat( sqrtPrecisionMat ) + , m_optimize_cam_odo_z( true ) + { + } + + ReprojectionError3( const std::vector< double >& intrinsic_params, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p, + bool optimize_cam_odo_z ) + : m_intrinsic_params( intrinsic_params ) + , m_odo_pos( odo_pos ) + , m_odo_att( odo_att ) + , m_observed_p( observed_p ) + , m_optimize_cam_odo_z( optimize_cam_odo_z ) + { + } + + ReprojectionError3( const std::vector< double >& intrinsic_params, + const Eigen::Quaterniond& cam_odo_q, + const Eigen::Vector3d& cam_odo_t, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p ) + : m_intrinsic_params( intrinsic_params ) + , m_cam_odo_q( cam_odo_q ) + , m_cam_odo_t( cam_odo_t ) + , m_odo_pos( odo_pos ) + , m_odo_att( odo_att ) + , m_observed_p( observed_p ) + , m_optimize_cam_odo_z( true ) + { + } + + // variables: camera intrinsics, camera-to-odometry transform, + // odometry extrinsics, 3D point + template< typename T > + bool operator( )( const T* const intrinsic_params, + const T* const q_cam_odo, + const T* const t_cam_odo, + const T* const p_odo, + const T* const att_odo, + const T* const point, + T* residuals ) const + { + T q[4], t[3]; + worldToCameraTransform( q_cam_odo, t_cam_odo, p_odo, att_odo, q, t, m_optimize_cam_odo_z ); + + Eigen::Matrix< T, 3, 1 > P( point[0], point[1], point[2] ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params, q, t, P, predicted_p ); + + Eigen::Matrix< T, 2, 1 > err = predicted_p - m_observed_p.cast< T >( ); + Eigen::Matrix< T, 2, 1 > err_weighted = m_sqrtPrecisionMat.cast< T >( ) * err; + + residuals[0] = err_weighted( 0 ); + residuals[1] = err_weighted( 1 ); + + return true; + } + + // variables: camera-to-odometry transform, 3D point + template< typename T > + bool operator( )( const T* const q_cam_odo, const T* const t_cam_odo, const T* const point, T* residuals ) const + { + T p_odo[3] = { T( m_odo_pos( 0 ) ), T( m_odo_pos( 1 ) ), T( m_odo_pos( 2 ) ) }; + T att_odo[3] = { T( m_odo_att( 0 ) ), T( m_odo_att( 1 ) ), T( m_odo_att( 2 ) ) }; + T q[4], t[3]; + + worldToCameraTransform( q_cam_odo, t_cam_odo, p_odo, att_odo, q, t, m_optimize_cam_odo_z ); + + std::vector< T > intrinsic_params( m_intrinsic_params.begin( ), m_intrinsic_params.end( ) ); + Eigen::Matrix< T, 3, 1 > P( point[0], point[1], point[2] ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params.data( ), q, t, P, predicted_p ); + + residuals[0] = predicted_p( 0 ) - T( m_observed_p( 0 ) ); + residuals[1] = predicted_p( 1 ) - T( m_observed_p( 1 ) ); + + return true; + } + + // variables: camera-to-odometry transform, odometry extrinsics, 3D point + template< typename T > + bool operator( )( const T* const q_cam_odo, + const T* const t_cam_odo, + const T* const p_odo, + const T* const att_odo, + const T* const point, + T* residuals ) const + { + T q[4], t[3]; + worldToCameraTransform( q_cam_odo, t_cam_odo, p_odo, att_odo, q, t, m_optimize_cam_odo_z ); + + std::vector< T > intrinsic_params( m_intrinsic_params.begin( ), m_intrinsic_params.end( ) ); + Eigen::Matrix< T, 3, 1 > P( point[0], point[1], point[2] ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params.data( ), q, t, P, predicted_p ); + + Eigen::Matrix< T, 2, 1 > err = predicted_p - m_observed_p.cast< T >( ); + Eigen::Matrix< T, 2, 1 > err_weighted = m_sqrtPrecisionMat.cast< T >( ) * err; + + residuals[0] = err_weighted( 0 ); + residuals[1] = err_weighted( 1 ); + + return true; + } + + // variables: 3D point + template< typename T > + bool operator( )( const T* const point, T* residuals ) const + { + T q_cam_odo[4] = { T( m_cam_odo_q.coeffs( )( 0 ) ), + T( m_cam_odo_q.coeffs( )( 1 ) ), + T( m_cam_odo_q.coeffs( )( 2 ) ), + T( m_cam_odo_q.coeffs( )( 3 ) ) }; + T t_cam_odo[3] = { T( m_cam_odo_t( 0 ) ), T( m_cam_odo_t( 1 ) ), T( m_cam_odo_t( 2 ) ) }; + T p_odo[3] = { T( m_odo_pos( 0 ) ), T( m_odo_pos( 1 ) ), T( m_odo_pos( 2 ) ) }; + T att_odo[3] = { T( m_odo_att( 0 ) ), T( m_odo_att( 1 ) ), T( m_odo_att( 2 ) ) }; + T q[4], t[3]; + + worldToCameraTransform( q_cam_odo, t_cam_odo, p_odo, att_odo, q, t, m_optimize_cam_odo_z ); + + std::vector< T > intrinsic_params( m_intrinsic_params.begin( ), m_intrinsic_params.end( ) ); + Eigen::Matrix< T, 3, 1 > P( point[0], point[1], point[2] ); + + // project 3D object point to the image plane + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params.data( ), q, t, P, predicted_p ); + + residuals[0] = predicted_p( 0 ) - T( m_observed_p( 0 ) ); + residuals[1] = predicted_p( 1 ) - T( m_observed_p( 1 ) ); + + return true; + } + + private: + // camera intrinsics + std::vector< double > m_intrinsic_params; + + // observed camera-odometry transform + Eigen::Quaterniond m_cam_odo_q; + Eigen::Vector3d m_cam_odo_t; + + // observed odometry + Eigen::Vector3d m_odo_pos; + Eigen::Vector3d m_odo_att; + + // observed 2D point + Eigen::Vector2d m_observed_p; + + Eigen::Matrix2d m_sqrtPrecisionMat; + + bool m_optimize_cam_odo_z; +}; + +// variables: camera intrinsics and camera extrinsics +template< class CameraT > +class StereoReprojectionError +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + StereoReprojectionError( const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p_l, + const Eigen::Vector2d& observed_p_r ) + : m_observed_P( observed_P ) + , m_observed_p_l( observed_p_l ) + , m_observed_p_r( observed_p_r ) + { + } + + template< typename T > + bool operator( )( const T* const intrinsic_params_l, + const T* const intrinsic_params_r, + const T* const q_l, + const T* const t_l, + const T* const q_l_r, + const T* const t_l_r, + T* residuals ) const + { + Eigen::Matrix< T, 3, 1 > P; + P( 0 ) = T( m_observed_P( 0 ) ); + P( 1 ) = T( m_observed_P( 1 ) ); + P( 2 ) = T( m_observed_P( 2 ) ); + + Eigen::Matrix< T, 2, 1 > predicted_p_l; + CameraT::spaceToPlane( intrinsic_params_l, q_l, t_l, P, predicted_p_l ); + + Eigen::Quaternion< T > q_r = Eigen::Quaternion< T >( q_l_r ) * Eigen::Quaternion< T >( q_l ); + + Eigen::Matrix< T, 3, 1 > t_r; + t_r( 0 ) = t_l[0]; + t_r( 1 ) = t_l[1]; + t_r( 2 ) = t_l[2]; + + t_r = Eigen::Quaternion< T >( q_l_r ) * t_r; + t_r( 0 ) += t_l_r[0]; + t_r( 1 ) += t_l_r[1]; + t_r( 2 ) += t_l_r[2]; + + Eigen::Matrix< T, 2, 1 > predicted_p_r; + CameraT::spaceToPlane( intrinsic_params_r, q_r.coeffs( ).data( ), t_r.data( ), P, predicted_p_r ); + + residuals[0] = predicted_p_l( 0 ) - T( m_observed_p_l( 0 ) ); + residuals[1] = predicted_p_l( 1 ) - T( m_observed_p_l( 1 ) ); + residuals[2] = predicted_p_r( 0 ) - T( m_observed_p_r( 0 ) ); + residuals[3] = predicted_p_r( 1 ) - T( m_observed_p_r( 1 ) ); + + return true; + } + + private: + // observed 3D point + Eigen::Vector3d m_observed_P; + + // observed 2D point + Eigen::Vector2d m_observed_p_l; + Eigen::Vector2d m_observed_p_r; +}; + +template< class CameraT > +class ComprehensionError +{ + public: + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + ComprehensionError( const Eigen::Vector3d& observed_P, const Eigen::Vector2d& observed_p ) + : m_observed_P( observed_P ) + , m_observed_p( observed_p ) + , m_sqrtPrecisionMat( Eigen::Matrix2d::Identity( ) ) + { + } + + template< typename T > + bool operator( )( const T* const intrinsic_params, const T* const q, const T* const t, T* residuals ) const + { + { + Eigen::Matrix< T, 2, 1 > p = m_observed_p.cast< T >( ); + + Eigen::Matrix< T, 3, 1 > predicted_img_P; + CameraT::LiftToSphere( intrinsic_params, p, predicted_img_P ); + + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::SphereToPlane( intrinsic_params, predicted_img_P, predicted_p ); + + Eigen::Matrix< T, 2, 1 > e = predicted_p - m_observed_p.cast< T >( ); + + Eigen::Matrix< T, 2, 1 > e_weighted = m_sqrtPrecisionMat.cast< T >( ) * e; + + residuals[0] = e_weighted( 0 ); + residuals[1] = e_weighted( 1 ); + } + + { + Eigen::Matrix< T, 3, 1 > P = m_observed_P.cast< T >( ); + + Eigen::Matrix< T, 2, 1 > predicted_p; + CameraT::spaceToPlane( intrinsic_params, q, t, P, predicted_p ); + + Eigen::Matrix< T, 2, 1 > e = predicted_p - m_observed_p.cast< T >( ); + + Eigen::Matrix< T, 2, 1 > e_weighted = m_sqrtPrecisionMat.cast< T >( ) * e; + + residuals[2] = e_weighted( 0 ); + residuals[3] = e_weighted( 1 ); + } + + return true; + } + + // private: + // camera intrinsics + // std::vector m_intrinsic_params; + + // observed 3D point + Eigen::Vector3d m_observed_P; + + // observed 2D point + Eigen::Vector2d m_observed_p; + + // square root of precision matrix + Eigen::Matrix2d m_sqrtPrecisionMat; +}; + +boost::shared_ptr< CostFunctionFactory > CostFunctionFactory::m_instance; + +CostFunctionFactory::CostFunctionFactory( ) {} + +boost::shared_ptr< CostFunctionFactory > +CostFunctionFactory::instance( void ) +{ + if ( m_instance.get( ) == 0 ) + { + m_instance.reset( new CostFunctionFactory ); + } + + return m_instance; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p, + int flags ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case CAMERA_INTRINSICS | CAMERA_POSE: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< EquidistantCamera >, 2, 8, 4, 3 >( + new ReprojectionError1< EquidistantCamera >( observed_P, observed_p ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeCamera >, 2, 8, 4, 3 >( + new ReprojectionError1< PinholeCamera >( observed_P, observed_p ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeFullCamera >, 2, 12, 4, 3 >( + new ReprojectionError1< PinholeFullCamera >( observed_P, observed_p ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< CataCamera >, 2, 9, 4, 3 >( + new ReprojectionError1< CataCamera >( observed_P, observed_p ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< ComprehensionError< OCAMCamera >, 4, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3 >( + new ComprehensionError< OCAMCamera >( observed_P, observed_p ) ); + // new ceres::AutoDiffCostFunction, 2, + // SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3>( new + // ReprojectionError1(observed_P, observed_p)); + break; + } + break; + case CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_6D_POSE: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< EquidistantCamera >, 2, 4, 3, 3, 3 >( + new ReprojectionError1< EquidistantCamera >( intrinsic_params, observed_P, observed_p ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeCamera >, 2, 4, 3, 3, 3 >( + new ReprojectionError1< PinholeCamera >( intrinsic_params, observed_P, observed_p ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeFullCamera >, 2, 4, 3, 3, 3 >( + new ReprojectionError1< PinholeFullCamera >( intrinsic_params, observed_P, observed_p ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< CataCamera >, 2, 4, 3, 3, 3 >( + new ReprojectionError1< CataCamera >( intrinsic_params, observed_P, observed_p ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< OCAMCamera >, 2, 4, 3, 3, 3 >( + new ReprojectionError1< OCAMCamera >( intrinsic_params, observed_P, observed_p ) ); + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat, + int flags ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case CAMERA_INTRINSICS | CAMERA_POSE: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< EquidistantCamera >, 2, 8, 4, 3 >( + new ReprojectionError1< EquidistantCamera >( observed_P, observed_p, sqrtPrecisionMat ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeCamera >, 2, 8, 4, 3 >( + new ReprojectionError1< PinholeCamera >( observed_P, observed_p, sqrtPrecisionMat ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< PinholeFullCamera >, 2, 12, 4, 3 >( + new ReprojectionError1< PinholeFullCamera >( observed_P, observed_p, sqrtPrecisionMat ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< CataCamera >, 2, 9, 4, 3 >( + new ReprojectionError1< CataCamera >( observed_P, observed_p, sqrtPrecisionMat ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError1< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3 >( + new ReprojectionError1< OCAMCamera >( observed_P, observed_p, sqrtPrecisionMat ) ); + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Vector2d& observed_p, + int flags, + bool optimize_cam_odo_z ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case CAMERA_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError2< EquidistantCamera >, 2, 4, 3, 3 >( + new ReprojectionError2< EquidistantCamera >( intrinsic_params, observed_p ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError2< PinholeCamera >, 2, 4, 3, 3 >( + new ReprojectionError2< PinholeCamera >( intrinsic_params, observed_p ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError2< PinholeFullCamera >, 2, 4, 3, 3 >( + new ReprojectionError2< PinholeFullCamera >( intrinsic_params, observed_p ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError2< CataCamera >, 2, 4, 3, 3 >( + new ReprojectionError2< CataCamera >( intrinsic_params, observed_p ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError2< OCAMCamera >, 2, 4, 3, 3 >( + new ReprojectionError2< OCAMCamera >( intrinsic_params, observed_p ) ); + break; + } + break; + case CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_3D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 4, 3, 2, 1, 3 >( + new ReprojectionError3< EquidistantCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 3, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 3, 2, 1, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 3, 2, 1, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 2, 2, 1, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 3, 2, 1, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 2, 2, 1, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p ) ); + } + break; + } + break; + case CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_6D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< EquidistantCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p ) ); + } + break; + } + break; + case CAMERA_INTRINSICS | CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_3D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 8, 4, 3, 2, 1, 3 >( + new ReprojectionError3< EquidistantCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 3, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 3, 2, 1, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 2, 2, 1, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 3, 2, 1, 3 >( + new ReprojectionError3< CataCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 2, 2, 1, 3 >( + new ReprojectionError3< CataCamera >( observed_p ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3, 2, 1, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 2, 2, 1, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p ) ); + } + break; + } + break; + case CAMERA_INTRINSICS | CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_6D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 8, 4, 3, 3, 3, 3 >( + new ReprojectionError3< EquidistantCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 3, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 2, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( observed_p ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 2, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p ) ); + } + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Vector2d& observed_p, + const Eigen::Matrix2d& sqrtPrecisionMat, + int flags, + bool optimize_cam_odo_z ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_6D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< EquidistantCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 3, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 2, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( intrinsic_params, observed_p, sqrtPrecisionMat ) ); + } + break; + } + break; + case CAMERA_INTRINSICS | CAMERA_ODOMETRY_TRANSFORM | ODOMETRY_6D_POSE | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 8, 4, 3, 3, 3, 3 >( + new ReprojectionError3< EquidistantCamera >( observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 8, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeCamera >( observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 3, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 12, 4, 2, 3, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 3, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 9, 4, 2, 3, 3, 3 >( + new ReprojectionError3< CataCamera >( observed_p, sqrtPrecisionMat ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p, sqrtPrecisionMat ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 2, 3, 3, 3 >( + new ReprojectionError3< OCAMCamera >( observed_p, sqrtPrecisionMat ) ); + } + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p, + int flags, + bool optimize_cam_odo_z ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case CAMERA_ODOMETRY_TRANSFORM | POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 4, 3, 3 >( + new ReprojectionError3< EquidistantCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 4, 2, 3 >( + new ReprojectionError3< EquidistantCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + break; + case Camera::PINHOLE: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 3, 3 >( + new ReprojectionError3< PinholeCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 4, 2, 3 >( + new ReprojectionError3< PinholeCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + break; + case Camera::PINHOLE_FULL: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 3, 3 >( + new ReprojectionError3< PinholeFullCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 4, 2, 3 >( + new ReprojectionError3< PinholeFullCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + break; + case Camera::MEI: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 3, 3 >( + new ReprojectionError3< CataCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 4, 2, 3 >( + new ReprojectionError3< CataCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + break; + case Camera::SCARAMUZZA: + if ( optimize_cam_odo_z ) + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 3, 3 >( + new ReprojectionError3< OCAMCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + else + { + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 4, 2, 3 >( + new ReprojectionError3< OCAMCamera >( + intrinsic_params, odo_pos, odo_att, observed_p, optimize_cam_odo_z ) ); + } + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& camera, + const Eigen::Quaterniond& cam_odo_q, + const Eigen::Vector3d& cam_odo_t, + const Eigen::Vector3d& odo_pos, + const Eigen::Vector3d& odo_att, + const Eigen::Vector2d& observed_p, + int flags ) const +{ + ceres::CostFunction* costFunction = 0; + + std::vector< double > intrinsic_params; + camera->writeParameters( intrinsic_params ); + + switch ( flags ) + { + case POINT_3D: + switch ( camera->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< EquidistantCamera >, 2, 3 >( + new ReprojectionError3< EquidistantCamera >( + intrinsic_params, cam_odo_q, cam_odo_t, odo_pos, odo_att, observed_p ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeCamera >, 2, 3 >( + new ReprojectionError3< PinholeCamera >( + intrinsic_params, cam_odo_q, cam_odo_t, odo_pos, odo_att, observed_p ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< PinholeFullCamera >, 2, 3 >( + new ReprojectionError3< PinholeFullCamera >( + intrinsic_params, cam_odo_q, cam_odo_t, odo_pos, odo_att, observed_p ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< CataCamera >, 2, 3 >( + new ReprojectionError3< CataCamera >( + intrinsic_params, cam_odo_q, cam_odo_t, odo_pos, odo_att, observed_p ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< ReprojectionError3< OCAMCamera >, 2, 3 >( + new ReprojectionError3< OCAMCamera >( + intrinsic_params, cam_odo_q, cam_odo_t, odo_pos, odo_att, observed_p ) ); + break; + } + break; + } + + return costFunction; +} + +ceres::CostFunction* +CostFunctionFactory::generateCostFunction( const CameraConstPtr& cameraL, + const CameraConstPtr& cameraR, + const Eigen::Vector3d& observed_P, + const Eigen::Vector2d& observed_p_l, + const Eigen::Vector2d& observed_p_r ) const +{ + ceres::CostFunction* costFunction = 0; + + if ( cameraL->modelType( ) != cameraR->modelType( ) ) + { + return costFunction; + } + + switch ( cameraL->modelType( ) ) + { + case Camera::KANNALA_BRANDT: + costFunction + = new ceres::AutoDiffCostFunction< StereoReprojectionError< EquidistantCamera >, 4, 8, 8, 4, 3, 4, 3 >( + new StereoReprojectionError< EquidistantCamera >( observed_P, observed_p_l, observed_p_r ) ); + break; + case Camera::PINHOLE: + costFunction + = new ceres::AutoDiffCostFunction< StereoReprojectionError< PinholeCamera >, 4, 8, 8, 4, 3, 4, 3 >( + new StereoReprojectionError< PinholeCamera >( observed_P, observed_p_l, observed_p_r ) ); + break; + case Camera::PINHOLE_FULL: + costFunction + = new ceres::AutoDiffCostFunction< StereoReprojectionError< PinholeFullCamera >, 4, 12, 12, 4, 3, 4, 3 >( + new StereoReprojectionError< PinholeFullCamera >( observed_P, observed_p_l, observed_p_r ) ); + break; + case Camera::MEI: + costFunction + = new ceres::AutoDiffCostFunction< StereoReprojectionError< CataCamera >, 4, 9, 9, 4, 3, 4, 3 >( + new StereoReprojectionError< CataCamera >( observed_P, observed_p_l, observed_p_r ) ); + break; + case Camera::SCARAMUZZA: + costFunction + = new ceres::AutoDiffCostFunction< StereoReprojectionError< OCAMCamera >, 4, SCARAMUZZA_CAMERA_NUM_PARAMS, SCARAMUZZA_CAMERA_NUM_PARAMS, 4, 3, 4, 3 >( + new StereoReprojectionError< OCAMCamera >( observed_P, observed_p_l, observed_p_r ) ); + break; + } + + return costFunction; +} +} diff --git a/camera_models/src/camera_models/EquidistantCamera.cc b/camera_models/src/camera_models/EquidistantCamera.cc new file mode 100644 index 0000000..480f51a --- /dev/null +++ b/camera_models/src/camera_models/EquidistantCamera.cc @@ -0,0 +1,820 @@ +#include "camodocal/camera_models/EquidistantCamera.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/gpl/gpl.h" + +namespace camodocal +{ + +EquidistantCamera::Parameters::Parameters() + : Camera::Parameters(KANNALA_BRANDT) + , m_k2(0.0) + , m_k3(0.0) + , m_k4(0.0) + , m_k5(0.0) + , m_mu(0.0) + , m_mv(0.0) + , m_u0(0.0) + , m_v0(0.0) +{ + +} + +EquidistantCamera::Parameters::Parameters(const std::string& cameraName, + int w, int h, + double k2, double k3, double k4, double k5, + double mu, double mv, + double u0, double v0) + : Camera::Parameters(KANNALA_BRANDT, cameraName, w, h) + , m_k2(k2) + , m_k3(k3) + , m_k4(k4) + , m_k5(k5) + , m_mu(mu) + , m_mv(mv) + , m_u0(u0) + , m_v0(v0) +{ + +} + +double& +EquidistantCamera::Parameters::k2(void) +{ + return m_k2; +} + +double& +EquidistantCamera::Parameters::k3(void) +{ + return m_k3; +} + +double& +EquidistantCamera::Parameters::k4(void) +{ + return m_k4; +} + +double& +EquidistantCamera::Parameters::k5(void) +{ + return m_k5; +} + +double& +EquidistantCamera::Parameters::mu(void) +{ + return m_mu; +} + +double& +EquidistantCamera::Parameters::mv(void) +{ + return m_mv; +} + +double& +EquidistantCamera::Parameters::u0(void) +{ + return m_u0; +} + +double& +EquidistantCamera::Parameters::v0(void) +{ + return m_v0; +} + +double +EquidistantCamera::Parameters::k2(void) const +{ + return m_k2; +} + +double +EquidistantCamera::Parameters::k3(void) const +{ + return m_k3; +} + +double +EquidistantCamera::Parameters::k4(void) const +{ + return m_k4; +} + +double +EquidistantCamera::Parameters::k5(void) const +{ + return m_k5; +} + +double +EquidistantCamera::Parameters::mu(void) const +{ + return m_mu; +} + +double +EquidistantCamera::Parameters::mv(void) const +{ + return m_mv; +} + +double +EquidistantCamera::Parameters::u0(void) const +{ + return m_u0; +} + +double +EquidistantCamera::Parameters::v0(void) const +{ + return m_v0; +} + +bool +EquidistantCamera::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("KANNALA_BRANDT") != 0) + { + return false; + } + } + + m_modelType = KANNALA_BRANDT; + fs["camera_name"] >> m_cameraName; + m_imageWidth = static_cast(fs["image_width"]); + m_imageHeight = static_cast(fs["image_height"]); + + cv::FileNode n = fs["projection_parameters"]; + m_k2 = static_cast(n["k2"]); + m_k3 = static_cast(n["k3"]); + m_k4 = static_cast(n["k4"]); + m_k5 = static_cast(n["k5"]); + m_mu = static_cast(n["mu"]); + m_mv = static_cast(n["mv"]); + m_u0 = static_cast(n["u0"]); + m_v0 = static_cast(n["v0"]); + + return true; +} + +void +EquidistantCamera::Parameters::writeToYamlFile(const std::string& filename) const +{ + cv::FileStorage fs(filename, cv::FileStorage::WRITE); + + fs << "model_type" << "KANNALA_BRANDT"; + fs << "camera_name" << m_cameraName; + fs << "image_width" << m_imageWidth; + fs << "image_height" << m_imageHeight; + + // projection: k2, k3, k4, k5, mu, mv, u0, v0 + fs << "projection_parameters"; + fs << "{" << "k2" << m_k2 + << "k3" << m_k3 + << "k4" << m_k4 + << "k5" << m_k5 + << "mu" << m_mu + << "mv" << m_mv + << "u0" << m_u0 + << "v0" << m_v0 << "}"; + + fs.release(); +} + +EquidistantCamera::Parameters& +EquidistantCamera::Parameters::operator=(const EquidistantCamera::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_k2 = other.m_k2; + m_k3 = other.m_k3; + m_k4 = other.m_k4; + m_k5 = other.m_k5; + m_mu = other.m_mu; + m_mv = other.m_mv; + m_u0 = other.m_u0; + m_v0 = other.m_v0; + } + + return *this; +} + +std::ostream& +operator<< (std::ostream& out, const EquidistantCamera::Parameters& params) +{ + out << "Camera Parameters:" << std::endl; + out << " model_type " << "KANNALA_BRANDT" << 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; + + // projection: k2, k3, k4, k5, mu, mv, u0, v0 + out << "Projection Parameters" << std::endl; + out << " k2 " << params.m_k2 << std::endl + << " k3 " << params.m_k3 << std::endl + << " k4 " << params.m_k4 << std::endl + << " k5 " << params.m_k5 << std::endl + << " mu " << params.m_mu << std::endl + << " mv " << params.m_mv << std::endl + << " u0 " << params.m_u0 << std::endl + << " v0 " << params.m_v0 << std::endl; + + return out; +} + +EquidistantCamera::EquidistantCamera() + : m_inv_K11(1.0) + , m_inv_K13(0.0) + , m_inv_K22(1.0) + , m_inv_K23(0.0) +{ + +} + +EquidistantCamera::EquidistantCamera(const std::string& cameraName, + int imageWidth, int imageHeight, + double k2, double k3, double k4, double k5, + double mu, double mv, + double u0, double v0) + : mParameters(cameraName, imageWidth, imageHeight, + k2, k3, k4, k5, mu, mv, u0, v0) +{ + // Inverse camera projection matrix parameters + m_inv_K11 = 1.0 / mParameters.mu(); + m_inv_K13 = -mParameters.u0() / mParameters.mu(); + m_inv_K22 = 1.0 / mParameters.mv(); + m_inv_K23 = -mParameters.v0() / mParameters.mv(); +} + +EquidistantCamera::EquidistantCamera(const EquidistantCamera::Parameters& params) + : mParameters(params) +{ + // Inverse camera projection matrix parameters + m_inv_K11 = 1.0 / mParameters.mu(); + m_inv_K13 = -mParameters.u0() / mParameters.mu(); + m_inv_K22 = 1.0 / mParameters.mv(); + m_inv_K23 = -mParameters.v0() / mParameters.mv(); +} + +Camera::ModelType +EquidistantCamera::modelType(void) const +{ + return mParameters.modelType(); +} + +const std::string& +EquidistantCamera::cameraName(void) const +{ + return mParameters.cameraName(); +} + +int +EquidistantCamera::imageWidth(void) const +{ + return mParameters.imageWidth(); +} + +int +EquidistantCamera::imageHeight(void) const +{ + return mParameters.imageHeight(); +} + +void +EquidistantCamera::estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints) +{ + Parameters params = getParameters(); + + double u0 = params.imageWidth() / 2.0; + double v0 = params.imageHeight() / 2.0; + + double minReprojErr = std::numeric_limits::max(); + + std::vector rvecs, tvecs; + rvecs.assign(objectPoints.size(), cv::Mat()); + tvecs.assign(objectPoints.size(), cv::Mat()); + + params.k2() = 0.0; + params.k3() = 0.0; + params.k4() = 0.0; + params.k5() = 0.0; + params.u0() = u0; + params.v0() = v0; + + // Initialize focal length + // C. Hughes, P. Denny, M. Glavin, and E. Jones, + // Equidistant Fish-Eye Calibration and Rectification by Vanishing Point + // Extraction, PAMI 2010 + // Find circles from rows of chessboard corners, and for each pair + // of circles, find vanishing points: v1 and v2. + // f = ||v1 - v2|| / PI; + double f0 = 0.0; + for (size_t i = 0; i < imagePoints.size(); ++i) + { + std::vector center(boardSize.height); + double radius[boardSize.height]; + for (int r = 0; r < boardSize.height; ++r) + { + std::vector circle; + for (int c = 0; c < boardSize.width; ++c) + { + circle.push_back(imagePoints.at(i).at(r * boardSize.width + c)); + } + + fitCircle(circle, center[r](0), center[r](1), radius[r]); + } + + for (int j = 0; j < boardSize.height; ++j) + { + for (int k = j + 1; k < boardSize.height; ++k) + { + // find distance between pair of vanishing points which + // correspond to intersection points of 2 circles + std::vector ipts; + ipts = intersectCircles(center[j](0), center[j](1), radius[j], + center[k](0), center[k](1), radius[k]); + + if (ipts.size() < 2) + { + continue; + } + + double f = cv::norm(ipts.at(0) - ipts.at(1)) / M_PI; + + params.mu() = f; + params.mv() = f; + + setParameters(params); + + for (size_t l = 0; l < objectPoints.size(); ++l) + { + estimateExtrinsics(objectPoints.at(l), imagePoints.at(l), rvecs.at(l), tvecs.at(l)); + } + + double reprojErr = reprojectionError(objectPoints, imagePoints, rvecs, tvecs, cv::noArray()); + + if (reprojErr < minReprojErr) + { + minReprojErr = reprojErr; + f0 = f; + } + } + } + } + + if (f0 <= 0.0 && minReprojErr >= std::numeric_limits::max()) + { + std::cout << "[" << params.cameraName() << "] " + << "# INFO: kannala-Brandt model fails with given data. " << std::endl; + + return; + } + + params.mu() = f0; + params.mv() = f0; + + setParameters(params); +} + +/** + * \brief Lifts a point from the image plane to the unit sphere + * + * \param p image coordinates + * \param P coordinates of the point on the sphere + */ +void +EquidistantCamera::liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const +{ + liftProjective(p, P); +} + +/** + * \brief Lifts a point from the image plane to its projective ray + * + * \param p image coordinates + * \param P coordinates of the projective ray + */ +void +EquidistantCamera::liftProjective(const Eigen::Vector2d& p, Eigen::Vector3d& P) const +{ + // Lift points to normalised plane + Eigen::Vector2d p_u; + p_u << m_inv_K11 * p(0) + m_inv_K13, + m_inv_K22 * p(1) + m_inv_K23; + + // Obtain a projective ray + double theta, phi; + backprojectSymmetric(p_u, theta, phi); + + P(0) = sin(theta) * cos(phi); + P(1) = sin(theta) * sin(phi); + P(2) = cos(theta); +} + +/** + * \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +EquidistantCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const +{ + double theta = acos(P(2) / P.norm()); + double phi = atan2(P(1), P(0)); + + Eigen::Vector2d p_u = r(mParameters.k2(), mParameters.k3(), mParameters.k4(), mParameters.k5(), theta) * Eigen::Vector2d(cos(phi), sin(phi)); + + // Apply generalised projection matrix + p << mParameters.mu() * p_u(0) + mParameters.u0(), + mParameters.mv() * p_u(1) + mParameters.v0(); +} + + +/** + * \brief Project a 3D point to the image plane and calculate Jacobian + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +EquidistantCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const +{ + double theta = acos(P(2) / P.norm()); + double phi = atan2(P(1), P(0)); + + Eigen::Vector2d p_u = r(mParameters.k2(), mParameters.k3(), mParameters.k4(), mParameters.k5(), theta) * Eigen::Vector2d(cos(phi), sin(phi)); + + // Apply generalised projection matrix + p << mParameters.mu() * p_u(0) + mParameters.u0(), + mParameters.mv() * p_u(1) + mParameters.v0(); +} + +/** + * \brief Projects an undistorted 2D point p_u to the image plane + * + * \param p_u 2D point coordinates + * \return image point coordinates + */ +void +EquidistantCamera::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.gamma1() * p_d(0) + mParameters.u0(), +// mParameters.gamma2() * p_d(1) + mParameters.v0(); +} + +void +EquidistantCamera::initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale) const +{ + cv::Size imageSize(mParameters.imageWidth(), mParameters.imageHeight()); + + cv::Mat mapX = cv::Mat::zeros(imageSize, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize, CV_32F); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + double mx_u = m_inv_K11 / fScale * u + m_inv_K13 / fScale; + double my_u = m_inv_K22 / fScale * v + m_inv_K23 / fScale; + + double theta, phi; + backprojectSymmetric(Eigen::Vector2d(mx_u, my_u), theta, phi); + + Eigen::Vector3d P; + P << sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta); + + Eigen::Vector2d p; + spaceToPlane(P, p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); +} + +cv::Mat +EquidistantCamera::initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx, float fy, + cv::Size imageSize, + float cx, float cy, + cv::Mat rmat) const +{ + if (imageSize == cv::Size(0, 0)) + { + imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight()); + } + + cv::Mat mapX = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + + Eigen::Matrix3f K_rect; + + if (cx == -1.0f && cy == -1.0f) + { + K_rect << fx, 0, imageSize.width / 2, + 0, fy, imageSize.height / 2, + 0, 0, 1; + } + else + { + K_rect << fx, 0, cx, + 0, fy, cy, + 0, 0, 1; + } + + if (fx == -1.0f || fy == -1.0f) + { + K_rect(0,0) = mParameters.mu(); + K_rect(1,1) = mParameters.mv(); + } + + Eigen::Matrix3f K_rect_inv = K_rect.inverse(); + + Eigen::Matrix3f R, R_inv; + cv::cv2eigen(rmat, R); + R_inv = R.inverse(); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + Eigen::Vector3f xo; + xo << u, v, 1; + + Eigen::Vector3f uo = R_inv * K_rect_inv * xo; + + Eigen::Vector2d p; + spaceToPlane(uo.cast(), p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); + + cv::Mat K_rect_cv; + cv::eigen2cv(K_rect, K_rect_cv); + return K_rect_cv; +} + +int +EquidistantCamera::parameterCount(void) const +{ + return 8; +} + +const EquidistantCamera::Parameters& +EquidistantCamera::getParameters(void) const +{ + return mParameters; +} + +void +EquidistantCamera::setParameters(const EquidistantCamera::Parameters& parameters) +{ + mParameters = parameters; + + // Inverse camera projection matrix parameters + m_inv_K11 = 1.0 / mParameters.mu(); + m_inv_K13 = -mParameters.u0() / mParameters.mu(); + m_inv_K22 = 1.0 / mParameters.mv(); + m_inv_K23 = -mParameters.v0() / mParameters.mv(); +} + +void +EquidistantCamera::readParameters(const std::vector& parameterVec) +{ + if (parameterVec.size() != parameterCount()) + { + return; + } + + Parameters params = getParameters(); + + params.k2() = parameterVec.at(0); + params.k3() = parameterVec.at(1); + params.k4() = parameterVec.at(2); + params.k5() = parameterVec.at(3); + params.mu() = parameterVec.at(4); + params.mv() = parameterVec.at(5); + params.u0() = parameterVec.at(6); + params.v0() = parameterVec.at(7); + + setParameters(params); +} + +void +EquidistantCamera::writeParameters(std::vector& parameterVec) const +{ + parameterVec.resize(parameterCount()); + parameterVec.at(0) = mParameters.k2(); + parameterVec.at(1) = mParameters.k3(); + parameterVec.at(2) = mParameters.k4(); + parameterVec.at(3) = mParameters.k5(); + parameterVec.at(4) = mParameters.mu(); + parameterVec.at(5) = mParameters.mv(); + parameterVec.at(6) = mParameters.u0(); + parameterVec.at(7) = mParameters.v0(); +} + +void +EquidistantCamera::writeParametersToYamlFile(const std::string& filename) const +{ + mParameters.writeToYamlFile(filename); +} + +std::string +EquidistantCamera::parametersToString(void) const +{ + std::ostringstream oss; + oss << mParameters; + + return oss.str(); +} + +void +EquidistantCamera::fitOddPoly(const std::vector& x, const std::vector& y, + int n, std::vector& coeffs) const +{ + std::vector pows; + for (int i = 1; i <= n; i += 2) + { + pows.push_back(i); + } + + Eigen::MatrixXd X(x.size(), pows.size()); + Eigen::MatrixXd Y(y.size(), 1); + for (size_t i = 0; i < x.size(); ++i) + { + for (size_t j = 0; j < pows.size(); ++j) + { + X(i,j) = pow(x.at(i), pows.at(j)); + } + Y(i,0) = y.at(i); + } + + Eigen::MatrixXd A = (X.transpose() * X).inverse() * X.transpose() * Y; + + coeffs.resize(A.rows()); + for (int i = 0; i < A.rows(); ++i) + { + coeffs.at(i) = A(i,0); + } +} + +void +EquidistantCamera::backprojectSymmetric(const Eigen::Vector2d& p_u, + double& theta, double& phi) const +{ + double tol = 1e-10; + double p_u_norm = p_u.norm(); + + if (p_u_norm < 1e-10) + { + phi = 0.0; + } + else + { + phi = atan2(p_u(1), p_u(0)); + } + + int npow = 9; + if (mParameters.k5() == 0.0) + { + npow -= 2; + } + if (mParameters.k4() == 0.0) + { + npow -= 2; + } + if (mParameters.k3() == 0.0) + { + npow -= 2; + } + if (mParameters.k2() == 0.0) + { + npow -= 2; + } + + Eigen::MatrixXd coeffs(npow + 1, 1); + coeffs.setZero(); + coeffs(0) = -p_u_norm; + coeffs(1) = 1.0; + + if (npow >= 3) + { + coeffs(3) = mParameters.k2(); + } + if (npow >= 5) + { + coeffs(5) = mParameters.k3(); + } + if (npow >= 7) + { + coeffs(7) = mParameters.k4(); + } + if (npow >= 9) + { + coeffs(9) = mParameters.k5(); + } + + if (npow == 1) + { + theta = p_u_norm; + } + else + { + // Get eigenvalues of companion matrix corresponding to polynomial. + // Eigenvalues correspond to roots of polynomial. + Eigen::MatrixXd A(npow, npow); + A.setZero(); + A.block(1, 0, npow - 1, npow - 1).setIdentity(); + A.col(npow - 1) = - coeffs.block(0, 0, npow, 1) / coeffs(npow); + + Eigen::EigenSolver es(A); + Eigen::MatrixXcd eigval = es.eigenvalues(); + + std::vector thetas; + for (int i = 0; i < eigval.rows(); ++i) + { + if (fabs(eigval(i).imag()) > tol) + { + continue; + } + + double t = eigval(i).real(); + + if (t < -tol) + { + continue; + } + else if (t < 0.0) + { + t = 0.0; + } + + thetas.push_back(t); + } + + if (thetas.empty()) + { + theta = p_u_norm; + } + else + { + theta = *std::min_element(thetas.begin(), thetas.end()); + } + } +} + +} diff --git a/camera_models/src/camera_models/PinholeCamera.cc b/camera_models/src/camera_models/PinholeCamera.cc new file mode 100644 index 0000000..9839724 --- /dev/null +++ b/camera_models/src/camera_models/PinholeCamera.cc @@ -0,0 +1,881 @@ +#include "camodocal/camera_models/PinholeCamera.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/gpl/gpl.h" + +namespace camodocal +{ + +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(fs["image_width"]); + m_imageHeight = static_cast(fs["image_height"]); + + cv::FileNode n = fs["distortion_parameters"]; + m_k1 = static_cast(n["k1"]); + m_k2 = static_cast(n["k2"]); + m_p1 = static_cast(n["p1"]); + m_p2 = static_cast(n["p2"]); + + n = fs["projection_parameters"]; + m_fx = static_cast(n["fx"]); + m_fy = static_cast(n["fy"]); + m_cx = static_cast(n["cx"]); + m_cy = static_cast(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; + } + + // Inverse camera projection matrix parameters + 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; + } + + // Inverse camera projection matrix parameters + 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(); +} + +void +PinholeCamera::estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints) +{ + // Z. Zhang, A Flexible New Technique for Camera Calibration, PAMI 2000 + + Parameters params = getParameters(); + + params.k1() = 0.0; + params.k2() = 0.0; + params.p1() = 0.0; + params.p2() = 0.0; + + double cx = params.imageWidth() / 2.0; + double cy = params.imageHeight() / 2.0; + params.cx() = cx; + params.cy() = cy; + + size_t nImages = imagePoints.size(); + + cv::Mat A(nImages * 2, 2, CV_64F); + cv::Mat b(nImages * 2, 1, CV_64F); + + for (size_t i = 0; i < nImages; ++i) + { + const std::vector& oPoints = objectPoints.at(i); + + std::vector M(oPoints.size()); + for (size_t j = 0; j < M.size(); ++j) + { + M.at(j) = cv::Point2f(oPoints.at(j).x, oPoints.at(j).y); + } + + cv::Mat H = cv::findHomography(M, imagePoints.at(i)); + + H.at(0,0) -= H.at(2,0) * cx; + H.at(0,1) -= H.at(2,1) * cx; + H.at(0,2) -= H.at(2,2) * cx; + H.at(1,0) -= H.at(2,0) * cy; + H.at(1,1) -= H.at(2,1) * cy; + H.at(1,2) -= H.at(2,2) * cy; + + double h[3], v[3], d1[3], d2[3]; + double n[4] = {0,0,0,0}; + + for (int j = 0; j < 3; ++j) + { + double t0 = H.at(j,0); + double t1 = H.at(j,1); + h[j] = t0; v[j] = t1; + d1[j] = (t0 + t1) * 0.5; + d2[j] = (t0 - t1) * 0.5; + n[0] += t0 * t0; n[1] += t1 * t1; + n[2] += d1[j] * d1[j]; n[3] += d2[j] * d2[j]; + } + + for (int j = 0; j < 4; ++j) + { + n[j] = 1.0 / sqrt(n[j]); + } + + for (int j = 0; j < 3; ++j) + { + h[j] *= n[0]; v[j] *= n[1]; + d1[j] *= n[2]; d2[j] *= n[3]; + } + + A.at(i * 2, 0) = h[0] * v[0]; + A.at(i * 2, 1) = h[1] * v[1]; + A.at(i * 2 + 1, 0) = d1[0] * d2[0]; + A.at(i * 2 + 1, 1) = d1[1] * d2[1]; + b.at(i * 2, 0) = -h[2] * v[2]; + b.at(i * 2 + 1, 0) = -d1[2] * d2[2]; + } + + cv::Mat f(2, 1, CV_64F); + cv::solve(A, b, f, cv::DECOMP_NORMAL | cv::DECOMP_LU); + + params.fx() = sqrt(fabs(1.0 / f.at(0))); + params.fy() = sqrt(fabs(1.0 / f.at(1))); + + setParameters(params); +} + +/** + * \brief Lifts a point from the image plane to the unit sphere + * + * \param p image coordinates + * \param P coordinates of the point on the sphere + */ +void +PinholeCamera::liftSphere(const Eigen::Vector2d& p, Eigen::Vector3d& P) const +{ + liftProjective(p, P); + + P.normalize(); +} + +/** + * \brief Lifts a point from the image plane to its projective ray + * + * \param p image coordinates + * \param P coordinates of the projective ray + */ +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; + //double lambda; + + // Lift points to normalised plane + 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 + { + if (0) + { + double k1 = mParameters.k1(); + double k2 = mParameters.k2(); + double p1 = mParameters.p1(); + double p2 = mParameters.p2(); + + // Apply inverse distortion model + // proposed by Heikkila + 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; + } + else + { + // Recursive distortion model + int n = 8; + Eigen::Vector2d d_u; + distortion(Eigen::Vector2d(mx_d, my_d), d_u); + // Approximate value + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + + for (int i = 1; i < n; ++i) + { + distortion(Eigen::Vector2d(mx_u, my_u), d_u); + mx_u = mx_d - d_u(0); + my_u = my_d - d_u(1); + } + } + } + + // Obtain a projective ray + P << mx_u, my_u, 1.0; +} + + +/** + * \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +PinholeCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p) const +{ + Eigen::Vector2d p_u, p_d; + + // Project points to the normalised plane + p_u << P(0) / P(2), P(1) / P(2); + + 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(); +} + +#if 0 +/** + * \brief Project a 3D point to the image plane and calculate Jacobian + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +PinholeCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p, + Eigen::Matrix& J) const +{ + Eigen::Vector2d p_u, p_d; + double norm, inv_denom; + double dxdmx, dydmx, dxdmy, dydmy; + + norm = P.norm(); + // Project points to the normalised plane + inv_denom = 1.0 / P(2); + p_u << inv_denom * P(0), inv_denom * P(1); + + // Calculate jacobian + 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 + { + // Apply distortion + 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; +} +#endif + +/** + * \brief Projects an undistorted 2D point p_u to the image plane + * + * \param p_u 2D point coordinates + * \return image point coordinates + */ +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(); +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_u + */ +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); +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * and calculate Jacobian + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_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; +} + +void +PinholeCamera::initUndistortMap(cv::Mat& map1, cv::Mat& map2, double fScale) const +{ + cv::Size imageSize(mParameters.imageWidth(), mParameters.imageHeight()); + + cv::Mat mapX = cv::Mat::zeros(imageSize, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize, CV_32F); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + double mx_u = m_inv_K11 / fScale * u + m_inv_K13 / fScale; + double my_u = m_inv_K22 / fScale * v + m_inv_K23 / fScale; + + Eigen::Vector3d P; + P << mx_u, my_u, 1.0; + + Eigen::Vector2d p; + spaceToPlane(P, p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); +} + +cv::Mat +PinholeCamera::initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx, float fy, + cv::Size imageSize, + float cx, float cy, + cv::Mat rmat) const +{ + if (imageSize == cv::Size(0, 0)) + { + imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight()); + } + + cv::Mat mapX = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + + Eigen::Matrix3f R, R_inv; + cv::cv2eigen(rmat, R); + R_inv = R.inverse(); + + // assume no skew + Eigen::Matrix3f K_rect; + + if (cx == -1.0f || cy == -1.0f) + { + K_rect << fx, 0, imageSize.width / 2, + 0, fy, imageSize.height / 2, + 0, 0, 1; + } + else + { + K_rect << fx, 0, cx, + 0, fy, cy, + 0, 0, 1; + } + + if (fx == -1.0f || fy == -1.0f) + { + K_rect(0,0) = mParameters.fx(); + K_rect(1,1) = mParameters.fy(); + } + + Eigen::Matrix3f K_rect_inv = K_rect.inverse(); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + Eigen::Vector3f xo; + xo << u, v, 1; + + Eigen::Vector3f uo = R_inv * K_rect_inv * xo; + + Eigen::Vector2d p; + spaceToPlane(uo.cast(), p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); + + cv::Mat K_rect_cv; + cv::eigen2cv(K_rect, K_rect_cv); + return K_rect_cv; +} + +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& 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& 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(); +} + +} diff --git a/camera_models/src/camera_models/PinholeFullCamera.cc b/camera_models/src/camera_models/PinholeFullCamera.cc new file mode 100644 index 0000000..5365c06 --- /dev/null +++ b/camera_models/src/camera_models/PinholeFullCamera.cc @@ -0,0 +1,1000 @@ +#include "camodocal/camera_models/PinholeFullCamera.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/gpl/gpl.h" + +namespace camodocal +{ + +PinholeFullCamera::Parameters::Parameters( ) +: Camera::Parameters( PINHOLE_FULL ) +, m_k1( 0.0 ) +, m_k2( 0.0 ) +, m_k3( 0.0 ) +, m_k4( 0.0 ) +, m_k5( 0.0 ) +, m_k6( 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 ) +{ +} + +PinholeFullCamera::Parameters::Parameters( const std::string& cameraName, // + int w, + int h, + double k1, + double k2, + double k3, + double k4, + double k5, + double k6, + double p1, + double p2, + double fx, + double fy, + double cx, + double cy ) +: Camera::Parameters( PINHOLE_FULL, cameraName, w, h ) +, m_k1( k1 ) +, m_k2( k2 ) +, m_k3( k3 ) +, m_k4( k4 ) +, m_k5( k5 ) +, m_k6( k6 ) +, m_p1( p1 ) +, m_p2( p2 ) +, m_fx( fx ) +, m_fy( fy ) +, m_cx( cx ) +, m_cy( cy ) +{ +} + +double& +PinholeFullCamera::Parameters::k1( void ) +{ + return m_k1; +} + +double& +PinholeFullCamera::Parameters::k2( void ) +{ + return m_k2; +} + +double& +PinholeFullCamera::Parameters::k3( ) +{ + return m_k3; +} + +double& +PinholeFullCamera::Parameters::k4( ) +{ + return m_k4; +} + +double& +PinholeFullCamera::Parameters::k5( ) +{ + return m_k5; +} + +double& +PinholeFullCamera::Parameters::k6( ) +{ + return m_k6; +} + +double& +PinholeFullCamera::Parameters::p1( void ) +{ + return m_p1; +} + +double& +PinholeFullCamera::Parameters::p2( void ) +{ + return m_p2; +} + +double& +PinholeFullCamera::Parameters::fx( void ) +{ + return m_fx; +} + +double& +PinholeFullCamera::Parameters::fy( void ) +{ + return m_fy; +} + +double& +PinholeFullCamera::Parameters::cx( void ) +{ + return m_cx; +} + +double& +PinholeFullCamera::Parameters::cy( void ) +{ + return m_cy; +} + +double +PinholeFullCamera::Parameters::k1( void ) const +{ + return m_k1; +} + +double +PinholeFullCamera::Parameters::k2( void ) const +{ + return m_k2; +} + +double +PinholeFullCamera::Parameters::p1( void ) const +{ + return m_p1; +} + +double +PinholeFullCamera::Parameters::p2( void ) const +{ + return m_p2; +} + +double +PinholeFullCamera::Parameters::fx( void ) const +{ + return m_fx; +} + +double +PinholeFullCamera::Parameters::fy( void ) const +{ + return m_fy; +} + +double +PinholeFullCamera::Parameters::cx( void ) const +{ + return m_cx; +} + +double +PinholeFullCamera::Parameters::cy( void ) const +{ + return m_cy; +} + +double +PinholeFullCamera::Parameters::k3( ) const +{ + return m_k3; +} + +double +PinholeFullCamera::Parameters::k4( ) const +{ + return m_k4; +} + +double +PinholeFullCamera::Parameters::k5( ) const +{ + return m_k5; +} + +double +PinholeFullCamera::Parameters::k6( ) const +{ + return m_k6; +} + +bool +PinholeFullCamera::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_FULL" ) != 0 ) + { + return false; + } + } + + m_modelType = PINHOLE_FULL; + 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_k3 = static_cast< double >( n["k3"] ); + m_k4 = static_cast< double >( n["k4"] ); + m_k5 = static_cast< double >( n["k5"] ); + m_k6 = static_cast< double >( n["k6"] ); + 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 +PinholeFullCamera::Parameters::writeToYamlFile( const std::string& filename ) const +{ + cv::FileStorage fs( filename, cv::FileStorage::WRITE ); + + fs << "model_type" + << "PINHOLE_FULL"; + 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 << "k3" << m_k3 << "k4" << m_k4 << "k5" << m_k5 + << "k6" << m_k6 << "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( ); +} + +PinholeFullCamera::Parameters& +PinholeFullCamera::Parameters::operator=( const PinholeFullCamera::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_k3 = other.m_k3; + m_k4 = other.m_k4; + m_k5 = other.m_k5; + m_k6 = other.m_k6; + 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 PinholeFullCamera::Parameters& params ) +{ + out << "Camera Parameters:" << std::endl; + out << " model_type " + << "PINHOLE_FULL" << 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 + << " k3 " << params.m_k3 << std::endl + << " k4 " << params.m_k4 << std::endl + << " k5 " << params.m_k5 << std::endl + << " k6 " << params.m_k6 << 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; +} + +PinholeFullCamera::PinholeFullCamera( ) +: m_inv_K11( 1.0 ) +, m_inv_K13( 0.0 ) +, m_inv_K22( 1.0 ) +, m_inv_K23( 0.0 ) +, m_noDistortion( true ) +{ +} + +PinholeFullCamera::PinholeFullCamera( const std::string& cameraName, + int imageWidth, + int imageHeight, + double k1, + double k2, + double k3, + double k4, + double k5, + double k6, + double p1, + double p2, + double fx, + double fy, + double cx, + double cy ) +: mParameters( cameraName, imageWidth, imageHeight, k1, k2, k3, k4, k5, k6, 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; + } + + // Inverse camera projection matrix parameters + 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( ); +} + +PinholeFullCamera::PinholeFullCamera( const PinholeFullCamera::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; + } + + // Inverse camera projection matrix parameters + 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 +PinholeFullCamera::modelType( void ) const +{ + return mParameters.modelType( ); +} + +const std::string& +PinholeFullCamera::cameraName( void ) const +{ + return mParameters.cameraName( ); +} + +int +PinholeFullCamera::imageWidth( void ) const +{ + return mParameters.imageWidth( ); +} + +int +PinholeFullCamera::imageHeight( void ) const +{ + return mParameters.imageHeight( ); +} + +void +PinholeFullCamera::estimateIntrinsics( const cv::Size& boardSize, + const std::vector< std::vector< cv::Point3f > >& objectPoints, + const std::vector< std::vector< cv::Point2f > >& imagePoints ) +{ + // Z. Zhang, A Flexible New Technique for Camera Calibration, PAMI 2000 + + Parameters params = getParameters( ); + + params.k1( ) = 0.0; + params.k2( ) = 0.0; + params.p1( ) = 0.0; + params.p2( ) = 0.0; + + double cx = params.imageWidth( ) / 2.0; + double cy = params.imageHeight( ) / 2.0; + params.cx( ) = cx; + params.cy( ) = cy; + + size_t nImages = imagePoints.size( ); + + cv::Mat A( nImages * 2, 2, CV_64F ); + cv::Mat b( nImages * 2, 1, CV_64F ); + + for ( size_t i = 0; i < nImages; ++i ) + { + const std::vector< cv::Point3f >& oPoints = objectPoints.at( i ); + + std::vector< cv::Point2f > M( oPoints.size( ) ); + for ( size_t j = 0; j < M.size( ); ++j ) + { + M.at( j ) = cv::Point2f( oPoints.at( j ).x, oPoints.at( j ).y ); + } + + cv::Mat H = cv::findHomography( M, imagePoints.at( i ) ); + + H.at< double >( 0, 0 ) -= H.at< double >( 2, 0 ) * cx; + H.at< double >( 0, 1 ) -= H.at< double >( 2, 1 ) * cx; + H.at< double >( 0, 2 ) -= H.at< double >( 2, 2 ) * cx; + H.at< double >( 1, 0 ) -= H.at< double >( 2, 0 ) * cy; + H.at< double >( 1, 1 ) -= H.at< double >( 2, 1 ) * cy; + H.at< double >( 1, 2 ) -= H.at< double >( 2, 2 ) * cy; + + double h[3], v[3], d1[3], d2[3]; + double n[4] = { 0, 0, 0, 0 }; + + for ( int j = 0; j < 3; ++j ) + { + double t0 = H.at< double >( j, 0 ); + double t1 = H.at< double >( j, 1 ); + h[j] = t0; + v[j] = t1; + d1[j] = ( t0 + t1 ) * 0.5; + d2[j] = ( t0 - t1 ) * 0.5; + n[0] += t0 * t0; + n[1] += t1 * t1; + n[2] += d1[j] * d1[j]; + n[3] += d2[j] * d2[j]; + } + + for ( int j = 0; j < 4; ++j ) + { + n[j] = 1.0 / sqrt( n[j] ); + } + + for ( int j = 0; j < 3; ++j ) + { + h[j] *= n[0]; + v[j] *= n[1]; + d1[j] *= n[2]; + d2[j] *= n[3]; + } + + A.at< double >( i * 2, 0 ) = h[0] * v[0]; + A.at< double >( i * 2, 1 ) = h[1] * v[1]; + A.at< double >( i * 2 + 1, 0 ) = d1[0] * d2[0]; + A.at< double >( i * 2 + 1, 1 ) = d1[1] * d2[1]; + b.at< double >( i * 2, 0 ) = -h[2] * v[2]; + b.at< double >( i * 2 + 1, 0 ) = -d1[2] * d2[2]; + } + + cv::Mat f( 2, 1, CV_64F ); + cv::solve( A, b, f, cv::DECOMP_NORMAL | cv::DECOMP_LU ); + + params.fx( ) = sqrt( fabs( 1.0 / f.at< double >( 0 ) ) ); + params.fy( ) = sqrt( fabs( 1.0 / f.at< double >( 1 ) ) ); + + setParameters( params ); +} + +/** + * \brief Lifts a point from the image plane to the unit sphere + * + * \param p image coordinates + * \param P coordinates of the point on the sphere + */ +void +PinholeFullCamera::liftSphere( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const +{ + liftProjective( p, P ); + + P.normalize( ); +} + +/** + * \brief Lifts a point from the image plane to its projective ray + * + * \param p image coordinates + * \param P coordinates of the projective ray + */ +void +PinholeFullCamera::liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P ) const +{ + double k1 = mParameters.k1( ); + double k2 = mParameters.k2( ); + double k3 = mParameters.k3( ); + double k4 = mParameters.k4( ); + double k5 = mParameters.k5( ); + double k6 = mParameters.k6( ); + double p1 = mParameters.p1( ); + double p2 = mParameters.p2( ); + + double fx = mParameters.fx( ); + double fy = mParameters.fy( ); + double ifx = 1. / fx; + double ify = 1. / fy; + double cx = mParameters.cx( ); + double cy = mParameters.cy( ); + + // Lift points to normalised plane + double mx_d = ifx * p( 0 ) + m_inv_K13; + double my_d = ify * p( 1 ) + m_inv_K23; + double u = p( 0 ); + double v = p( 1 ); + double x = mx_d; + double y = my_d; + double x0 = x; + double y0 = y; + + double error = std::numeric_limits< double >::max( ); + + int max_cnt = 8; // 5 + int min_error = 0.01; + for ( int j = 0;; j++ ) + { + if ( j > max_cnt ) + break; + if ( error < min_error ) + break; + + double r2 = x * x + y * y; + double icdist = ( 1 + ( ( k6 * r2 + k5 ) * r2 + k4 ) * r2 ) + / ( 1 + ( ( k3 * r2 + k2 ) * r2 + k1 ) * r2 ); + double deltaX = 2 * p1 * x * y + p2 * ( r2 + 2 * x * x ); + double deltaY = p1 * ( r2 + 2 * y * y ) + 2 * p2 * x * y; + + x = ( x0 - deltaX ) * icdist; + y = ( y0 - deltaY ) * icdist; + + if ( 1 ) + { + double r4, r6, a1, a2, a3, cdist, icdist2; + double xd, yd, xd0, yd0; + + r2 = x * x + y * y; + r4 = r2 * r2; + r6 = r4 * r2; + a1 = 2 * x * y; + a2 = r2 + 2 * x * x; + a3 = r2 + 2 * y * y; + cdist = 1 + k1 * r2 + k2 * r4 + k3 * r6; + icdist2 = 1. / ( 1 + k4 * r2 + k5 * r4 + k6 * r6 ); + xd0 = x * cdist * icdist2 + p1 * a1 + p2 * a2; + yd0 = y * cdist * icdist2 + p1 * a3 + p2 * a1; + + double x_proj = xd * fx + cx; + double y_proj = yd * fy + cy; + + error = sqrt( pow( x_proj - u, 2 ) + pow( y_proj - v, 2 ) ); + } + } + + P << x, y, 1.0; +} + +void +PinholeFullCamera::liftProjective( const Eigen::Vector2d& p, Eigen::Vector3d& P, float image_scale ) const +{ + Eigen::Vector2d p_tmp = p / image_scale; // p_tmp is without resize, p is with resize + liftProjective( p_tmp, P ); // p_tmp is without resize +} + +/** + * \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v) + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +PinholeFullCamera::spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p ) const +{ + Eigen::Vector2d p_u, p_d; + + // Project points to the normalised plane + p_u << P( 0 ) / P( 2 ), P( 1 ) / P( 2 ); + + 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 +PinholeFullCamera::spaceToPlane( const Eigen::Vector3d& P, Eigen::Vector2d& p, float image_scalse ) const +{ + Eigen::Vector2d p_tmp; + spaceToPlane( P, p_tmp ); + p = p_tmp * image_scalse; +} + +/** + * \brief Project a 3D point to the image plane and calculate Jacobian + * + * \param P 3D point coordinates + * \param p return value, contains the image point coordinates + */ +void +PinholeFullCamera::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( ); + // Project points to the normalised plane + inv_denom = 1.0 / P( 2 ); + p_u << inv_denom * P( 0 ), inv_denom * P( 1 ); + + // Calculate jacobian + 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 + { + // Apply distortion + 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; +} + +/** + * \brief Projects an undistorted 2D point p_u to the image plane + * + * \param p_u 2D point coordinates + * \return image point coordinates + */ +void +PinholeFullCamera::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( ); +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_u + */ +void +PinholeFullCamera::distortion( const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u ) const +{ + // project 3D object point to the image plane + double k1 = mParameters.k1( ); + double k2 = mParameters.k2( ); + double k3 = mParameters.k3( ); + double k4 = mParameters.k4( ); + double k5 = mParameters.k5( ); + double k6 = mParameters.k6( ); + double p1 = mParameters.p1( ); + double p2 = mParameters.p2( ); + + // Transform to model plane + double x = p_u( 0 ); + double y = p_u( 1 ); + + double r2 = x * x + y * y; + double r4 = r2 * r2; + double r6 = r4 * r2; + double a1 = 2 * x * y; + double a2 = r2 + 2 * x * x; + double a3 = r2 + 2 * y * y; + double cdist = 1 + k1 * r2 + k2 * r4 + k3 * r6; + double icdist2 = 1. / ( 1 + k4 * r2 + k5 * r4 + k6 * r6 ); + + d_u << x * cdist * icdist2 + p1 * a1 + p2 * a2 - x, // + y * cdist * icdist2 + p1 * a3 + p2 * a1 - y; +} + +/** + * \brief Apply distortion to input point (from the normalised plane) + * and calculate Jacobian + * + * \param p_u undistorted coordinates of point on the normalised plane + * \return to obtain the distorted point: p_d = p_u + d_u + */ +void +PinholeFullCamera::distortion( const Eigen::Vector2d& p_u, Eigen::Vector2d& d_u, Eigen::Matrix2d& J ) const +{ + // project 3D object point to the image plane + double k1 = mParameters.k1( ); + double k2 = mParameters.k2( ); + double k3 = mParameters.k3( ); + double k4 = mParameters.k4( ); + double k5 = mParameters.k5( ); + double k6 = mParameters.k6( ); + double p1 = mParameters.p1( ); + double p2 = mParameters.p2( ); + + // Transform to model plane + double x = p_u( 0 ); + double y = p_u( 1 ); + + double r2 = x * x + y * y; + double r4 = r2 * r2; + double r6 = r4 * r2; + double a1 = 2 * x * y; + double a2 = r2 + 2 * x * x; + double a3 = r2 + 2 * y * y; + double cdist = 1 + k1 * r2 + k2 * r4 + k3 * r6; + double icdist2 = 1. / ( 1 + k4 * r2 + k5 * r4 + k6 * r6 ); + + d_u << x * cdist * icdist2 + p1 * a1 + p2 * a2 - x, // + y * cdist * icdist2 + p1 * a3 + p2 * a1 - y; // +} + +void +PinholeFullCamera::initUndistortMap( cv::Mat& map1, cv::Mat& map2, double fScale ) const +{ + cv::Size imageSize( mParameters.imageWidth( ), mParameters.imageHeight( ) ); + + cv::Mat mapX = cv::Mat::zeros( imageSize, CV_32F ); + cv::Mat mapY = cv::Mat::zeros( imageSize, CV_32F ); + + for ( int v = 0; v < imageSize.height; ++v ) + { + for ( int u = 0; u < imageSize.width; ++u ) + { + double mx_u = m_inv_K11 / fScale * u + m_inv_K13 / fScale; + double my_u = m_inv_K22 / fScale * v + m_inv_K23 / fScale; + + Eigen::Vector3d P; + P << mx_u, my_u, 1.0; + + Eigen::Vector2d p; + spaceToPlane( P, p ); + + mapX.at< float >( v, u ) = p( 0 ); + mapY.at< float >( v, u ) = p( 1 ); + } + } + + cv::convertMaps( mapX, mapY, map1, map2, CV_32FC1, false ); +} + +cv::Mat +PinholeFullCamera::initUndistortRectifyMap( +cv::Mat& map1, cv::Mat& map2, float fx, float fy, cv::Size imageSize, float cx, float cy, cv::Mat rmat ) const +{ + if ( imageSize == cv::Size( 0, 0 ) ) + { + imageSize = cv::Size( mParameters.imageWidth( ), mParameters.imageHeight( ) ); + } + + cv::Mat mapX = cv::Mat::zeros( imageSize.height, imageSize.width, CV_32F ); + cv::Mat mapY = cv::Mat::zeros( imageSize.height, imageSize.width, CV_32F ); + + Eigen::Matrix3f R, R_inv; + cv::cv2eigen( rmat, R ); + R_inv = R.inverse( ); + + // assume no skew + Eigen::Matrix3f K_rect; + + if ( cx == -1.0f || cy == -1.0f ) + { + K_rect << fx, 0, imageSize.width / 2, 0, fy, imageSize.height / 2, 0, 0, 1; + } + else + { + K_rect << fx, 0, cx, 0, fy, cy, 0, 0, 1; + } + + if ( fx == -1.0f || fy == -1.0f ) + { + K_rect( 0, 0 ) = mParameters.fx( ); + K_rect( 1, 1 ) = mParameters.fy( ); + } + + Eigen::Matrix3f K_rect_inv = K_rect.inverse( ); + + for ( int v = 0; v < imageSize.height; ++v ) + { + for ( int u = 0; u < imageSize.width; ++u ) + { + Eigen::Vector3f xo; + xo << u, v, 1; + + Eigen::Vector3f uo = R_inv * K_rect_inv * xo; + + Eigen::Vector2d p; + spaceToPlane( uo.cast< double >( ), p ); + + mapX.at< float >( v, u ) = p( 0 ); + mapY.at< float >( v, u ) = p( 1 ); + } + } + + cv::convertMaps( mapX, mapY, map1, map2, CV_32FC1, false ); + + cv::Mat K_rect_cv; + cv::eigen2cv( K_rect, K_rect_cv ); + return K_rect_cv; +} + +int +PinholeFullCamera::parameterCount( void ) const +{ + return 12; +} + +const PinholeFullCamera::Parameters& +PinholeFullCamera::getParameters( void ) const +{ + return mParameters; +} + +void +PinholeFullCamera::setParameters( const PinholeFullCamera::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 +PinholeFullCamera::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.k3( ) = parameterVec.at( 2 ); + params.k4( ) = parameterVec.at( 3 ); + params.k5( ) = parameterVec.at( 4 ); + params.k6( ) = parameterVec.at( 5 ); + params.p1( ) = parameterVec.at( 6 ); + params.p2( ) = parameterVec.at( 7 ); + params.fx( ) = parameterVec.at( 8 ); + params.fy( ) = parameterVec.at( 9 ); + params.cx( ) = parameterVec.at( 10 ); + params.cy( ) = parameterVec.at( 11 ); + + setParameters( params ); +} + +void +PinholeFullCamera::writeParameters( std::vector< double >& parameterVec ) const +{ + parameterVec.resize( parameterCount( ) ); + parameterVec.at( 0 ) = mParameters.k1( ); + parameterVec.at( 1 ) = mParameters.k2( ); + parameterVec.at( 2 ) = mParameters.k3( ); + parameterVec.at( 3 ) = mParameters.k4( ); + parameterVec.at( 4 ) = mParameters.k5( ); + parameterVec.at( 5 ) = mParameters.k6( ); + parameterVec.at( 6 ) = mParameters.p1( ); + parameterVec.at( 7 ) = mParameters.p2( ); + parameterVec.at( 8 ) = mParameters.fx( ); + parameterVec.at( 9 ) = mParameters.fy( ); + parameterVec.at( 10 ) = mParameters.cx( ); + parameterVec.at( 11 ) = mParameters.cy( ); +} + +void +PinholeFullCamera::writeParametersToYamlFile( const std::string& filename ) const +{ + mParameters.writeToYamlFile( filename ); +} + +std::string +PinholeFullCamera::parametersToString( void ) const +{ + std::ostringstream oss; + oss << mParameters; + + return oss.str( ); +} +} diff --git a/camera_models/src/camera_models/ScaramuzzaCamera.cc b/camera_models/src/camera_models/ScaramuzzaCamera.cc new file mode 100644 index 0000000..3615594 --- /dev/null +++ b/camera_models/src/camera_models/ScaramuzzaCamera.cc @@ -0,0 +1,833 @@ +#include "camodocal/camera_models/ScaramuzzaCamera.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/gpl/gpl.h" + + +Eigen::VectorXd polyfit(Eigen::VectorXd& xVec, Eigen::VectorXd& yVec, int poly_order) { + assert(poly_order > 0); + assert(xVec.size() > poly_order); + assert(xVec.size() == yVec.size()); + + Eigen::MatrixXd A(xVec.size(), poly_order+1); + Eigen::VectorXd B(xVec.size()); + + for(int i = 0; i < xVec.size(); ++i) { + const double x = xVec(i); + const double y = yVec(i); + + double x_pow_k = 1.0; + + for(int k=0; k<=poly_order; ++k) { + A(i,k) = x_pow_k; + x_pow_k *= x; + } + + B(i) = y; + } + + Eigen::JacobiSVD svd(A, Eigen::ComputeThinU | Eigen::ComputeThinV); + Eigen::VectorXd x = svd.solve(B); + + return x; +} + +namespace camodocal +{ + +OCAMCamera::Parameters::Parameters() + : Camera::Parameters(SCARAMUZZA) + , m_C(0.0) + , m_D(0.0) + , m_E(0.0) + , m_center_x(0.0) + , m_center_y(0.0) +{ + memset(m_poly, 0, sizeof(double) * SCARAMUZZA_POLY_SIZE); + memset(m_inv_poly, 0, sizeof(double) * SCARAMUZZA_INV_POLY_SIZE); +} + + + +bool +OCAMCamera::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 (!boost::iequals(sModelType, "scaramuzza")) + { + return false; + } + } + + m_modelType = SCARAMUZZA; + fs["camera_name"] >> m_cameraName; + m_imageWidth = static_cast(fs["image_width"]); + m_imageHeight = static_cast(fs["image_height"]); + + cv::FileNode n = fs["poly_parameters"]; + for(int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + m_poly[i] = static_cast(n[std::string("p") + boost::lexical_cast(i)]); + + n = fs["inv_poly_parameters"]; + for(int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + m_inv_poly[i] = static_cast(n[std::string("p") + boost::lexical_cast(i)]); + + n = fs["affine_parameters"]; + m_C = static_cast(n["ac"]); + m_D = static_cast(n["ad"]); + m_E = static_cast(n["ae"]); + + m_center_x = static_cast(n["cx"]); + m_center_y = static_cast(n["cy"]); + + return true; +} + +void +OCAMCamera::Parameters::writeToYamlFile(const std::string& filename) const +{ + cv::FileStorage fs(filename, cv::FileStorage::WRITE); + + fs << "model_type" << "scaramuzza"; + fs << "camera_name" << m_cameraName; + fs << "image_width" << m_imageWidth; + fs << "image_height" << m_imageHeight; + + fs << "poly_parameters"; + fs << "{"; + for(int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + fs << std::string("p") + boost::lexical_cast(i) << m_poly[i]; + fs << "}"; + + fs << "inv_poly_parameters"; + fs << "{"; + for(int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + fs << std::string("p") + boost::lexical_cast(i) << m_inv_poly[i]; + fs << "}"; + + fs << "affine_parameters"; + fs << "{" << "ac" << m_C + << "ad" << m_D + << "ae" << m_E + << "cx" << m_center_x + << "cy" << m_center_y << "}"; + + fs.release(); +} + +OCAMCamera::Parameters& +OCAMCamera::Parameters::operator=(const OCAMCamera::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_C = other.m_C; + m_D = other.m_D; + m_E = other.m_E; + m_center_x = other.m_center_x; + m_center_y = other.m_center_y; + + memcpy(m_poly, other.m_poly, sizeof(double) * SCARAMUZZA_POLY_SIZE); + memcpy(m_inv_poly, other.m_inv_poly, sizeof(double) * SCARAMUZZA_INV_POLY_SIZE); + } + + return *this; +} + +std::ostream& +operator<< (std::ostream& out, const OCAMCamera::Parameters& params) +{ + out << "Camera Parameters:" << std::endl; + out << " model_type " << "scaramuzza" << 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 << std::fixed << std::setprecision(10); + + out << "Poly Parameters" << std::endl; + for(int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + out << std::string("p") + boost::lexical_cast(i) << ": " << params.m_poly[i] << std::endl; + + out << "Inverse Poly Parameters" << std::endl; + for(int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + out << std::string("p") + boost::lexical_cast(i) << ": " << params.m_inv_poly[i] << std::endl; + + out << "Affine Parameters" << std::endl; + out << " ac " << params.m_C << std::endl + << " ad " << params.m_D << std::endl + << " ae " << params.m_E << std::endl; + out << " cx " << params.m_center_x << std::endl + << " cy " << params.m_center_y << std::endl; + + return out; +} + +OCAMCamera::OCAMCamera() + : m_inv_scale(0.0) +{ + +} + +OCAMCamera::OCAMCamera(const OCAMCamera::Parameters& params) + : mParameters(params) +{ + m_inv_scale = 1.0 / (params.C() - params.D() * params.E()); +} + +Camera::ModelType +OCAMCamera::modelType(void) const +{ + return mParameters.modelType(); +} + +const std::string& +OCAMCamera::cameraName(void) const +{ + return mParameters.cameraName(); +} + +int +OCAMCamera::imageWidth(void) const +{ + return mParameters.imageWidth(); +} + +int +OCAMCamera::imageHeight(void) const +{ + return mParameters.imageHeight(); +} + +void +OCAMCamera::estimateIntrinsics(const cv::Size& boardSize, + const std::vector< std::vector >& objectPoints, + const std::vector< std::vector >& imagePoints) +{ + // std::cout << "OCAMCamera::estimateIntrinsics - NOT IMPLEMENTED" << std::endl; + // throw std::string("OCAMCamera::estimateIntrinsics - NOT IMPLEMENTED"); + + // Reference: Page 30 of + // " Scaramuzza, D. Omnidirectional Vision: from Calibration to Robot Motion Estimation, ETH Zurich. Thesis no. 17635." + // http://e-collection.library.ethz.ch/eserv/eth:30301/eth-30301-02.pdf + // Matlab code: calibrate.m + + // First, estimate every image's extrinsics parameters + std::vector< Eigen::Matrix3d > RList; + std::vector< Eigen::Vector3d > TList; + + RList.reserve(imagePoints.size()); + TList.reserve(imagePoints.size()); + + // i-th image + for (size_t image_index = 0; image_index < imagePoints.size(); ++image_index) + { + const std::vector& objPts = objectPoints.at(image_index); + const std::vector& imgPts = imagePoints.at(image_index); + + assert(objPts.size() == imgPts.size()); + assert(objPts.size() == static_cast(boardSize.width * boardSize.height)); + + Eigen::MatrixXd M(objPts.size(), 6); + + for(size_t corner_index = 0; corner_index < objPts.size(); ++corner_index) { + double X = objPts.at(corner_index).x; + double Y = objPts.at(corner_index).y; + assert(objPts.at(corner_index).z==0.0); + + double u = imgPts.at(corner_index).x; + double v = imgPts.at(corner_index).y; + + M(corner_index, 0) = -v * X; + M(corner_index, 1) = -v * Y; + M(corner_index, 2) = u * X; + M(corner_index, 3) = u * Y; + M(corner_index, 4) = -v; + M(corner_index, 5) = u; + } + + Eigen::JacobiSVD svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV); + assert(svd.matrixV().cols() == 6); + Eigen::VectorXd h = -svd.matrixV().col(5); + + // scaled version of R and T + const double sr11 = h(0); + const double sr12 = h(1); + const double sr21 = h(2); + const double sr22 = h(3); + const double st1 = h(4); + const double st2 = h(5); + + const double AA = square(sr11*sr12 + sr21*sr22); + const double BB = square(sr11) + square(sr21); + const double CC = square(sr12) + square(sr22); + + const double sr32_squared_1 = (- (CC-BB) + sqrt(square(CC-BB) + 4.0 * AA)) / 2.0; + const double sr32_squared_2 = (- (CC-BB) - sqrt(square(CC-BB) + 4.0 * AA)) / 2.0; + +// printf("rst = %.12f\n", sr32_squared_1*sr32_squared_1 + (CC-BB)*sr32_squared_1 - AA); + + std::vector sr32_squared_values; + if (sr32_squared_1 > 0) sr32_squared_values.push_back(sr32_squared_1); + if (sr32_squared_2 > 0) sr32_squared_values.push_back(sr32_squared_2); + assert(!sr32_squared_values.empty()); + + std::vector sr32_values; + std::vector sr31_values; + for (auto sr32_squared : sr32_squared_values) { + for(int sign = -1; sign <= 1; sign += 2) { + const double sr32 = static_cast(sign) * std::sqrt(sr32_squared); + sr32_values.push_back( sr32 ); + if (sr32_squared == 0.0) { + // sr31 can be calculated through norm equality, + // but it has positive and negative posibilities + // positive one + sr31_values.push_back(std::sqrt(CC-BB)); + // negative one + sr32_values.push_back( sr32 ); + sr31_values.push_back(-std::sqrt(CC-BB)); + + break; // skip the same situation + } else { + // sr31 can be calculated throught dot product == 0 + sr31_values.push_back(- (sr11*sr12 + sr21*sr22) / sr32); + } + } + } + + // std::cout << "h= " << std::setprecision(12) << h.transpose() << std::endl; + // std::cout << "length: " << sr32_values.size() << " & " << sr31_values.size() << std::endl; + + assert(!sr31_values.empty()); + assert(sr31_values.size() == sr32_values.size()); + + std::vector H_values; + for(size_t i=0;i(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); +} +#endif + +cv::Mat +OCAMCamera::initUndistortRectifyMap(cv::Mat& map1, cv::Mat& map2, + float fx, float fy, + cv::Size imageSize, + float cx, float cy, + cv::Mat rmat) const +{ + if (imageSize == cv::Size(0, 0)) + { + imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight()); + } + + cv::Mat mapX = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + cv::Mat mapY = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F); + + Eigen::Matrix3f K_rect; + + K_rect << fx, 0, cx < 0 ? imageSize.width / 2 : cx, + 0, fy, cy < 0 ? imageSize.height / 2 : cy, + 0, 0, 1; + + if (fx < 0 || fy < 0) + { + throw std::string(std::string(__FUNCTION__) + ": Focal length must be specified"); + } + + Eigen::Matrix3f K_rect_inv = K_rect.inverse(); + + Eigen::Matrix3f R, R_inv; + cv::cv2eigen(rmat, R); + R_inv = R.inverse(); + + for (int v = 0; v < imageSize.height; ++v) + { + for (int u = 0; u < imageSize.width; ++u) + { + Eigen::Vector3f xo; + xo << u, v, 1; + + Eigen::Vector3f uo = R_inv * K_rect_inv * xo; + + Eigen::Vector2d p; + spaceToPlane(uo.cast(), p); + + mapX.at(v,u) = p(0); + mapY.at(v,u) = p(1); + } + } + + cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false); + + cv::Mat K_rect_cv; + cv::eigen2cv(K_rect, K_rect_cv); + return K_rect_cv; +} + +int +OCAMCamera::parameterCount(void) const +{ + return SCARAMUZZA_CAMERA_NUM_PARAMS; +} + +const OCAMCamera::Parameters& +OCAMCamera::getParameters(void) const +{ + return mParameters; +} + +void +OCAMCamera::setParameters(const OCAMCamera::Parameters& parameters) +{ + mParameters = parameters; + + m_inv_scale = 1.0 / (parameters.C() - parameters.D() * parameters.E()); +} + +void +OCAMCamera::readParameters(const std::vector& parameterVec) +{ + if ((int)parameterVec.size() != parameterCount()) + { + return; + } + + Parameters params = getParameters(); + + params.C() = parameterVec.at(0); + params.D() = parameterVec.at(1); + params.E() = parameterVec.at(2); + params.center_x() = parameterVec.at(3); + params.center_y() = parameterVec.at(4); + for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + params.poly(i) = parameterVec.at(5+i); + for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + params.inv_poly(i) = parameterVec.at(5 + SCARAMUZZA_POLY_SIZE + i); + + setParameters(params); +} + +void +OCAMCamera::writeParameters(std::vector& parameterVec) const +{ + parameterVec.resize(parameterCount()); + parameterVec.at(0) = mParameters.C(); + parameterVec.at(1) = mParameters.D(); + parameterVec.at(2) = mParameters.E(); + parameterVec.at(3) = mParameters.center_x(); + parameterVec.at(4) = mParameters.center_y(); + for (int i=0; i < SCARAMUZZA_POLY_SIZE; i++) + parameterVec.at(5+i) = mParameters.poly(i); + for (int i=0; i < SCARAMUZZA_INV_POLY_SIZE; i++) + parameterVec.at(5 + SCARAMUZZA_POLY_SIZE + i) = mParameters.inv_poly(i); +} + +void +OCAMCamera::writeParametersToYamlFile(const std::string& filename) const +{ + mParameters.writeToYamlFile(filename); +} + +std::string +OCAMCamera::parametersToString(void) const +{ + std::ostringstream oss; + oss << mParameters; + + return oss.str(); +} + +} diff --git a/camera_models/src/chessboard/Chessboard.cc b/camera_models/src/chessboard/Chessboard.cc new file mode 100644 index 0000000..4c0a761 --- /dev/null +++ b/camera_models/src/chessboard/Chessboard.cc @@ -0,0 +1,1982 @@ +#include "camodocal/chessboard/Chessboard.h" + +#include +#include + +#include "camodocal/chessboard/ChessboardQuad.h" +#include "camodocal/chessboard/Spline.h" + +#define MAX_CONTOUR_APPROX 7 + +namespace camodocal +{ + +Chessboard::Chessboard(cv::Size boardSize, cv::Mat& image) + : mBoardSize(boardSize) + , mCornersFound(false) +{ + if (image.channels() == 1) + { + cv::cvtColor(image, mSketch, CV_GRAY2BGR); + image.copyTo(mImage); + } + else + { + image.copyTo(mSketch); + cv::cvtColor(image, mImage, CV_BGR2GRAY); + } +} + +void +Chessboard::findCorners(bool useOpenCV) +{ + mCornersFound = findChessboardCorners(mImage, mBoardSize, mCorners, + CV_CALIB_CB_ADAPTIVE_THRESH + + CV_CALIB_CB_NORMALIZE_IMAGE + + CV_CALIB_CB_FILTER_QUADS + + CV_CALIB_CB_FAST_CHECK, + useOpenCV); + + if (mCornersFound) + { + // draw chessboard corners + cv::drawChessboardCorners(mSketch, mBoardSize, mCorners, mCornersFound); + } +} + +const std::vector& +Chessboard::getCorners(void) const +{ + return mCorners; +} + +bool +Chessboard::cornersFound(void) const +{ + return mCornersFound; +} + +const cv::Mat& +Chessboard::getImage(void) const +{ + return mImage; +} + +const cv::Mat& +Chessboard::getSketch(void) const +{ + return mSketch; +} + +bool +Chessboard::findChessboardCorners(const cv::Mat& image, + const cv::Size& patternSize, + std::vector& corners, + int flags, bool useOpenCV) +{ + if (useOpenCV) + { + return cv::findChessboardCorners(image, patternSize, corners, flags); + } + else + { + return findChessboardCornersImproved(image, patternSize, corners, flags); + } +} + +bool +Chessboard::findChessboardCornersImproved(const cv::Mat& image, + const cv::Size& patternSize, + std::vector& corners, + int flags) +{ + /************************************************************************************\ + This is improved variant of chessboard corner detection algorithm that + uses a graph of connected quads. It is based on the code contributed + by Vladimir Vezhnevets and Philip Gruebele. + Here is the copyright notice from the original Vladimir's code: + =============================================================== + + The algorithms developed and implemented by Vezhnevets Vldimir + aka Dead Moroz (vvp@graphics.cs.msu.ru) + See http://graphics.cs.msu.su/en/research/calibration/opencv.html + for detailed information. + + Reliability additions and modifications made by Philip Gruebele. + pgruebele@cox.net + + Some improvements were made by: + 1) Martin Rufli - increased chance of correct corner matching + Rufli, M., Scaramuzza, D., and Siegwart, R. (2008), + Automatic Detection of Checkerboards on Blurred and Distorted Images, + Proceedings of the IEEE/RSJ International Conference on + Intelligent Robots and Systems (IROS 2008), Nice, France, September 2008. + 2) Lionel Heng - post-detection checks and better thresholding + + \************************************************************************************/ + + //int bestDilation = -1; + const int minDilations = 0; + const int maxDilations = 7; + + std::vector outputQuadGroup; + + if (image.depth() != CV_8U || image.channels() == 2) + { + return false; + } + + if (patternSize.width < 2 || patternSize.height < 2) + { + return false; + } + + if (patternSize.width > 127 || patternSize.height > 127) + { + return false; + } + + cv::Mat img = image; + + // Image histogram normalization and + // BGR to Grayscale image conversion (if applicable) + // MARTIN: Set to "false" + if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE)) + { + cv::Mat norm_img(image.rows, image.cols, CV_8UC1); + + if (image.channels() != 1) + { + cv::cvtColor(image, norm_img, CV_BGR2GRAY); + img = norm_img; + } + + if (flags & CV_CALIB_CB_NORMALIZE_IMAGE) + { + cv::equalizeHist(image, norm_img); + img = norm_img; + } + } + + if (flags & CV_CALIB_CB_FAST_CHECK) + { + if (!checkChessboard(img, patternSize)) + { + return false; + } + } + + // PART 1: FIND LARGEST PATTERN + //----------------------------------------------------------------------- + // Checker patterns are tried to be found by dilating the background and + // then applying a canny edge finder on the closed contours (checkers). + // Try one dilation run, but if the pattern is not found, repeat until + // max_dilations is reached. + + int prevSqrSize = 0; + bool found = false; + std::vector outputCorners; + + for (int k = 0; k < 6; ++k) + { + for (int dilations = minDilations; dilations <= maxDilations; ++dilations) + { + if (found) + { + break; + } + + cv::Mat thresh_img; + + // convert the input grayscale image to binary (black-n-white) + if (flags & CV_CALIB_CB_ADAPTIVE_THRESH) + { + int blockSize = lround(prevSqrSize == 0 ? + std::min(img.cols,img.rows)*(k%2 == 0 ? 0.2 : 0.1): prevSqrSize*2)|1; + + // convert to binary + cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5); + } + else + { + // empiric threshold level + double mean = (cv::mean(img))[0]; + int thresh_level = lround(mean - 10); + thresh_level = std::max(thresh_level, 10); + + cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY); + } + + // MARTIN's Code + // Use both a rectangular and a cross kernel. In this way, a more + // homogeneous dilation is performed, which is crucial for small, + // distorted checkers. Use the CROSS kernel first, since its action + // on the image is more subtle + cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1)); + cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1)); + + if (dilations >= 1) + cv::dilate(thresh_img, thresh_img, kernel1); + if (dilations >= 2) + cv::dilate(thresh_img, thresh_img, kernel2); + if (dilations >= 3) + cv::dilate(thresh_img, thresh_img, kernel1); + if (dilations >= 4) + cv::dilate(thresh_img, thresh_img, kernel2); + if (dilations >= 5) + cv::dilate(thresh_img, thresh_img, kernel1); + if (dilations >= 6) + cv::dilate(thresh_img, thresh_img, kernel2); + + // In order to find rectangles that go to the edge, we draw a white + // line around the image edge. Otherwise FindContours will miss those + // clipped rectangle contours. The border color will be the image mean, + // because otherwise we risk screwing up filters like cvSmooth() + cv::rectangle(thresh_img, cv::Point(0,0), + cv::Point(thresh_img.cols - 1, thresh_img.rows - 1), + CV_RGB(255,255,255), 3, 8); + + // Generate quadrangles in the following function + std::vector quads; + + generateQuads(quads, thresh_img, flags, dilations, true); + if (quads.empty()) + { + continue; + } + + // The following function finds and assigns neighbor quads to every + // quadrangle in the immediate vicinity fulfilling certain + // prerequisites + findQuadNeighbors(quads, dilations); + + // The connected quads will be organized in groups. The following loop + // increases a "group_idx" identifier. + // The function "findConnectedQuads assigns all connected quads + // a unique group ID. + // If more quadrangles were assigned to a given group (i.e. connected) + // than are expected by the input variable "patternSize", the + // function "cleanFoundConnectedQuads" erases the surplus + // quadrangles by minimizing the convex hull of the remaining pattern. + + for (int group_idx = 0; ; ++group_idx) + { + std::vector quadGroup; + + findConnectedQuads(quads, quadGroup, group_idx, dilations); + + if (quadGroup.empty()) + { + break; + } + + cleanFoundConnectedQuads(quadGroup, patternSize); + + // The following function labels all corners of every quad + // with a row and column entry. + // "count" specifies the number of found quads in "quad_group" + // with group identifier "group_idx" + // The last parameter is set to "true", because this is the + // first function call and some initializations need to be + // made. + labelQuadGroup(quadGroup, patternSize, true); + + found = checkQuadGroup(quadGroup, outputCorners, patternSize); + + float sumDist = 0; + int total = 0; + + for (int i = 0; i < (int)outputCorners.size(); ++i) + { + int ni = 0; + float avgi = outputCorners.at(i)->meanDist(ni); + sumDist += avgi * ni; + total += ni; + } + prevSqrSize = lround(sumDist / std::max(total, 1)); + + if (found && !checkBoardMonotony(outputCorners, patternSize)) + { + found = false; + } + } + } + } + + if (!found) + { + return false; + } + else + { + corners.clear(); + corners.reserve(outputCorners.size()); + for (size_t i = 0; i < outputCorners.size(); ++i) + { + corners.push_back(outputCorners.at(i)->pt); + } + + cv::cornerSubPix(image, corners, cv::Size(11, 11), cv::Size(-1,-1), + cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1)); + + return true; + } +} + +//=========================================================================== +// ERASE OVERHEAD +//=========================================================================== +// If we found too many connected quads, remove those which probably do not +// belong. +void +Chessboard::cleanFoundConnectedQuads(std::vector& quadGroup, + cv::Size patternSize) +{ + cv::Point2f center(0.0f, 0.0f); + + // Number of quads this pattern should contain + int count = ((patternSize.width + 1)*(patternSize.height + 1) + 1)/2; + + // If we have more quadrangles than we should, try to eliminate duplicates + // or ones which don't belong to the pattern rectangle. Else go to the end + // of the function + if ((int)quadGroup.size() <= count) + { + return; + } + + // Create an array of quadrangle centers + std::vector centers; + centers.resize(quadGroup.size()); + + for (size_t i = 0; i < quadGroup.size(); ++i) + { + cv::Point2f ci(0.0f, 0.0f); + ChessboardQuadPtr& q = quadGroup[i]; + + for (int j = 0; j < 4; ++j) + { + ci += q->corners[j]->pt; + } + + ci *= 0.25f; + + // Centers(i), is the geometric center of quad(i) + // Center, is the center of all found quads + centers[i] = ci; + + center += ci; + } + + center *= 1.0f / quadGroup.size(); + + // If we have more quadrangles than we should, we try to eliminate bad + // ones based on minimizing the bounding box. We iteratively remove the + // point which reduces the size of the bounding box of the blobs the most + // (since we want the rectangle to be as small as possible) remove the + // quadrange that causes the biggest reduction in pattern size until we + // have the correct number + while ((int)quadGroup.size() > count) + { + double minBoxArea = DBL_MAX; + int minBoxAreaIndex = -1; + + // For each point, calculate box area without that point + for (size_t skip = 0; skip < quadGroup.size(); ++skip) + { + // get bounding rectangle + cv::Point2f temp = centers[skip]; + centers[skip] = center; + + std::vector hull; + cv::convexHull(centers, hull, true, true); + centers[skip] = temp; + + double hull_area = fabs(cv::contourArea(hull)); + + // remember smallest box area + if (hull_area < minBoxArea) + { + minBoxArea = hull_area; + minBoxAreaIndex = skip; + } + } + + ChessboardQuadPtr& q0 = quadGroup[minBoxAreaIndex]; + + // remove any references to this quad as a neighbor + for (size_t i = 0; i < quadGroup.size(); ++i) + { + ChessboardQuadPtr& q = quadGroup.at(i); + for (int j = 0; j < 4; ++j) + { + if (q->neighbors[j] == q0) + { + q->neighbors[j].reset(); + q->count--; + for (int k = 0; k < 4; ++k) + { + if (q0->neighbors[k] == q) + { + q0->neighbors[k].reset(); + q0->count--; + break; + } + } + break; + } + } + } + // remove the quad + quadGroup.at(minBoxAreaIndex) = quadGroup.back(); + centers.at(minBoxAreaIndex) = centers.back(); + quadGroup.pop_back(); + centers.pop_back(); + } +} + +//=========================================================================== +// FIND COONECTED QUADS +//=========================================================================== +void +Chessboard::findConnectedQuads(std::vector& quads, + std::vector& group, + int group_idx, int dilation) +{ + ChessboardQuadPtr q; + + // Scan the array for a first unlabeled quad + for (size_t i = 0; i < quads.size(); ++i) + { + ChessboardQuadPtr& quad = quads.at(i); + + if (quad->count > 0 && quad->group_idx < 0) + { + q = quad; + break; + } + } + + if (q.get() == 0) + { + return; + } + + // Recursively find a group of connected quads starting from the seed quad + + std::vector stack; + stack.push_back(q); + + group.push_back(q); + q->group_idx = group_idx; + + while (!stack.empty()) + { + q = stack.back(); + stack.pop_back(); + + for (int i = 0; i < 4; ++i) + { + ChessboardQuadPtr& neighbor = q->neighbors[i]; + + // If he neighbor exists and the neighbor has more than 0 + // neighbors and the neighbor has not been classified yet. + if (neighbor.get() && neighbor->count > 0 && neighbor->group_idx < 0) + { + stack.push_back(neighbor); + group.push_back(neighbor); + neighbor->group_idx = group_idx; + } + } + } +} + +void +Chessboard::labelQuadGroup(std::vector& quadGroup, + cv::Size patternSize, bool firstRun) +{ + // If this is the first function call, a seed quad needs to be selected + if (firstRun) + { + // Search for the (first) quad with the maximum number of neighbors + // (usually 4). This will be our starting point. + int mark = -1; + int maxNeighborCount = 0; + for (size_t i = 0; i < quadGroup.size(); ++i) + { + ChessboardQuadPtr& q = quadGroup.at(i); + if (q->count > maxNeighborCount) + { + mark = i; + maxNeighborCount = q->count; + + if (maxNeighborCount == 4) + { + break; + } + } + } + + // Mark the starting quad's (per definition) upper left corner with + //(0,0) and then proceed clockwise + // The following labeling sequence enshures a "right coordinate system" + ChessboardQuadPtr& q = quadGroup.at(mark); + + q->labeled = true; + + q->corners[0]->row = 0; + q->corners[0]->column = 0; + q->corners[1]->row = 0; + q->corners[1]->column = 1; + q->corners[2]->row = 1; + q->corners[2]->column = 1; + q->corners[3]->row = 1; + q->corners[3]->column = 0; + } + + + // Mark all other corners with their respective row and column + bool flagChanged = true; + while (flagChanged) + { + // First reset the flag to "false" + flagChanged = false; + + // Go through all quads top down is faster, since unlabeled quads will + // be inserted at the end of the list + for (int i = quadGroup.size() - 1; i >= 0; --i) + { + ChessboardQuadPtr& quad = quadGroup.at(i); + + // Check whether quad "i" has been labeled already + if (!quad->labeled) + { + // Check its neighbors, whether some of them have been labeled + // already + for (int j = 0; j < 4; j++) + { + // Check whether the neighbor exists (i.e. is not the NULL + // pointer) + if (quad->neighbors[j]) + { + ChessboardQuadPtr& quadNeighbor = quad->neighbors[j]; + + // Only proceed, if neighbor "j" was labeled + if (quadNeighbor->labeled) + { + // For every quad it could happen to pass here + // multiple times. We therefore "break" later. + // Check whitch of the neighbors corners is + // connected to the current quad + int connectedNeighborCornerId = -1; + for (int k = 0; k < 4; ++k) + { + if (quadNeighbor->neighbors[k] == quad) + { + connectedNeighborCornerId = k; + + // there is only one, therefore + break; + } + } + + + // For the following calculations we need the row + // and column of the connected neighbor corner and + // all other corners of the connected quad "j", + // clockwise (CW) + ChessboardCornerPtr& conCorner = quadNeighbor->corners[connectedNeighborCornerId]; + ChessboardCornerPtr& conCornerCW1 = quadNeighbor->corners[(connectedNeighborCornerId+1)%4]; + ChessboardCornerPtr& conCornerCW2 = quadNeighbor->corners[(connectedNeighborCornerId+2)%4]; + ChessboardCornerPtr& conCornerCW3 = quadNeighbor->corners[(connectedNeighborCornerId+3)%4]; + + quad->corners[j]->row = conCorner->row; + quad->corners[j]->column = conCorner->column; + quad->corners[(j+1)%4]->row = conCorner->row - conCornerCW2->row + conCornerCW3->row; + quad->corners[(j+1)%4]->column = conCorner->column - conCornerCW2->column + conCornerCW3->column; + quad->corners[(j+2)%4]->row = conCorner->row + conCorner->row - conCornerCW2->row; + quad->corners[(j+2)%4]->column = conCorner->column + conCorner->column - conCornerCW2->column; + quad->corners[(j+3)%4]->row = conCorner->row - conCornerCW2->row + conCornerCW1->row; + quad->corners[(j+3)%4]->column = conCorner->column - conCornerCW2->column + conCornerCW1->column; + + // Mark this quad as labeled + quad->labeled = true; + + // Changes have taken place, set the flag + flagChanged = true; + + // once is enough! + break; + } + } + } + } + } + } + + + // All corners are marked with row and column + // Record the minimal and maximal row and column indices + // It is unlikely that more than 8bit checkers are used per dimension, if there are + // an error would have been thrown at the beginning of "cvFindChessboardCorners2" + int min_row = 127; + int max_row = -127; + int min_column = 127; + int max_column = -127; + + for (int i = 0; i < (int)quadGroup.size(); ++i) + { + ChessboardQuadPtr& q = quadGroup.at(i); + + for (int j = 0; j < 4; ++j) + { + ChessboardCornerPtr& c = q->corners[j]; + + if (c->row > max_row) + { + max_row = c->row; + } + if (c->row < min_row) + { + min_row = c->row; + } + if (c->column > max_column) + { + max_column = c->column; + } + if (c->column < min_column) + { + min_column = c->column; + } + } + } + + // Label all internal corners with "needsNeighbor" = false + // Label all external corners with "needsNeighbor" = true, + // except if in a given dimension the pattern size is reached + for (int i = min_row; i <= max_row; ++i) + { + for (int j = min_column; j <= max_column; ++j) + { + // A flag that indicates, whether a row/column combination is + // executed multiple times + bool flag = false; + + // Remember corner and quad + int cornerID; + int quadID; + + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + if ((q->corners[l]->row == i) && (q->corners[l]->column == j)) + { + if (flag) + { + // Passed at least twice through here + q->corners[l]->needsNeighbor = false; + quadGroup[quadID]->corners[cornerID]->needsNeighbor = false; + } + else + { + // Mark with needs a neighbor, but note the + // address + q->corners[l]->needsNeighbor = true; + cornerID = l; + quadID = k; + } + + // set the flag to true + flag = true; + } + } + } + } + } + + // Complete Linking: + // sometimes not all corners were properly linked in "findQuadNeighbors", + // but after labeling each corner with its respective row and column, it is + // possible to match them anyway. + for (int i = min_row; i <= max_row; ++i) + { + for (int j = min_column; j <= max_column; ++j) + { + // the following "number" indicates the number of corners which + // correspond to the given (i,j) value + // 1 is a border corner or a conrer which still needs a neighbor + // 2 is a fully connected internal corner + // >2 something went wrong during labeling, report a warning + int number = 1; + + // remember corner and quad + int cornerID; + int quadID; + + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + if ((q->corners[l]->row == i) && (q->corners[l]->column == j)) + { + + if (number == 1) + { + // First corner, note its ID + cornerID = l; + quadID = k; + } + + else if (number == 2) + { + // Second corner, check wheter this and the + // first one have equal coordinates, else + // interpolate + cv::Point2f delta = q->corners[l]->pt - quadGroup[quadID]->corners[cornerID]->pt; + + if (delta.x != 0.0f || delta.y != 0.0f) + { + // Interpolate + q->corners[l]->pt -= delta * 0.5f; + + quadGroup[quadID]->corners[cornerID]->pt += delta * 0.5f; + } + } + else if (number > 2) + { + // Something went wrong during row/column labeling + // Report a Warning + // ->Implemented in the function "mrWriteCorners" + } + + // increase the number by one + ++number; + } + } + } + } + } + + + // Bordercorners don't need any neighbors, if the pattern size in the + // respective direction is reached + // The only time we can make shure that the target pattern size is reached in a given + // dimension, is when the larger side has reached the target size in the maximal + // direction, or if the larger side is larger than the smaller target size and the + // smaller side equals the smaller target size + int largerDimPattern = std::max(patternSize.height,patternSize.width); + int smallerDimPattern = std::min(patternSize.height,patternSize.width); + bool flagSmallerDim1 = false; + bool flagSmallerDim2 = false; + + if ((largerDimPattern + 1) == max_column - min_column) + { + flagSmallerDim1 = true; + // We found out that in the column direction the target pattern size is reached + // Therefore border column corners do not need a neighbor anymore + // Go through all corners + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->column == min_column || c->column == max_column) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + + if ((largerDimPattern + 1) == max_row - min_row) + { + flagSmallerDim2 = true; + // We found out that in the column direction the target pattern size is reached + // Therefore border column corners do not need a neighbor anymore + // Go through all corners + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->row == min_row || c->row == max_row) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + + + // Check the two flags: + // - If one is true and the other false, then the pattern target + // size was reached in in one direction -> We can check, whether the target + // pattern size is also reached in the other direction + // - If both are set to true, then we deal with a square board -> do nothing + // - If both are set to false -> There is a possibility that the larger side is + // larger than the smaller target size -> Check and if true, then check whether + // the other side has the same size as the smaller target size + if ((flagSmallerDim1 == false && flagSmallerDim2 == true)) + { + // Larger target pattern size is in row direction, check wheter smaller target + // pattern size is reached in column direction + if ((smallerDimPattern + 1) == max_column - min_column) + { + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->column == min_column || c->column == max_column) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + } + + if ((flagSmallerDim1 == true && flagSmallerDim2 == false)) + { + // Larger target pattern size is in column direction, check wheter smaller target + // pattern size is reached in row direction + if ((smallerDimPattern + 1) == max_row - min_row) + { + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->row == min_row || c->row == max_row) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + } + + if ((flagSmallerDim1 == false && flagSmallerDim2 == false) && smallerDimPattern + 1 < max_column - min_column) + { + // Larger target pattern size is in column direction, check wheter smaller target + // pattern size is reached in row direction + if ((smallerDimPattern + 1) == max_row - min_row) + { + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->row == min_row || c->row == max_row) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + } + + if ((flagSmallerDim1 == false && flagSmallerDim2 == false) && smallerDimPattern + 1 < max_row - min_row) + { + // Larger target pattern size is in row direction, check wheter smaller target + // pattern size is reached in column direction + if ((smallerDimPattern + 1) == max_column - min_column) + { + for (int k = 0; k < (int)quadGroup.size(); ++k) + { + ChessboardQuadPtr& q = quadGroup.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = q->corners[l]; + + if (c->column == min_column || c->column == max_column) + { + // Needs no neighbor anymore + c->needsNeighbor = false; + } + } + } + } + } +} + +//=========================================================================== +// GIVE A GROUP IDX +//=========================================================================== +void +Chessboard::findQuadNeighbors(std::vector& quads, int dilation) +{ + // Thresh dilation is used to counter the effect of dilation on the + // distance between 2 neighboring corners. Since the distance below is + // computed as its square, we do here the same. Additionally, we take the + // conservative assumption that dilation was performed using the 3x3 CROSS + // kernel, which coresponds to the 4-neighborhood. + const float thresh_dilation = (float)(2*dilation+3)*(2*dilation+3)*2; // the "*2" is for the x and y component + // the "3" is for initial corner mismatch + + // Find quad neighbors + for (size_t idx = 0; idx < quads.size(); ++idx) + { + ChessboardQuadPtr& curQuad = quads.at(idx); + + // Go through all quadrangles and label them in groups + // For each corner of this quadrangle + for (int i = 0; i < 4; ++i) + { + float minDist = FLT_MAX; + int closestCornerIdx = -1; + ChessboardQuadPtr closestQuad; + + if (curQuad->neighbors[i]) + { + continue; + } + + cv::Point2f pt = curQuad->corners[i]->pt; + + // Find the closest corner in all other quadrangles + for (size_t k = 0; k < quads.size(); ++k) + { + if (k == idx) + { + continue; + } + + ChessboardQuadPtr& quad = quads.at(k); + + for (int j = 0; j < 4; ++j) + { + // If it already has a neighbor + if (quad->neighbors[j]) + { + continue; + } + + cv::Point2f dp = pt - quad->corners[j]->pt; + float dist = dp.dot(dp); + + // The following "if" checks, whether "dist" is the + // shortest so far and smaller than the smallest + // edge length of the current and target quads + if (dist < minDist && + dist <= (curQuad->edge_len + thresh_dilation) && + dist <= (quad->edge_len + thresh_dilation) ) + { + // Check whether conditions are fulfilled + if (matchCorners(curQuad, i, quad, j)) + { + closestCornerIdx = j; + closestQuad = quad; + minDist = dist; + } + } + } + } + + // Have we found a matching corner point? + if (closestCornerIdx >= 0 && minDist < FLT_MAX) + { + ChessboardCornerPtr closestCorner = closestQuad->corners[closestCornerIdx]; + + // Make sure that the closest quad does not have the current + // quad as neighbor already + bool valid = true; + for (int j = 0; j < 4; ++j) + { + if (closestQuad->neighbors[j] == curQuad) + { + valid = false; + break; + } + } + if (!valid) + { + continue; + } + + // We've found one more corner - remember it + closestCorner->pt = (pt + closestCorner->pt) * 0.5f; + + curQuad->count++; + curQuad->neighbors[i] = closestQuad; + curQuad->corners[i] = closestCorner; + + closestQuad->count++; + closestQuad->neighbors[closestCornerIdx] = curQuad; + closestQuad->corners[closestCornerIdx] = closestCorner; + } + } + } +} + + + +//=========================================================================== +// AUGMENT PATTERN WITH ADDITIONAL QUADS +//=========================================================================== +// The first part of the function is basically a copy of +// "findQuadNeighbors" +// The comparisons between two points and two lines could be computed in their +// own function +int +Chessboard::augmentBestRun(std::vector& candidateQuads, int candidateDilation, + std::vector& existingQuads, int existingDilation) +{ + // thresh dilation is used to counter the effect of dilation on the + // distance between 2 neighboring corners. Since the distance below is + // computed as its square, we do here the same. Additionally, we take the + // conservative assumption that dilation was performed using the 3x3 CROSS + // kernel, which coresponds to the 4-neighborhood. + const float thresh_dilation = (2*candidateDilation+3)*(2*existingDilation+3)*2; // the "*2" is for the x and y component + + // Search all old quads which have a neighbor that needs to be linked + for (size_t idx = 0; idx < existingQuads.size(); ++idx) + { + ChessboardQuadPtr& curQuad = existingQuads.at(idx); + + // For each corner of this quadrangle + for (int i = 0; i < 4; ++i) + { + float minDist = FLT_MAX; + int closestCornerIdx = -1; + ChessboardQuadPtr closestQuad; + + // If curQuad corner[i] is already linked, continue + if (!curQuad->corners[i]->needsNeighbor) + { + continue; + } + + cv::Point2f pt = curQuad->corners[i]->pt; + + // Look for a match in all candidateQuads' corners + for (size_t k = 0; k < candidateQuads.size(); ++k) + { + ChessboardQuadPtr& candidateQuad = candidateQuads.at(k); + + // Only look at unlabeled new quads + if (candidateQuad->labeled) + { + continue; + } + + for (int j = 0; j < 4; ++j) + { + // Only proceed if they are less than dist away from each + // other + cv::Point2f dp = pt - candidateQuad->corners[j]->pt; + float dist = dp.dot(dp); + + if ((dist < minDist) && + dist <= (curQuad->edge_len + thresh_dilation) && + dist <= (candidateQuad->edge_len + thresh_dilation)) + { + if (matchCorners(curQuad, i, candidateQuad, j)) + { + closestCornerIdx = j; + closestQuad = candidateQuad; + minDist = dist; + } + } + } + } + + // Have we found a matching corner point? + if (closestCornerIdx >= 0 && minDist < FLT_MAX) + { + ChessboardCornerPtr closestCorner = closestQuad->corners[closestCornerIdx]; + closestCorner->pt = (pt + closestCorner->pt) * 0.5f; + + // We've found one more corner - remember it + // ATTENTION: write the corner x and y coordinates separately, + // else the crucial row/column entries will be overwritten !!! + curQuad->corners[i]->pt = closestCorner->pt; + curQuad->neighbors[i] = closestQuad; + closestQuad->corners[closestCornerIdx]->pt = closestCorner->pt; + + // Label closest quad as labeled. In this way we exclude it + // being considered again during the next loop iteration + closestQuad->labeled = true; + + // We have a new member of the final pattern, copy it over + ChessboardQuadPtr newQuad(new ChessboardQuad); + newQuad->count = 1; + newQuad->edge_len = closestQuad->edge_len; + newQuad->group_idx = curQuad->group_idx; //the same as the current quad + newQuad->labeled = false; //do it right afterwards + + curQuad->neighbors[i] = newQuad; + + // We only know one neighbor for sure + newQuad->neighbors[closestCornerIdx] = curQuad; + + for (int j = 0; j < 4; j++) + { + newQuad->corners[j].reset(new ChessboardCorner); + newQuad->corners[j]->pt = closestQuad->corners[j]->pt; + } + + existingQuads.push_back(newQuad); + + // Start the function again + return -1; + } + } + } + + // Finished, don't start the function again + return 1; +} + + + +//=========================================================================== +// GENERATE QUADRANGLES +//=========================================================================== +void +Chessboard::generateQuads(std::vector& quads, + cv::Mat& image, int flags, + int dilation, bool firstRun) +{ + // Empirical lower bound for the size of allowable quadrangles. + // MARTIN, modified: Added "*0.1" in order to find smaller quads. + int minSize = lround(image.cols * image.rows * .03 * 0.01 * 0.92 * 0.1); + + std::vector< std::vector > contours; + std::vector hierarchy; + + // Initialize contour retrieving routine + cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE); + + std::vector< std::vector > quadContours; + + for (size_t i = 0; i < contours.size(); ++i) + { + // Reject contours with a too small perimeter and contours which are + // completely surrounded by another contour + // MARTIN: If this function is called during PART 1, then the parameter "first run" + // is set to "true". This guarantees, that only "nice" squares are detected. + // During PART 2, we allow the polygonal approximation function below to + // approximate more freely, which can result in recognized "squares" that are in + // reality multiple blurred and sticked together squares. + std::vector& contour = contours.at(i); + + if (hierarchy[i][3] == -1 || cv::contourArea(contour) < minSize) + { + continue; + } + + int min_approx_level = 1, max_approx_level; + if (firstRun) + { + max_approx_level = 3; + } + else + { + max_approx_level = MAX_CONTOUR_APPROX; + } + + std::vector approxContour; + for (int approx_level = min_approx_level; approx_level <= max_approx_level; approx_level++) + { + cv::approxPolyDP(contour, approxContour, approx_level, true); + + if (approxContour.size() == 4) + { + break; + } + } + + // Reject non-quadrangles + if (approxContour.size() == 4 && cv::isContourConvex(approxContour)) + { + double p = cv::arcLength(approxContour, true); + double area = cv::contourArea(approxContour); + + cv::Point pt[4]; + for (int i = 0; i < 4; i++) + { + pt[i] = approxContour[i]; + } + + cv::Point dp = pt[0] - pt[2]; + double d1 = sqrt(dp.dot(dp)); + + dp = pt[1] - pt[3]; + double d2 = sqrt(dp.dot(dp)); + + // PHILIPG: Only accept those quadrangles which are more + // square than rectangular and which are big enough + dp = pt[0] - pt[1]; + double d3 = sqrt(dp.dot(dp)); + dp = pt[1] - pt[2]; + double d4 = sqrt(dp.dot(dp)); + + if (!(flags & CV_CALIB_CB_FILTER_QUADS) || + (d3*4 > d4 && d4*4 > d3 && d3*d4 < area*1.5 && area > minSize && + d1 >= 0.15 * p && d2 >= 0.15 * p)) + { + quadContours.push_back(approxContour); + } + } + } + + // Allocate quad & corner buffers + quads.resize(quadContours.size()); + + // Create array of quads structures + for (size_t idx = 0; idx < quadContours.size(); ++idx) + { + ChessboardQuadPtr& q = quads.at(idx); + std::vector& contour = quadContours.at(idx); + + // Reset group ID + q.reset(new ChessboardQuad); + assert(contour.size() == 4); + + for (int i = 0; i < 4; ++i) + { + cv::Point2f pt = contour.at(i); + ChessboardCornerPtr corner(new ChessboardCorner); + corner->pt = pt; + q->corners[i] = corner; + } + + for (int i = 0; i < 4; ++i) + { + cv::Point2f dp = q->corners[i]->pt - q->corners[(i+1)&3]->pt; + float d = dp.dot(dp); + if (q->edge_len > d) + { + q->edge_len = d; + } + } + } +} + +bool +Chessboard::checkQuadGroup(std::vector& quads, + std::vector& corners, + cv::Size patternSize) +{ + // Initialize + bool flagRow = false; + bool flagColumn = false; + int height = -1; + int width = -1; + + // Compute the minimum and maximum row / column ID + // (it is unlikely that more than 8bit checkers are used per dimension) + int min_row = 127; + int max_row = -127; + int min_col = 127; + int max_col = -127; + + for (size_t i = 0; i < quads.size(); ++i) + { + ChessboardQuadPtr& q = quads.at(i); + + for (int j = 0; j < 4; ++j) + { + ChessboardCornerPtr& c = q->corners[j]; + + if (c->row > max_row) + { + max_row = c->row; + } + if (c->row < min_row) + { + min_row = c->row; + } + if (c->column > max_col) + { + max_col = c->column; + } + if (c->column < min_col) + { + min_col = c->column; + } + } + } + + // If in a given direction the target pattern size is reached, we know exactly how + // the checkerboard is oriented. + // Else we need to prepare enough "dummy" corners for the worst case. + for (size_t i = 0; i < quads.size(); ++i) + { + ChessboardQuadPtr& q = quads.at(i); + + for (int j = 0; j < 4; ++j) + { + ChessboardCornerPtr& c = q->corners[j]; + + if (c->column == max_col && c->row != min_row && c->row != max_row && !c->needsNeighbor) + { + flagColumn = true; + } + if (c->row == max_row && c->column != min_col && c->column != max_col && !c->needsNeighbor) + { + flagRow = true; + } + } + } + + if (flagColumn) + { + if (max_col - min_col == patternSize.width + 1) + { + width = patternSize.width; + height = patternSize.height; + } + else + { + width = patternSize.height; + height = patternSize.width; + } + } + else if (flagRow) + { + if (max_row - min_row == patternSize.width + 1) + { + height = patternSize.width; + width = patternSize.height; + } + else + { + height = patternSize.height; + width = patternSize.width; + } + } + else + { + // If target pattern size is not reached in at least one of the two + // directions, then we do not know where the remaining corners are + // located. Account for this. + width = std::max(patternSize.width, patternSize.height); + height = std::max(patternSize.width, patternSize.height); + } + + ++min_row; + ++min_col; + max_row = min_row + height - 1; + max_col = min_col + width - 1; + + corners.clear(); + + int linkedBorderCorners = 0; + + // Write the corners in increasing order to the output file + for (int i = min_row; i <= max_row; ++i) + { + for (int j = min_col; j <= max_col; ++j) + { + // Reset the iterator + int iter = 1; + + for (int k = 0; k < (int)quads.size(); ++k) + { + ChessboardQuadPtr& quad = quads.at(k); + + for (int l = 0; l < 4; ++l) + { + ChessboardCornerPtr& c = quad->corners[l]; + + if (c->row == i && c->column == j) + { + bool boardEdge = false; + if (i == min_row || i == max_row || + j == min_col || j == max_col) + { + boardEdge = true; + } + + if ((iter == 1 && boardEdge) || (iter == 2 && !boardEdge)) + { + // The respective row and column have been found + corners.push_back(quad->corners[l]); + } + + if (iter == 2 && boardEdge) + { + ++linkedBorderCorners; + } + + // If the iterator is larger than two, this means that more than + // two corners have the same row / column entries. Then some + // linking errors must have occured and we should not use the found + // pattern + if (iter > 2) + { + return false; + } + + iter++; + } + } + } + } + } + + if ((int)corners.size() != patternSize.width * patternSize.height || + linkedBorderCorners < (patternSize.width * 2 + patternSize.height * 2 - 2) * 0.75f) + { + return false; + } + + // check that no corners lie at image boundary + float border = 5.0f; + for (int i = 0; i < (int)corners.size(); ++i) + { + ChessboardCornerPtr& c = corners.at(i); + + if (c->pt.x < border || c->pt.x > mImage.cols - border || + c->pt.y < border || c->pt.y > mImage.rows - border) + { + return false; + } + } + + // check if we need to transpose the board + if (width != patternSize.width) + { + std::swap(width, height); + + std::vector outputCorners; + outputCorners.resize(corners.size()); + + for (int i = 0; i < height; ++i) + { + for (int j = 0; j < width; ++j) + { + outputCorners.at(i * width + j) = corners.at(j * height + i); + } + } + + corners = outputCorners; + } + + // check if we need to revert the order in each row + cv::Point2f p0 = corners.at(0)->pt; + cv::Point2f p1 = corners.at(width-1)->pt; + cv::Point2f p2 = corners.at(width)->pt; + + if ((p1 - p0).cross(p2 - p0) < 0.0f) + { + for (int i = 0; i < height; ++i) + { + for (int j = 0; j < width / 2; ++j) + { + std::swap(corners.at(i * width + j), corners.at(i * width + width - j - 1)); + } + } + } + + p0 = corners.at(0)->pt; + p2 = corners.at(width)->pt; + + // check if we need to rotate the board + if (p2.y < p0.y) + { + std::vector outputCorners; + outputCorners.resize(corners.size()); + + for (int i = 0; i < height; ++i) + { + for (int j = 0; j < width; ++j) + { + outputCorners.at(i * width + j) = corners.at((height - i - 1) * width + width - j - 1); + } + } + + corners = outputCorners; + } + + return true; +} + +void +Chessboard::getQuadrangleHypotheses(const std::vector< std::vector >& contours, + std::vector< std::pair >& quads, + int classId) const +{ + const float minAspectRatio = 0.2f; + const float maxAspectRatio = 5.0f; + const float minBoxSize = 10.0f; + + for (size_t i = 0; i < contours.size(); ++i) + { + cv::RotatedRect box = cv::minAreaRect(contours.at(i)); + float boxSize = std::max(box.size.width, box.size.height); + if (boxSize < minBoxSize) + { + continue; + } + + float aspectRatio = box.size.width / std::max(box.size.height, 1.0f); + + if (aspectRatio < minAspectRatio || aspectRatio > maxAspectRatio) + { + continue; + } + + quads.push_back(std::pair(boxSize, classId)); + } +} + +bool less_pred(const std::pair& p1, const std::pair& p2) +{ + return p1.first < p2.first; +} + +void countClasses(const std::vector >& pairs, size_t idx1, size_t idx2, std::vector& counts) +{ + counts.assign(2, 0); + for (size_t i = idx1; i != idx2; ++i) + { + counts[pairs[i].second]++; + } +} + +bool +Chessboard::checkChessboard(const cv::Mat& image, cv::Size patternSize) const +{ + const int erosionCount = 1; + const float blackLevel = 20.f; + const float whiteLevel = 130.f; + const float blackWhiteGap = 70.f; + + cv::Mat white = image.clone(); + + cv::Mat black = image.clone(); + + cv::erode(white, white, cv::Mat(), cv::Point(-1,-1), erosionCount); + cv::dilate(black, black, cv::Mat(), cv::Point(-1,-1), erosionCount); + + cv::Mat thresh(image.rows, image.cols, CV_8UC1); + + bool result = false; + for (float threshLevel = blackLevel; threshLevel < whiteLevel && !result; threshLevel += 20.0f) + { + cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY); + + std::vector< std::vector > contours; + std::vector hierarchy; + + // Initialize contour retrieving routine + cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE); + + std::vector > quads; + getQuadrangleHypotheses(contours, quads, 1); + + cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV); + + cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE); + getQuadrangleHypotheses(contours, quads, 0); + + const size_t min_quads_count = patternSize.width * patternSize.height / 2; + std::sort(quads.begin(), quads.end(), less_pred); + + // now check if there are many hypotheses with similar sizes + // do this by floodfill-style algorithm + const float sizeRelDev = 0.4f; + + for (size_t i = 0; i < quads.size(); ++i) + { + size_t j = i + 1; + for (; j < quads.size(); ++j) + { + if (quads[j].first / quads[i].first > 1.0f + sizeRelDev) + { + break; + } + } + + if (j + 1 > min_quads_count + i) + { + // check the number of black and white squares + std::vector counts; + countClasses(quads, i, j, counts); + const int blackCount = lroundf(ceilf(patternSize.width / 2.0f) * ceilf(patternSize.height / 2.0f)); + const int whiteCount = lroundf(floorf(patternSize.width / 2.0f) * floorf(patternSize.height / 2.0f)); + if (counts[0] < blackCount * 0.75f || + counts[1] < whiteCount * 0.75f) + { + continue; + } + result = true; + break; + } + } + } + + return result; +} + +bool +Chessboard::checkBoardMonotony(std::vector& corners, + cv::Size patternSize) +{ + const float threshFactor = 0.2f; + + Spline splineXY, splineYX; + splineXY.setLowBC(Spline::PARABOLIC_RUNOUT_BC); + splineXY.setHighBC(Spline::PARABOLIC_RUNOUT_BC); + splineYX.setLowBC(Spline::PARABOLIC_RUNOUT_BC); + splineYX.setHighBC(Spline::PARABOLIC_RUNOUT_BC); + + // check if each row of corners approximates a cubic spline + for (int i = 0; i < patternSize.height; ++i) + { + splineXY.clear(); + splineYX.clear(); + + cv::Point2f p[3]; + p[0] = corners.at(i * patternSize.width)->pt; + p[1] = corners.at(i * patternSize.width + patternSize.width / 2)->pt; + p[2] = corners.at(i * patternSize.width + patternSize.width - 1)->pt; + + for (int j = 0; j < 3; ++j) + { + splineXY.addPoint(p[j].x, p[j].y); + splineYX.addPoint(p[j].y, p[j].x); + } + + for (int j = 1; j < patternSize.width - 1; ++j) + { + cv::Point2f& p_j = corners.at(i * patternSize.width + j)->pt; + + float thresh = std::numeric_limits::max(); + + // up-neighbor + if (i > 0) + { + cv::Point2f& neighbor = corners.at((i - 1) * patternSize.width + j)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_j)); + } + // down-neighbor + if (i < patternSize.height - 1) + { + cv::Point2f& neighbor = corners.at((i + 1) * patternSize.width + j)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_j)); + } + // left-neighbor + { + cv::Point2f& neighbor = corners.at(i * patternSize.width + j - 1)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_j)); + } + // right-neighbor + { + cv::Point2f& neighbor = corners.at(i * patternSize.width + j + 1)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_j)); + } + + thresh *= threshFactor; + + if (fminf(fabsf(splineXY(p_j.x) - p_j.y), fabsf(splineYX(p_j.y) - p_j.x)) > thresh) + { + return false; + } + } + } + + // check if each column of corners approximates a cubic spline + for (int j = 0; j < patternSize.width; ++j) + { + splineXY.clear(); + splineYX.clear(); + + cv::Point2f p[3]; + p[0] = corners.at(j)->pt; + p[1] = corners.at(patternSize.height / 2 * patternSize.width + j)->pt; + p[2] = corners.at((patternSize.height - 1) * patternSize.width + j)->pt; + + for (int i = 0; i < 3; ++i) + { + splineXY.addPoint(p[i].x, p[i].y); + splineYX.addPoint(p[i].y, p[i].x); + } + + for (int i = 1; i < patternSize.height - 1; ++i) + { + cv::Point2f& p_i = corners.at(i * patternSize.width + j)->pt; + + float thresh = std::numeric_limits::max(); + + // up-neighbor + { + cv::Point2f& neighbor = corners.at((i - 1) * patternSize.width + j)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_i)); + } + // down-neighbor + { + cv::Point2f& neighbor = corners.at((i + 1) * patternSize.width + j)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_i)); + } + // left-neighbor + if (j > 0) + { + cv::Point2f& neighbor = corners.at(i * patternSize.width + j - 1)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_i)); + } + // right-neighbor + if (j < patternSize.width - 1) + { + cv::Point2f& neighbor = corners.at(i * patternSize.width + j + 1)->pt; + thresh = fminf(thresh, cv::norm(neighbor - p_i)); + } + + thresh *= threshFactor; + + if (fminf(fabsf(splineXY(p_i.x) - p_i.y), fabsf(splineYX(p_i.y) - p_i.x)) > thresh) + { + return false; + } + } + } + + return true; +} + +bool +Chessboard::matchCorners(ChessboardQuadPtr& quad1, int corner1, + ChessboardQuadPtr& quad2, int corner2) const +{ + // First Check everything from the viewpoint of the + // current quad compute midpoints of "parallel" quad + // sides 1 + float x1 = (quad1->corners[corner1]->pt.x + quad1->corners[(corner1+1)%4]->pt.x)/2; + float y1 = (quad1->corners[corner1]->pt.y + quad1->corners[(corner1+1)%4]->pt.y)/2; + float x2 = (quad1->corners[(corner1+2)%4]->pt.x + quad1->corners[(corner1+3)%4]->pt.x)/2; + float y2 = (quad1->corners[(corner1+2)%4]->pt.y + quad1->corners[(corner1+3)%4]->pt.y)/2; + // compute midpoints of "parallel" quad sides 2 + float x3 = (quad1->corners[corner1]->pt.x + quad1->corners[(corner1+3)%4]->pt.x)/2; + float y3 = (quad1->corners[corner1]->pt.y + quad1->corners[(corner1+3)%4]->pt.y)/2; + float x4 = (quad1->corners[(corner1+1)%4]->pt.x + quad1->corners[(corner1+2)%4]->pt.x)/2; + float y4 = (quad1->corners[(corner1+1)%4]->pt.y + quad1->corners[(corner1+2)%4]->pt.y)/2; + + // MARTIN: Heuristic + // For corner2 of quad2 to be considered, + // it needs to be on the same side of the two lines as + // corner1. This is given, if the cross product has + // the same sign for both computations below: + float a1 = x1 - x2; + float b1 = y1 - y2; + // the current corner + float c11 = quad1->corners[corner1]->pt.x - x2; + float d11 = quad1->corners[corner1]->pt.y - y2; + // the candidate corner + float c12 = quad2->corners[corner2]->pt.x - x2; + float d12 = quad2->corners[corner2]->pt.y - y2; + float sign11 = a1*d11 - c11*b1; + float sign12 = a1*d12 - c12*b1; + + float a2 = x3 - x4; + float b2 = y3 - y4; + // the current corner + float c21 = quad1->corners[corner1]->pt.x - x4; + float d21 = quad1->corners[corner1]->pt.y - y4; + // the candidate corner + float c22 = quad2->corners[corner2]->pt.x - x4; + float d22 = quad2->corners[corner2]->pt.y - y4; + float sign21 = a2*d21 - c21*b2; + float sign22 = a2*d22 - c22*b2; + + // Also make shure that two border quads of the same row or + // column don't link. Check from the current corner's view, + // whether the corner diagonal from the candidate corner + // is also on the same side of the two lines as the current + // corner and the candidate corner. + float c13 = quad2->corners[(corner2+2)%4]->pt.x - x2; + float d13 = quad2->corners[(corner2+2)%4]->pt.y - y2; + float c23 = quad2->corners[(corner2+2)%4]->pt.x - x4; + float d23 = quad2->corners[(corner2+2)%4]->pt.y - y4; + float sign13 = a1*d13 - c13*b1; + float sign23 = a2*d23 - c23*b2; + + + // Second: Then check everything from the viewpoint of + // the candidate quad. Compute midpoints of "parallel" + // quad sides 1 + float u1 = (quad2->corners[corner2]->pt.x + quad2->corners[(corner2+1)%4]->pt.x)/2; + float v1 = (quad2->corners[corner2]->pt.y + quad2->corners[(corner2+1)%4]->pt.y)/2; + float u2 = (quad2->corners[(corner2+2)%4]->pt.x + quad2->corners[(corner2+3)%4]->pt.x)/2; + float v2 = (quad2->corners[(corner2+2)%4]->pt.y + quad2->corners[(corner2+3)%4]->pt.y)/2; + // compute midpoints of "parallel" quad sides 2 + float u3 = (quad2->corners[corner2]->pt.x + quad2->corners[(corner2+3)%4]->pt.x)/2; + float v3 = (quad2->corners[corner2]->pt.y + quad2->corners[(corner2+3)%4]->pt.y)/2; + float u4 = (quad2->corners[(corner2+1)%4]->pt.x + quad2->corners[(corner2+2)%4]->pt.x)/2; + float v4 = (quad2->corners[(corner2+1)%4]->pt.y + quad2->corners[(corner2+2)%4]->pt.y)/2; + + // MARTIN: Heuristic + // For corner2 of quad2 to be considered, + // it needs to be on the same side of the two lines as + // corner1. This is given, if the cross product has + // the same sign for both computations below: + float a3 = u1 - u2; + float b3 = v1 - v2; + // the current corner + float c31 = quad1->corners[corner1]->pt.x - u2; + float d31 = quad1->corners[corner1]->pt.y - v2; + // the candidate corner + float c32 = quad2->corners[corner2]->pt.x - u2; + float d32 = quad2->corners[corner2]->pt.y - v2; + float sign31 = a3*d31-c31*b3; + float sign32 = a3*d32-c32*b3; + + float a4 = u3 - u4; + float b4 = v3 - v4; + // the current corner + float c41 = quad1->corners[corner1]->pt.x - u4; + float d41 = quad1->corners[corner1]->pt.y - v4; + // the candidate corner + float c42 = quad2->corners[corner2]->pt.x - u4; + float d42 = quad2->corners[corner2]->pt.y - v4; + float sign41 = a4*d41-c41*b4; + float sign42 = a4*d42-c42*b4; + + // Also make sure that two border quads of the same row or + // column don't link. Check from the candidate corner's view, + // whether the corner diagonal from the current corner + // is also on the same side of the two lines as the current + // corner and the candidate corner. + float c33 = quad1->corners[(corner1+2)%4]->pt.x - u2; + float d33 = quad1->corners[(corner1+2)%4]->pt.y - v2; + float c43 = quad1->corners[(corner1+2)%4]->pt.x - u4; + float d43 = quad1->corners[(corner1+2)%4]->pt.y - v4; + float sign33 = a3*d33-c33*b3; + float sign43 = a4*d43-c43*b4; + + + // This time we also need to make shure, that no quad + // is linked to a quad of another dilation run which + // may lie INSIDE it!!! + // Third: Therefore check everything from the viewpoint + // of the current quad compute midpoints of "parallel" + // quad sides 1 + float x5 = quad1->corners[corner1]->pt.x; + float y5 = quad1->corners[corner1]->pt.y; + float x6 = quad1->corners[(corner1+1)%4]->pt.x; + float y6 = quad1->corners[(corner1+1)%4]->pt.y; + // compute midpoints of "parallel" quad sides 2 + float x7 = x5; + float y7 = y5; + float x8 = quad1->corners[(corner1+3)%4]->pt.x; + float y8 = quad1->corners[(corner1+3)%4]->pt.y; + + // MARTIN: Heuristic + // For corner2 of quad2 to be considered, + // it needs to be on the other side of the two lines than + // corner1. This is given, if the cross product has + // a different sign for both computations below: + float a5 = x6 - x5; + float b5 = y6 - y5; + // the current corner + float c51 = quad1->corners[(corner1+2)%4]->pt.x - x5; + float d51 = quad1->corners[(corner1+2)%4]->pt.y - y5; + // the candidate corner + float c52 = quad2->corners[corner2]->pt.x - x5; + float d52 = quad2->corners[corner2]->pt.y - y5; + float sign51 = a5*d51 - c51*b5; + float sign52 = a5*d52 - c52*b5; + + float a6 = x8 - x7; + float b6 = y8 - y7; + // the current corner + float c61 = quad1->corners[(corner1+2)%4]->pt.x - x7; + float d61 = quad1->corners[(corner1+2)%4]->pt.y - y7; + // the candidate corner + float c62 = quad2->corners[corner2]->pt.x - x7; + float d62 = quad2->corners[corner2]->pt.y - y7; + float sign61 = a6*d61 - c61*b6; + float sign62 = a6*d62 - c62*b6; + + + // Fourth: Then check everything from the viewpoint of + // the candidate quad compute midpoints of "parallel" + // quad sides 1 + float u5 = quad2->corners[corner2]->pt.x; + float v5 = quad2->corners[corner2]->pt.y; + float u6 = quad2->corners[(corner2+1)%4]->pt.x; + float v6 = quad2->corners[(corner2+1)%4]->pt.y; + // compute midpoints of "parallel" quad sides 2 + float u7 = u5; + float v7 = v5; + float u8 = quad2->corners[(corner2+3)%4]->pt.x; + float v8 = quad2->corners[(corner2+3)%4]->pt.y; + + // MARTIN: Heuristic + // For corner2 of quad2 to be considered, + // it needs to be on the other side of the two lines than + // corner1. This is given, if the cross product has + // a different sign for both computations below: + float a7 = u6 - u5; + float b7 = v6 - v5; + // the current corner + float c71 = quad1->corners[corner1]->pt.x - u5; + float d71 = quad1->corners[corner1]->pt.y - v5; + // the candidate corner + float c72 = quad2->corners[(corner2+2)%4]->pt.x - u5; + float d72 = quad2->corners[(corner2+2)%4]->pt.y - v5; + float sign71 = a7*d71-c71*b7; + float sign72 = a7*d72-c72*b7; + + float a8 = u8 - u7; + float b8 = v8 - v7; + // the current corner + float c81 = quad1->corners[corner1]->pt.x - u7; + float d81 = quad1->corners[corner1]->pt.y - v7; + // the candidate corner + float c82 = quad2->corners[(corner2+2)%4]->pt.x - u7; + float d82 = quad2->corners[(corner2+2)%4]->pt.y - v7; + float sign81 = a8*d81-c81*b8; + float sign82 = a8*d82-c82*b8; + + // Check whether conditions are fulfilled + if (((sign11 < 0 && sign12 < 0) || (sign11 > 0 && sign12 > 0)) && + ((sign21 < 0 && sign22 < 0) || (sign21 > 0 && sign22 > 0)) && + ((sign31 < 0 && sign32 < 0) || (sign31 > 0 && sign32 > 0)) && + ((sign41 < 0 && sign42 < 0) || (sign41 > 0 && sign42 > 0)) && + ((sign11 < 0 && sign13 < 0) || (sign11 > 0 && sign13 > 0)) && + ((sign21 < 0 && sign23 < 0) || (sign21 > 0 && sign23 > 0)) && + ((sign31 < 0 && sign33 < 0) || (sign31 > 0 && sign33 > 0)) && + ((sign41 < 0 && sign43 < 0) || (sign41 > 0 && sign43 > 0)) && + ((sign51 < 0 && sign52 > 0) || (sign51 > 0 && sign52 < 0)) && + ((sign61 < 0 && sign62 > 0) || (sign61 > 0 && sign62 < 0)) && + ((sign71 < 0 && sign72 > 0) || (sign71 > 0 && sign72 < 0)) && + ((sign81 < 0 && sign82 > 0) || (sign81 > 0 && sign82 < 0))) + { + return true; + } + else + { + return false; + } +} + +} diff --git a/camera_models/src/gpl/EigenQuaternionParameterization.cc b/camera_models/src/gpl/EigenQuaternionParameterization.cc new file mode 100644 index 0000000..e97b057 --- /dev/null +++ b/camera_models/src/gpl/EigenQuaternionParameterization.cc @@ -0,0 +1,46 @@ +#include "camodocal/gpl/EigenQuaternionParameterization.h" + +#include + +namespace camodocal +{ + +bool +EigenQuaternionParameterization::Plus(const double* x, + const double* delta, + double* x_plus_delta) const +{ + const double norm_delta = + sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]); + if (norm_delta > 0.0) + { + const double sin_delta_by_delta = (sin(norm_delta) / norm_delta); + double q_delta[4]; + q_delta[0] = sin_delta_by_delta * delta[0]; + q_delta[1] = sin_delta_by_delta * delta[1]; + q_delta[2] = sin_delta_by_delta * delta[2]; + q_delta[3] = cos(norm_delta); + EigenQuaternionProduct(q_delta, x, x_plus_delta); + } + else + { + for (int i = 0; i < 4; ++i) + { + x_plus_delta[i] = x[i]; + } + } + return true; +} + +bool +EigenQuaternionParameterization::ComputeJacobian(const double* x, + double* jacobian) const +{ + jacobian[0] = x[3]; jacobian[1] = x[2]; jacobian[2] = -x[1]; // NOLINT + jacobian[3] = -x[2]; jacobian[4] = x[3]; jacobian[5] = x[0]; // NOLINT + jacobian[6] = x[1]; jacobian[7] = -x[0]; jacobian[8] = x[3]; // NOLINT + jacobian[9] = -x[0]; jacobian[10] = -x[1]; jacobian[11] = -x[2]; // NOLINT + return true; +} + +} diff --git a/camera_models/src/gpl/gpl.cc b/camera_models/src/gpl/gpl.cc new file mode 100644 index 0000000..9142a3a --- /dev/null +++ b/camera_models/src/gpl/gpl.cc @@ -0,0 +1,928 @@ +#include "camodocal/gpl/gpl.h" + +#include +#ifdef _WIN32 +#include +#else +#include +#endif + + +// source: https://stackoverflow.com/questions/5167269/clock-gettime-alternative-in-mac-os-x +#ifdef __APPLE__ +#include +#define ORWL_NANO (+1.0E-9) +#define ORWL_GIGA UINT64_C(1000000000) + +static double orwl_timebase = 0.0; +static uint64_t orwl_timestart = 0; + +struct timespec orwl_gettime(void) { + // be more careful in a multithreaded environement + if (!orwl_timestart) { + mach_timebase_info_data_t tb = { 0 }; + mach_timebase_info(&tb); + orwl_timebase = tb.numer; + orwl_timebase /= tb.denom; + orwl_timestart = mach_absolute_time(); + } + struct timespec t; + double diff = (mach_absolute_time() - orwl_timestart) * orwl_timebase; + t.tv_sec = diff * ORWL_NANO; + t.tv_nsec = diff - (t.tv_sec * ORWL_GIGA); + return t; +} +#endif // __APPLE__ + + +const double WGS84_A = 6378137.0; +const double WGS84_ECCSQ = 0.00669437999013; + +// Windows lacks fminf +#ifndef fminf +#define fminf(x, y) (((x) < (y)) ? (x) : (y)) +#endif + +namespace camodocal +{ + +double hypot3(double x, double y, double z) +{ + return sqrt(square(x) + square(y) + square(z)); +} + +float hypot3f(float x, float y, float z) +{ + return sqrtf(square(x) + square(y) + square(z)); +} + +double d2r(double deg) +{ + return deg / 180.0 * M_PI; +} + +float d2r(float deg) +{ + return deg / 180.0f * M_PI; +} + +double r2d(double rad) +{ + return rad / M_PI * 180.0; +} + +float r2d(float rad) +{ + return rad / M_PI * 180.0f; +} + +double sinc(double theta) +{ + return sin(theta) / theta; +} + +#ifdef _WIN32 +#include +#include +#include +LARGE_INTEGER +getFILETIMEoffset() +{ + SYSTEMTIME s; + FILETIME f; + LARGE_INTEGER t; + + s.wYear = 1970; + s.wMonth = 1; + s.wDay = 1; + s.wHour = 0; + s.wMinute = 0; + s.wSecond = 0; + s.wMilliseconds = 0; + SystemTimeToFileTime(&s, &f); + t.QuadPart = f.dwHighDateTime; + t.QuadPart <<= 32; + t.QuadPart |= f.dwLowDateTime; + return (t); +} + +int +clock_gettime(int X, struct timespec *tp) +{ + LARGE_INTEGER t; + FILETIME f; + double microseconds; + static LARGE_INTEGER offset; + static double frequencyToMicroseconds; + static int initialized = 0; + static BOOL usePerformanceCounter = 0; + + if (!initialized) { + LARGE_INTEGER performanceFrequency; + initialized = 1; + usePerformanceCounter = QueryPerformanceFrequency(&performanceFrequency); + if (usePerformanceCounter) { + QueryPerformanceCounter(&offset); + frequencyToMicroseconds = (double)performanceFrequency.QuadPart / 1000000.; + } else { + offset = getFILETIMEoffset(); + frequencyToMicroseconds = 10.; + } + } + if (usePerformanceCounter) QueryPerformanceCounter(&t); + else { + GetSystemTimeAsFileTime(&f); + t.QuadPart = f.dwHighDateTime; + t.QuadPart <<= 32; + t.QuadPart |= f.dwLowDateTime; + } + + t.QuadPart -= offset.QuadPart; + microseconds = (double)t.QuadPart / frequencyToMicroseconds; + t.QuadPart = microseconds; + tp->tv_sec = t.QuadPart / 1000000; + tp->tv_nsec = (t.QuadPart % 1000000) * 1000; + return (0); +} +#endif + +unsigned long long timeInMicroseconds(void) +{ + struct timespec tp; +#ifdef __APPLE__ + tp = orwl_gettime(); +#else + clock_gettime(CLOCK_REALTIME, &tp); +#endif + + return tp.tv_sec * 1000000 + tp.tv_nsec / 1000; +} + +double timeInSeconds(void) +{ + struct timespec tp; +#ifdef __APPLE__ + tp = orwl_gettime(); +#else + clock_gettime(CLOCK_REALTIME, &tp); +#endif + + return static_cast(tp.tv_sec) + + static_cast(tp.tv_nsec) / 1000000000.0; +} + +float colormapAutumn[128][3] = +{ + {1.0f,0.f,0.f}, + {1.0f,0.007874f,0.f}, + {1.0f,0.015748f,0.f}, + {1.0f,0.023622f,0.f}, + {1.0f,0.031496f,0.f}, + {1.0f,0.03937f,0.f}, + {1.0f,0.047244f,0.f}, + {1.0f,0.055118f,0.f}, + {1.0f,0.062992f,0.f}, + {1.0f,0.070866f,0.f}, + {1.0f,0.07874f,0.f}, + {1.0f,0.086614f,0.f}, + {1.0f,0.094488f,0.f}, + {1.0f,0.10236f,0.f}, + {1.0f,0.11024f,0.f}, + {1.0f,0.11811f,0.f}, + {1.0f,0.12598f,0.f}, + {1.0f,0.13386f,0.f}, + {1.0f,0.14173f,0.f}, + {1.0f,0.14961f,0.f}, + {1.0f,0.15748f,0.f}, + {1.0f,0.16535f,0.f}, + {1.0f,0.17323f,0.f}, + {1.0f,0.1811f,0.f}, + {1.0f,0.18898f,0.f}, + {1.0f,0.19685f,0.f}, + {1.0f,0.20472f,0.f}, + {1.0f,0.2126f,0.f}, + {1.0f,0.22047f,0.f}, + {1.0f,0.22835f,0.f}, + {1.0f,0.23622f,0.f}, + {1.0f,0.24409f,0.f}, + {1.0f,0.25197f,0.f}, + {1.0f,0.25984f,0.f}, + {1.0f,0.26772f,0.f}, + {1.0f,0.27559f,0.f}, + {1.0f,0.28346f,0.f}, + {1.0f,0.29134f,0.f}, + {1.0f,0.29921f,0.f}, + {1.0f,0.30709f,0.f}, + {1.0f,0.31496f,0.f}, + {1.0f,0.32283f,0.f}, + {1.0f,0.33071f,0.f}, + {1.0f,0.33858f,0.f}, + {1.0f,0.34646f,0.f}, + {1.0f,0.35433f,0.f}, + {1.0f,0.3622f,0.f}, + {1.0f,0.37008f,0.f}, + {1.0f,0.37795f,0.f}, + {1.0f,0.38583f,0.f}, + {1.0f,0.3937f,0.f}, + {1.0f,0.40157f,0.f}, + {1.0f,0.40945f,0.f}, + {1.0f,0.41732f,0.f}, + {1.0f,0.4252f,0.f}, + {1.0f,0.43307f,0.f}, + {1.0f,0.44094f,0.f}, + {1.0f,0.44882f,0.f}, + {1.0f,0.45669f,0.f}, + {1.0f,0.46457f,0.f}, + {1.0f,0.47244f,0.f}, + {1.0f,0.48031f,0.f}, + {1.0f,0.48819f,0.f}, + {1.0f,0.49606f,0.f}, + {1.0f,0.50394f,0.f}, + {1.0f,0.51181f,0.f}, + {1.0f,0.51969f,0.f}, + {1.0f,0.52756f,0.f}, + {1.0f,0.53543f,0.f}, + {1.0f,0.54331f,0.f}, + {1.0f,0.55118f,0.f}, + {1.0f,0.55906f,0.f}, + {1.0f,0.56693f,0.f}, + {1.0f,0.5748f,0.f}, + {1.0f,0.58268f,0.f}, + {1.0f,0.59055f,0.f}, + {1.0f,0.59843f,0.f}, + {1.0f,0.6063f,0.f}, + {1.0f,0.61417f,0.f}, + {1.0f,0.62205f,0.f}, + {1.0f,0.62992f,0.f}, + {1.0f,0.6378f,0.f}, + {1.0f,0.64567f,0.f}, + {1.0f,0.65354f,0.f}, + {1.0f,0.66142f,0.f}, + {1.0f,0.66929f,0.f}, + {1.0f,0.67717f,0.f}, + {1.0f,0.68504f,0.f}, + {1.0f,0.69291f,0.f}, + {1.0f,0.70079f,0.f}, + {1.0f,0.70866f,0.f}, + {1.0f,0.71654f,0.f}, + {1.0f,0.72441f,0.f}, + {1.0f,0.73228f,0.f}, + {1.0f,0.74016f,0.f}, + {1.0f,0.74803f,0.f}, + {1.0f,0.75591f,0.f}, + {1.0f,0.76378f,0.f}, + {1.0f,0.77165f,0.f}, + {1.0f,0.77953f,0.f}, + {1.0f,0.7874f,0.f}, + {1.0f,0.79528f,0.f}, + {1.0f,0.80315f,0.f}, + {1.0f,0.81102f,0.f}, + {1.0f,0.8189f,0.f}, + {1.0f,0.82677f,0.f}, + {1.0f,0.83465f,0.f}, + {1.0f,0.84252f,0.f}, + {1.0f,0.85039f,0.f}, + {1.0f,0.85827f,0.f}, + {1.0f,0.86614f,0.f}, + {1.0f,0.87402f,0.f}, + {1.0f,0.88189f,0.f}, + {1.0f,0.88976f,0.f}, + {1.0f,0.89764f,0.f}, + {1.0f,0.90551f,0.f}, + {1.0f,0.91339f,0.f}, + {1.0f,0.92126f,0.f}, + {1.0f,0.92913f,0.f}, + {1.0f,0.93701f,0.f}, + {1.0f,0.94488f,0.f}, + {1.0f,0.95276f,0.f}, + {1.0f,0.96063f,0.f}, + {1.0f,0.9685f,0.f}, + {1.0f,0.97638f,0.f}, + {1.0f,0.98425f,0.f}, + {1.0f,0.99213f,0.f}, + {1.0f,1.0f,0.0f} +}; + + +float colormapJet[128][3] = +{ + {0.0f,0.0f,0.53125f}, + {0.0f,0.0f,0.5625f}, + {0.0f,0.0f,0.59375f}, + {0.0f,0.0f,0.625f}, + {0.0f,0.0f,0.65625f}, + {0.0f,0.0f,0.6875f}, + {0.0f,0.0f,0.71875f}, + {0.0f,0.0f,0.75f}, + {0.0f,0.0f,0.78125f}, + {0.0f,0.0f,0.8125f}, + {0.0f,0.0f,0.84375f}, + {0.0f,0.0f,0.875f}, + {0.0f,0.0f,0.90625f}, + {0.0f,0.0f,0.9375f}, + {0.0f,0.0f,0.96875f}, + {0.0f,0.0f,1.0f}, + {0.0f,0.03125f,1.0f}, + {0.0f,0.0625f,1.0f}, + {0.0f,0.09375f,1.0f}, + {0.0f,0.125f,1.0f}, + {0.0f,0.15625f,1.0f}, + {0.0f,0.1875f,1.0f}, + {0.0f,0.21875f,1.0f}, + {0.0f,0.25f,1.0f}, + {0.0f,0.28125f,1.0f}, + {0.0f,0.3125f,1.0f}, + {0.0f,0.34375f,1.0f}, + {0.0f,0.375f,1.0f}, + {0.0f,0.40625f,1.0f}, + {0.0f,0.4375f,1.0f}, + {0.0f,0.46875f,1.0f}, + {0.0f,0.5f,1.0f}, + {0.0f,0.53125f,1.0f}, + {0.0f,0.5625f,1.0f}, + {0.0f,0.59375f,1.0f}, + {0.0f,0.625f,1.0f}, + {0.0f,0.65625f,1.0f}, + {0.0f,0.6875f,1.0f}, + {0.0f,0.71875f,1.0f}, + {0.0f,0.75f,1.0f}, + {0.0f,0.78125f,1.0f}, + {0.0f,0.8125f,1.0f}, + {0.0f,0.84375f,1.0f}, + {0.0f,0.875f,1.0f}, + {0.0f,0.90625f,1.0f}, + {0.0f,0.9375f,1.0f}, + {0.0f,0.96875f,1.0f}, + {0.0f,1.0f,1.0f}, + {0.03125f,1.0f,0.96875f}, + {0.0625f,1.0f,0.9375f}, + {0.09375f,1.0f,0.90625f}, + {0.125f,1.0f,0.875f}, + {0.15625f,1.0f,0.84375f}, + {0.1875f,1.0f,0.8125f}, + {0.21875f,1.0f,0.78125f}, + {0.25f,1.0f,0.75f}, + {0.28125f,1.0f,0.71875f}, + {0.3125f,1.0f,0.6875f}, + {0.34375f,1.0f,0.65625f}, + {0.375f,1.0f,0.625f}, + {0.40625f,1.0f,0.59375f}, + {0.4375f,1.0f,0.5625f}, + {0.46875f,1.0f,0.53125f}, + {0.5f,1.0f,0.5f}, + {0.53125f,1.0f,0.46875f}, + {0.5625f,1.0f,0.4375f}, + {0.59375f,1.0f,0.40625f}, + {0.625f,1.0f,0.375f}, + {0.65625f,1.0f,0.34375f}, + {0.6875f,1.0f,0.3125f}, + {0.71875f,1.0f,0.28125f}, + {0.75f,1.0f,0.25f}, + {0.78125f,1.0f,0.21875f}, + {0.8125f,1.0f,0.1875f}, + {0.84375f,1.0f,0.15625f}, + {0.875f,1.0f,0.125f}, + {0.90625f,1.0f,0.09375f}, + {0.9375f,1.0f,0.0625f}, + {0.96875f,1.0f,0.03125f}, + {1.0f,1.0f,0.0f}, + {1.0f,0.96875f,0.0f}, + {1.0f,0.9375f,0.0f}, + {1.0f,0.90625f,0.0f}, + {1.0f,0.875f,0.0f}, + {1.0f,0.84375f,0.0f}, + {1.0f,0.8125f,0.0f}, + {1.0f,0.78125f,0.0f}, + {1.0f,0.75f,0.0f}, + {1.0f,0.71875f,0.0f}, + {1.0f,0.6875f,0.0f}, + {1.0f,0.65625f,0.0f}, + {1.0f,0.625f,0.0f}, + {1.0f,0.59375f,0.0f}, + {1.0f,0.5625f,0.0f}, + {1.0f,0.53125f,0.0f}, + {1.0f,0.5f,0.0f}, + {1.0f,0.46875f,0.0f}, + {1.0f,0.4375f,0.0f}, + {1.0f,0.40625f,0.0f}, + {1.0f,0.375f,0.0f}, + {1.0f,0.34375f,0.0f}, + {1.0f,0.3125f,0.0f}, + {1.0f,0.28125f,0.0f}, + {1.0f,0.25f,0.0f}, + {1.0f,0.21875f,0.0f}, + {1.0f,0.1875f,0.0f}, + {1.0f,0.15625f,0.0f}, + {1.0f,0.125f,0.0f}, + {1.0f,0.09375f,0.0f}, + {1.0f,0.0625f,0.0f}, + {1.0f,0.03125f,0.0f}, + {1.0f,0.0f,0.0f}, + {0.96875f,0.0f,0.0f}, + {0.9375f,0.0f,0.0f}, + {0.90625f,0.0f,0.0f}, + {0.875f,0.0f,0.0f}, + {0.84375f,0.0f,0.0f}, + {0.8125f,0.0f,0.0f}, + {0.78125f,0.0f,0.0f}, + {0.75f,0.0f,0.0f}, + {0.71875f,0.0f,0.0f}, + {0.6875f,0.0f,0.0f}, + {0.65625f,0.0f,0.0f}, + {0.625f,0.0f,0.0f}, + {0.59375f,0.0f,0.0f}, + {0.5625f,0.0f,0.0f}, + {0.53125f,0.0f,0.0f}, + {0.5f,0.0f,0.0f} +}; + +void colorDepthImage(cv::Mat& imgDepth, cv::Mat& imgColoredDepth, + float minRange, float maxRange) +{ + imgColoredDepth = cv::Mat::zeros(imgDepth.size(), CV_8UC3); + + for (int i = 0; i < imgColoredDepth.rows; ++i) + { + const float* depth = imgDepth.ptr(i); + unsigned char* pixel = imgColoredDepth.ptr(i); + for (int j = 0; j < imgColoredDepth.cols; ++j) + { + if (depth[j] != 0) + { + int idx = fminf(depth[j] - minRange, maxRange - minRange) / (maxRange - minRange) * 127.0f; + idx = 127 - idx; + + pixel[0] = colormapJet[idx][2] * 255.0f; + pixel[1] = colormapJet[idx][1] * 255.0f; + pixel[2] = colormapJet[idx][0] * 255.0f; + } + + pixel += 3; + } + } +} + +bool colormap(const std::string& name, unsigned char idx, + float& r, float& g, float& b) +{ + if (name.compare("jet") == 0) + { + float* color = colormapJet[idx]; + + r = color[0]; + g = color[1]; + b = color[2]; + + return true; + } + else if (name.compare("autumn") == 0) + { + float* color = colormapAutumn[idx]; + + r = color[0]; + g = color[1]; + b = color[2]; + + return true; + } + + return false; +} + +std::vector bresLine(int x0, int y0, int x1, int y1) +{ + // Bresenham's line algorithm + // Find cells intersected by line between (x0,y0) and (x1,y1) + + std::vector cells; + + int dx = std::abs(x1 - x0); + int dy = std::abs(y1 - y0); + + int sx = (x0 < x1) ? 1 : -1; + int sy = (y0 < y1) ? 1 : -1; + + int err = dx - dy; + + while (1) + { + cells.push_back(cv::Point2i(x0, y0)); + + if (x0 == x1 && y0 == y1) + { + break; + } + + int e2 = 2 * err; + if (e2 > -dy) + { + err -= dy; + x0 += sx; + } + if (e2 < dx) + { + err += dx; + y0 += sy; + } + } + + return cells; +} + +std::vector bresCircle(int x0, int y0, int r) +{ + // Bresenham's circle algorithm + // Find cells intersected by circle with center (x0,y0) and radius r + + std::vector< std::vector > mask(2 * r + 1); + + for (int i = 0; i < 2 * r + 1; ++i) + { + mask[i].resize(2 * r + 1); + for (int j = 0; j < 2 * r + 1; ++j) + { + mask[i][j] = false; + } + } + + int f = 1 - r; + int ddF_x = 1; + int ddF_y = -2 * r; + int x = 0; + int y = r; + + std::vector line; + + line = bresLine(x0, y0 - r, x0, y0 + r); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + + line = bresLine(x0 - r, y0, x0 + r, y0); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + + while (x < y) + { + if (f >= 0) + { + y--; + ddF_y += 2; + f += ddF_y; + } + + x++; + ddF_x += 2; + f += ddF_x; + + line = bresLine(x0 - x, y0 + y, x0 + x, y0 + y); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + + line = bresLine(x0 - x, y0 - y, x0 + x, y0 - y); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + + line = bresLine(x0 - y, y0 + x, x0 + y, y0 + x); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + + line = bresLine(x0 - y, y0 - x, x0 + y, y0 - x); + for (std::vector::iterator it = line.begin(); it != line.end(); ++it) + { + mask[it->x - x0 + r][it->y - y0 + r] = true; + } + } + + std::vector cells; + for (int i = 0; i < 2 * r + 1; ++i) + { + for (int j = 0; j < 2 * r + 1; ++j) + { + if (mask[i][j]) + { + cells.push_back(cv::Point2i(i - r + x0, j - r + y0)); + } + } + } + + return cells; +} + +void +fitCircle(const std::vector& points, + double& centerX, double& centerY, double& radius) +{ + // D. Umbach, and K. Jones, A Few Methods for Fitting Circles to Data, + // IEEE Transactions on Instrumentation and Measurement, 2000 + // We use the modified least squares method. + double sum_x = 0.0; + double sum_y = 0.0; + double sum_xx = 0.0; + double sum_xy = 0.0; + double sum_yy = 0.0; + double sum_xxx = 0.0; + double sum_xxy = 0.0; + double sum_xyy = 0.0; + double sum_yyy = 0.0; + + int n = points.size(); + for (int i = 0; i < n; ++i) + { + double x = points.at(i).x; + double y = points.at(i).y; + + sum_x += x; + sum_y += y; + sum_xx += x * x; + sum_xy += x * y; + sum_yy += y * y; + sum_xxx += x * x * x; + sum_xxy += x * x * y; + sum_xyy += x * y * y; + sum_yyy += y * y * y; + } + + double A = n * sum_xx - square(sum_x); + double B = n * sum_xy - sum_x * sum_y; + double C = n * sum_yy - square(sum_y); + double D = 0.5 * (n * sum_xyy - sum_x * sum_yy + n * sum_xxx - sum_x * sum_xx); + double E = 0.5 * (n * sum_xxy - sum_y * sum_xx + n * sum_yyy - sum_y * sum_yy); + + centerX = (D * C - B * E) / (A * C - square(B)); + centerY = (A * E - B * D) / (A * C - square(B)); + + double sum_r = 0.0; + for (int i = 0; i < n; ++i) + { + double x = points.at(i).x; + double y = points.at(i).y; + + sum_r += hypot(x - centerX, y - centerY); + } + + radius = sum_r / n; +} + +std::vector +intersectCircles(double x1, double y1, double r1, + double x2, double y2, double r2) +{ + std::vector ipts; + + double d = hypot(x1 - x2, y1 - y2); + if (d > r1 + r2) + { + // circles are separate + return ipts; + } + if (d < fabs(r1 - r2)) + { + // one circle is contained within the other + return ipts; + } + + double a = (square(r1) - square(r2) + square(d)) / (2.0 * d); + double h = sqrt(square(r1) - square(a)); + + double x3 = x1 + a * (x2 - x1) / d; + double y3 = y1 + a * (y2 - y1) / d; + + if (h < 1e-10) + { + // two circles touch at one point + ipts.push_back(cv::Point2d(x3, y3)); + return ipts; + } + + ipts.push_back(cv::Point2d(x3 + h * (y2 - y1) / d, + y3 - h * (x2 - x1) / d)); + ipts.push_back(cv::Point2d(x3 - h * (y2 - y1) / d, + y3 + h * (x2 - x1) / d)); + return ipts; +} + +char +UTMLetterDesignator(double latitude) +{ + // This routine determines the correct UTM letter designator for the given latitude + // returns 'Z' if latitude is outside the UTM limits of 84N to 80S + // Written by Chuck Gantz- chuck.gantz@globalstar.com + char letterDesignator; + + if ((84.0 >= latitude) && (latitude >= 72.0)) letterDesignator = 'X'; + else if ((72.0 > latitude) && (latitude >= 64.0)) letterDesignator = 'W'; + else if ((64.0 > latitude) && (latitude >= 56.0)) letterDesignator = 'V'; + else if ((56.0 > latitude) && (latitude >= 48.0)) letterDesignator = 'U'; + else if ((48.0 > latitude) && (latitude >= 40.0)) letterDesignator = 'T'; + else if ((40.0 > latitude) && (latitude >= 32.0)) letterDesignator = 'S'; + else if ((32.0 > latitude) && (latitude >= 24.0)) letterDesignator = 'R'; + else if ((24.0 > latitude) && (latitude >= 16.0)) letterDesignator = 'Q'; + else if ((16.0 > latitude) && (latitude >= 8.0)) letterDesignator = 'P'; + else if (( 8.0 > latitude) && (latitude >= 0.0)) letterDesignator = 'N'; + else if (( 0.0 > latitude) && (latitude >= -8.0)) letterDesignator = 'M'; + else if ((-8.0 > latitude) && (latitude >= -16.0)) letterDesignator = 'L'; + else if ((-16.0 > latitude) && (latitude >= -24.0)) letterDesignator = 'K'; + else if ((-24.0 > latitude) && (latitude >= -32.0)) letterDesignator = 'J'; + else if ((-32.0 > latitude) && (latitude >= -40.0)) letterDesignator = 'H'; + else if ((-40.0 > latitude) && (latitude >= -48.0)) letterDesignator = 'G'; + else if ((-48.0 > latitude) && (latitude >= -56.0)) letterDesignator = 'F'; + else if ((-56.0 > latitude) && (latitude >= -64.0)) letterDesignator = 'E'; + else if ((-64.0 > latitude) && (latitude >= -72.0)) letterDesignator = 'D'; + else if ((-72.0 > latitude) && (latitude >= -80.0)) letterDesignator = 'C'; + else letterDesignator = 'Z'; //This is here as an error flag to show that the Latitude is outside the UTM limits + + return letterDesignator; +} + +void +LLtoUTM(double latitude, double longitude, + double& utmNorthing, double& utmEasting, std::string& utmZone) +{ + // converts lat/long to UTM coords. Equations from USGS Bulletin 1532 + // East Longitudes are positive, West longitudes are negative. + // North latitudes are positive, South latitudes are negative + // Lat and Long are in decimal degrees + // Written by Chuck Gantz- chuck.gantz@globalstar.com + + double k0 = 0.9996; + + double LongOrigin; + double eccPrimeSquared; + double N, T, C, A, M; + + double LatRad = latitude * M_PI / 180.0; + double LongRad = longitude * M_PI / 180.0; + double LongOriginRad; + + int ZoneNumber = static_cast((longitude + 180.0) / 6.0) + 1; + + if (latitude >= 56.0 && latitude < 64.0 && + longitude >= 3.0 && longitude < 12.0) { + ZoneNumber = 32; + } + + // Special zones for Svalbard + if (latitude >= 72.0 && latitude < 84.0) { + if ( longitude >= 0.0 && longitude < 9.0) ZoneNumber = 31; + else if (longitude >= 9.0 && longitude < 21.0) ZoneNumber = 33; + else if (longitude >= 21.0 && longitude < 33.0) ZoneNumber = 35; + else if (longitude >= 33.0 && longitude < 42.0) ZoneNumber = 37; + } + LongOrigin = static_cast((ZoneNumber - 1) * 6 - 180 + 3); //+3 puts origin in middle of zone + LongOriginRad = LongOrigin * M_PI / 180.0; + + // compute the UTM Zone from the latitude and longitude + std::ostringstream oss; + oss << ZoneNumber << UTMLetterDesignator(latitude); + utmZone = oss.str(); + + eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); + + N = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(LatRad) * sin(LatRad)); + T = tan(LatRad) * tan(LatRad); + C = eccPrimeSquared * cos(LatRad) * cos(LatRad); + A = cos(LatRad) * (LongRad - LongOriginRad); + + M = WGS84_A * ((1.0 - WGS84_ECCSQ / 4.0 + - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 + - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0) + * LatRad + - (3.0 * WGS84_ECCSQ / 8.0 + + 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 32.0 + + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) + * sin(2.0 * LatRad) + + (15.0 * WGS84_ECCSQ * WGS84_ECCSQ / 256.0 + + 45.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 1024.0) + * sin(4.0 * LatRad) + - (35.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 3072.0) + * sin(6.0 * LatRad)); + + utmEasting = k0 * N * (A + (1.0 - T + C) * A * A * A / 6.0 + + (5.0 - 18.0 * T + T * T + 72.0 * C + - 58.0 * eccPrimeSquared) + * A * A * A * A * A / 120.0) + + 500000.0; + + utmNorthing = k0 * (M + N * tan(LatRad) * + (A * A / 2.0 + + (5.0 - T + 9.0 * C + 4.0 * C * C) * A * A * A * A / 24.0 + + (61.0 - 58.0 * T + T * T + 600.0 * C + - 330.0 * eccPrimeSquared) + * A * A * A * A * A * A / 720.0)); + if (latitude < 0.0) { + utmNorthing += 10000000.0; //10000000 meter offset for southern hemisphere + } +} + +void +UTMtoLL(double utmNorthing, double utmEasting, const std::string& utmZone, + double& latitude, double& longitude) +{ + // converts UTM coords to lat/long. Equations from USGS Bulletin 1532 + // East Longitudes are positive, West longitudes are negative. + // North latitudes are positive, South latitudes are negative + // Lat and Long are in decimal degrees. + // Written by Chuck Gantz- chuck.gantz@globalstar.com + + double k0 = 0.9996; + double eccPrimeSquared; + double e1 = (1.0 - sqrt(1.0 - WGS84_ECCSQ)) / (1.0 + sqrt(1.0 - WGS84_ECCSQ)); + double N1, T1, C1, R1, D, M; + double LongOrigin; + double mu, phi1, phi1Rad; + double x, y; + int ZoneNumber; + char ZoneLetter; + bool NorthernHemisphere; + + x = utmEasting - 500000.0; //remove 500,000 meter offset for longitude + y = utmNorthing; + + std::istringstream iss(utmZone); + iss >> ZoneNumber >> ZoneLetter; + if ((static_cast(ZoneLetter) - static_cast('N')) >= 0) { + NorthernHemisphere = true;//point is in northern hemisphere + } else { + NorthernHemisphere = false;//point is in southern hemisphere + y -= 10000000.0;//remove 10,000,000 meter offset used for southern hemisphere + } + + LongOrigin = (ZoneNumber - 1.0) * 6.0 - 180.0 + 3.0; //+3 puts origin in middle of zone + + eccPrimeSquared = WGS84_ECCSQ / (1.0 - WGS84_ECCSQ); + + M = y / k0; + mu = M / (WGS84_A * (1.0 - WGS84_ECCSQ / 4.0 + - 3.0 * WGS84_ECCSQ * WGS84_ECCSQ / 64.0 + - 5.0 * WGS84_ECCSQ * WGS84_ECCSQ * WGS84_ECCSQ / 256.0)); + + phi1Rad = mu + (3.0 * e1 / 2.0 - 27.0 * e1 * e1 * e1 / 32.0) * sin(2.0 * mu) + + (21.0 * e1 * e1 / 16.0 - 55.0 * e1 * e1 * e1 * e1 / 32.0) + * sin(4.0 * mu) + + (151.0 * e1 * e1 * e1 / 96.0) * sin(6.0 * mu); + phi1 = phi1Rad / M_PI * 180.0; + + N1 = WGS84_A / sqrt(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad)); + T1 = tan(phi1Rad) * tan(phi1Rad); + C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad); + R1 = WGS84_A * (1.0 - WGS84_ECCSQ) / + pow(1.0 - WGS84_ECCSQ * sin(phi1Rad) * sin(phi1Rad), 1.5); + D = x / (N1 * k0); + + latitude = phi1Rad - (N1 * tan(phi1Rad) / R1) + * (D * D / 2.0 - (5.0 + 3.0 * T1 + 10.0 * C1 - 4.0 * C1 * C1 + - 9.0 * eccPrimeSquared) * D * D * D * D / 24.0 + + (61.0 + 90.0 * T1 + 298.0 * C1 + 45.0 * T1 * T1 + - 252.0 * eccPrimeSquared - 3.0 * C1 * C1) + * D * D * D * D * D * D / 720.0); + latitude *= 180.0 / M_PI; + + longitude = (D - (1.0 + 2.0 * T1 + C1) * D * D * D / 6.0 + + (5.0 - 2.0 * C1 + 28.0 * T1 - 3.0 * C1 * C1 + + 8.0 * eccPrimeSquared + 24.0 * T1 * T1) + * D * D * D * D * D / 120.0) / cos(phi1Rad); + longitude = LongOrigin + longitude / M_PI * 180.0; +} + +long int +timestampDiff(uint64_t t1, uint64_t t2) +{ + if (t2 > t1) + { + uint64_t d = t2 - t1; + + if (d > std::numeric_limits::max()) + { + return std::numeric_limits::max(); + } + else + { + return d; + } + } + else + { + uint64_t d = t1 - t2; + + if (d > std::numeric_limits::max()) + { + return std::numeric_limits::min(); + } + else + { + return - static_cast(d); + } + } +} + +} diff --git a/camera_models/src/intrinsic_calib.cc b/camera_models/src/intrinsic_calib.cc new file mode 100644 index 0000000..7590a64 --- /dev/null +++ b/camera_models/src/intrinsic_calib.cc @@ -0,0 +1,284 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/calib/CameraCalibration.h" +#include "camodocal/chessboard/Chessboard.h" +#include "camodocal/gpl/gpl.h" + +int +main( int argc, char** argv ) +{ + cv::Size boardSize; + float squareSize; + std::string inputDir; + std::string cameraModel; + std::string cameraName; + std::string prefix; + std::string fileExtension; + bool useOpenCV; + bool viewResults; + bool verbose; + + //========= Handling Program options ========= + boost::program_options::options_description desc( "Allowed options" ); + desc.add_options( )( "help", "produce help message" )( + "width,w", + boost::program_options::value< int >( &boardSize.width )->default_value( 8 ), + "Number of inner corners on the chessboard pattern in x direction" )( + "height,h", + boost::program_options::value< int >( &boardSize.height )->default_value( 12 ), + "Number of inner corners on the chessboard pattern in y direction" )( + "size,s", + boost::program_options::value< float >( &squareSize )->default_value( 7.f ), + "Size of one square in mm" )( "input,i", + boost::program_options::value< std::string >( &inputDir )->default_value( "calibrationdata" ), + "Input directory containing chessboard images" )( + "prefix,p", + boost::program_options::value< std::string >( &prefix )->default_value( "left-" ), + "Prefix of images" )( "file-extension,e", + boost::program_options::value< std::string >( &fileExtension )->default_value( ".png" ), + "File extension of images" )( + "camera-model", + boost::program_options::value< std::string >( &cameraModel )->default_value( "mei" ), + "Camera model: kannala-brandt | mei | pinhole" )( + "camera-name", + boost::program_options::value< std::string >( &cameraName )->default_value( "camera" ), + "Name of camera" )( "opencv", + boost::program_options::bool_switch( &useOpenCV )->default_value( true ), + "Use OpenCV to detect corners" )( + "view-results", + boost::program_options::bool_switch( &viewResults )->default_value( false ), + "View results" )( "verbose,v", + boost::program_options::bool_switch( &verbose )->default_value( true ), + "Verbose output" ); + + boost::program_options::positional_options_description pdesc; + pdesc.add( "input", 1 ); + + boost::program_options::variables_map vm; + boost::program_options::store( boost::program_options::command_line_parser( argc, argv ) + .options( desc ) + .positional( pdesc ) + .run( ), + vm ); + boost::program_options::notify( vm ); + + if ( vm.count( "help" ) ) + { + std::cout << desc << std::endl; + return 1; + } + + if ( !boost::filesystem::exists( inputDir ) && !boost::filesystem::is_directory( inputDir ) ) + { + std::cerr << "# ERROR: Cannot find input directory " << inputDir << "." << std::endl; + return 1; + } + + camodocal::Camera::ModelType modelType; + if ( boost::iequals( cameraModel, "kannala-brandt" ) ) + { + modelType = camodocal::Camera::KANNALA_BRANDT; + } + else if ( boost::iequals( cameraModel, "mei" ) ) + { + modelType = camodocal::Camera::MEI; + } + else if ( boost::iequals( cameraModel, "pinhole" ) ) + { + modelType = camodocal::Camera::PINHOLE; + } + else if ( boost::iequals( cameraModel, "pinhole_full" ) ) + { + modelType = camodocal::Camera::PINHOLE_FULL; + } + else if ( boost::iequals( cameraModel, "scaramuzza" ) ) + { + modelType = camodocal::Camera::SCARAMUZZA; + } + else + { + std::cerr << "# ERROR: Unknown camera model: " << cameraModel << std::endl; + return 1; + } + + switch ( modelType ) + { + case camodocal::Camera::KANNALA_BRANDT: + std::cout << "# INFO: Camera model: Kannala-Brandt" << std::endl; + break; + case camodocal::Camera::MEI: + std::cout << "# INFO: Camera model: Mei" << std::endl; + break; + case camodocal::Camera::PINHOLE: + std::cout << "# INFO: Camera model: Pinhole" << std::endl; + break; + case camodocal::Camera::PINHOLE_FULL: + std::cout << "# INFO: Camera model: PinholeFull" << std::endl; + break; + case camodocal::Camera::SCARAMUZZA: + std::cout << "# INFO: Camera model: Scaramuzza-Omnidirect" << std::endl; + break; + } + + // look for images in input directory + std::vector< std::string > imageFilenames; + boost::filesystem::directory_iterator itr; + for ( boost::filesystem::directory_iterator itr( inputDir ); + itr != boost::filesystem::directory_iterator( ); + ++itr ) + { + if ( !boost::filesystem::is_regular_file( itr->status( ) ) ) + { + continue; + } + + std::string filename = itr->path( ).filename( ).string( ); + + // check if prefix matches + if ( !prefix.empty( ) ) + { + if ( filename.compare( 0, prefix.length( ), prefix ) != 0 ) + { + continue; + } + } + + // check if file extension matches + if ( filename.compare( filename.length( ) - fileExtension.length( ), fileExtension.length( ), fileExtension ) + != 0 ) + { + continue; + } + + imageFilenames.push_back( itr->path( ).string( ) ); + + if ( verbose ) + { + std::cerr << "# INFO: Adding " << imageFilenames.back( ) << std::endl; + } + } + + if ( imageFilenames.empty( ) ) + { + std::cerr << "# ERROR: No chessboard images found." << std::endl; + return 1; + } + + if ( verbose ) + { + std::cerr << "# INFO: # images: " << imageFilenames.size( ) << std::endl; + } + + std::sort( imageFilenames.begin( ), imageFilenames.end( ) ); + + cv::Mat image = cv::imread( imageFilenames.front( ), -1 ); + const cv::Size frameSize = image.size( ); + + camodocal::CameraCalibration calibration( modelType, cameraName, frameSize, boardSize, squareSize ); + calibration.setVerbose( verbose ); + + std::vector< bool > chessboardFound( imageFilenames.size( ), false ); + for ( size_t i = 0; i < imageFilenames.size( ); ++i ) + { + image = cv::imread( imageFilenames.at( i ), -1 ); + + camodocal::Chessboard chessboard( boardSize, image ); + + chessboard.findCorners( useOpenCV ); + if ( chessboard.cornersFound( ) ) + { + if ( verbose ) + { + std::cerr << "# INFO: Detected chessboard in image " << i + 1 << ", " + << imageFilenames.at( i ) << std::endl; + } + + calibration.addChessboardData( chessboard.getCorners( ) ); + + cv::Mat sketch; + chessboard.getSketch( ).copyTo( sketch ); + + cv::imshow( "Image", sketch ); + cv::waitKey( 50 ); + } + else if ( verbose ) + { + std::cerr << "# INFO: Did not detect chessboard in image " << i + 1 << std::endl; + } + chessboardFound.at( i ) = chessboard.cornersFound( ); + } + cv::destroyWindow( "Image" ); + + if ( calibration.sampleCount( ) < 10 ) + { + std::cerr << "# ERROR: Insufficient number of detected chessboards." << std::endl; + return 1; + } + + if ( verbose ) + { + std::cerr << "# INFO: Calibrating..." << std::endl; + } + + double startTime = camodocal::timeInSeconds( ); + + calibration.calibrate( ); + calibration.writeParams( cameraName + "_camera_calib.yaml" ); + calibration.writeChessboardData( cameraName + "_chessboard_data.dat" ); + + if ( verbose ) + { + std::cout << "# INFO: Calibration took a total time of " << std::fixed + << std::setprecision( 3 ) << camodocal::timeInSeconds( ) - startTime << " sec.\n"; + } + + if ( verbose ) + { + std::cerr << "# INFO: Wrote calibration file to " + << cameraName + "_camera_calib.yaml" << std::endl; + } + + if ( viewResults ) + { + std::vector< cv::Mat > cbImages; + std::vector< std::string > cbImageFilenames; + + for ( size_t i = 0; i < imageFilenames.size( ); ++i ) + { + if ( !chessboardFound.at( i ) ) + { + continue; + } + + cbImages.push_back( cv::imread( imageFilenames.at( i ), -1 ) ); + cbImageFilenames.push_back( imageFilenames.at( i ) ); + } + + // visualize observed and reprojected points + calibration.drawResults( cbImages ); + + for ( size_t i = 0; i < cbImages.size( ); ++i ) + { + cv::putText( cbImages.at( i ), + cbImageFilenames.at( i ), + cv::Point( 10, 20 ), + cv::FONT_HERSHEY_COMPLEX, + 0.5, + cv::Scalar( 255, 255, 255 ), + 1, + CV_AA ); + cv::imshow( "Image", cbImages.at( i ) ); + cv::waitKey( 0 ); + } + } + + return 0; +} diff --git a/camera_models/src/sparse_graph/Transform.cc b/camera_models/src/sparse_graph/Transform.cc new file mode 100644 index 0000000..db979e9 --- /dev/null +++ b/camera_models/src/sparse_graph/Transform.cc @@ -0,0 +1,77 @@ +#include + +namespace camodocal +{ + +Transform::Transform() +{ + m_q.setIdentity(); + m_t.setZero(); +} + +Transform::Transform(const Eigen::Matrix4d& H) +{ + m_q = Eigen::Quaterniond(H.block<3,3>(0,0)); + m_t = H.block<3,1>(0,3); +} + +Eigen::Quaterniond& +Transform::rotation(void) +{ + return m_q; +} + +const Eigen::Quaterniond& +Transform::rotation(void) const +{ + return m_q; +} + +double* +Transform::rotationData(void) +{ + return m_q.coeffs().data(); +} + +const double* const +Transform::rotationData(void) const +{ + return m_q.coeffs().data(); +} + +Eigen::Vector3d& +Transform::translation(void) +{ + return m_t; +} + +const Eigen::Vector3d& +Transform::translation(void) const +{ + return m_t; +} + +double* +Transform::translationData(void) +{ + return m_t.data(); +} + +const double* const +Transform::translationData(void) const +{ + return m_t.data(); +} + +Eigen::Matrix4d +Transform::toMatrix(void) const +{ + Eigen::Matrix4d H; + H.setIdentity(); + H.block<3,3>(0,0) = m_q.toRotationMatrix(); + H.block<3,1>(0,3) = m_t; + + return H; +} + +} diff --git a/config/A3_ptgrey/a3_ptgrey_mono_imu_config.yaml b/config/A3_ptgrey/a3_ptgrey_mono_imu_config.yaml new file mode 100644 index 0000000..ac42220 --- /dev/null +++ b/config/A3_ptgrey/a3_ptgrey_mono_imu_config.yaml @@ -0,0 +1,64 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 1 + +imu_topic: "/djiros/imu" +image0_topic: "/stereo/left/image" +image1_topic: "/stereo/right/image" +output_path: "/home/dji/output/" + +cam0_calib: "left.yaml" +cam1_calib: "right.yaml" +image_width: 640 +image_height: 512 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.6001622181574202e-02, -5.2085872909730102e-03, + -9.9964833129574060e-01, -1.2886997952961168e-01, + 9.9965481566775383e-01, 3.6294078574090616e-03, + -2.6020701583033656e-02, -1.2147595522352593e-01, + 3.7636626038181076e-03, -9.9997984880548296e-01, + 5.1124188763960188e-03, 3.2881561191272578e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81 # gravity magnitude + +#unsynchronization parameters +estimate_td: 1 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/A3_ptgrey/a3_ptgrey_stereo_config.yaml b/config/A3_ptgrey/a3_ptgrey_stereo_config.yaml new file mode 100644 index 0000000..d6e978c --- /dev/null +++ b/config/A3_ptgrey/a3_ptgrey_stereo_config.yaml @@ -0,0 +1,60 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 0 +num_of_cam: 2 + +imu_topic: "/djiros/imu" +image0_topic: "/stereo/left/image" +image1_topic: "/stereo/right/image" +output_path: "/home/dji/output/" + +cam0_calib: "left.yaml" +cam1_calib: "right.yaml" +image_width: 640 +image_height: 512 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.6001622181574202e-02, -5.2085872909730102e-03, + -9.9964833129574060e-01, -1.2886997952961168e-01, + 9.9965481566775383e-01, 3.6294078574090616e-03, + -2.6020701583033656e-02, -1.2147595522352593e-01, + 3.7636626038181076e-03, -9.9997984880548296e-01, + 5.1124188763960188e-03, 3.2881561191272578e-02, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.3877053002065107e-02, -1.2793564889566844e-02, + -9.9963303818819083e-01, -1.0696526695209820e-01, + 9.9968048539671106e-01, 7.9915246532147322e-03, + -2.3980463938659879e-02, 3.8910400198456374e-03, + 8.2953876903301693e-03, -9.9988622364303725e-01, + 1.2598663101044294e-02, 3.1956268205111153e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + diff --git a/config/A3_ptgrey/a3_ptgrey_stereo_imu_config.yaml b/config/A3_ptgrey/a3_ptgrey_stereo_imu_config.yaml new file mode 100644 index 0000000..32950b8 --- /dev/null +++ b/config/A3_ptgrey/a3_ptgrey_stereo_imu_config.yaml @@ -0,0 +1,76 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/djiros/imu" +image0_topic: "/pg_17533297/image" +image1_topic: "/pg_17593110/image" +#image0_topic: "/stereo/left/image" +#image1_topic: "/stereo/right/image" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "left.yaml" +cam1_calib: "right.yaml" +image_width: 640 +image_height: 512 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -3.3711239846938357e-02, 5.5879405352924905e-03, + -9.9941599308223816e-01, -1.3488097324114276e-01, + 9.9943103610356743e-01, 1.2644297085154799e-03, + -3.3704677575404185e-02, -1.1681178648179885e-01, + 1.0753515387662560e-03, -9.9998358793436526e-01, + -5.6273866920459881e-03, 4.1641064011355096e-02, 0., 0., 0., 1. ] +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.5349732839191397e-02, 8.6557147652394084e-04, + -9.9967826916013358e-01, -1.2784802722835098e-01, + 9.9967221433053033e-01, 3.6084788347405805e-03, + -2.5346454899911497e-02, 2.2935031902104031e-03, + 3.5853787074220378e-03, -9.9999311480955611e-01, + -9.5676172901448808e-04, 4.1243006399912775e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81 # gravity magnitude + +#unsynchronization parameters +estimate_td: 1 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/A3_ptgrey/a3_ptgrey_stereo_imu_config_backup.yaml b/config/A3_ptgrey/a3_ptgrey_stereo_imu_config_backup.yaml new file mode 100644 index 0000000..e862ed5 --- /dev/null +++ b/config/A3_ptgrey/a3_ptgrey_stereo_imu_config_backup.yaml @@ -0,0 +1,77 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/djiros/imu" +image0_topic: "/pg_17533297/image" +image1_topic: "/pg_17593110/image" +#image0_topic: "/stereo/left/image" +#image1_topic: "/stereo/right/image" +output_path: "/home/dji/output/" + +cam0_calib: "left.yaml" +cam1_calib: "right.yaml" +image_width: 640 +image_height: 512 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.6001622181574202e-02, -5.2085872909730102e-03, + -9.9964833129574060e-01, -1.2886997952961168e-01, + 9.9965481566775383e-01, 3.6294078574090616e-03, + -2.6020701583033656e-02, -1.2147595522352593e-01, + 3.7636626038181076e-03, -9.9997984880548296e-01, + 5.1124188763960188e-03, 3.2881561191272578e-02, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -2.3877053002065107e-02, -1.2793564889566844e-02, + -9.9963303818819083e-01, -1.0696526695209820e-01, + 9.9968048539671106e-01, 7.9915246532147322e-03, + -2.3980463938659879e-02, 3.8910400198456374e-03, + 8.2953876903301693e-03, -9.9988622364303725e-01, + 1.2598663101044294e-02, 3.1956268205111153e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 0 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81 # gravity magnitude + +#unsynchronization parameters +estimate_td: 1 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/A3_ptgrey/left.yaml b/config/A3_ptgrey/left.yaml new file mode 100644 index 0000000..d40633d --- /dev/null +++ b/config/A3_ptgrey/left.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 512 +distortion_parameters: + k1: -1.3445051055717713e-01 + k2: 9.3352440590059205e-02 + p1: 1.9849609143174310e-05 + p2: -2.2312866795141505e-04 +projection_parameters: + fx: 4.4364768517023509e+02 + fy: 4.4383960982739706e+02 + cx: 3.1871281848422359e+02 + cy: 2.4990737366327537e+02 diff --git a/config/A3_ptgrey/right.yaml b/config/A3_ptgrey/right.yaml new file mode 100644 index 0000000..8cfc691 --- /dev/null +++ b/config/A3_ptgrey/right.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 512 +distortion_parameters: + k1: -1.3508083449623129e-01 + k2: 9.2727834380078616e-02 + p1: -2.0323824111007161e-06 + p2: 2.6175094931305871e-04 +projection_parameters: + fx: 4.4548064415136548e+02 + fy: 4.4615298034311428e+02 + cx: 3.1819340401904532e+02 + cy: 2.5004333891088854e+02 diff --git a/config/KDQ_anker_config/anker_config.yaml b/config/KDQ_anker_config/anker_config.yaml new file mode 100644 index 0000000..5988372 --- /dev/null +++ b/config/KDQ_anker_config/anker_config.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/imu" +image0_topic: "/leftImg" +image1_topic: "/rightImg" +output_path: "/media/tzhang/Windows/Linux_Workspace/anker_vxo/output/" + +cam0_calib: "cam0_pinhole.yaml" +cam1_calib: "cam1_pinhole.yaml" +image_width: 640 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.00665184,0.286804,0.957966, 0.00382701, + -0.999967,-0.00257328,0.00771389,0.0456486, + 0.00467749,-0.957986,0.286778,0.0357241, + 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 0.0151318,0.29744,0.95462,0.00466955, + -0.999456,-0.023489,0.0231612,-0.024502, + 0.0293121,-0.954451,0.296923,0.0368016, + 0., 0., 0., 1. ] +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 15 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.8 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/zx/workspace/SlamCodes/OpenSource/vinsFusion_office/src/VINS-Fusion/output/pose_graph/" # save and load path +save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0 +loop_fusion_path: "/home/zx/workspace/SlamCodes/OpenSource/vinsFusion_ws/src/Vins-Fusion/loop_fusion/src/loop_fusion_package/loop_fusion_src/" diff --git a/config/KDQ_anker_config/cam0_pinhole.yaml b/config/KDQ_anker_config/cam0_pinhole.yaml new file mode 100644 index 0000000..8879c60 --- /dev/null +++ b/config/KDQ_anker_config/cam0_pinhole.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: 0.016300606930037643 + k2: -0.020688825221403327 + p1: -0.0003872523272063864 + p2: -0.00033227376118886797 +projection_parameters: + fx: 254.9799627570185 + fy: 255.07119789964858 + cx: 318.104259141322 + cy: 242.53344061266054 + + diff --git a/config/KDQ_anker_config/cam1_pinhole.yaml b/config/KDQ_anker_config/cam1_pinhole.yaml new file mode 100644 index 0000000..735b0b0 --- /dev/null +++ b/config/KDQ_anker_config/cam1_pinhole.yaml @@ -0,0 +1,19 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: 0.014983505953718208 + k2: -0.019138214389532913 + p1: -0.00012660762482459104 + p2: 0.0009578263369744463 +projection_parameters: + fx: 252.19417907196396 + fy: 252.33937686601232 + cx: 316.8486657002383 + cy: 236.7083462875632 + + + diff --git a/config/demo_zt/cam0_pinhole.yaml b/config/demo_zt/cam0_pinhole.yaml new file mode 100644 index 0000000..8793e99 --- /dev/null +++ b/config/demo_zt/cam0_pinhole.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: -0.0048089249727414785 + k2: -0.013393548809723843 + p1: -0.0010070202839747016 + p2: -0.0028377473929122794 +projection_parameters: + fx: 244.39706606549203 + fy: 244.43919654894017 + cx: 310.8702875753302 + cy: 239.87572968233707 + + diff --git a/config/demo_zt/cam1_pinhole.yaml b/config/demo_zt/cam1_pinhole.yaml new file mode 100644 index 0000000..8577ae4 --- /dev/null +++ b/config/demo_zt/cam1_pinhole.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: -0.010270220281389115 + k2: -0.009952741040350264 + p1: -0.0005469328261031849 + p2: -0.0010965620190471481 +projection_parameters: + fx: 242.73883217202982 + fy: 242.92479949319056 + cx: 323.4617248409885 + cy: 237.7978933106919 + + diff --git a/config/demo_zt/mono_imu_config.yaml b/config/demo_zt/mono_imu_config.yaml new file mode 100644 index 0000000..f3dbe2c --- /dev/null +++ b/config/demo_zt/mono_imu_config.yaml @@ -0,0 +1,62 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 1 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tzhang/Workspaces/VINS_FUSION/output/demo_zt" + +cam0_calib: "cam0_pinhole.yaml" +cam1_calib: "cam1_pinhole.yaml" +image_width: 640 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. +#cam0 to body +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.999271323307570,0.00852846938210465,0.0372033281459584,0.0828278516718943, + 0.0381290173549101,-0.267285905940945,-0.962862618716127,-0.0117478370404125, + 0.00173218090461715,0.963579529512394,-0.267416323088152,-0.0388532753530257, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.01 # accelerometer measurement noise standard deviation. +gyr_n: 0.004 # gyroscope measurement noise standard deviation. +acc_w: 0.0002 # accelerometer bias random work noise standard deviation. +gyr_w: 4.0e-06 # gyroscope bias random work noise standard deviation. +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.004846877718478031 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/tzhang/Workspaces/VINS_FUSION/pose_graph/" # save and load path +save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/demo_zt/stereo_config.yaml b/config/demo_zt/stereo_config.yaml new file mode 100644 index 0000000..b7a7d0a --- /dev/null +++ b/config/demo_zt/stereo_config.yaml @@ -0,0 +1,56 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 0 +num_of_cam: 2 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tzhang/Workspaces/VINS_FUSION/output/demo_zt" + +cam0_calib: "cam0_pinhole.yaml" +cam1_calib: "cam1_pinhole.yaml" +image_width: 640 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. +#cam0 to body +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.999271323307570,0.00852846938210465,0.0372033281459584,0.0828278516718943, + 0.0381290173549101,-0.267285905940945,-0.962862618716127,-0.0117478370404125, + 0.00173218090461715,0.963579529512394,-0.267416323088152,-0.0388532753530257, + 0, 0, 0, 1] + +#cam1 to body +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.998699154246156,0.0240997154388270,0.0449355429897195,0.150874603366308, + 0.0497248391977059,-0.265200812967436,-0.962910156332445,-0.00865543253971100, + -0.0112889182287616,0.963891971393672,-0.266054182090877,-0.0386876068564419, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) diff --git a/config/demo_zt/stereo_imu_config.yaml b/config/demo_zt/stereo_imu_config.yaml new file mode 100644 index 0000000..9a77125 --- /dev/null +++ b/config/demo_zt/stereo_imu_config.yaml @@ -0,0 +1,80 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tzhang/Workspaces/VINS_FUSION/output/demo_zt" + +cam0_calib: "cam0_pinhole.yaml" +cam1_calib: "cam1_pinhole.yaml" +image_width: 640 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. #设置为1结果不好 20190315 + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. +#cam0 to body +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d +# data: [0.9992713233075703, 0.03812901735491006, 0.0017321809046171519, -0.0822522625628521, +# 0.008528469382104647, -0.26728590594094515, 0.9635795295123941, 0.033591794721521455, +# 0.03720332814595835, -0.9628626187161267, -0.2674163230881521, -0.02478302491719382, +# 0, 0, 0, 1] + + data: [0.999271323307570,0.00852846938210465,0.0372033281459584,0.0828278516718943, + 0.0381290173549101,-0.267285905940945,-0.962862618716127,-0.0117478370404125, + 0.00173218090461715,0.963579529512394,-0.267416323088152,-0.0388532753530257, + 0, 0, 0, 1] + +#cam1 to body +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d +# data: [0.9986991542461556, 0.04972483919770584, -0.011288918228761612, -0.15068469001820062, +# 0.024099715438827045, -0.2652008129674357, 0.9638919713936717, 0.03135921088716902, +# 0.044935542989719524, -0.9629101563324448, -0.26605418209087706, -0.025407035724805686, +# 0, 0, 0, 1] + data: [0.998699154246156,0.0240997154388270,0.0449355429897195,0.150874603366308, + 0.0497248391977059,-0.265200812967436,-0.962910156332445,-0.00865543253971100, + -0.0112889182287616,0.963891971393672,-0.266054182090877,-0.0386876068564419, + 0, 0, 0, 1] +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.01 # accelerometer measurement noise standard deviation. +gyr_n: 0.004 # gyroscope measurement noise standard deviation. +acc_w: 0.0002 # accelerometer bias random work noise standard deviation. +gyr_w: 4.0e-06 # gyroscope bias random work noise standard deviation. +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.004846877718478031 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/tzhang/Workspaces/VINS_FUSION/output/pose_graph/" # save and load path +save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/euroc/cam0_mei.yaml b/config/euroc/cam0_mei.yaml new file mode 100644 index 0000000..b1ebe21 --- /dev/null +++ b/config/euroc/cam0_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 3.6313355285286337e+00 +distortion_parameters: + k1: 1.1757726639872075e+00 + k2: 1.5491281051140213e+01 + p1: -8.1237172954550494e-04 + p2: 6.7297684030310243e-04 +projection_parameters: + gamma1: 2.1387619122017772e+03 + gamma2: 2.1315886210259278e+03 + u0: 3.6119856633263799e+02 + v0: 2.4827644773395667e+02 diff --git a/config/euroc/cam0_pinhole.yaml b/config/euroc/cam0_pinhole.yaml new file mode 100644 index 0000000..b7eeef5 --- /dev/null +++ b/config/euroc/cam0_pinhole.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 752 +image_height: 480 +distortion_parameters: + k1: -2.9545645106987750e-01 + k2: 8.6623215640186171e-02 + p1: 2.0132892276082517e-06 + p2: 1.3924531371276508e-05 +projection_parameters: + fx: 4.6115862106007575e+02 + fy: 4.5975286598073296e+02 + cx: 3.6265929181685937e+02 + cy: 2.4852105668448124e+02 diff --git a/config/euroc/cam1_mei.yaml b/config/euroc/cam1_mei.yaml new file mode 100644 index 0000000..157d3bf --- /dev/null +++ b/config/euroc/cam1_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 8.1261505894146113e-01 +distortion_parameters: + k1: -3.4247886078397966e-01 + k2: 1.7108792755973357e-01 + p1: -6.6653144364906686e-04 + p2: 7.2311255846767091e-04 +projection_parameters: + gamma1: 8.3406249735437791e+02 + gamma2: 8.3140606765916948e+02 + u0: 3.7432007355249738e+02 + v0: 2.5422391621480082e+02 diff --git a/config/euroc/cam1_pinhole.yaml b/config/euroc/cam1_pinhole.yaml new file mode 100644 index 0000000..c509327 --- /dev/null +++ b/config/euroc/cam1_pinhole.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 752 +image_height: 480 +distortion_parameters: + k1: -2.9294124381930947e-01 + k2: 8.4798002331543665e-02 + p1: -2.9984646536002372e-04 + p2: 3.0028216325237329e-04 +projection_parameters: + fx: 4.6009781682258682e+02 + fy: 4.5890983492218902e+02 + cx: 3.7314916359808268e+02 + cy: 2.5440734973672119e+02 diff --git a/config/euroc/euroc_mono_imu_config.yaml b/config/euroc/euroc_mono_imu_config.yaml new file mode 100644 index 0000000..1a071f5 --- /dev/null +++ b/config/euroc/euroc_mono_imu_config.yaml @@ -0,0 +1,62 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 1 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "~/output/" + +cam0_calib: "cam0_mei.yaml" +cam1_calib: "cam1_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, + 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, + -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. +gyr_n: 0.01 # gyroscope measurement noise standard deviation. +acc_w: 0.001 # accelerometer bias random work noise standard deviation. +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "~/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/euroc/euroc_stereo_config.yaml b/config/euroc/euroc_stereo_config.yaml new file mode 100644 index 0000000..72a3c93 --- /dev/null +++ b/config/euroc/euroc_stereo_config.yaml @@ -0,0 +1,55 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 0 +num_of_cam: 2 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam0_mei.yaml" +cam1_calib: "cam1_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, + 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, + -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, + 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, + -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) diff --git a/config/euroc/euroc_stereo_imu_config.yaml b/config/euroc/euroc_stereo_imu_config.yaml new file mode 100644 index 0000000..e0a8660 --- /dev/null +++ b/config/euroc/euroc_stereo_imu_config.yaml @@ -0,0 +1,71 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "~/output/" + +cam0_calib: "cam0_mei.yaml" +cam1_calib: "cam1_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, + 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, + -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, + 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, + -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. +gyr_n: 0.01 # gyroscope measurement noise standard deviation. +acc_w: 0.001 # accelerometer bias random work noise standard deviation. +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "~/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/extrinsic_parameter_example.pdf b/config/extrinsic_parameter_example.pdf new file mode 100644 index 0000000..0119daa Binary files /dev/null and b/config/extrinsic_parameter_example.pdf differ diff --git a/config/fisheye_mask.jpg b/config/fisheye_mask.jpg new file mode 100644 index 0000000..5d3875f Binary files /dev/null and b/config/fisheye_mask.jpg differ diff --git a/config/fisheye_mask_752x480.jpg b/config/fisheye_mask_752x480.jpg new file mode 100644 index 0000000..5caf51f Binary files /dev/null and b/config/fisheye_mask_752x480.jpg differ diff --git a/config/kitti_odom/cam00-02.yaml b/config/kitti_odom/cam00-02.yaml new file mode 100644 index 0000000..8090a91 --- /dev/null +++ b/config/kitti_odom/cam00-02.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1241 +image_height: 376 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.188560000000e+02 + fy: 7.188560000000e+02 + cx: 6.071928000000e+02 + cy: 1.852157000000e+02 diff --git a/config/kitti_odom/cam03.yaml b/config/kitti_odom/cam03.yaml new file mode 100644 index 0000000..2848891 --- /dev/null +++ b/config/kitti_odom/cam03.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1241 +image_height: 376 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.215377000000e+02 + fy: 7.215377000000e+02 + cx: 6.095593000000e+02 + cy: 1.728540000000e+02 diff --git a/config/kitti_odom/cam04-12.yaml b/config/kitti_odom/cam04-12.yaml new file mode 100644 index 0000000..765d9d3 --- /dev/null +++ b/config/kitti_odom/cam04-12.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1241 +image_height: 376 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.070912000000e+02 + fy: 7.070912000000e+02 + cx: 6.018873000000e+02 + cy: 1.831104000000e+02 diff --git a/config/kitti_odom/cam13-21.yaml b/config/kitti_odom/cam13-21.yaml new file mode 100644 index 0000000..8090a91 --- /dev/null +++ b/config/kitti_odom/cam13-21.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1241 +image_height: 376 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.188560000000e+02 + fy: 7.188560000000e+02 + cx: 6.071928000000e+02 + cy: 1.852157000000e+02 diff --git a/config/kitti_odom/kitti_config00-02.yaml b/config/kitti_odom/kitti_config00-02.yaml new file mode 100644 index 0000000..c9bef61 --- /dev/null +++ b/config/kitti_odom/kitti_config00-02.yaml @@ -0,0 +1,65 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "/leftImage" +image1_topic: "/rightImage" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam00-02.yaml" +cam1_calib: "cam00-02.yaml" +image_width: 1241 +image_height: 376 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537165718864418, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + diff --git a/config/kitti_odom/kitti_config03.yaml b/config/kitti_odom/kitti_config03.yaml new file mode 100644 index 0000000..86730b7 --- /dev/null +++ b/config/kitti_odom/kitti_config03.yaml @@ -0,0 +1,66 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "/leftImage" +image1_topic: "/rightImage" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam03.yaml" +cam1_calib: "cam03.yaml" +image_width: 1241 +image_height: 376 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537150588250621, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + diff --git a/config/kitti_odom/kitti_config04-12.yaml b/config/kitti_odom/kitti_config04-12.yaml new file mode 100644 index 0000000..985cba0 --- /dev/null +++ b/config/kitti_odom/kitti_config04-12.yaml @@ -0,0 +1,65 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "/leftImage" +image1_topic: "/rightImage" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam04-12.yaml" +cam1_calib: "cam04-12.yaml" +image_width: 1241 +image_height: 376 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537150653267924, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + diff --git a/config/kitti_odom/kitti_config13-21.yaml b/config/kitti_odom/kitti_config13-21.yaml new file mode 100644 index 0000000..17485cd --- /dev/null +++ b/config/kitti_odom/kitti_config13-21.yaml @@ -0,0 +1,65 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "/leftImage" +image1_topic: "/rightImage" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam13-21.yaml" +cam1_calib: "cam13-21.yaml" +image_width: 1241 +image_height: 376 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537165718864418, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + diff --git a/config/kitti_raw/cam_09_30.yaml b/config/kitti_raw/cam_09_30.yaml new file mode 100644 index 0000000..45ccd08 --- /dev/null +++ b/config/kitti_raw/cam_09_30.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1226 +image_height: 370 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.070912e+02 + fy: 7.070912e+02 + cx: 6.018873e+02 + cy: 1.831104e+02 diff --git a/config/kitti_raw/cam_10_03.yaml b/config/kitti_raw/cam_10_03.yaml new file mode 100644 index 0000000..8090a91 --- /dev/null +++ b/config/kitti_raw/cam_10_03.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 1241 +image_height: 376 +distortion_parameters: + k1: 0 + k2: 0 + p1: 0 + p2: 0 +projection_parameters: + fx: 7.188560000000e+02 + fy: 7.188560000000e+02 + cx: 6.071928000000e+02 + cy: 1.852157000000e+02 diff --git a/config/kitti_raw/kitti_09_30_config.yaml b/config/kitti_raw/kitti_09_30_config.yaml new file mode 100644 index 0000000..8af6604 --- /dev/null +++ b/config/kitti_raw/kitti_09_30_config.yaml @@ -0,0 +1,65 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "" +image1_topic: "" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam_09_30.yaml" +cam1_calib: "cam_09_30.yaml" +image_width: 1241 +image_height: 376 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537150653267924, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + diff --git a/config/kitti_raw/kitti_10_03_config.yaml b/config/kitti_raw/kitti_10_03_config.yaml new file mode 100644 index 0000000..a13bfeb --- /dev/null +++ b/config/kitti_raw/kitti_10_03_config.yaml @@ -0,0 +1,66 @@ +%YAML:1.0 + +#common parameters +imu: 0 +num_of_cam: 2 + +imu_topic: "" +image0_topic: "" +image1_topic: "" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam_10_03.yaml" +cam1_calib: "cam_10_03.yaml" +image_width: 1241 +image_height: 376 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [1, 0, 0, 0.537165718864418, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1] + +#Multiple thread support +multiple_thread: 0 + +#feature traker paprameters +max_cnt: 200 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.08 # max solver itration time (s), to guarantee real time +max_num_iterations: 10 # max solver itrations, to guarantee real time +keyframe_parallax: 15 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 1.0e-4 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.81007 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + + diff --git a/config/mynteye/left_mei.yaml b/config/mynteye/left_mei.yaml new file mode 100644 index 0000000..854d4c7 --- /dev/null +++ b/config/mynteye/left_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 1.4456544769803834e+00 +distortion_parameters: + k1: -3.4363053357673362e-01 + k2: 6.2347376791548004e-02 + p1: 1.2608078788285675e-03 + p2: -2.1374139252651483e-04 +projection_parameters: + gamma1: 8.9594371861807986e+02 + gamma2: 8.9741581479032754e+02 + u0: 3.7221680816143993e+02 + v0: 2.3833534175557006e+02 diff --git a/config/mynteye/mynteye_mono_imu_config.yaml b/config/mynteye/mynteye_mono_imu_config.yaml new file mode 100644 index 0000000..de7fbe7 --- /dev/null +++ b/config/mynteye/mynteye_mono_imu_config.yaml @@ -0,0 +1,62 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 1 + +imu_topic: "/mynteye/imu/data_raw" +image0_topic: "/mynteye/left/image_raw" +output_path: "/home/tong/output/" + +cam0_calib: "left_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 4.2812441490024389e-03, -9.9997001507473682e-01, + -6.4528985710044385e-03, 5.2583356071589790e-05, + 9.9996900935734523e-01, 4.2384270612576547e-03, + 6.6344601088757426e-03, -4.2174706544162562e-02, + -6.6069110351583190e-03, -6.4811023350536514e-03, + 9.9995717110239080e-01, 1.9238715201769417e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.8 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/mynteye/mynteye_stereo_config.yaml b/config/mynteye/mynteye_stereo_config.yaml new file mode 100644 index 0000000..5868abc --- /dev/null +++ b/config/mynteye/mynteye_stereo_config.yaml @@ -0,0 +1,59 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 0 +num_of_cam: 2 + +imu_topic: "/mynteye/imu/data_raw" +image0_topic: "/mynteye/left/image_raw" +image1_topic: "/mynteye/right/image_raw" +output_path: "/home/tong/output/" + +cam0_calib: "left_mei.yaml" +cam1_calib: "right_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 4.2812441490024389e-03, -9.9997001507473682e-01, + -6.4528985710044385e-03, 5.2583356071589790e-05, + 9.9996900935734523e-01, 4.2384270612576547e-03, + 6.6344601088757426e-03, -4.2174706544162562e-02, + -6.6069110351583190e-03, -6.4811023350536514e-03, + 9.9995717110239080e-01, 1.9238715201769417e-02, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 1.6525177162010074e-03, -9.9998509853672479e-01, + -5.2030654132755290e-03, -2.9251875934051923e-03, + 9.9994935393851081e-01, 1.6007594247438028e-03, + 9.9361525360214843e-03, 7.4379061731550719e-02, + -9.9276756168115085e-03, -5.2192215666013279e-03, + 9.9993709851324453e-01, 1.9302672329335892e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) diff --git a/config/mynteye/mynteye_stereo_imu_config.yaml b/config/mynteye/mynteye_stereo_imu_config.yaml new file mode 100644 index 0000000..efec204 --- /dev/null +++ b/config/mynteye/mynteye_stereo_imu_config.yaml @@ -0,0 +1,75 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/mynteye/imu/data_raw" +image0_topic: "/mynteye/left/image_raw" +image1_topic: "/mynteye/right/image_raw" +output_path: "/home/tong/output/" + +cam0_calib: "left_mei.yaml" +cam1_calib: "right_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 4.2812441490024389e-03, -9.9997001507473682e-01, + -6.4528985710044385e-03, 5.2583356071589790e-05, + 9.9996900935734523e-01, 4.2384270612576547e-03, + 6.6344601088757426e-03, -4.2174706544162562e-02, + -6.6069110351583190e-03, -6.4811023350536514e-03, + 9.9995717110239080e-01, 1.9238715201769417e-02, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 1.6525177162010074e-03, -9.9998509853672479e-01, + -5.2030654132755290e-03, -2.9251875934051923e-03, + 9.9994935393851081e-01, 1.6007594247438028e-03, + 9.9361525360214843e-03, 7.4379061731550719e-02, + -9.9276756168115085e-03, -5.2192215666013279e-03, + 9.9993709851324453e-01, 1.9302672329335892e-02, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.01 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.001 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.0001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.00001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.8 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/mynteye/right_mei.yaml b/config/mynteye/right_mei.yaml new file mode 100644 index 0000000..061a5a5 --- /dev/null +++ b/config/mynteye/right_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 1.5056030540672460e+00 +distortion_parameters: + k1: -3.3438688001613459e-01 + k2: 5.9476752495134476e-02 + p1: 8.0977827623840968e-04 + p2: -3.0586511092468437e-04 +projection_parameters: + gamma1: 9.1750195243578469e+02 + gamma2: 9.1886842077728443e+02 + u0: 3.6283572280856060e+02 + v0: 2.4789274770430072e+02 diff --git a/config/realsense_d435i/left.yaml b/config/realsense_d435i/left.yaml new file mode 100644 index 0000000..e070029 --- /dev/null +++ b/config/realsense_d435i/left.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: 0.0 + k2: 0.0 + p1: 0.0 + p2: 0.0 +projection_parameters: + fx: 385.7544860839844 + fy: 385.7544860839844 + cx: 323.1204833984375 + cy: 236.7432098388672 diff --git a/config/realsense_d435i/realsense_stereo_imu_config.yaml b/config/realsense_d435i/realsense_stereo_imu_config.yaml new file mode 100644 index 0000000..0c317cf --- /dev/null +++ b/config/realsense_d435i/realsense_stereo_imu_config.yaml @@ -0,0 +1,75 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/camera/imu" +image0_topic: "/camera/infra1/image_rect_raw" +image1_topic: "/camera/infra2/image_rect_raw" +output_path: "/home/dji/output/" + +cam0_calib: "left.yaml" +cam1_calib: "right.yaml" +image_width: 640 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 1 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -5.7586305857286746e-03, -4.0463318787729019e-03, + 9.9997523237933461e-01, 2.0329267950355900e-02, + -9.9998287214160420e-01, -1.0224590553211677e-03, + -5.7628118925283633e-03, 7.9325209639615653e-03, + 1.0457519809151661e-03, -9.9999129084997906e-01, + -4.0403746097850135e-03, 2.8559824645148020e-03, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ -1.0021770212322867e-03, 3.6313480322730518e-04, + 9.9999943188700535e-01, 1.5285779565991807e-02, + -9.9999216342926500e-01, -3.8303422615924010e-03, + -1.0007788055728661e-03, -5.2435791444330505e-02, + 3.8299766679101843e-03, -9.9999259827824449e-01, + 3.6697063849344680e-04, 8.6931302450199057e-03, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 0 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.002 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.805 # gravity magnitude + +#unsynchronization parameters +estimate_td: 1 # online estimate time offset between camera and imu +td: 0.00 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/dji/output/pose_graph/" # save and load path +save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/realsense_d435i/right.yaml b/config/realsense_d435i/right.yaml new file mode 100644 index 0000000..e070029 --- /dev/null +++ b/config/realsense_d435i/right.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 640 +image_height: 480 +distortion_parameters: + k1: 0.0 + k2: 0.0 + p1: 0.0 + p2: 0.0 +projection_parameters: + fx: 385.7544860839844 + fy: 385.7544860839844 + cx: 323.1204833984375 + cy: 236.7432098388672 diff --git a/config/realsense_d435i/rs_camera.launch b/config/realsense_d435i/rs_camera.launch new file mode 100644 index 0000000..41e7f5c --- /dev/null +++ b/config/realsense_d435i/rs_camera.launch @@ -0,0 +1,98 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/config/simulation/cam0_mei.yaml b/config/simulation/cam0_mei.yaml new file mode 100644 index 0000000..bcfc156 --- /dev/null +++ b/config/simulation/cam0_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 3.0633764917425501e+00 +distortion_parameters: + k1: 6.7296125087202374e-01 + k2: 7.0505005635804165e+00 + p1: -7.1646417060193405e-04 + p2: 3.7726282314035999e-06 +projection_parameters: + gamma1: 1.8773328912829591e+03 + gamma2: 1.8713578182686983e+03 + u0: 3.6146672812803479e+02 + v0: 2.4825977260132368e+02 diff --git a/config/simulation/cam1_mei.yaml b/config/simulation/cam1_mei.yaml new file mode 100644 index 0000000..1404e3c --- /dev/null +++ b/config/simulation/cam1_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 7.9543129315437044e-01 +distortion_parameters: + k1: -3.4301744493890163e-01 + k2: 1.6523345829809358e-01 + p1: -6.6390289224722723e-04 + p2: 6.1013821162347979e-04 +projection_parameters: + gamma1: 8.2637253244373983e+02 + gamma2: 8.2381498173503280e+02 + u0: 3.7451475162974936e+02 + v0: 2.5418559325208039e+02 diff --git a/config/simulation/simulation_config.yaml b/config/simulation/simulation_config.yaml new file mode 100644 index 0000000..30895c2 --- /dev/null +++ b/config/simulation/simulation_config.yaml @@ -0,0 +1,66 @@ +%YAML:1.0 + +#common parameters +imu: 1 +num_of_cam: 2 # 1 or 2 + +imu_topic: "/data_generator/imu" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tony-ws1/output/" + +cam0_calib: "cam0_mei.yaml" +cam1_calib: "cam1_mei.yaml" +image_width: 600 +image_height: 600 + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + # 2 Don't know anything about extrinsic parameters. You don't need to give R,T. We will try to calibrate it. Do some rotation movement at beginning. +#If you choose 0 or 1, you should write down the following matrix. + +#cam0 to body +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0, 0, -1, -0.02, + -1, 0, 0, 0, + 0, 1, 0, 0.02, + 0, 0, 0, 1] + +#cam1 to body +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [0, 0, -1, 0, + -1, 0, 0, 0, + 0, 1, 0, 0.3, + 0, 0, 0, 1] + + +#Multiple thread support +multiple_thread: 0 + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.2 # accelerometer measurement noise standard deviation. #0.2 +gyr_n: 0.02 # gyroscope measurement noise standard deviation. #0.05 +acc_w: 0.0002 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 2.0e-5 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.805 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#visualization parameters +save_image: 0 # save image in pose graph for visualization prupose; you can close this function by setting 0 +visualize_imu_forward: 1 # output imu forward propogation to achieve low latency and high frequence results +visualize_camera_size: 0.4 # size of camera marker in RVIZ diff --git a/config/vi_car/cam0_mei.yaml b/config/vi_car/cam0_mei.yaml new file mode 100644 index 0000000..47d0d25 --- /dev/null +++ b/config/vi_car/cam0_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 1.8162816904697401e+00 +distortion_parameters: + k1: -5.2280966938007600e-02 + k2: 5.3709501857137787e-01 + p1: -3.5867321540317175e-04 + p2: -2.5596838136604099e-04 +projection_parameters: + gamma1: 1.3217792921289520e+03 + gamma2: 1.3237233061481388e+03 + u0: 3.5263371410695777e+02 + v0: 2.2968716966022129e+02 diff --git a/config/vi_car/cam0_pinhole.yaml b/config/vi_car/cam0_pinhole.yaml new file mode 100644 index 0000000..f198925 --- /dev/null +++ b/config/vi_car/cam0_pinhole.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 752 +image_height: 480 +distortion_parameters: + k1: -2.9839715720358556e-01 + k2: 9.2224519780237782e-02 + p1: -1.1990340691497372e-04 + p2: -7.4597868882045419e-05 +projection_parameters: + fx: 4.6894439430045497e+02 + fy: 4.6967991177317680e+02 + cx: 3.5308385782266549e+02 + cy: 2.2974410036895023e+02 diff --git a/config/vi_car/cam1_mei.yaml b/config/vi_car/cam1_mei.yaml new file mode 100644 index 0000000..946f812 --- /dev/null +++ b/config/vi_car/cam1_mei.yaml @@ -0,0 +1,18 @@ +%YAML:1.0 +--- +model_type: MEI +camera_name: camera +image_width: 752 +image_height: 480 +mirror_parameters: + xi: 1.0717101664076085e+00 +distortion_parameters: + k1: -3.0221279791260491e-01 + k2: 1.9647499896032700e-01 + p1: 1.6647738868803629e-04 + p2: 5.1332315500428121e-04 +projection_parameters: + gamma1: 9.7068844957117221e+02 + gamma2: 9.7213267608006288e+02 + u0: 3.8278539255731852e+02 + v0: 2.1495866029789241e+02 diff --git a/config/vi_car/cam1_pinhole.yaml b/config/vi_car/cam1_pinhole.yaml new file mode 100644 index 0000000..9608ba8 --- /dev/null +++ b/config/vi_car/cam1_pinhole.yaml @@ -0,0 +1,16 @@ +%YAML:1.0 +--- +model_type: PINHOLE +camera_name: camera +image_width: 752 +image_height: 480 +distortion_parameters: + k1: -2.9763128376118680e-01 + k2: 9.0354783440227335e-02 + p1: -2.5315527693196740e-05 + p2: 2.4884965918568053e-04 +projection_parameters: + fx: 4.6820212929945529e+02 + fy: 4.6896282983826859e+02 + cx: 3.8334923402828576e+02 + cy: 2.1515746036286851e+02 diff --git a/config/vi_car/vi_car.yaml b/config/vi_car/vi_car.yaml new file mode 100644 index 0000000..e41fde0 --- /dev/null +++ b/config/vi_car/vi_car.yaml @@ -0,0 +1,75 @@ +%YAML:1.0 + +#common parameters +#support: 1 imu 1 cam; 1 imu 2 cam: 2 cam; +imu: 1 +num_of_cam: 2 + +imu_topic: "/imu0" +image0_topic: "/cam0/image_raw" +image1_topic: "/cam1/image_raw" +output_path: "/home/tong/output/" + +cam0_calib: "cam0_mei.yaml" +cam1_calib: "cam1_mei.yaml" +image_width: 752 +image_height: 480 + + +# Extrinsic parameter between IMU and Camera. +estimate_extrinsic: 0 # 0 Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it. + # 1 Have an initial guess about extrinsic parameters. We will optimize around your initial guess. + +body_T_cam0: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 9.9991036582958637e-01, 1.1948793070511360e-02, + -6.0404180899061577e-03, 3.8836925129605959e-02, + -1.1931508793228868e-02, 9.9992464233075007e-01, + 2.8894216789357523e-03, -4.7406823518464092e-03, + 6.0744879998126597e-03, -2.8170913864660921e-03, + 9.9997758204454790e-01, -3.5997702822723361e-03, 0., 0., 0., 1. ] + +body_T_cam1: !!opencv-matrix + rows: 4 + cols: 4 + dt: d + data: [ 9.9993524996167893e-01, 1.0794248206017055e-02, + 3.6027891614088276e-03, -7.1831109637002136e-02, + -1.0796833045707175e-02, 9.9994146833980613e-01, + 6.9877794450892857e-04, 2.1952350924807923e-04, + -3.5950355016039623e-03, -7.3763141168485817e-04, + 9.9999326578714653e-01, -7.1952800314573134e-03, 0., 0., 0., 1. ] + +#Multiple thread support +multiple_thread: 1 + +#feature traker paprameters +max_cnt: 150 # max feature number in feature tracking +min_dist: 30 # min distance between two features +freq: 10 # frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image +F_threshold: 1.0 # ransac threshold (pixel) +show_track: 1 # publish tracking image as topic +flow_back: 1 # perform forward and backward optical flow to improve feature tracking accuracy + +#optimization parameters +max_solver_time: 0.04 # max solver itration time (ms), to guarantee real time +max_num_iterations: 8 # max solver itrations, to guarantee real time +keyframe_parallax: 10.0 # keyframe selection threshold (pixel) + +#imu parameters The more accurate parameters you provide, the better performance +acc_n: 0.1 # accelerometer measurement noise standard deviation. #0.2 0.04 +gyr_n: 0.01 # gyroscope measurement noise standard deviation. #0.05 0.004 +acc_w: 0.001 # accelerometer bias random work noise standard deviation. #0.02 +gyr_w: 0.0001 # gyroscope bias random work noise standard deviation. #4.0e-5 +g_norm: 9.8 # gravity magnitude + +#unsynchronization parameters +estimate_td: 0 # online estimate time offset between camera and imu +td: 0.0 # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock) + +#loop closure parameters +load_previous_pose_graph: 0 # load and reuse previous pose graph; load from 'pose_graph_save_path' +pose_graph_save_path: "/home/tony-ws1/output/pose_graph/" # save and load path +save_image: 1 # save image in pose graph for visualization prupose; you can close this function by setting 0 diff --git a/config/vins_rviz_config.rviz b/config/vins_rviz_config.rviz new file mode 100644 index 0000000..e2f31cf --- /dev/null +++ b/config/vins_rviz_config.rviz @@ -0,0 +1,389 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /VIOGroup1 + - /GlobalGroup1/CarModel1 + Splitter Ratio: 0.465115994 + Tree Height: 391 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 359 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Axes + Enabled: true + Length: 0.5 + Name: Axes + Radius: 0.0500000007 + Reference Frame: + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /loop_fusion/pose_graph + Name: loopLink + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /loop_fusion/camera_pose_visual + Name: loopCamera + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 204; 0; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0399999991 + Name: loopPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /loop_fusion/pose_graph_path + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -0.00362956035 + Min Value: -0.155465692 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 10 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.00999999978 + Style: Points + Topic: /loop_fusion/margin_cloud_loop_rect + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 4 + Size (m): 0.00999999978 + Style: Points + Topic: /loop_fusion/point_cloud_loop_rect + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /loop_fusion/match_image + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: loop_match_Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: LoopGroup + - Class: rviz/Group + Displays: + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: VIOPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /vins_estimator/path + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vins_estimator/camera_pose_visual + Name: CameraMarker + Namespaces: + CameraPoseVisualization: true + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.00999999978 + Style: Points + Topic: /vins_estimator/point_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud + Color: 0; 255; 0 + Color Transformer: FlatColor + Decay Time: 100 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: HistoryPointCloud + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 1 + Size (m): 0.00999999978 + Style: Points + Topic: /vins_estimator/margin_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /vins_estimator/image_track + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: track_image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: VIOGroup + - Class: rviz/Group + Displays: + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 0; 0; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: GloablPath + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /globalEstimator/global_path + Unreliable: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /globalEstimator/car_model + Name: CarModel + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Name: GlobalGroup + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 9.25509071 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 5.41722155 + Y: 2.55447936 + Z: 0.381437331 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.584796369 + Target Frame: world + Value: ThirdPersonFollower (rviz) + Yaw: 5.95880604 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1855 + X: 65 + Y: 24 + loop_match_Image: + collapsed: false + track_image: + collapsed: false diff --git a/docker/Dockerfile b/docker/Dockerfile new file mode 100644 index 0000000..16862c8 --- /dev/null +++ b/docker/Dockerfile @@ -0,0 +1,46 @@ +FROM ros:kinetic-perception + +ENV CERES_VERSION="1.12.0" +ENV CATKIN_WS=/root/catkin_ws + + # set up thread number for building +RUN if [ "x$(nproc)" = "x1" ] ; then export USE_PROC=1 ; \ + else export USE_PROC=$(($(nproc)/2)) ; fi && \ + apt-get update && apt-get install -y \ + cmake \ + libatlas-base-dev \ + libeigen3-dev \ + libgoogle-glog-dev \ + libsuitesparse-dev \ + python-catkin-tools \ + ros-${ROS_DISTRO}-cv-bridge \ + ros-${ROS_DISTRO}-image-transport \ + ros-${ROS_DISTRO}-message-filters \ + ros-${ROS_DISTRO}-tf && \ + rm -rf /var/lib/apt/lists/* && \ + # Build and install Ceres + git clone https://ceres-solver.googlesource.com/ceres-solver && \ + cd ceres-solver && \ + git checkout tags/${CERES_VERSION} && \ + mkdir build && cd build && \ + cmake .. && \ + make -j$(USE_PROC) install && \ + rm -rf ../../ceres-solver && \ + mkdir -p $CATKIN_WS/src/VINS-Fusion/ + +# Copy VINS-Fusion +COPY ./ $CATKIN_WS/src/VINS-Fusion/ +# use the following line if you only have this dockerfile +# RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git + +# Build VINS-Fusion +WORKDIR $CATKIN_WS +ENV TERM xterm +ENV PYTHONIOENCODING UTF-8 +RUN catkin config \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release && \ + catkin build && \ + sed -i '/exec "$@"/i \ + source "/root/catkin_ws/devel/setup.bash"' /ros_entrypoint.sh diff --git a/docker/Makefile b/docker/Makefile new file mode 100644 index 0000000..7789c29 --- /dev/null +++ b/docker/Makefile @@ -0,0 +1,16 @@ +all: help + +help: + @echo "" + @echo "-- Help Menu" + @echo "" + @echo " 1. make build - build all images" + # @echo " 1. make pull - pull all images" + @echo " 1. make clean - remove all images" + @echo "" + +build: + @docker build --tag ros:vins-fusion -f ./Dockerfile .. + +clean: + @docker rmi -f ros:vins-fusion diff --git a/docker/run.sh b/docker/run.sh new file mode 100644 index 0000000..886c8db --- /dev/null +++ b/docker/run.sh @@ -0,0 +1,223 @@ +#!/bin/bash +trap : SIGTERM SIGINT + +function echoUsage() +{ + echo -e "Usage: ./run.sh [FLAG] LAUNCH_FILE \n\ + \t -l with loop fusion \n\ + \t -g with global fusion \n\ + \t -k with kitti \n\ + \t -h help" >&2 +} + +function absPath() +{ + # generate absolute path from relative path + # $1 : relative filename + # return : absolute path + if [ -d "$1" ]; then + # dir + (cd "$1"; pwd) + elif [ -f "$1" ]; then + # file + if [[ $1 = /* ]]; then + echo "$1" + elif [[ $1 == */* ]]; then + echo "$(cd "${1%/*}"; pwd)/${1##*/}" + else + echo "$(pwd)/$1" + fi + fi +} + +function relativePath() +{ + # both $1 and $2 are absolute paths beginning with / + # returns relative path to $2/$target from $1/$source + source=$1 + target=$2 + + common_part=$source # for now + result="" # for now + + while [[ "${target#$common_part}" == "${target}" ]]; do + # no match, means that candidate common part is not correct + # go up one level (reduce common part) + common_part="$(dirname $common_part)" + # and record that we went back, with correct / handling + if [[ -z $result ]]; then + result=".." + else + result="../$result" + fi + done + + if [[ $common_part == "/" ]]; then + # special case for root (no common path) + result="$result/" + fi + + # since we now have identified the common part, + # compute the non-common part + forward_part="${target#$common_part}" + + # and now stick all parts together + if [[ -n $result ]] && [[ -n $forward_part ]]; then + result="$result$forward_part" + elif [[ -n $forward_part ]]; then + # extra slash removal + result="${forward_part:1}" + fi + + echo $result +} + +if [ "$#" -lt 1 ]; then + echoUsage + exit 1 +fi + +LOOP_FUSION=0 +GLOBAL_FUSION=0 +KITTI=0 + +while getopts "hglk" opt; do + case "$opt" in + h) + echoUsage + exit 0 + ;; + g) GLOBAL_FUSION=1 + ;; + l) LOOP_FUSION=1 + ;; + k) KITTI=1 + ;; + *) + echoUsage + exit 1 + ;; + esac +done + +if [ $KITTI -eq 0 ]; then + CONFIG_IN_DOCKER="/root/catkin_ws/src/VINS-Fusion/$(relativePath $(absPath ..) $(absPath ${*: -1}))" +else + CONFIG_IN_DOCKER="/root/catkin_ws/src/VINS-Fusion/$(relativePath $(absPath ..) $(absPath ${*: -2:1}))" + KITTI_DATASET="$(absPath ${*: -1})" +fi + +roscore & +ROSCORE_PID=$! +sleep 1 + +rviz -d ../config/vins_rviz_config.rviz & +RVIZ_PID=$! + +VINS_FUSION_DIR=$(absPath "..") + +if [ $KITTI -eq 0 ]; then + if [ $LOOP_FUSION -eq 0 ]; then + docker run \ + -it \ + --rm \ + --net=host \ + -v ${VINS_FUSION_DIR}:/root/catkin_ws/src/VINS-Fusion/ \ + ros:vins-fusion \ + /bin/bash -c \ + "cd /root/catkin_ws/; \ + catkin config \ + --env-cache \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release; \ + catkin build; \ + source devel/setup.bash; \ + rosrun vins vins_node ${CONFIG_IN_DOCKER}" + else + docker run \ + -it \ + --rm \ + --net=host \ + -v ${VINS_FUSION_DIR}:/root/catkin_ws/src/VINS-Fusion/ \ + ros:vins-fusion \ + /bin/bash -c \ + "cd /root/catkin_ws/; \ + catkin config \ + --env-cache \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release; \ + catkin build; \ + source devel/setup.bash; \ + rosrun loop_fusion loop_fusion_node ${CONFIG_IN_DOCKER} & \ + rosrun vins vins_node ${CONFIG_IN_DOCKER}" + fi +else + if [ $LOOP_FUSION -eq 1 ]; then + docker run \ + -it \ + --rm \ + --net=host \ + -v ${VINS_FUSION_DIR}:/root/catkin_ws/src/VINS-Fusion/ \ + -v ${KITTI_DATASET}:/root/kitti_dataset/ \ + ros:vins-fusion \ + /bin/bash -c \ + "cd /root/catkin_ws/; \ + catkin config \ + --env-cache \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release; \ + catkin build; \ + source devel/setup.bash; \ + rosrun loop_fusion loop_fusion_node ${CONFIG_IN_DOCKER} & \ + rosrun vins kitti_odom_test ${CONFIG_IN_DOCKER} /root/kitti_dataset/" + elif [ $GLOBAL_FUSION -eq 1 ]; then + docker run \ + -it \ + --rm \ + --net=host \ + -v ${VINS_FUSION_DIR}:/root/catkin_ws/src/VINS-Fusion/ \ + -v ${KITTI_DATASET}:/root/kitti_dataset/ \ + ros:vins-fusion \ + /bin/bash -c \ + "cd /root/catkin_ws/; \ + catkin config \ + --env-cache \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release; \ + catkin build; \ + source devel/setup.bash; \ + rosrun global_fusion global_fusion_node & \ + rosrun vins kitti_gps_test ${CONFIG_IN_DOCKER} /root/kitti_dataset/" + else + docker run \ + -it \ + --rm \ + --net=host \ + -v ${VINS_FUSION_DIR}:/root/catkin_ws/src/VINS-Fusion/ \ + -v ${KITTI_DATASET}:/root/kitti_dataset/ \ + ros:vins-fusion \ + /bin/bash -c \ + "cd /root/catkin_ws/; \ + catkin config \ + --env-cache \ + --extend /opt/ros/$ROS_DISTRO \ + --cmake-args \ + -DCMAKE_BUILD_TYPE=Release; \ + catkin build; \ + source devel/setup.bash; \ + rosrun vins kitti_odom_test ${CONFIG_IN_DOCKER} /root/kitti_dataset/" + fi +fi + +wait $ROSCORE_PID +wait $RVIZ_PID + +if [[ $? -gt 128 ]] +then + kill $ROSCORE_PID + kill $RVIZ_PID +fi diff --git a/global_fusion/CMakeLists.txt b/global_fusion/CMakeLists.txt new file mode 100644 index 0000000..2016261 --- /dev/null +++ b/global_fusion/CMakeLists.txt @@ -0,0 +1,33 @@ +cmake_minimum_required(VERSION 2.8.3) +project(global_fusion) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +#-DEIGEN_USE_MKL_ALL") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +find_package(Ceres REQUIRED) + +add_subdirectory(./ThirdParty/GeographicLib/) + +include_directories( + ${catkin_INCLUDE_DIRS} + ${CERES_INCLUDE_DIRS} + ./ThirdParty/GeographicLib/include/ +) + + +catkin_package() + + +add_executable(global_fusion_node + src/globalOptNode.cpp + src/globalOpt.cpp) + +target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc) \ No newline at end of file diff --git a/global_fusion/ThirdParty/GeographicLib/CMakeLists.txt b/global_fusion/ThirdParty/GeographicLib/CMakeLists.txt new file mode 100644 index 0000000..e26e5f6 --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/CMakeLists.txt @@ -0,0 +1,36 @@ +project (GeographicLib) + +# Version information +set (PROJECT_VERSION_MAJOR 1) +set (PROJECT_VERSION_MINOR 49) +set (PROJECT_VERSION_PATCH 0) +set (PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}") +if (PROJECT_VERSION_PATCH GREATER 0) + set (PROJECT_VERSION "${PROJECT_VERSION}.${PROJECT_VERSION_PATCH}") +endif () + +# The library version tracks the numbering given by libtool in the +# autoconf set up. +set (LIBVERSION_API 17) +set (LIBVERSION_BUILD 17.1.2) +string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) +string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER) + +cmake_minimum_required (VERSION 2.8.4) # This version was released 2011-02-16 + +# (7) Set the default "real" precision. This should probably be left +# at 2 (double). +set (GEOGRAPHICLIB_PRECISION 2 CACHE STRING + "Precision: 1 = float, 2 = double, 3 = extended, 4 = quadruple, 5 = variable") +set_property (CACHE GEOGRAPHICLIB_PRECISION PROPERTY STRINGS 1 2 3 4 5) + + +set (LIBNAME Geographic) + +include_directories( + ./include/ +) + +add_library(libGeographiccc src/LocalCartesian.cpp + src/Geocentric.cpp + src/Math.cpp) \ No newline at end of file diff --git a/global_fusion/ThirdParty/GeographicLib/include/Config.h b/global_fusion/ThirdParty/GeographicLib/include/Config.h new file mode 100644 index 0000000..5611465 --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/include/Config.h @@ -0,0 +1,12 @@ +// This will be overwritten by ./configure + +#define GEOGRAPHICLIB_VERSION_STRING "1.49" +#define GEOGRAPHICLIB_VERSION_MAJOR 1 +#define GEOGRAPHICLIB_VERSION_MINOR 49 +#define GEOGRAPHICLIB_VERSION_PATCH 0 + +// Undefine HAVE_LONG_DOUBLE if this type is unknown to the compiler +#define GEOGRAPHICLIB_HAVE_LONG_DOUBLE 1 + +// Define WORDS_BIGENDIAN to be 1 if your machine is big endian +/* #undef WORDS_BIGENDIAN */ diff --git a/global_fusion/ThirdParty/GeographicLib/include/Constants.hpp b/global_fusion/ThirdParty/GeographicLib/include/Constants.hpp new file mode 100644 index 0000000..a0d2fd5 --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/include/Constants.hpp @@ -0,0 +1,403 @@ +/** + * \file Constants.hpp + * \brief Header for GeographicLib::Constants class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_CONSTANTS_HPP) +#define GEOGRAPHICLIB_CONSTANTS_HPP 1 + +#include "Config.h" + +/** + * @relates GeographicLib::Constants + * Pack the version components into a single integer. Users should not rely on + * this particular packing of the components of the version number; see the + * documentation for GEOGRAPHICLIB_VERSION, below. + **********************************************************************/ +#define GEOGRAPHICLIB_VERSION_NUM(a,b,c) ((((a) * 10000 + (b)) * 100) + (c)) + +/** + * @relates GeographicLib::Constants + * The version of GeographicLib as a single integer, packed as MMmmmmpp where + * MM is the major version, mmmm is the minor version, and pp is the patch + * level. Users should not rely on this particular packing of the components + * of the version number. Instead they should use a test such as \code + #if GEOGRAPHICLIB_VERSION >= GEOGRAPHICLIB_VERSION_NUM(1,37,0) + ... + #endif + * \endcode + **********************************************************************/ +#define GEOGRAPHICLIB_VERSION \ + GEOGRAPHICLIB_VERSION_NUM(GEOGRAPHICLIB_VERSION_MAJOR, \ + GEOGRAPHICLIB_VERSION_MINOR, \ + GEOGRAPHICLIB_VERSION_PATCH) + +/** + * @relates GeographicLib::Constants + * Is the C++11 static_assert available? + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_HAS_STATIC_ASSERT) +# if __cplusplus >= 201103 || defined(__GXX_EXPERIMENTAL_CXX0X__) +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 1 +# elif defined(_MSC_VER) && _MSC_VER >= 1600 +// For reference, here is a table of Visual Studio and _MSC_VER +// correspondences: +// +// _MSC_VER Visual Studio +// 1100 vc5 +// 1200 vc6 +// 1300 vc7 +// 1310 vc7.1 (2003) +// 1400 vc8 (2005) +// 1500 vc9 (2008) +// 1600 vc10 (2010) +// 1700 vc11 (2012) +// 1800 vc12 (2013) +// 1900 vc14 (2015) +// 1910+ vc15 (2017) +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 1 +# else +# define GEOGRAPHICLIB_HAS_STATIC_ASSERT 0 +# endif +#endif + +/** + * @relates GeographicLib::Constants + * A compile-time assert. Use C++11 static_assert, if available. + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_STATIC_ASSERT) +# if GEOGRAPHICLIB_HAS_STATIC_ASSERT +# define GEOGRAPHICLIB_STATIC_ASSERT static_assert +# else +# define GEOGRAPHICLIB_STATIC_ASSERT(cond,reason) \ + { enum{ GEOGRAPHICLIB_STATIC_ASSERT_ENUM = 1/int(cond) }; } +# endif +#endif + +#if defined(_MSC_VER) && defined(GEOGRAPHICLIB_SHARED_LIB) && \ + GEOGRAPHICLIB_SHARED_LIB +# if GEOGRAPHICLIB_SHARED_LIB > 1 +# error GEOGRAPHICLIB_SHARED_LIB must be 0 or 1 +# elif defined(GeographicLib_EXPORTS) +# define GEOGRAPHICLIB_EXPORT __declspec(dllexport) +# else +# define GEOGRAPHICLIB_EXPORT __declspec(dllimport) +# endif +#else +# define GEOGRAPHICLIB_EXPORT +#endif + +// Use GEOGRAPHICLIB_DEPRECATED to mark functions, types or variables as +// deprecated. Code inspired by Apache Subversion's svn_types.h file (via +// MPFR). +#if defined(__GNUC__) +# if __GNUC__ > 4 +# define GEOGRAPHICLIB_DEPRECATED(msg) __attribute__((deprecated(msg))) +# else +# define GEOGRAPHICLIB_DEPRECATED(msg) __attribute__((deprecated)) +# endif +#elif defined(_MSC_VER) && _MSC_VER >= 1300 +# define GEOGRAPHICLIB_DEPRECATED(msg) __declspec(deprecated(msg)) +#else +# define GEOGRAPHICLIB_DEPRECATED(msg) +#endif + +#include +#include +#include "Math.hpp" + +/** + * \brief Namespace for %GeographicLib + * + * All of %GeographicLib is defined within the GeographicLib namespace. In + * addition all the header files are included via %GeographicLib/Class.hpp. + * This minimizes the likelihood of conflicts with other packages. + **********************************************************************/ +namespace GeographicLib { + + /** + * \brief %Constants needed by %GeographicLib + * + * Define constants specifying the WGS84 ellipsoid, the UTM and UPS + * projections, and various unit conversions. + * + * Example of use: + * \include example-Constants.cpp + **********************************************************************/ + class GEOGRAPHICLIB_EXPORT Constants { + private: + typedef Math::real real; + Constants(); // Disable constructor + + public: + /** + * A synonym for Math::degree(). + **********************************************************************/ + static Math::real degree() { return Math::degree(); } + /** + * @return the number of radians in an arcminute. + **********************************************************************/ + static Math::real arcminute() + { return Math::degree() / 60; } + /** + * @return the number of radians in an arcsecond. + **********************************************************************/ + static Math::real arcsecond() + { return Math::degree() / 3600; } + + /** \name Ellipsoid parameters + **********************************************************************/ + ///@{ + /** + * @tparam T the type of the returned value. + * @return the equatorial radius of WGS84 ellipsoid (6378137 m). + **********************************************************************/ + template static T WGS84_a() + { return 6378137 * meter(); } + /** + * A synonym for WGS84_a(). + **********************************************************************/ + static Math::real WGS84_a() { return WGS84_a(); } + /** + * @tparam T the type of the returned value. + * @return the flattening of WGS84 ellipsoid (1/298.257223563). + **********************************************************************/ + template static T WGS84_f() { + // Evaluating this as 1000000000 / T(298257223563LL) reduces the + // round-off error by about 10%. However, expressing the flattening as + // 1/298.257223563 is well ingrained. + return 1 / ( T(298257223563LL) / 1000000000 ); + } + /** + * A synonym for WGS84_f(). + **********************************************************************/ + static Math::real WGS84_f() { return WGS84_f(); } + /** + * @tparam T the type of the returned value. + * @return the gravitational constant of the WGS84 ellipsoid, \e GM, in + * m3 s−2. + **********************************************************************/ + template static T WGS84_GM() + { return T(3986004) * 100000000 + 41800000; } + /** + * A synonym for WGS84_GM(). + **********************************************************************/ + static Math::real WGS84_GM() { return WGS84_GM(); } + /** + * @tparam T the type of the returned value. + * @return the angular velocity of the WGS84 ellipsoid, ω, in rad + * s−1. + **********************************************************************/ + template static T WGS84_omega() + { return 7292115 / (T(1000000) * 100000); } + /** + * A synonym for WGS84_omega(). + **********************************************************************/ + static Math::real WGS84_omega() { return WGS84_omega(); } + /** + * @tparam T the type of the returned value. + * @return the equatorial radius of GRS80 ellipsoid, \e a, in m. + **********************************************************************/ + template static T GRS80_a() + { return 6378137 * meter(); } + /** + * A synonym for GRS80_a(). + **********************************************************************/ + static Math::real GRS80_a() { return GRS80_a(); } + /** + * @tparam T the type of the returned value. + * @return the gravitational constant of the GRS80 ellipsoid, \e GM, in + * m3 s−2. + **********************************************************************/ + template static T GRS80_GM() + { return T(3986005) * 100000000; } + /** + * A synonym for GRS80_GM(). + **********************************************************************/ + static Math::real GRS80_GM() { return GRS80_GM(); } + /** + * @tparam T the type of the returned value. + * @return the angular velocity of the GRS80 ellipsoid, ω, in rad + * s−1. + * + * This is about 2 π 366.25 / (365.25 × 24 × 3600) rad + * s−1. 365.25 is the number of days in a Julian year and + * 365.35/366.25 converts from solar days to sidereal days. Using the + * number of days in a Gregorian year (365.2425) results in a worse + * approximation (because the Gregorian year includes the precession of the + * earth's axis). + **********************************************************************/ + template static T GRS80_omega() + { return 7292115 / (T(1000000) * 100000); } + /** + * A synonym for GRS80_omega(). + **********************************************************************/ + static Math::real GRS80_omega() { return GRS80_omega(); } + /** + * @tparam T the type of the returned value. + * @return the dynamical form factor of the GRS80 ellipsoid, + * J2. + **********************************************************************/ + template static T GRS80_J2() + { return T(108263) / 100000000; } + /** + * A synonym for GRS80_J2(). + **********************************************************************/ + static Math::real GRS80_J2() { return GRS80_J2(); } + /** + * @tparam T the type of the returned value. + * @return the central scale factor for UTM (0.9996). + **********************************************************************/ + template static T UTM_k0() + {return T(9996) / 10000; } + /** + * A synonym for UTM_k0(). + **********************************************************************/ + static Math::real UTM_k0() { return UTM_k0(); } + /** + * @tparam T the type of the returned value. + * @return the central scale factor for UPS (0.994). + **********************************************************************/ + template static T UPS_k0() + { return T(994) / 1000; } + /** + * A synonym for UPS_k0(). + **********************************************************************/ + static Math::real UPS_k0() { return UPS_k0(); } + ///@} + + /** \name SI units + **********************************************************************/ + ///@{ + /** + * @tparam T the type of the returned value. + * @return the number of meters in a meter. + * + * This is unity, but this lets the internal system of units be changed if + * necessary. + **********************************************************************/ + template static T meter() { return T(1); } + /** + * A synonym for meter(). + **********************************************************************/ + static Math::real meter() { return meter(); } + /** + * @return the number of meters in a kilometer. + **********************************************************************/ + static Math::real kilometer() + { return 1000 * meter(); } + /** + * @return the number of meters in a nautical mile (approximately 1 arc + * minute) + **********************************************************************/ + static Math::real nauticalmile() + { return 1852 * meter(); } + + /** + * @tparam T the type of the returned value. + * @return the number of square meters in a square meter. + * + * This is unity, but this lets the internal system of units be changed if + * necessary. + **********************************************************************/ + template static T square_meter() + { return meter() * meter(); } + /** + * A synonym for square_meter(). + **********************************************************************/ + static Math::real square_meter() + { return square_meter(); } + /** + * @return the number of square meters in a hectare. + **********************************************************************/ + static Math::real hectare() + { return 10000 * square_meter(); } + /** + * @return the number of square meters in a square kilometer. + **********************************************************************/ + static Math::real square_kilometer() + { return kilometer() * kilometer(); } + /** + * @return the number of square meters in a square nautical mile. + **********************************************************************/ + static Math::real square_nauticalmile() + { return nauticalmile() * nauticalmile(); } + ///@} + + /** \name Anachronistic British units + **********************************************************************/ + ///@{ + /** + * @return the number of meters in an international foot. + **********************************************************************/ + static Math::real foot() + { return real(254 * 12) / 10000 * meter(); } + /** + * @return the number of meters in a yard. + **********************************************************************/ + static Math::real yard() { return 3 * foot(); } + /** + * @return the number of meters in a fathom. + **********************************************************************/ + static Math::real fathom() { return 2 * yard(); } + /** + * @return the number of meters in a chain. + **********************************************************************/ + static Math::real chain() { return 22 * yard(); } + /** + * @return the number of meters in a furlong. + **********************************************************************/ + static Math::real furlong() { return 10 * chain(); } + /** + * @return the number of meters in a statute mile. + **********************************************************************/ + static Math::real mile() { return 8 * furlong(); } + /** + * @return the number of square meters in an acre. + **********************************************************************/ + static Math::real acre() { return chain() * furlong(); } + /** + * @return the number of square meters in a square statute mile. + **********************************************************************/ + static Math::real square_mile() { return mile() * mile(); } + ///@} + + /** \name Anachronistic US units + **********************************************************************/ + ///@{ + /** + * @return the number of meters in a US survey foot. + **********************************************************************/ + static Math::real surveyfoot() + { return real(1200) / 3937 * meter(); } + ///@} + }; + + /** + * \brief Exception handling for %GeographicLib + * + * A class to handle exceptions. It's derived from std::runtime_error so it + * can be caught by the usual catch clauses. + * + * Example of use: + * \include example-GeographicErr.cpp + **********************************************************************/ + class GeographicErr : public std::runtime_error { + public: + + /** + * Constructor + * + * @param[in] msg a string message, which is accessible in the catch + * clause via what(). + **********************************************************************/ + GeographicErr(const std::string& msg) : std::runtime_error(msg) {} + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_CONSTANTS_HPP diff --git a/global_fusion/ThirdParty/GeographicLib/include/Geocentric.hpp b/global_fusion/ThirdParty/GeographicLib/include/Geocentric.hpp new file mode 100644 index 0000000..2520d8e --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/include/Geocentric.hpp @@ -0,0 +1,267 @@ +/** + * \file Geocentric.hpp + * \brief Header for GeographicLib::Geocentric class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_GEOCENTRIC_HPP) +#define GEOGRAPHICLIB_GEOCENTRIC_HPP 1 + +#include +#include "Constants.hpp" + +namespace GeographicLib { + + /** + * \brief %Geocentric coordinates + * + * Convert between geodetic coordinates latitude = \e lat, longitude = \e + * lon, height = \e h (measured vertically from the surface of the ellipsoid) + * to geocentric coordinates (\e X, \e Y, \e Z). The origin of geocentric + * coordinates is at the center of the earth. The \e Z axis goes thru the + * north pole, \e lat = 90°. The \e X axis goes thru \e lat = 0, + * \e lon = 0. %Geocentric coordinates are also known as earth centered, + * earth fixed (ECEF) coordinates. + * + * The conversion from geographic to geocentric coordinates is + * straightforward. For the reverse transformation we use + * - H. Vermeille, + * Direct + * transformation from geocentric coordinates to geodetic coordinates, + * J. Geodesy 76, 451--454 (2002). + * . + * Several changes have been made to ensure that the method returns accurate + * results for all finite inputs (even if \e h is infinite). The changes are + * described in Appendix B of + * - C. F. F. Karney, + * Geodesics + * on an ellipsoid of revolution, + * Feb. 2011; + * preprint + * arxiv:1102.1215v1. + * . + * Vermeille similarly updated his method in + * - H. Vermeille, + * + * An analytical method to transform geocentric into + * geodetic coordinates, J. Geodesy 85, 105--117 (2011). + * . + * See \ref geocentric for more information. + * + * The errors in these routines are close to round-off. Specifically, for + * points within 5000 km of the surface of the ellipsoid (either inside or + * outside the ellipsoid), the error is bounded by 7 nm (7 nanometers) for + * the WGS84 ellipsoid. See \ref geocentric for further information on the + * errors. + * + * Example of use: + * \include example-Geocentric.cpp + * + * CartConvert is a command-line utility + * providing access to the functionality of Geocentric and LocalCartesian. + **********************************************************************/ + + class GEOGRAPHICLIB_EXPORT Geocentric { + private: + typedef Math::real real; + friend class LocalCartesian; + friend class MagneticCircle; // MagneticCircle uses Rotation + friend class MagneticModel; // MagneticModel uses IntForward + friend class GravityCircle; // GravityCircle uses Rotation + friend class GravityModel; // GravityModel uses IntForward + friend class NormalGravity; // NormalGravity uses IntForward + static const size_t dim_ = 3; + static const size_t dim2_ = dim_ * dim_; + real _a, _f, _e2, _e2m, _e2a, _e4a, _maxrad; + static void Rotation(real sphi, real cphi, real slam, real clam, + real M[dim2_]); + static void Rotate(real M[dim2_], real x, real y, real z, + real& X, real& Y, real& Z) { + // Perform [X,Y,Z]^t = M.[x,y,z]^t + // (typically local cartesian to geocentric) + X = M[0] * x + M[1] * y + M[2] * z; + Y = M[3] * x + M[4] * y + M[5] * z; + Z = M[6] * x + M[7] * y + M[8] * z; + } + static void Unrotate(real M[dim2_], real X, real Y, real Z, + real& x, real& y, real& z) { + // Perform [x,y,z]^t = M^t.[X,Y,Z]^t + // (typically geocentric to local cartesian) + x = M[0] * X + M[3] * Y + M[6] * Z; + y = M[1] * X + M[4] * Y + M[7] * Z; + z = M[2] * X + M[5] * Y + M[8] * Z; + } + void IntForward(real lat, real lon, real h, real& X, real& Y, real& Z, + real M[dim2_]) const; + void IntReverse(real X, real Y, real Z, real& lat, real& lon, real& h, + real M[dim2_]) const; + + public: + + /** + * Constructor for a ellipsoid with + * + * @param[in] a equatorial radius (meters). + * @param[in] f flattening of ellipsoid. Setting \e f = 0 gives a sphere. + * Negative \e f gives a prolate ellipsoid. + * @exception GeographicErr if \e a or (1 − \e f) \e a is not + * positive. + **********************************************************************/ + Geocentric(real a, real f); + + /** + * A default constructor (for use by NormalGravity). + **********************************************************************/ + Geocentric() : _a(-1) {} + + /** + * Convert from geodetic to geocentric coordinates. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] X geocentric coordinate (meters). + * @param[out] Y geocentric coordinate (meters). + * @param[out] Z geocentric coordinate (meters). + * + * \e lat should be in the range [−90°, 90°]. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& X, real& Y, real& Z) + const { + if (Init()) + IntForward(lat, lon, h, X, Y, Z, NULL); + } + + /** + * Convert from geodetic to geocentric coordinates and return rotation + * matrix. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] X geocentric coordinate (meters). + * @param[out] Y geocentric coordinate (meters). + * @param[out] Z geocentric coordinate (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in geocentric \e X, \e Y, \e Z coordinates; call this representation + * \e v0. + * . + * Then we have \e v0 = \e M ⋅ \e v1. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& X, real& Y, real& Z, + std::vector& M) + const { + if (!Init()) + return; + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntForward(lat, lon, h, X, Y, Z, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntForward(lat, lon, h, X, Y, Z, NULL); + } + + /** + * Convert from geocentric to geodetic to coordinates. + * + * @param[in] X geocentric coordinate (meters). + * @param[in] Y geocentric coordinate (meters). + * @param[in] Z geocentric coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * + * In general there are multiple solutions and the result which maximizes + * \e h is returned. If there are still multiple solutions with different + * latitudes (applies only if \e Z = 0), then the solution with \e lat > 0 + * is returned. If there are still multiple solutions with different + * longitudes (applies only if \e X = \e Y = 0) then \e lon = 0 is + * returned. The value of \e h returned satisfies \e h ≥ − \e a + * (1 − e2) / sqrt(1 − e2 + * sin2\e lat). The value of \e lon returned is in the range + * [−180°, 180°]. + **********************************************************************/ + void Reverse(real X, real Y, real Z, real& lat, real& lon, real& h) + const { + if (Init()) + IntReverse(X, Y, Z, lat, lon, h, NULL); + } + + /** + * Convert from geocentric to geodetic to coordinates. + * + * @param[in] X geocentric coordinate (meters). + * @param[in] Y geocentric coordinate (meters). + * @param[in] Z geocentric coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in geocentric \e X, \e Y, \e Z coordinates; call this representation + * \e v0. + * . + * Then we have \e v1 = MT ⋅ \e v0, where + * MT is the transpose of \e M. + **********************************************************************/ + void Reverse(real X, real Y, real Z, real& lat, real& lon, real& h, + std::vector& M) + const { + if (!Init()) + return; + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntReverse(X, Y, Z, lat, lon, h, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntReverse(X, Y, Z, lat, lon, h, NULL); + } + + /** \name Inspector functions + **********************************************************************/ + ///@{ + /** + * @return true if the object has been initialized. + **********************************************************************/ + bool Init() const { return _a > 0; } + /** + * @return \e a the equatorial radius of the ellipsoid (meters). This is + * the value used in the constructor. + **********************************************************************/ + Math::real MajorRadius() const + { return Init() ? _a : Math::NaN(); } + + /** + * @return \e f the flattening of the ellipsoid. This is the + * value used in the constructor. + **********************************************************************/ + Math::real Flattening() const + { return Init() ? _f : Math::NaN(); } + ///@} + + /** + * A global instantiation of Geocentric with the parameters for the WGS84 + * ellipsoid. + **********************************************************************/ + static const Geocentric& WGS84(); + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_GEOCENTRIC_HPP diff --git a/global_fusion/ThirdParty/GeographicLib/include/LocalCartesian.hpp b/global_fusion/ThirdParty/GeographicLib/include/LocalCartesian.hpp new file mode 100644 index 0000000..6355faf --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/include/LocalCartesian.hpp @@ -0,0 +1,236 @@ +/** + * \file LocalCartesian.hpp + * \brief Header for GeographicLib::LocalCartesian class + * + * Copyright (c) Charles Karney (2008-2016) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#if !defined(GEOGRAPHICLIB_LOCALCARTESIAN_HPP) +#define GEOGRAPHICLIB_LOCALCARTESIAN_HPP 1 + +#include "Geocentric.hpp" +#include "Constants.hpp" + +namespace GeographicLib { + + /** + * \brief Local cartesian coordinates + * + * Convert between geodetic coordinates latitude = \e lat, longitude = \e + * lon, height = \e h (measured vertically from the surface of the ellipsoid) + * to local cartesian coordinates (\e x, \e y, \e z). The origin of local + * cartesian coordinate system is at \e lat = \e lat0, \e lon = \e lon0, \e h + * = \e h0. The \e z axis is normal to the ellipsoid; the \e y axis points + * due north. The plane \e z = - \e h0 is tangent to the ellipsoid. + * + * The conversions all take place via geocentric coordinates using a + * Geocentric object (by default Geocentric::WGS84()). + * + * Example of use: + * \include example-LocalCartesian.cpp + * + * CartConvert is a command-line utility + * providing access to the functionality of Geocentric and LocalCartesian. + **********************************************************************/ + + class GEOGRAPHICLIB_EXPORT LocalCartesian { + private: + typedef Math::real real; + static const size_t dim_ = 3; + static const size_t dim2_ = dim_ * dim_; + Geocentric _earth; + real _lat0, _lon0, _h0; + real _x0, _y0, _z0, _r[dim2_]; + void IntForward(real lat, real lon, real h, real& x, real& y, real& z, + real M[dim2_]) const; + void IntReverse(real x, real y, real z, real& lat, real& lon, real& h, + real M[dim2_]) const; + void MatrixMultiply(real M[dim2_]) const; + public: + + /** + * Constructor setting the origin. + * + * @param[in] lat0 latitude at origin (degrees). + * @param[in] lon0 longitude at origin (degrees). + * @param[in] h0 height above ellipsoid at origin (meters); default 0. + * @param[in] earth Geocentric object for the transformation; default + * Geocentric::WGS84(). + * + * \e lat0 should be in the range [−90°, 90°]. + **********************************************************************/ + LocalCartesian(real lat0, real lon0, real h0 = 0, + const Geocentric& earth = Geocentric::WGS84()) + : _earth(earth) + { Reset(lat0, lon0, h0); } + + /** + * Default constructor. + * + * @param[in] earth Geocentric object for the transformation; default + * Geocentric::WGS84(). + * + * Sets \e lat0 = 0, \e lon0 = 0, \e h0 = 0. + **********************************************************************/ + explicit LocalCartesian(const Geocentric& earth = Geocentric::WGS84()) + : _earth(earth) + { Reset(real(0), real(0), real(0)); } + + /** + * Reset the origin. + * + * @param[in] lat0 latitude at origin (degrees). + * @param[in] lon0 longitude at origin (degrees). + * @param[in] h0 height above ellipsoid at origin (meters); default 0. + * + * \e lat0 should be in the range [−90°, 90°]. + **********************************************************************/ + void Reset(real lat0, real lon0, real h0 = 0); + + /** + * Convert from geodetic to local cartesian coordinates. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] x local cartesian coordinate (meters). + * @param[out] y local cartesian coordinate (meters). + * @param[out] z local cartesian coordinate (meters). + * + * \e lat should be in the range [−90°, 90°]. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& x, real& y, real& z) + const { + IntForward(lat, lon, h, x, y, z, NULL); + } + + /** + * Convert from geodetic to local cartesian coordinates and return rotation + * matrix. + * + * @param[in] lat latitude of point (degrees). + * @param[in] lon longitude of point (degrees). + * @param[in] h height of point above the ellipsoid (meters). + * @param[out] x local cartesian coordinate (meters). + * @param[out] y local cartesian coordinate (meters). + * @param[out] z local cartesian coordinate (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * \e lat should be in the range [−90°, 90°]. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in \e x, \e y, \e z coordinates (where the components are relative to + * the local coordinate system at (\e lat0, \e lon0, \e h0)); call this + * representation \e v0. + * . + * Then we have \e v0 = \e M ⋅ \e v1. + **********************************************************************/ + void Forward(real lat, real lon, real h, real& x, real& y, real& z, + std::vector& M) + const { + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntForward(lat, lon, h, x, y, z, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntForward(lat, lon, h, x, y, z, NULL); + } + + /** + * Convert from local cartesian to geodetic coordinates. + * + * @param[in] x local cartesian coordinate (meters). + * @param[in] y local cartesian coordinate (meters). + * @param[in] z local cartesian coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * + * The value of \e lon returned is in the range [−180°, + * 180°]. + **********************************************************************/ + void Reverse(real x, real y, real z, real& lat, real& lon, real& h) + const { + IntReverse(x, y, z, lat, lon, h, NULL); + } + + /** + * Convert from local cartesian to geodetic coordinates and return rotation + * matrix. + * + * @param[in] x local cartesian coordinate (meters). + * @param[in] y local cartesian coordinate (meters). + * @param[in] z local cartesian coordinate (meters). + * @param[out] lat latitude of point (degrees). + * @param[out] lon longitude of point (degrees). + * @param[out] h height of point above the ellipsoid (meters). + * @param[out] M if the length of the vector is 9, fill with the rotation + * matrix in row-major order. + * + * Let \e v be a unit vector located at (\e lat, \e lon, \e h). We can + * express \e v as \e column vectors in one of two ways + * - in east, north, up coordinates (where the components are relative to a + * local coordinate system at (\e lat, \e lon, \e h)); call this + * representation \e v1. + * - in \e x, \e y, \e z coordinates (where the components are relative to + * the local coordinate system at (\e lat0, \e lon0, \e h0)); call this + * representation \e v0. + * . + * Then we have \e v1 = MT ⋅ \e v0, where + * MT is the transpose of \e M. + **********************************************************************/ + void Reverse(real x, real y, real z, real& lat, real& lon, real& h, + std::vector& M) + const { + if (M.end() == M.begin() + dim2_) { + real t[dim2_]; + IntReverse(x, y, z, lat, lon, h, t); + std::copy(t, t + dim2_, M.begin()); + } else + IntReverse(x, y, z, lat, lon, h, NULL); + } + + /** \name Inspector functions + **********************************************************************/ + ///@{ + /** + * @return latitude of the origin (degrees). + **********************************************************************/ + Math::real LatitudeOrigin() const { return _lat0; } + + /** + * @return longitude of the origin (degrees). + **********************************************************************/ + Math::real LongitudeOrigin() const { return _lon0; } + + /** + * @return height of the origin (meters). + **********************************************************************/ + Math::real HeightOrigin() const { return _h0; } + + /** + * @return \e a the equatorial radius of the ellipsoid (meters). This is + * the value of \e a inherited from the Geocentric object used in the + * constructor. + **********************************************************************/ + Math::real MajorRadius() const { return _earth.MajorRadius(); } + + /** + * @return \e f the flattening of the ellipsoid. This is the value + * inherited from the Geocentric object used in the constructor. + **********************************************************************/ + Math::real Flattening() const { return _earth.Flattening(); } + ///@} + + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_LOCALCARTESIAN_HPP diff --git a/global_fusion/ThirdParty/GeographicLib/include/Math.hpp b/global_fusion/ThirdParty/GeographicLib/include/Math.hpp new file mode 100644 index 0000000..7475546 --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/include/Math.hpp @@ -0,0 +1,945 @@ +/** + * \file Math.hpp + * \brief Header for GeographicLib::Math class + * + * Copyright (c) Charles Karney (2008-2017) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +// Constants.hpp includes Math.hpp. Place this include outside Math.hpp's +// include guard to enforce this ordering. +#include "Constants.hpp" + +#if !defined(GEOGRAPHICLIB_MATH_HPP) +#define GEOGRAPHICLIB_MATH_HPP 1 + +/** + * Are C++11 math functions available? + **********************************************************************/ +#if !defined(GEOGRAPHICLIB_CXX11_MATH) +// Recent versions of g++ -std=c++11 (4.7 and later?) set __cplusplus to 201103 +// and support the new C++11 mathematical functions, std::atanh, etc. However +// the Android toolchain, which uses g++ -std=c++11 (4.8 as of 2014-03-11, +// according to Pullan Lu), does not support std::atanh. Android toolchains +// might define __ANDROID__ or ANDROID; so need to check both. With OSX the +// version is GNUC version 4.2 and __cplusplus is set to 201103, so remove the +// version check on GNUC. +# if defined(__GNUC__) && __cplusplus >= 201103 && \ + !(defined(__ANDROID__) || defined(ANDROID) || defined(__CYGWIN__)) +# define GEOGRAPHICLIB_CXX11_MATH 1 +// Visual C++ 12 supports these functions +# elif defined(_MSC_VER) && _MSC_VER >= 1800 +# define GEOGRAPHICLIB_CXX11_MATH 1 +# else +# define GEOGRAPHICLIB_CXX11_MATH 0 +# endif +#endif + +#if !defined(GEOGRAPHICLIB_WORDS_BIGENDIAN) +# define GEOGRAPHICLIB_WORDS_BIGENDIAN 0 +#endif + +#if !defined(GEOGRAPHICLIB_HAVE_LONG_DOUBLE) +# define GEOGRAPHICLIB_HAVE_LONG_DOUBLE 0 +#endif + +#if !defined(GEOGRAPHICLIB_PRECISION) +/** + * The precision of floating point numbers used in %GeographicLib. 1 means + * float (single precision); 2 (the default) means double; 3 means long double; + * 4 is reserved for quadruple precision. Nearly all the testing has been + * carried out with doubles and that's the recommended configuration. In order + * for long double to be used, GEOGRAPHICLIB_HAVE_LONG_DOUBLE needs to be + * defined. Note that with Microsoft Visual Studio, long double is the same as + * double. + **********************************************************************/ +# define GEOGRAPHICLIB_PRECISION 2 +#endif + +#include +#include +#include + +#if GEOGRAPHICLIB_PRECISION == 4 +#include +#if BOOST_VERSION >= 105600 +#include +#endif +#include +#include +__float128 fmaq(__float128, __float128, __float128); +#elif GEOGRAPHICLIB_PRECISION == 5 +#include +#endif + +#if GEOGRAPHICLIB_PRECISION > 3 +// volatile keyword makes no sense for multiprec types +#define GEOGRAPHICLIB_VOLATILE +// Signal a convergence failure with multiprec types by throwing an exception +// at loop exit. +#define GEOGRAPHICLIB_PANIC \ + (throw GeographicLib::GeographicErr("Convergence failure"), false) +#else +#define GEOGRAPHICLIB_VOLATILE volatile +// Ignore convergence failures with standard floating points types by allowing +// loop to exit cleanly. +#define GEOGRAPHICLIB_PANIC false +#endif + +namespace GeographicLib { + + /** + * \brief Mathematical functions needed by %GeographicLib + * + * Define mathematical functions in order to localize system dependencies and + * to provide generic versions of the functions. In addition define a real + * type to be used by %GeographicLib. + * + * Example of use: + * \include example-Math.cpp + **********************************************************************/ + class GEOGRAPHICLIB_EXPORT Math { + private: + void dummy() { + GEOGRAPHICLIB_STATIC_ASSERT(GEOGRAPHICLIB_PRECISION >= 1 && + GEOGRAPHICLIB_PRECISION <= 5, + "Bad value of precision"); + } + Math(); // Disable constructor + public: + +#if GEOGRAPHICLIB_HAVE_LONG_DOUBLE + /** + * The extended precision type for real numbers, used for some testing. + * This is long double on computers with this type; otherwise it is double. + **********************************************************************/ + typedef long double extended; +#else + typedef double extended; +#endif + +#if GEOGRAPHICLIB_PRECISION == 2 + /** + * The real type for %GeographicLib. Nearly all the testing has been done + * with \e real = double. However, the algorithms should also work with + * float and long double (where available). (CAUTION: reasonable + * accuracy typically cannot be obtained using floats.) + **********************************************************************/ + typedef double real; +#elif GEOGRAPHICLIB_PRECISION == 1 + typedef float real; +#elif GEOGRAPHICLIB_PRECISION == 3 + typedef extended real; +#elif GEOGRAPHICLIB_PRECISION == 4 + typedef boost::multiprecision::float128 real; +#elif GEOGRAPHICLIB_PRECISION == 5 + typedef mpfr::mpreal real; +#else + typedef double real; +#endif + + /** + * @return the number of bits of precision in a real number. + **********************************************************************/ + static int digits() { +#if GEOGRAPHICLIB_PRECISION != 5 + return std::numeric_limits::digits; +#else + return std::numeric_limits::digits(); +#endif + } + + /** + * Set the binary precision of a real number. + * + * @param[in] ndigits the number of bits of precision. + * @return the resulting number of bits of precision. + * + * This only has an effect when GEOGRAPHICLIB_PRECISION = 5. See also + * Utility::set_digits for caveats about when this routine should be + * called. + **********************************************************************/ + static int set_digits(int ndigits) { +#if GEOGRAPHICLIB_PRECISION != 5 + (void)ndigits; +#else + mpfr::mpreal::set_default_prec(ndigits >= 2 ? ndigits : 2); +#endif + return digits(); + } + + /** + * @return the number of decimal digits of precision in a real number. + **********************************************************************/ + static int digits10() { +#if GEOGRAPHICLIB_PRECISION != 5 + return std::numeric_limits::digits10; +#else + return std::numeric_limits::digits10(); +#endif + } + + /** + * Number of additional decimal digits of precision for real relative to + * double (0 for float). + **********************************************************************/ + static int extra_digits() { + return + digits10() > std::numeric_limits::digits10 ? + digits10() - std::numeric_limits::digits10 : 0; + } + + /** + * true if the machine is big-endian. + **********************************************************************/ + static const bool bigendian = GEOGRAPHICLIB_WORDS_BIGENDIAN; + + /** + * @tparam T the type of the returned value. + * @return π. + **********************************************************************/ + template static T pi() { + using std::atan2; + static const T pi = atan2(T(0), T(-1)); + return pi; + } + /** + * A synonym for pi(). + **********************************************************************/ + static real pi() { return pi(); } + + /** + * @tparam T the type of the returned value. + * @return the number of radians in a degree. + **********************************************************************/ + template static T degree() { + static const T degree = pi() / 180; + return degree; + } + /** + * A synonym for degree(). + **********************************************************************/ + static real degree() { return degree(); } + + /** + * Square a number. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return x2. + **********************************************************************/ + template static T sq(T x) + { return x * x; } + + /** + * The hypotenuse function avoiding underflow and overflow. + * + * @tparam T the type of the arguments and the returned value. + * @param[in] x + * @param[in] y + * @return sqrt(x2 + y2). + **********************************************************************/ + template static T hypot(T x, T y) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::hypot; return hypot(x, y); +#else + using std::abs; using std::sqrt; + x = abs(x); y = abs(y); + if (x < y) std::swap(x, y); // Now x >= y >= 0 + y /= (x ? x : 1); + return x * sqrt(1 + y * y); + // For an alternative (square-root free) method see + // C. Moler and D. Morrision (1983) https://doi.org/10.1147/rd.276.0577 + // and A. A. Dubrulle (1983) https://doi.org/10.1147/rd.276.0582 +#endif + } + + /** + * exp(\e x) − 1 accurate near \e x = 0. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return exp(\e x) − 1. + **********************************************************************/ + template static T expm1(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::expm1; return expm1(x); +#else + using std::exp; using std::abs; using std::log; + GEOGRAPHICLIB_VOLATILE T + y = exp(x), + z = y - 1; + // The reasoning here is similar to that for log1p. The expression + // mathematically reduces to exp(x) - 1, and the factor z/log(y) = (y - + // 1)/log(y) is a slowly varying quantity near y = 1 and is accurately + // computed. + return abs(x) > 1 ? z : (z == 0 ? x : x * z / log(y)); +#endif + } + + /** + * log(1 + \e x) accurate near \e x = 0. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return log(1 + \e x). + **********************************************************************/ + template static T log1p(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::log1p; return log1p(x); +#else + using std::log; + GEOGRAPHICLIB_VOLATILE T + y = 1 + x, + z = y - 1; + // Here's the explanation for this magic: y = 1 + z, exactly, and z + // approx x, thus log(y)/z (which is nearly constant near z = 0) returns + // a good approximation to the true log(1 + x)/x. The multiplication x * + // (log(y)/z) introduces little additional error. + return z == 0 ? x : x * log(y) / z; +#endif + } + + /** + * The inverse hyperbolic sine function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return asinh(\e x). + **********************************************************************/ + template static T asinh(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::asinh; return asinh(x); +#else + using std::abs; T y = abs(x); // Enforce odd parity + y = log1p(y * (1 + y/(hypot(T(1), y) + 1))); + return x < 0 ? -y : y; +#endif + } + + /** + * The inverse hyperbolic tangent function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return atanh(\e x). + **********************************************************************/ + template static T atanh(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::atanh; return atanh(x); +#else + using std::abs; T y = abs(x); // Enforce odd parity + y = log1p(2 * y/(1 - y))/2; + return x < 0 ? -y : y; +#endif + } + + /** + * The cube root function. + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return the real cube root of \e x. + **********************************************************************/ + template static T cbrt(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::cbrt; return cbrt(x); +#else + using std::abs; using std::pow; + T y = pow(abs(x), 1/T(3)); // Return the real cube root + return x < 0 ? -y : y; +#endif + } + + /** + * Fused multiply and add. + * + * @tparam T the type of the arguments and the returned value. + * @param[in] x + * @param[in] y + * @param[in] z + * @return xy + z, correctly rounded (on those platforms with + * support for the fma instruction). + * + * On platforms without the fma instruction, no attempt is + * made to improve on the result of a rounded multiplication followed by a + * rounded addition. + **********************************************************************/ + template static T fma(T x, T y, T z) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::fma; return fma(x, y, z); +#else + return x * y + z; +#endif + } + + /** + * Normalize a two-vector. + * + * @tparam T the type of the argument and the returned value. + * @param[in,out] x on output set to x/hypot(x, y). + * @param[in,out] y on output set to y/hypot(x, y). + **********************************************************************/ + template static void norm(T& x, T& y) + { T h = hypot(x, y); x /= h; y /= h; } + + /** + * The error-free sum of two numbers. + * + * @tparam T the type of the argument and the returned value. + * @param[in] u + * @param[in] v + * @param[out] t the exact error given by (\e u + \e v) - \e s. + * @return \e s = round(\e u + \e v). + * + * See D. E. Knuth, TAOCP, Vol 2, 4.2.2, Theorem B. (Note that \e t can be + * the same as one of the first two arguments.) + **********************************************************************/ + template static T sum(T u, T v, T& t) { + GEOGRAPHICLIB_VOLATILE T s = u + v; + GEOGRAPHICLIB_VOLATILE T up = s - v; + GEOGRAPHICLIB_VOLATILE T vpp = s - up; + up -= u; + vpp -= v; + t = -(up + vpp); + // u + v = s + t + // = round(u + v) + t + return s; + } + + /** + * Evaluate a polynomial. + * + * @tparam T the type of the arguments and returned value. + * @param[in] N the order of the polynomial. + * @param[in] p the coefficient array (of size \e N + 1). + * @param[in] x the variable. + * @return the value of the polynomial. + * + * Evaluate y = ∑n=0..N + * pn xN−n. + * Return 0 if \e N < 0. Return p0, if \e N = 0 (even + * if \e x is infinite or a nan). The evaluation uses Horner's method. + **********************************************************************/ + template static T polyval(int N, const T p[], T x) + // This used to employ Math::fma; but that's too slow and it seemed not to + // improve the accuracy noticeably. This might change when there's direct + // hardware support for fma. + { T y = N < 0 ? 0 : *p++; while (--N >= 0) y = y * x + *p++; return y; } + + /** + * Normalize an angle. + * + * @tparam T the type of the argument and returned value. + * @param[in] x the angle in degrees. + * @return the angle reduced to the range([−180°, 180°]. + * + * The range of \e x is unrestricted. + **********************************************************************/ + template static T AngNormalize(T x) { +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION != 4 + using std::remainder; + x = remainder(x, T(360)); return x != -180 ? x : 180; +#else + using std::fmod; + T y = fmod(x, T(360)); +#if defined(_MSC_VER) && _MSC_VER < 1900 + // Before version 14 (2015), Visual Studio had problems dealing + // with -0.0. Specifically + // VC 10,11,12 and 32-bit compile: fmod(-0.0, 360.0) -> +0.0 + // sincosd has a similar fix. + // python 2.7 on Windows 32-bit machines has the same problem. + if (x == 0) y = x; +#endif + return y <= -180 ? y + 360 : (y <= 180 ? y : y - 360); +#endif + } + + /** + * Normalize a latitude. + * + * @tparam T the type of the argument and returned value. + * @param[in] x the angle in degrees. + * @return x if it is in the range [−90°, 90°], otherwise + * return NaN. + **********************************************************************/ + template static T LatFix(T x) + { using std::abs; return abs(x) > 90 ? NaN() : x; } + + /** + * The exact difference of two angles reduced to + * (−180°, 180°]. + * + * @tparam T the type of the arguments and returned value. + * @param[in] x the first angle in degrees. + * @param[in] y the second angle in degrees. + * @param[out] e the error term in degrees. + * @return \e d, the truncated value of \e y − \e x. + * + * This computes \e z = \e y − \e x exactly, reduced to + * (−180°, 180°]; and then sets \e z = \e d + \e e where \e d + * is the nearest representable number to \e z and \e e is the truncation + * error. If \e d = −180, then \e e > 0; If \e d = 180, then \e e + * ≤ 0. + **********************************************************************/ + template static T AngDiff(T x, T y, T& e) { +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION != 4 + using std::remainder; + T t, d = AngNormalize(sum(remainder(-x, T(360)), + remainder( y, T(360)), t)); +#else + T t, d = AngNormalize(sum(AngNormalize(-x), AngNormalize(y), t)); +#endif + // Here y - x = d + t (mod 360), exactly, where d is in (-180,180] and + // abs(t) <= eps (eps = 2^-45 for doubles). The only case where the + // addition of t takes the result outside the range (-180,180] is d = 180 + // and t > 0. The case, d = -180 + eps, t = -eps, can't happen, since + // sum would have returned the exact result in such a case (i.e., given t + // = 0). + return sum(d == 180 && t > 0 ? -180 : d, t, e); + } + + /** + * Difference of two angles reduced to [−180°, 180°] + * + * @tparam T the type of the arguments and returned value. + * @param[in] x the first angle in degrees. + * @param[in] y the second angle in degrees. + * @return \e y − \e x, reduced to the range [−180°, + * 180°]. + * + * The result is equivalent to computing the difference exactly, reducing + * it to (−180°, 180°] and rounding the result. Note that + * this prescription allows −180° to be returned (e.g., if \e x + * is tiny and negative and \e y = 180°). + **********************************************************************/ + template static T AngDiff(T x, T y) + { T e; return AngDiff(x, y, e); } + + /** + * Coarsen a value close to zero. + * + * @tparam T the type of the argument and returned value. + * @param[in] x + * @return the coarsened value. + * + * The makes the smallest gap in \e x = 1/16 - nextafter(1/16, 0) = + * 1/257 for reals = 0.7 pm on the earth if \e x is an angle in + * degrees. (This is about 1000 times more resolution than we get with + * angles around 90°.) We use this to avoid having to deal with near + * singular cases when \e x is non-zero but tiny (e.g., + * 10−200). This converts -0 to +0; however tiny negative + * numbers get converted to -0. + **********************************************************************/ + template static T AngRound(T x) { + using std::abs; + static const T z = 1/T(16); + if (x == 0) return 0; + GEOGRAPHICLIB_VOLATILE T y = abs(x); + // The compiler mustn't "simplify" z - (z - y) to y + y = y < z ? z - (z - y) : y; + return x < 0 ? -y : y; + } + + /** + * Evaluate the sine and cosine function with the argument in degrees + * + * @tparam T the type of the arguments. + * @param[in] x in degrees. + * @param[out] sinx sin(x). + * @param[out] cosx cos(x). + * + * The results obey exactly the elementary properties of the trigonometric + * functions, e.g., sin 9° = cos 81° = − sin 123456789°. + * If x = −0, then \e sinx = −0; this is the only case where + * −0 is returned. + **********************************************************************/ + template static void sincosd(T x, T& sinx, T& cosx) { + // In order to minimize round-off errors, this function exactly reduces + // the argument to the range [-45, 45] before converting it to radians. + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + // Disable for gcc because of bug in glibc version < 2.22, see + // https://sourceware.org/bugzilla/show_bug.cgi?id=17569 + // Once this fix is widely deployed, should insert a runtime test for the + // glibc version number. For example + // #include + // std::string version(gnu_get_libc_version()); => "2.22" + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + // Possibly could call the gnu extension sincos + T s = sin(r), c = cos(r); +#if defined(_MSC_VER) && _MSC_VER < 1900 + // Before version 14 (2015), Visual Studio had problems dealing + // with -0.0. Specifically + // VC 10,11,12 and 32-bit compile: fmod(-0.0, 360.0) -> +0.0 + // VC 12 and 64-bit compile: sin(-0.0) -> +0.0 + // AngNormalize has a similar fix. + // python 2.7 on Windows 32-bit machines has the same problem. + if (x == 0) s = x; +#endif + switch (unsigned(q) & 3U) { + case 0U: sinx = s; cosx = c; break; + case 1U: sinx = c; cosx = -s; break; + case 2U: sinx = -s; cosx = -c; break; + default: sinx = -c; cosx = s; break; // case 3U + } + // Set sign of 0 results. -0 only produced for sin(-0) + if (x != 0) { sinx += T(0); cosx += T(0); } + } + + /** + * Evaluate the sine function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return sin(x). + **********************************************************************/ + template static T sind(T x) { + // See sincosd + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + unsigned p = unsigned(q); + r = p & 1U ? cos(r) : sin(r); + if (p & 2U) r = -r; + if (x != 0) r += T(0); + return r; + } + + /** + * Evaluate the cosine function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return cos(x). + **********************************************************************/ + template static T cosd(T x) { + // See sincosd + using std::sin; using std::cos; + T r; int q; +#if GEOGRAPHICLIB_CXX11_MATH && GEOGRAPHICLIB_PRECISION <= 3 && \ + !defined(__GNUC__) + using std::remquo; + r = remquo(x, T(90), &q); +#else + using std::fmod; using std::floor; + r = fmod(x, T(360)); + q = int(floor(r / 90 + T(0.5))); + r -= 90 * q; +#endif + // now abs(r) <= 45 + r *= degree(); + unsigned p = unsigned(q + 1); + r = p & 1U ? cos(r) : sin(r); + if (p & 2U) r = -r; + return T(0) + r; + } + + /** + * Evaluate the tangent function with the argument in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x in degrees. + * @return tan(x). + * + * If \e x = ±90°, then a suitably large (but finite) value is + * returned. + **********************************************************************/ + template static T tand(T x) { + static const T overflow = 1 / sq(std::numeric_limits::epsilon()); + T s, c; + sincosd(x, s, c); + return c != 0 ? s / c : (s < 0 ? -overflow : overflow); + } + + /** + * Evaluate the atan2 function with the result in degrees + * + * @tparam T the type of the arguments and the returned value. + * @param[in] y + * @param[in] x + * @return atan2(y, x) in degrees. + * + * The result is in the range (−180° 180°]. N.B., + * atan2d(±0, −1) = +180°; atan2d(−ε, + * −1) = −180°, for ε positive and tiny; + * atan2d(±0, +1) = ±0°. + **********************************************************************/ + template static T atan2d(T y, T x) { + // In order to minimize round-off errors, this function rearranges the + // arguments so that result of atan2 is in the range [-pi/4, pi/4] before + // converting it to degrees and mapping the result to the correct + // quadrant. + using std::atan2; using std::abs; + int q = 0; + if (abs(y) > abs(x)) { std::swap(x, y); q = 2; } + if (x < 0) { x = -x; ++q; } + // here x >= 0 and x >= abs(y), so angle is in [-pi/4, pi/4] + T ang = atan2(y, x) / degree(); + switch (q) { + // Note that atan2d(-0.0, 1.0) will return -0. However, we expect that + // atan2d will not be called with y = -0. If need be, include + // + // case 0: ang = 0 + ang; break; + // + // and handle mpfr as in AngRound. + case 1: ang = (y >= 0 ? 180 : -180) - ang; break; + case 2: ang = 90 - ang; break; + case 3: ang = -90 + ang; break; + } + return ang; + } + + /** + * Evaluate the atan function with the result in degrees + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return atan(x) in degrees. + **********************************************************************/ + template static T atand(T x) + { return atan2d(x, T(1)); } + + /** + * Evaluate e atanh(e x) + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return e atanh(e x) + * + * If e2 is negative (e is imaginary), the + * expression is evaluated in terms of atan. + **********************************************************************/ + template static T eatanhe(T x, T es); + + /** + * Copy the sign. + * + * @tparam T the type of the argument. + * @param[in] x gives the magitude of the result. + * @param[in] y gives the sign of the result. + * @return value with the magnitude of \e x and with the sign of \e y. + * + * This routine correctly handles the case \e y = −0, returning + * &minus|x|. + **********************************************************************/ + template static T copysign(T x, T y) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::copysign; return copysign(x, y); +#else + using std::abs; + // NaN counts as positive + return abs(x) * (y < 0 || (y == 0 && 1/y < 0) ? -1 : 1); +#endif + } + + /** + * tanχ in terms of tanφ + * + * @tparam T the type of the argument and the returned value. + * @param[in] tau τ = tanφ + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return τ′ = tanχ + * + * See Eqs. (7--9) of + * C. F. F. Karney, + * + * Transverse Mercator with an accuracy of a few nanometers, + * J. Geodesy 85(8), 475--485 (Aug. 2011) + * (preprint + * arXiv:1002.1417). + **********************************************************************/ + template static T taupf(T tau, T es); + + /** + * tanφ in terms of tanχ + * + * @tparam T the type of the argument and the returned value. + * @param[in] taup τ′ = tanχ + * @param[in] es the signed eccentricity = sign(e2) + * sqrt(|e2|) + * @return τ = tanφ + * + * See Eqs. (19--21) of + * C. F. F. Karney, + * + * Transverse Mercator with an accuracy of a few nanometers, + * J. Geodesy 85(8), 475--485 (Aug. 2011) + * (preprint + * arXiv:1002.1417). + **********************************************************************/ + template static T tauf(T taup, T es); + + /** + * Test for finiteness. + * + * @tparam T the type of the argument. + * @param[in] x + * @return true if number is finite, false if NaN or infinite. + **********************************************************************/ + template static bool isfinite(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::isfinite; return isfinite(x); +#else + using std::abs; +#if defined(_MSC_VER) + return abs(x) <= (std::numeric_limits::max)(); +#else + // There's a problem using MPFR C++ 3.6.3 and g++ -std=c++14 (reported on + // 2015-05-04) with the parens around std::numeric_limits::max. Of + // course, these parens are only needed to deal with Windows stupidly + // defining max as a macro. So don't insert the parens on non-Windows + // platforms. + return abs(x) <= std::numeric_limits::max(); +#endif +#endif + } + + /** + * The NaN (not a number) + * + * @tparam T the type of the returned value. + * @return NaN if available, otherwise return the max real of type T. + **********************************************************************/ + template static T NaN() { +#if defined(_MSC_VER) + return std::numeric_limits::has_quiet_NaN ? + std::numeric_limits::quiet_NaN() : + (std::numeric_limits::max)(); +#else + return std::numeric_limits::has_quiet_NaN ? + std::numeric_limits::quiet_NaN() : + std::numeric_limits::max(); +#endif + } + /** + * A synonym for NaN(). + **********************************************************************/ + static real NaN() { return NaN(); } + + /** + * Test for NaN. + * + * @tparam T the type of the argument. + * @param[in] x + * @return true if argument is a NaN. + **********************************************************************/ + template static bool isnan(T x) { +#if GEOGRAPHICLIB_CXX11_MATH + using std::isnan; return isnan(x); +#else + return x != x; +#endif + } + + /** + * Infinity + * + * @tparam T the type of the returned value. + * @return infinity if available, otherwise return the max real. + **********************************************************************/ + template static T infinity() { +#if defined(_MSC_VER) + return std::numeric_limits::has_infinity ? + std::numeric_limits::infinity() : + (std::numeric_limits::max)(); +#else + return std::numeric_limits::has_infinity ? + std::numeric_limits::infinity() : + std::numeric_limits::max(); +#endif + } + /** + * A synonym for infinity(). + **********************************************************************/ + static real infinity() { return infinity(); } + + /** + * Swap the bytes of a quantity + * + * @tparam T the type of the argument and the returned value. + * @param[in] x + * @return x with its bytes swapped. + **********************************************************************/ + template static T swab(T x) { + union { + T r; + unsigned char c[sizeof(T)]; + } b; + b.r = x; + for (int i = sizeof(T)/2; i--; ) + std::swap(b.c[i], b.c[sizeof(T) - 1 - i]); + return b.r; + } + +#if GEOGRAPHICLIB_PRECISION == 4 + typedef boost::math::policies::policy + < boost::math::policies::domain_error + , + boost::math::policies::pole_error + , + boost::math::policies::overflow_error + , + boost::math::policies::evaluation_error + > + boost_special_functions_policy; + + static real hypot(real x, real y) + { return boost::math::hypot(x, y, boost_special_functions_policy()); } + + static real expm1(real x) + { return boost::math::expm1(x, boost_special_functions_policy()); } + + static real log1p(real x) + { return boost::math::log1p(x, boost_special_functions_policy()); } + + static real asinh(real x) + { return boost::math::asinh(x, boost_special_functions_policy()); } + + static real atanh(real x) + { return boost::math::atanh(x, boost_special_functions_policy()); } + + static real cbrt(real x) + { return boost::math::cbrt(x, boost_special_functions_policy()); } + + static real fma(real x, real y, real z) + { return fmaq(__float128(x), __float128(y), __float128(z)); } + + static real copysign(real x, real y) + { return boost::math::copysign(x, y); } + + static bool isnan(real x) { return boost::math::isnan(x); } + + static bool isfinite(real x) { return boost::math::isfinite(x); } +#endif + }; + +} // namespace GeographicLib + +#endif // GEOGRAPHICLIB_MATH_HPP diff --git a/global_fusion/ThirdParty/GeographicLib/src/Geocentric.cpp b/global_fusion/ThirdParty/GeographicLib/src/Geocentric.cpp new file mode 100644 index 0000000..85f07a0 --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/src/Geocentric.cpp @@ -0,0 +1,172 @@ +/** + * \file Geocentric.cpp + * \brief Implementation for GeographicLib::Geocentric class + * + * Copyright (c) Charles Karney (2008-2017) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "Geocentric.hpp" + +namespace GeographicLib { + + using namespace std; + + Geocentric::Geocentric(real a, real f) + : _a(a) + , _f(f) + , _e2(_f * (2 - _f)) + , _e2m(Math::sq(1 - _f)) // 1 - _e2 + , _e2a(abs(_e2)) + , _e4a(Math::sq(_e2)) + , _maxrad(2 * _a / numeric_limits::epsilon()) + { + if (!(Math::isfinite(_a) && _a > 0)) + throw GeographicErr("Equatorial radius is not positive"); + if (!(Math::isfinite(_f) && _f < 1)) + throw GeographicErr("Polar semi-axis is not positive"); + } + + const Geocentric& Geocentric::WGS84() { + static const Geocentric wgs84(Constants::WGS84_a(), Constants::WGS84_f()); + return wgs84; + } + + void Geocentric::IntForward(real lat, real lon, real h, + real& X, real& Y, real& Z, + real M[dim2_]) const { + real sphi, cphi, slam, clam; + Math::sincosd(Math::LatFix(lat), sphi, cphi); + Math::sincosd(lon, slam, clam); + real n = _a/sqrt(1 - _e2 * Math::sq(sphi)); + Z = (_e2m * n + h) * sphi; + X = (n + h) * cphi; + Y = X * slam; + X *= clam; + if (M) + Rotation(sphi, cphi, slam, clam, M); + } + + void Geocentric::IntReverse(real X, real Y, real Z, + real& lat, real& lon, real& h, + real M[dim2_]) const { + real + R = Math::hypot(X, Y), + slam = R != 0 ? Y / R : 0, + clam = R != 0 ? X / R : 1; + h = Math::hypot(R, Z); // Distance to center of earth + real sphi, cphi; + if (h > _maxrad) { + // We really far away (> 12 million light years); treat the earth as a + // point and h, above, is an acceptable approximation to the height. + // This avoids overflow, e.g., in the computation of disc below. It's + // possible that h has overflowed to inf; but that's OK. + // + // Treat the case X, Y finite, but R overflows to +inf by scaling by 2. + R = Math::hypot(X/2, Y/2); + slam = R != 0 ? (Y/2) / R : 0; + clam = R != 0 ? (X/2) / R : 1; + real H = Math::hypot(Z/2, R); + sphi = (Z/2) / H; + cphi = R / H; + } else if (_e4a == 0) { + // Treat the spherical case. Dealing with underflow in the general case + // with _e2 = 0 is difficult. Origin maps to N pole same as with + // ellipsoid. + real H = Math::hypot(h == 0 ? 1 : Z, R); + sphi = (h == 0 ? 1 : Z) / H; + cphi = R / H; + h -= _a; + } else { + // Treat prolate spheroids by swapping R and Z here and by switching + // the arguments to phi = atan2(...) at the end. + real + p = Math::sq(R / _a), + q = _e2m * Math::sq(Z / _a), + r = (p + q - _e4a) / 6; + if (_f < 0) swap(p, q); + if ( !(_e4a * q == 0 && r <= 0) ) { + real + // Avoid possible division by zero when r = 0 by multiplying + // equations for s and t by r^3 and r, resp. + S = _e4a * p * q / 4, // S = r^3 * s + r2 = Math::sq(r), + r3 = r * r2, + disc = S * (2 * r3 + S); + real u = r; + if (disc >= 0) { + real T3 = S + r3; + // Pick the sign on the sqrt to maximize abs(T3). This minimizes + // loss of precision due to cancellation. The result is unchanged + // because of the way the T is used in definition of u. + T3 += T3 < 0 ? -sqrt(disc) : sqrt(disc); // T3 = (r * t)^3 + // N.B. cbrt always returns the real root. cbrt(-8) = -2. + real T = Math::cbrt(T3); // T = r * t + // T can be zero; but then r2 / T -> 0. + u += T + (T != 0 ? r2 / T : 0); + } else { + // T is complex, but the way u is defined the result is real. + real ang = atan2(sqrt(-disc), -(S + r3)); + // There are three possible cube roots. We choose the root which + // avoids cancellation. Note that disc < 0 implies that r < 0. + u += 2 * r * cos(ang / 3); + } + real + v = sqrt(Math::sq(u) + _e4a * q), // guaranteed positive + // Avoid loss of accuracy when u < 0. Underflow doesn't occur in + // e4 * q / (v - u) because u ~ e^4 when q is small and u < 0. + uv = u < 0 ? _e4a * q / (v - u) : u + v, // u+v, guaranteed positive + // Need to guard against w going negative due to roundoff in uv - q. + w = max(real(0), _e2a * (uv - q) / (2 * v)), + // Rearrange expression for k to avoid loss of accuracy due to + // subtraction. Division by 0 not possible because uv > 0, w >= 0. + k = uv / (sqrt(uv + Math::sq(w)) + w), + k1 = _f >= 0 ? k : k - _e2, + k2 = _f >= 0 ? k + _e2 : k, + d = k1 * R / k2, + H = Math::hypot(Z/k1, R/k2); + sphi = (Z/k1) / H; + cphi = (R/k2) / H; + h = (1 - _e2m/k1) * Math::hypot(d, Z); + } else { // e4 * q == 0 && r <= 0 + // This leads to k = 0 (oblate, equatorial plane) and k + e^2 = 0 + // (prolate, rotation axis) and the generation of 0/0 in the general + // formulas for phi and h. using the general formula and division by 0 + // in formula for h. So handle this case by taking the limits: + // f > 0: z -> 0, k -> e2 * sqrt(q)/sqrt(e4 - p) + // f < 0: R -> 0, k + e2 -> - e2 * sqrt(q)/sqrt(e4 - p) + real + zz = sqrt((_f >= 0 ? _e4a - p : p) / _e2m), + xx = sqrt( _f < 0 ? _e4a - p : p ), + H = Math::hypot(zz, xx); + sphi = zz / H; + cphi = xx / H; + if (Z < 0) sphi = -sphi; // for tiny negative Z (not for prolate) + h = - _a * (_f >= 0 ? _e2m : 1) * H / _e2a; + } + } + lat = Math::atan2d(sphi, cphi); + lon = Math::atan2d(slam, clam); + if (M) + Rotation(sphi, cphi, slam, clam, M); + } + + void Geocentric::Rotation(real sphi, real cphi, real slam, real clam, + real M[dim2_]) { + // This rotation matrix is given by the following quaternion operations + // qrot(lam, [0,0,1]) * qrot(phi, [0,-1,0]) * [1,1,1,1]/2 + // or + // qrot(pi/2 + lam, [0,0,1]) * qrot(-pi/2 + phi , [-1,0,0]) + // where + // qrot(t,v) = [cos(t/2), sin(t/2)*v[1], sin(t/2)*v[2], sin(t/2)*v[3]] + + // Local X axis (east) in geocentric coords + M[0] = -slam; M[3] = clam; M[6] = 0; + // Local Y axis (north) in geocentric coords + M[1] = -clam * sphi; M[4] = -slam * sphi; M[7] = cphi; + // Local Z axis (up) in geocentric coords + M[2] = clam * cphi; M[5] = slam * cphi; M[8] = sphi; + } + +} // namespace GeographicLib diff --git a/global_fusion/ThirdParty/GeographicLib/src/LocalCartesian.cpp b/global_fusion/ThirdParty/GeographicLib/src/LocalCartesian.cpp new file mode 100644 index 0000000..626daca --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/src/LocalCartesian.cpp @@ -0,0 +1,62 @@ +/** + * \file LocalCartesian.cpp + * \brief Implementation for GeographicLib::LocalCartesian class + * + * Copyright (c) Charles Karney (2008-2015) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "LocalCartesian.hpp" + +namespace GeographicLib { + + using namespace std; + + void LocalCartesian::Reset(real lat0, real lon0, real h0) { + _lat0 = Math::LatFix(lat0); + _lon0 = Math::AngNormalize(lon0); + _h0 = h0; + _earth.Forward(_lat0, _lon0, _h0, _x0, _y0, _z0); + real sphi, cphi, slam, clam; + Math::sincosd(_lat0, sphi, cphi); + Math::sincosd(_lon0, slam, clam); + Geocentric::Rotation(sphi, cphi, slam, clam, _r); + } + + void LocalCartesian::MatrixMultiply(real M[dim2_]) const { + // M = r' . M + real t[dim2_]; + copy(M, M + dim2_, t); + for (size_t i = 0; i < dim2_; ++i) { + size_t row = i / dim_, col = i % dim_; + M[i] = _r[row] * t[col] + _r[row+3] * t[col+3] + _r[row+6] * t[col+6]; + } + } + + void LocalCartesian::IntForward(real lat, real lon, real h, + real& x, real& y, real& z, + real M[dim2_]) const { + real xc, yc, zc; + _earth.IntForward(lat, lon, h, xc, yc, zc, M); + xc -= _x0; yc -= _y0; zc -= _z0; + x = _r[0] * xc + _r[3] * yc + _r[6] * zc; + y = _r[1] * xc + _r[4] * yc + _r[7] * zc; + z = _r[2] * xc + _r[5] * yc + _r[8] * zc; + if (M) + MatrixMultiply(M); + } + + void LocalCartesian::IntReverse(real x, real y, real z, + real& lat, real& lon, real& h, + real M[dim2_]) const { + real + xc = _x0 + _r[0] * x + _r[1] * y + _r[2] * z, + yc = _y0 + _r[3] * x + _r[4] * y + _r[5] * z, + zc = _z0 + _r[6] * x + _r[7] * y + _r[8] * z; + _earth.IntReverse(xc, yc, zc, lat, lon, h, M); + if (M) + MatrixMultiply(M); + } + +} // namespace GeographicLib diff --git a/global_fusion/ThirdParty/GeographicLib/src/Math.cpp b/global_fusion/ThirdParty/GeographicLib/src/Math.cpp new file mode 100644 index 0000000..c318d4d --- /dev/null +++ b/global_fusion/ThirdParty/GeographicLib/src/Math.cpp @@ -0,0 +1,63 @@ +/** + * \file Math.cpp + * \brief Implementation for GeographicLib::Math class + * + * Copyright (c) Charles Karney (2015) and licensed + * under the MIT/X11 License. For more information, see + * https://geographiclib.sourceforge.io/ + **********************************************************************/ + +#include "Math.hpp" + +#if defined(_MSC_VER) +// Squelch warnings about constant conditional expressions +# pragma warning (disable: 4127) +#endif + +namespace GeographicLib { + + using namespace std; + + template T Math::eatanhe(T x, T es) { + return es > T(0) ? es * atanh(es * x) : -es * atan(es * x); + } + + template T Math::taupf(T tau, T es) { + T tau1 = hypot(T(1), tau), + sig = sinh( eatanhe(tau / tau1, es ) ); + return hypot(T(1), sig) * tau - sig * tau1; + } + + template T Math::tauf(T taup, T es) { + static const int numit = 5; + static const T tol = sqrt(numeric_limits::epsilon()) / T(10); + T e2m = T(1) - sq(es), + // To lowest order in e^2, taup = (1 - e^2) * tau = _e2m * tau; so use + // tau = taup/_e2m as a starting guess. (This starting guess is the + // geocentric latitude which, to first order in the flattening, is equal + // to the conformal latitude.) Only 1 iteration is needed for |lat| < + // 3.35 deg, otherwise 2 iterations are needed. If, instead, tau = taup + // is used the mean number of iterations increases to 1.99 (2 iterations + // are needed except near tau = 0). + tau = taup/e2m, + stol = tol * max(T(1), abs(taup)); + // min iterations = 1, max iterations = 2; mean = 1.94 + for (int i = 0; i < numit || GEOGRAPHICLIB_PANIC; ++i) { + T taupa = taupf(tau, es), + dtau = (taup - taupa) * (1 + e2m * sq(tau)) / + ( e2m * hypot(T(1), tau) * hypot(T(1), taupa) ); + tau += dtau; + if (!(abs(dtau) >= stol)) + break; + } + return tau; + } + + /// \cond SKIP + // Instantiate + template Math::real Math::eatanhe(Math::real, Math::real); + template Math::real Math::taupf(Math::real, Math::real); + template Math::real Math::tauf(Math::real, Math::real); + /// \endcond + +} // namespace GeographicLib diff --git a/global_fusion/models/car.dae b/global_fusion/models/car.dae new file mode 100644 index 0000000..db91eeb --- /dev/null +++ b/global_fusion/models/car.dae @@ -0,0 +1,315639 @@ + + + FBX COLLADA 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7593 2 2 1785 7594 2 2 1666 7595 2 2 1667 7596 2 2 1786 7597 2 2 1785 7598 2 2 1668 7599 2 2 1786 7600 2 2 1667 7601 2 2 1668 7602 2 2 1787 7603 2 2 1786 7604 2 2 1669 7605 2 2 1787 7606 2 2 1668 7607 2 2 1081 7608 2 2 1055 7609 2 2 1751 7610 2 2 1791 7611 2 2 1081 7612 2 2 1751 7613 2 2 1081 7614 2 2 1791 7615 2 2 1080 7616 2 2 1791 7617 2 2 1792 7618 2 2 1080 7619 2 2 1080 7620 2 2 1792 7621 2 2 1079 7622 2 2 1792 7623 2 2 1793 7624 2 2 1079 7625 2 2 1079 7626 2 2 1793 7627 2 2 1078 7628 2 2 1793 7629 2 2 1794 7630 2 2 1078 7631 2 2 1794 7632 2 2 1077 7633 2 2 1078 7634 2 2 1794 7635 2 2 1795 7636 2 2 1077 7637 2 2 1795 7638 2 2 1075 7639 2 2 1077 7640 2 2 1796 7641 2 2 1075 7642 2 2 1795 7643 2 2 1796 7644 2 2 1073 7645 2 2 1075 7646 2 2 1797 7647 2 2 1073 7648 2 2 1796 7649 2 2 1797 7650 2 2 1070 7651 2 2 1073 7652 2 2 1797 7653 2 2 1068 7654 2 2 1070 7655 2 2 1798 7656 2 2 1068 7657 2 2 1797 7658 2 2 1798 7659 2 2 1066 7660 2 2 1068 7661 2 2 1799 7662 2 2 1066 7663 2 2 1798 7664 2 2 1799 7665 2 2 1036 7666 2 2 1066 7667 2 2 1799 7668 2 2 1761 7669 2 2 1036 7670 2 2 1762 7671 2 2 1800 7672 2 2 1763 7673 2 2 1800 7674 2 2 1801 7675 2 2 1763 7676 2 2 1802 7677 2 2 1801 7678 2 2 1800 7679 2 2 1803 7680 2 2 1801 7681 2 2 1802 7682 2 2 1803 7683 2 2 1804 7684 2 2 1801 7685 2 2 1803 7686 2 2 1805 7687 2 2 1804 7688 2 2 1806 7689 2 2 1804 7690 2 2 1805 7691 2 2 1806 7692 2 2 1807 7693 2 2 1804 7694 2 2 1808 7695 2 2 1807 7696 2 2 1806 7697 2 2 1809 7698 2 2 1807 7699 2 2 1808 7700 2 2 1810 7701 2 2 1809 7702 2 2 1808 7703 2 2 1811 7704 2 2 1809 7705 2 2 1810 7706 2 2 1812 7707 2 2 1811 7708 2 2 1810 7709 2 2 1813 7710 2 2 1811 7711 2 2 1812 7712 2 2 1813 7713 2 2 1778 7714 2 2 1811 7715 2 2 1779 7716 2 2 1778 7717 2 2 1813 7718 2 2 1491 7719 2 2 1490 7720 2 2 1095 7721 2 2 1094 7722 2 2 1491 7723 2 2 1095 7724 2 2 1387 7725 2 2 1491 7726 2 2 1094 7727 2 2 1097 7728 2 2 1387 7729 2 2 1094 7730 2 2 1388 7731 2 2 1387 7732 2 2 1097 7733 2 2 1099 7734 2 2 1388 7735 2 2 1097 7736 2 2 1389 7737 2 2 1388 7738 2 2 1099 7739 2 2 1101 7740 2 2 1389 7741 2 2 1099 7742 2 2 1101 7743 2 2 1390 7744 2 2 1389 7745 2 2 1814 7746 2 2 1390 7747 2 2 1102 7748 2 2 1102 7749 2 2 1390 7750 2 2 1101 7751 2 2 1815 7752 2 2 1814 7753 2 2 1102 7754 2 2 1815 7755 2 2 1102 7756 2 2 1104 7757 2 2 1816 7758 2 2 1815 7759 2 2 1104 7760 2 2 1817 7761 2 2 1816 7762 2 2 1104 7763 2 2 1817 7764 2 2 1104 7765 2 2 1106 7766 2 2 1818 7767 2 2 1817 7768 2 2 1106 7769 2 2 1818 7770 2 2 1106 7771 2 2 1083 7772 2 2 1819 7773 2 2 1818 7774 2 2 1083 7775 2 2 1819 7776 2 2 1083 7777 2 2 1082 7778 2 2 1820 7779 2 2 1819 7780 2 2 1082 7781 2 2 1820 7782 2 2 1082 7783 2 2 1085 7784 2 2 1821 7785 2 2 1820 7786 2 2 1085 7787 2 2 1821 7788 2 2 1085 7789 2 2 1822 7790 2 2 1822 7791 2 2 1085 7792 2 2 1823 7793 2 2 1823 7794 2 2 1085 7795 2 2 1087 7796 2 2 1823 7797 2 2 1087 7798 2 2 1824 7799 2 2 1824 7800 2 2 1087 7801 2 2 1089 7802 2 2 1824 7803 2 2 1089 7804 2 2 1825 7805 2 2 1825 7806 2 2 1089 7807 2 2 1091 7808 2 2 1817 7809 2 2 1562 7810 2 2 1816 7811 2 2 1563 7812 2 2 1562 7813 2 2 1817 7814 2 2 1818 7815 2 2 1563 7816 2 2 1817 7817 2 2 1564 7818 2 2 1563 7819 2 2 1818 7820 2 2 1564 7821 2 2 1818 7822 2 2 1819 7823 2 2 1565 7824 2 2 1564 7825 2 2 1819 7826 2 2 1820 7827 2 2 1565 7828 2 2 1819 7829 2 2 1566 7830 2 2 1565 7831 2 2 1820 7832 2 2 1821 7833 2 2 1566 7834 2 2 1820 7835 2 2 1567 7836 2 2 1566 7837 2 2 1821 7838 2 2 1111 7839 2 2 1826 7840 2 2 1112 7841 2 2 1827 7842 2 2 1826 7843 2 2 1111 7844 2 2 1110 7845 2 2 1827 7846 2 2 1111 7847 2 2 1110 7848 2 2 1828 7849 2 2 1827 7850 2 2 1109 7851 2 2 1828 7852 2 2 1110 7853 2 2 1109 7854 2 2 1829 7855 2 2 1828 7856 2 2 1829 7857 2 2 1109 7858 2 2 1108 7859 2 2 1829 7860 2 2 1108 7861 2 2 1830 7862 2 2 1830 7863 2 2 1108 7864 2 2 1107 7865 2 2 1830 7866 2 2 1107 7867 2 2 1831 7868 2 2 1831 7869 2 2 1107 7870 2 2 1105 7871 2 2 1832 7872 2 2 1831 7873 2 2 1105 7874 2 2 1832 7875 2 2 1105 7876 2 2 1103 7877 2 2 1832 7878 2 2 1103 7879 2 2 1833 7880 2 2 1833 7881 2 2 1103 7882 2 2 1100 7883 2 2 1833 7884 2 2 1100 7885 2 2 1098 7886 2 2 1833 7887 2 2 1098 7888 2 2 1834 7889 2 2 1098 7890 2 2 1096 7891 2 2 1834 7892 2 2 1834 7893 2 2 1096 7894 2 2 1835 7895 2 2 1096 7896 2 2 1093 7897 2 2 1835 7898 2 2 1835 7899 2 2 1093 7900 2 2 1836 7901 2 2 1837 7902 2 2 1838 7903 2 2 1839 7904 2 2 1837 7905 2 2 1839 7906 2 2 1840 7907 2 2 1837 7908 2 2 1840 7909 2 2 1841 7910 2 2 1842 7911 2 2 1841 7912 2 2 1840 7913 2 2 1842 7914 2 2 1840 7915 2 2 1843 7916 2 2 1842 7917 2 2 1843 7918 2 2 1844 7919 2 2 1844 7920 2 2 1843 7921 2 2 1845 7922 2 2 1845 7923 2 2 1843 7924 2 2 1846 7925 2 2 1847 7926 2 2 1845 7927 2 2 1846 7928 2 2 1847 7929 2 2 1846 7930 2 2 1848 7931 2 2 1847 7932 2 2 1848 7933 2 2 1849 7934 2 2 1848 7935 2 2 1850 7936 2 2 1849 7937 2 2 1849 7938 2 2 1850 7939 2 2 1851 7940 2 2 1851 7941 2 2 1850 7942 2 2 1852 7943 2 2 1850 7944 2 2 1853 7945 2 2 1852 7946 2 2 1852 7947 2 2 1853 7948 2 2 1854 7949 2 2 1095 7950 2 2 1490 7951 2 2 1498 7952 2 2 1095 7953 2 2 1498 7954 2 2 1122 7955 2 2 1122 7956 2 2 1498 7957 2 2 1415 7958 2 2 1122 7959 2 2 1415 7960 2 2 1124 7961 2 2 1124 7962 2 2 1415 7963 2 2 1416 7964 2 2 1126 7965 2 2 1124 7966 2 2 1416 7967 2 2 1126 7968 2 2 1416 7969 2 2 1417 7970 2 2 1128 7971 2 2 1126 7972 2 2 1417 7973 2 2 1128 7974 2 2 1417 7975 2 2 1418 7976 2 2 1129 7977 2 2 1418 7978 2 2 1855 7979 2 2 1129 7980 2 2 1128 7981 2 2 1418 7982 2 2 1856 7983 2 2 1129 7984 2 2 1855 7985 2 2 1131 7986 2 2 1129 7987 2 2 1856 7988 2 2 1131 7989 2 2 1856 7990 2 2 1857 7991 2 2 1858 7992 2 2 1131 7993 2 2 1857 7994 2 2 1858 7995 2 2 1133 7996 2 2 1131 7997 2 2 1859 7998 2 2 1133 7999 2 2 1858 8000 2 2 1859 8001 2 2 1115 8002 2 2 1133 8003 2 2 1860 8004 2 2 1115 8005 2 2 1859 8006 2 2 1113 8007 2 2 1115 8008 2 2 1860 8009 2 2 1861 8010 2 2 1113 8011 2 2 1860 8012 2 2 1116 8013 2 2 1113 8014 2 2 1861 8015 2 2 1862 8016 2 2 1116 8017 2 2 1861 8018 2 2 1862 8019 2 2 1863 8020 2 2 1116 8021 2 2 1863 8022 2 2 1864 8023 2 2 1116 8024 2 2 1864 8025 2 2 1118 8026 2 2 1116 8027 2 2 1865 8028 2 2 1118 8029 2 2 1864 8030 2 2 1865 8031 2 2 1120 8032 2 2 1118 8033 2 2 1825 8034 2 2 1120 8035 2 2 1865 8036 2 2 1825 8037 2 2 1091 8038 2 2 1120 8039 2 2 1858 8040 2 2 1857 8041 2 2 1745 8042 2 2 1746 8043 2 2 1858 8044 2 2 1745 8045 2 2 1859 8046 2 2 1858 8047 2 2 1746 8048 2 2 1747 8049 2 2 1859 8050 2 2 1746 8051 2 2 1860 8052 2 2 1859 8053 2 2 1747 8054 2 2 1748 8055 2 2 1860 8056 2 2 1747 8057 2 2 1861 8058 2 2 1860 8059 2 2 1748 8060 2 2 1749 8061 2 2 1861 8062 2 2 1748 8063 2 2 1862 8064 2 2 1861 8065 2 2 1749 8066 2 2 1750 8067 2 2 1862 8068 2 2 1749 8069 2 2 1826 8070 2 2 1138 8071 2 2 1112 8072 2 2 1826 8073 2 2 1866 8074 2 2 1138 8075 2 2 1866 8076 2 2 1137 8077 2 2 1138 8078 2 2 1866 8079 2 2 1867 8080 2 2 1137 8081 2 2 1867 8082 2 2 1136 8083 2 2 1137 8084 2 2 1868 8085 2 2 1136 8086 2 2 1867 8087 2 2 1868 8088 2 2 1135 8089 2 2 1136 8090 2 2 1869 8091 2 2 1135 8092 2 2 1868 8093 2 2 1869 8094 2 2 1134 8095 2 2 1135 8096 2 2 1869 8097 2 2 1870 8098 2 2 1134 8099 2 2 1870 8100 2 2 1132 8101 2 2 1134 8102 2 2 1871 8103 2 2 1132 8104 2 2 1870 8105 2 2 1871 8106 2 2 1130 8107 2 2 1132 8108 2 2 1871 8109 2 2 1872 8110 2 2 1130 8111 2 2 1872 8112 2 2 1127 8113 2 2 1130 8114 2 2 1125 8115 2 2 1127 8116 2 2 1872 8117 2 2 1873 8118 2 2 1125 8119 2 2 1872 8120 2 2 1123 8121 2 2 1125 8122 2 2 1873 8123 2 2 1123 8124 2 2 1873 8125 2 2 1874 8126 2 2 1093 8127 2 2 1123 8128 2 2 1874 8129 2 2 1093 8130 2 2 1874 8131 2 2 1836 8132 2 2 1838 8133 2 2 1875 8134 2 2 1839 8135 2 2 1839 8136 2 2 1875 8137 2 2 1876 8138 2 2 1875 8139 2 2 1877 8140 2 2 1876 8141 2 2 1876 8142 2 2 1877 8143 2 2 1878 8144 2 2 1876 8145 2 2 1878 8146 2 2 1879 8147 2 2 1878 8148 2 2 1880 8149 2 2 1879 8150 2 2 1881 8151 2 2 1879 8152 2 2 1880 8153 2 2 1881 8154 2 2 1882 8155 2 2 1879 8156 2 2 1883 8157 2 2 1882 8158 2 2 1881 8159 2 2 1883 8160 2 2 1884 8161 2 2 1882 8162 2 2 1885 8163 2 2 1884 8164 2 2 1883 8165 2 2 1885 8166 2 2 1886 8167 2 2 1884 8168 2 2 1887 8169 2 2 1886 8170 2 2 1885 8171 2 2 1888 8172 2 2 1886 8173 2 2 1887 8174 2 2 1853 8175 2 2 1886 8176 2 2 1888 8177 2 2 1853 8178 2 2 1888 8179 2 2 1854 8180 2 2 1514 8181 2 2 1515 8182 2 2 843 8183 2 2 844 8184 2 2 1514 8185 2 2 843 8186 2 2 1513 8187 2 2 1514 8188 2 2 844 8189 2 2 845 8190 2 2 1513 8191 2 2 844 8192 2 2 1512 8193 2 2 1513 8194 2 2 845 8195 2 2 846 8196 2 2 1512 8197 2 2 845 8198 2 2 1511 8199 2 2 1512 8200 2 2 846 8201 2 2 847 8202 2 2 1511 8203 2 2 846 8204 2 2 1521 8205 2 2 1511 8206 2 2 847 8207 2 2 848 8208 2 2 1521 8209 2 2 847 8210 2 2 1634 8211 2 2 1521 8212 2 2 848 8213 2 2 1635 8214 2 2 1634 8215 2 2 848 8216 2 2 1635 8217 2 2 848 8218 2 2 849 8219 2 2 1636 8220 2 2 1635 8221 2 2 849 8222 2 2 1636 8223 2 2 849 8224 2 2 850 8225 2 2 1637 8226 2 2 1636 8227 2 2 850 8228 2 2 1637 8229 2 2 850 8230 2 2 851 8231 2 2 1602 8232 2 2 1637 8233 2 2 851 8234 2 2 1602 8235 2 2 851 8236 2 2 852 8237 2 2 1601 8238 2 2 1602 8239 2 2 852 8240 2 2 853 8241 2 2 1601 8242 2 2 852 8243 2 2 1601 8244 2 2 853 8245 2 2 1600 8246 2 2 1600 8247 2 2 853 8248 2 2 834 8249 2 2 1600 8250 2 2 834 8251 2 2 1599 8252 2 2 1599 8253 2 2 834 8254 2 2 1598 8255 2 2 1598 8256 2 2 834 8257 2 2 833 8258 2 2 1598 8259 2 2 833 8260 2 2 1608 8261 2 2 1608 8262 2 2 833 8263 2 2 1706 8264 2 2 1706 8265 2 2 833 8266 2 2 832 8267 2 2 1706 8268 2 2 832 8269 2 2 1707 8270 2 2 1707 8271 2 2 832 8272 2 2 831 8273 2 2 1707 8274 2 2 831 8275 2 2 1708 8276 2 2 1708 8277 2 2 831 8278 2 2 1709 8279 2 2 831 8280 2 2 830 8281 2 2 1709 8282 2 2 1709 8283 2 2 830 8284 2 2 1663 8285 2 2 830 8286 2 2 829 8287 2 2 1663 8288 2 2 1663 8289 2 2 829 8290 2 2 1662 8291 2 2 829 8292 2 2 828 8293 2 2 1662 8294 2 2 1661 8295 2 2 828 8296 2 2 827 8297 2 2 828 8298 2 2 1661 8299 2 2 1662 8300 2 2 1661 8301 2 2 827 8302 2 2 1660 8303 2 2 827 8304 2 2 826 8305 2 2 1660 8306 2 2 1660 8307 2 2 826 8308 2 2 1659 8309 2 2 826 8310 2 2 1669 8311 2 2 1659 8312 2 2 826 8313 2 2 825 8314 2 2 1669 8315 2 2 1669 8316 2 2 825 8317 2 2 1787 8318 2 2 825 8319 2 2 824 8320 2 2 1787 8321 2 2 824 8322 2 2 823 8323 2 2 1788 8324 2 2 1788 8325 2 2 823 8326 2 2 1789 8327 2 2 1789 8328 2 2 823 8329 2 2 1790 8330 2 2 823 8331 2 2 822 8332 2 2 1790 8333 2 2 822 8334 2 2 1744 8335 2 2 1790 8336 2 2 822 8337 2 2 821 8338 2 2 1744 8339 2 2 821 8340 2 2 1743 8341 2 2 1744 8342 2 2 821 8343 2 2 820 8344 2 2 1743 8345 2 2 820 8346 2 2 1742 8347 2 2 1743 8348 2 2 820 8349 2 2 819 8350 2 2 1742 8351 2 2 819 8352 2 2 1741 8353 2 2 1742 8354 2 2 819 8355 2 2 818 8356 2 2 1741 8357 2 2 1741 8358 2 2 818 8359 2 2 1740 8360 2 2 818 8361 2 2 817 8362 2 2 1740 8363 2 2 817 8364 2 2 1750 8365 2 2 1740 8366 2 2 814 8367 2 2 1750 8368 2 2 817 8369 2 2 814 8370 2 2 1862 8371 2 2 1750 8372 2 2 814 8373 2 2 816 8374 2 2 1862 8375 2 2 816 8376 2 2 1863 8377 2 2 1862 8378 2 2 816 8379 2 2 1864 8380 2 2 1863 8381 2 2 815 8382 2 2 1864 8383 2 2 816 8384 2 2 815 8385 2 2 1865 8386 2 2 1864 8387 2 2 835 8388 2 2 1865 8389 2 2 815 8390 2 2 835 8391 2 2 1825 8392 2 2 1865 8393 2 2 836 8394 2 2 1825 8395 2 2 835 8396 2 2 836 8397 2 2 1824 8398 2 2 1825 8399 2 2 837 8400 2 2 1824 8401 2 2 836 8402 2 2 837 8403 2 2 1823 8404 2 2 1824 8405 2 2 838 8406 2 2 1823 8407 2 2 837 8408 2 2 838 8409 2 2 1822 8410 2 2 1823 8411 2 2 838 8412 2 2 1821 8413 2 2 1822 8414 2 2 839 8415 2 2 1821 8416 2 2 838 8417 2 2 839 8418 2 2 1567 8419 2 2 1821 8420 2 2 839 8421 2 2 1558 8422 2 2 1567 8423 2 2 840 8424 2 2 1558 8425 2 2 839 8426 2 2 840 8427 2 2 1559 8428 2 2 1558 8429 2 2 1560 8430 2 2 1559 8431 2 2 840 8432 2 2 841 8433 2 2 1560 8434 2 2 840 8435 2 2 1561 8436 2 2 1560 8437 2 2 841 8438 2 2 842 8439 2 2 1561 8440 2 2 841 8441 2 2 1515 8442 2 2 1561 8443 2 2 842 8444 2 2 843 8445 2 2 1515 8446 2 2 842 8447 2 2 1787 8448 2 2 824 8449 2 2 1788 8450 2 2 1889 8451 2 2 1890 8452 2 2 1891 8453 2 2 1890 8454 2 2 1889 8455 2 2 1892 8456 2 2 1893 8457 2 2 1891 8458 2 2 1894 8459 2 2 1891 8460 2 2 1893 8461 2 2 1889 8462 2 2 1895 8463 2 2 1894 8464 2 2 1896 8465 2 2 1894 8466 2 2 1895 8467 2 2 1893 8468 2 2 1897 8469 2 2 1896 8470 2 2 1898 8471 2 2 1896 8472 2 2 1897 8473 2 2 1895 8474 2 2 1899 8475 2 2 1898 8476 2 2 1900 8477 2 2 1898 8478 2 2 1899 8479 2 2 1897 8480 2 2 1901 8481 2 2 1900 8482 2 2 1902 8483 2 2 1900 8484 2 2 1901 8485 2 2 1899 8486 2 2 1903 8487 2 2 1902 8488 2 2 1904 8489 2 2 1902 8490 2 2 1903 8491 2 2 1901 8492 2 2 1905 8493 2 2 1904 8494 2 2 1906 8495 2 2 1904 8496 2 2 1905 8497 2 2 1903 8498 2 2 1907 8499 2 2 1906 8500 2 2 1908 8501 2 2 1906 8502 2 2 1907 8503 2 2 1905 8504 2 2 1909 8505 2 2 1908 8506 2 2 1910 8507 2 2 1908 8508 2 2 1909 8509 2 2 1907 8510 2 2 1911 8511 2 2 1910 8512 2 2 1912 8513 2 2 1910 8514 2 2 1911 8515 2 2 1909 8516 2 2 1913 8517 2 2 1912 8518 2 2 1914 8519 2 2 1912 8520 2 2 1913 8521 2 2 1911 8522 2 2 1913 8523 2 2 1915 8524 2 2 1916 8525 2 2 1915 8526 2 2 1913 8527 2 2 1914 8528 2 2 1916 8529 2 2 1917 8530 2 2 1918 8531 2 2 1917 8532 2 2 1916 8533 2 2 1915 8534 2 2 1918 8535 2 2 1919 8536 2 2 1920 8537 2 2 1919 8538 2 2 1918 8539 2 2 1917 8540 2 2 1920 8541 2 2 1921 8542 2 2 1922 8543 2 2 1921 8544 2 2 1920 8545 2 2 1919 8546 2 2 1922 8547 2 2 1923 8548 2 2 1924 8549 2 2 1923 8550 2 2 1922 8551 2 2 1921 8552 2 2 1924 8553 2 2 1925 8554 2 2 1926 8555 2 2 1925 8556 2 2 1924 8557 2 2 1923 8558 2 2 1926 8559 2 2 1927 8560 2 2 1928 8561 2 2 1927 8562 2 2 1926 8563 2 2 1925 8564 2 2 1928 8565 2 2 1929 8566 2 2 1930 8567 2 2 1929 8568 2 2 1928 8569 2 2 1927 8570 2 2 1930 8571 2 2 1931 8572 2 2 1932 8573 2 2 1931 8574 2 2 1930 8575 2 2 1929 8576 2 2 1932 8577 2 2 1933 8578 2 2 1934 8579 2 2 1933 8580 2 2 1932 8581 2 2 1931 8582 2 2 1934 8583 2 2 1935 8584 2 2 1936 8585 2 2 1935 8586 2 2 1934 8587 2 2 1933 8588 2 2 1936 8589 2 2 1937 8590 2 2 1938 8591 2 2 1937 8592 2 2 1936 8593 2 2 1935 8594 2 2 1938 8595 2 2 1939 8596 2 2 1940 8597 2 2 1939 8598 2 2 1938 8599 2 2 1937 8600 2 2 1939 8601 2 2 1941 8602 2 2 1940 8603 2 2 1941 8604 2 2 1939 8605 2 2 1942 8606 2 2 1942 8607 2 2 1943 8608 2 2 1941 8609 2 2 1943 8610 2 2 1942 8611 2 2 1944 8612 2 2 1944 8613 2 2 1945 8614 2 2 1943 8615 2 2 1945 8616 2 2 1944 8617 2 2 1946 8618 2 2 1946 8619 2 2 1947 8620 2 2 1945 8621 2 2 1947 8622 2 2 1946 8623 2 2 1948 8624 2 2 1948 8625 2 2 1949 8626 2 2 1947 8627 2 2 1949 8628 2 2 1948 8629 2 2 1950 8630 2 2 1950 8631 2 2 1951 8632 2 2 1949 8633 2 2 1951 8634 2 2 1950 8635 2 2 1952 8636 2 2 1952 8637 2 2 1953 8638 2 2 1951 8639 2 2 1953 8640 2 2 1952 8641 2 2 1954 8642 2 2 1954 8643 2 2 1955 8644 2 2 1953 8645 2 2 1955 8646 2 2 1954 8647 2 2 1956 8648 2 2 1956 8649 2 2 1957 8650 2 2 1955 8651 2 2 1957 8652 2 2 1956 8653 2 2 1958 8654 2 2 1958 8655 2 2 1959 8656 2 2 1957 8657 2 2 1959 8658 2 2 1958 8659 2 2 1960 8660 2 2 1960 8661 2 2 1961 8662 2 2 1959 8663 2 2 1961 8664 2 2 1960 8665 2 2 1962 8666 2 2 1962 8667 2 2 1963 8668 2 2 1961 8669 2 2 1963 8670 2 2 1962 8671 2 2 1964 8672 2 2 1964 8673 2 2 1965 8674 2 2 1963 8675 2 2 1965 8676 2 2 1964 8677 2 2 1966 8678 2 2 1967 8679 2 2 1965 8680 2 2 1966 8681 2 2 1965 8682 2 2 1967 8683 2 2 1968 8684 2 2 1969 8685 2 2 1968 8686 2 2 1967 8687 2 2 1968 8688 2 2 1969 8689 2 2 1970 8690 2 2 1971 8691 2 2 1970 8692 2 2 1969 8693 2 2 1970 8694 2 2 1971 8695 2 2 1972 8696 2 2 1973 8697 2 2 1972 8698 2 2 1971 8699 2 2 1972 8700 2 2 1973 8701 2 2 1974 8702 2 2 1975 8703 2 2 1974 8704 2 2 1973 8705 2 2 1974 8706 2 2 1975 8707 2 2 1976 8708 2 2 1977 8709 2 2 1976 8710 2 2 1975 8711 2 2 1976 8712 2 2 1977 8713 2 2 1978 8714 2 2 1979 8715 2 2 1978 8716 2 2 1977 8717 2 2 1978 8718 2 2 1979 8719 2 2 1980 8720 2 2 1981 8721 2 2 1980 8722 2 2 1979 8723 2 2 1980 8724 2 2 1981 8725 2 2 1982 8726 2 2 1983 8727 2 2 1982 8728 2 2 1981 8729 2 2 1982 8730 2 2 1983 8731 2 2 1984 8732 2 2 1985 8733 2 2 1984 8734 2 2 1983 8735 2 2 1984 8736 2 2 1985 8737 2 2 1986 8738 2 2 1987 8739 2 2 1986 8740 2 2 1985 8741 2 2 1986 8742 2 2 1987 8743 2 2 1988 8744 2 2 1890 8745 2 2 1988 8746 2 2 1987 8747 2 2 1988 8748 2 2 1890 8749 2 2 1892 8750 2 2 1989 8751 2 2 1990 8752 2 2 1991 8753 2 2 1990 8754 2 2 1989 8755 2 2 1992 8756 2 2 1993 8757 2 2 1991 8758 2 2 1994 8759 2 2 1991 8760 2 2 1993 8761 2 2 1989 8762 2 2 1995 8763 2 2 1994 8764 2 2 1996 8765 2 2 1994 8766 2 2 1995 8767 2 2 1993 8768 2 2 1997 8769 2 2 1996 8770 2 2 1998 8771 2 2 1996 8772 2 2 1997 8773 2 2 1995 8774 2 2 1999 8775 2 2 1998 8776 2 2 2000 8777 2 2 1998 8778 2 2 1999 8779 2 2 1997 8780 2 2 2001 8781 2 2 2000 8782 2 2 2002 8783 2 2 2000 8784 2 2 2001 8785 2 2 1999 8786 2 2 2003 8787 2 2 2002 8788 2 2 2004 8789 2 2 2002 8790 2 2 2003 8791 2 2 2001 8792 2 2 2005 8793 2 2 2004 8794 2 2 2006 8795 2 2 2004 8796 2 2 2005 8797 2 2 2003 8798 2 2 2007 8799 2 2 2006 8800 2 2 2008 8801 2 2 2006 8802 2 2 2007 8803 2 2 2005 8804 2 2 2009 8805 2 2 2008 8806 2 2 2010 8807 2 2 2008 8808 2 2 2009 8809 2 2 2007 8810 2 2 2011 8811 2 2 2010 8812 2 2 2012 8813 2 2 2010 8814 2 2 2011 8815 2 2 2009 8816 2 2 2013 8817 2 2 2012 8818 2 2 2014 8819 2 2 2012 8820 2 2 2013 8821 2 2 2011 8822 2 2 2013 8823 2 2 2015 8824 2 2 2016 8825 2 2 2015 8826 2 2 2013 8827 2 2 2014 8828 2 2 2016 8829 2 2 2017 8830 2 2 2018 8831 2 2 2017 8832 2 2 2016 8833 2 2 2015 8834 2 2 2018 8835 2 2 2019 8836 2 2 2020 8837 2 2 2019 8838 2 2 2018 8839 2 2 2017 8840 2 2 2020 8841 2 2 2021 8842 2 2 2022 8843 2 2 2021 8844 2 2 2020 8845 2 2 2019 8846 2 2 2022 8847 2 2 2023 8848 2 2 2024 8849 2 2 2023 8850 2 2 2022 8851 2 2 2021 8852 2 2 2024 8853 2 2 2025 8854 2 2 2026 8855 2 2 2025 8856 2 2 2024 8857 2 2 2023 8858 2 2 2026 8859 2 2 2027 8860 2 2 2028 8861 2 2 2027 8862 2 2 2026 8863 2 2 2025 8864 2 2 2028 8865 2 2 2029 8866 2 2 2030 8867 2 2 2029 8868 2 2 2028 8869 2 2 2027 8870 2 2 2030 8871 2 2 2031 8872 2 2 2032 8873 2 2 2031 8874 2 2 2030 8875 2 2 2029 8876 2 2 2032 8877 2 2 2033 8878 2 2 2034 8879 2 2 2033 8880 2 2 2032 8881 2 2 2031 8882 2 2 2034 8883 2 2 2035 8884 2 2 2036 8885 2 2 2035 8886 2 2 2034 8887 2 2 2033 8888 2 2 2036 8889 2 2 2037 8890 2 2 2038 8891 2 2 2037 8892 2 2 2036 8893 2 2 2035 8894 2 2 2038 8895 2 2 2039 8896 2 2 2040 8897 2 2 2039 8898 2 2 2038 8899 2 2 2037 8900 2 2 2039 8901 2 2 2041 8902 2 2 2040 8903 2 2 2041 8904 2 2 2039 8905 2 2 2042 8906 2 2 2042 8907 2 2 2043 8908 2 2 2041 8909 2 2 2043 8910 2 2 2042 8911 2 2 2044 8912 2 2 2044 8913 2 2 2045 8914 2 2 2043 8915 2 2 2045 8916 2 2 2044 8917 2 2 2046 8918 2 2 2046 8919 2 2 2047 8920 2 2 2045 8921 2 2 2047 8922 2 2 2046 8923 2 2 2048 8924 2 2 2048 8925 2 2 2049 8926 2 2 2047 8927 2 2 2049 8928 2 2 2048 8929 2 2 2050 8930 2 2 2050 8931 2 2 2051 8932 2 2 2049 8933 2 2 2051 8934 2 2 2050 8935 2 2 2052 8936 2 2 2052 8937 2 2 2053 8938 2 2 2051 8939 2 2 2053 8940 2 2 2052 8941 2 2 2054 8942 2 2 2054 8943 2 2 2055 8944 2 2 2053 8945 2 2 2055 8946 2 2 2054 8947 2 2 2056 8948 2 2 2056 8949 2 2 2057 8950 2 2 2055 8951 2 2 2057 8952 2 2 2056 8953 2 2 2058 8954 2 2 2058 8955 2 2 2059 8956 2 2 2057 8957 2 2 2059 8958 2 2 2058 8959 2 2 2060 8960 2 2 2060 8961 2 2 2061 8962 2 2 2059 8963 2 2 2061 8964 2 2 2060 8965 2 2 2062 8966 2 2 2062 8967 2 2 2063 8968 2 2 2061 8969 2 2 2063 8970 2 2 2062 8971 2 2 2064 8972 2 2 2064 8973 2 2 2065 8974 2 2 2063 8975 2 2 2065 8976 2 2 2064 8977 2 2 2066 8978 2 2 2067 8979 2 2 2065 8980 2 2 2066 8981 2 2 2065 8982 2 2 2067 8983 2 2 2068 8984 2 2 2069 8985 2 2 2068 8986 2 2 2067 8987 2 2 2068 8988 2 2 2069 8989 2 2 2070 8990 2 2 2071 8991 2 2 2070 8992 2 2 2069 8993 2 2 2070 8994 2 2 2071 8995 2 2 2072 8996 2 2 2073 8997 2 2 2072 8998 2 2 2071 8999 2 2 2072 9000 2 2 2073 9001 2 2 2074 9002 2 2 2075 9003 2 2 2074 9004 2 2 2073 9005 2 2 2074 9006 2 2 2075 9007 2 2 2076 9008 2 2 2077 9009 2 2 2076 9010 2 2 2075 9011 2 2 2076 9012 2 2 2077 9013 2 2 2078 9014 2 2 2079 9015 2 2 2078 9016 2 2 2077 9017 2 2 2078 9018 2 2 2079 9019 2 2 2080 9020 2 2 2081 9021 2 2 2080 9022 2 2 2079 9023 2 2 2080 9024 2 2 2081 9025 2 2 2082 9026 2 2 2083 9027 2 2 2082 9028 2 2 2081 9029 2 2 2082 9030 2 2 2083 9031 2 2 2084 9032 2 2 2085 9033 2 2 2084 9034 2 2 2083 9035 2 2 2084 9036 2 2 2085 9037 2 2 2086 9038 2 2 2087 9039 2 2 2086 9040 2 2 2085 9041 2 2 2086 9042 2 2 2087 9043 2 2 2088 9044 2 2 1990 9045 2 2 2088 9046 2 2 2087 9047 2 2 2088 9048 2 2 1990 9049 2 2 1992 9050 2 2 1989 9051 2 2 1890 9052 2 2 1992 9053 2 2 1890 9054 2 2 1989 9055 2 2 1891 9056 2 2 1993 9057 2 2 1891 9058 2 2 1989 9059 2 2 1891 9060 2 2 1993 9061 2 2 1894 9062 2 2 1995 9063 2 2 1894 9064 2 2 1993 9065 2 2 1894 9066 2 2 1995 9067 2 2 1896 9068 2 2 1997 9069 2 2 1896 9070 2 2 1995 9071 2 2 1896 9072 2 2 1997 9073 2 2 1898 9074 2 2 1999 9075 2 2 1898 9076 2 2 1997 9077 2 2 1898 9078 2 2 1999 9079 2 2 1900 9080 2 2 2001 9081 2 2 1900 9082 2 2 1999 9083 2 2 1900 9084 2 2 2001 9085 2 2 1902 9086 2 2 2001 9087 2 2 1904 9088 2 2 1902 9089 2 2 1904 9090 2 2 2001 9091 2 2 2003 9092 2 2 2003 9093 2 2 1906 9094 2 2 1904 9095 2 2 1906 9096 2 2 2003 9097 2 2 2005 9098 2 2 2005 9099 2 2 1908 9100 2 2 1906 9101 2 2 1908 9102 2 2 2005 9103 2 2 2007 9104 2 2 1908 9105 2 2 2009 9106 2 2 1910 9107 2 2 2009 9108 2 2 1908 9109 2 2 2007 9110 2 2 2009 9111 2 2 1912 9112 2 2 1910 9113 2 2 1912 9114 2 2 2009 9115 2 2 2011 9116 2 2 2011 9117 2 2 1914 9118 2 2 1912 9119 2 2 1914 9120 2 2 2011 9121 2 2 2013 9122 2 2 2013 9123 2 2 1915 9124 2 2 1914 9125 2 2 1915 9126 2 2 2013 9127 2 2 2016 9128 2 2 1915 9129 2 2 2018 9130 2 2 1917 9131 2 2 2018 9132 2 2 1915 9133 2 2 2016 9134 2 2 2018 9135 2 2 1919 9136 2 2 1917 9137 2 2 1919 9138 2 2 2018 9139 2 2 2020 9140 2 2 2020 9141 2 2 1921 9142 2 2 1919 9143 2 2 1921 9144 2 2 2020 9145 2 2 2022 9146 2 2 2022 9147 2 2 1923 9148 2 2 1921 9149 2 2 1923 9150 2 2 2022 9151 2 2 2024 9152 2 2 2024 9153 2 2 1925 9154 2 2 1923 9155 2 2 1925 9156 2 2 2024 9157 2 2 2026 9158 2 2 2026 9159 2 2 1927 9160 2 2 1925 9161 2 2 1927 9162 2 2 2026 9163 2 2 2028 9164 2 2 1927 9165 2 2 2030 9166 2 2 1929 9167 2 2 2030 9168 2 2 1927 9169 2 2 2028 9170 2 2 1929 9171 2 2 2032 9172 2 2 1931 9173 2 2 2032 9174 2 2 1929 9175 2 2 2030 9176 2 2 1931 9177 2 2 2034 9178 2 2 1933 9179 2 2 2034 9180 2 2 1931 9181 2 2 2032 9182 2 2 1933 9183 2 2 2036 9184 2 2 1935 9185 2 2 2036 9186 2 2 1933 9187 2 2 2034 9188 2 2 1935 9189 2 2 2038 9190 2 2 1937 9191 2 2 2038 9192 2 2 1935 9193 2 2 2036 9194 2 2 1937 9195 2 2 2040 9196 2 2 1939 9197 2 2 2040 9198 2 2 1937 9199 2 2 2038 9200 2 2 1939 9201 2 2 2041 9202 2 2 1942 9203 2 2 2041 9204 2 2 1939 9205 2 2 2040 9206 2 2 1942 9207 2 2 2043 9208 2 2 1944 9209 2 2 2043 9210 2 2 1942 9211 2 2 2041 9212 2 2 1944 9213 2 2 2045 9214 2 2 1946 9215 2 2 2045 9216 2 2 1944 9217 2 2 2043 9218 2 2 1946 9219 2 2 2047 9220 2 2 1948 9221 2 2 2047 9222 2 2 1946 9223 2 2 2045 9224 2 2 1948 9225 2 2 2049 9226 2 2 1950 9227 2 2 2049 9228 2 2 1948 9229 2 2 2047 9230 2 2 1950 9231 2 2 2051 9232 2 2 1952 9233 2 2 2051 9234 2 2 1950 9235 2 2 2049 9236 2 2 2051 9237 2 2 1954 9238 2 2 1952 9239 2 2 1954 9240 2 2 2051 9241 2 2 2053 9242 2 2 1954 9243 2 2 2055 9244 2 2 1956 9245 2 2 2055 9246 2 2 1954 9247 2 2 2053 9248 2 2 1956 9249 2 2 2057 9250 2 2 1958 9251 2 2 2057 9252 2 2 1956 9253 2 2 2055 9254 2 2 2057 9255 2 2 1960 9256 2 2 1958 9257 2 2 1960 9258 2 2 2057 9259 2 2 2059 9260 2 2 1960 9261 2 2 2061 9262 2 2 1962 9263 2 2 2061 9264 2 2 1960 9265 2 2 2059 9266 2 2 2061 9267 2 2 1964 9268 2 2 1962 9269 2 2 1964 9270 2 2 2061 9271 2 2 2063 9272 2 2 2063 9273 2 2 1966 9274 2 2 1964 9275 2 2 1966 9276 2 2 2063 9277 2 2 2065 9278 2 2 2065 9279 2 2 1967 9280 2 2 1966 9281 2 2 1967 9282 2 2 2065 9283 2 2 2068 9284 2 2 2068 9285 2 2 1969 9286 2 2 1967 9287 2 2 1969 9288 2 2 2068 9289 2 2 2070 9290 2 2 2070 9291 2 2 1971 9292 2 2 1969 9293 2 2 1971 9294 2 2 2070 9295 2 2 2072 9296 2 2 1971 9297 2 2 2074 9298 2 2 1973 9299 2 2 2074 9300 2 2 1971 9301 2 2 2072 9302 2 2 2074 9303 2 2 1975 9304 2 2 1973 9305 2 2 1975 9306 2 2 2074 9307 2 2 2076 9308 2 2 2076 9309 2 2 1977 9310 2 2 1975 9311 2 2 1977 9312 2 2 2076 9313 2 2 2078 9314 2 2 2080 9315 2 2 1977 9316 2 2 2078 9317 2 2 1977 9318 2 2 2080 9319 2 2 1979 9320 2 2 2082 9321 2 2 1979 9322 2 2 2080 9323 2 2 1979 9324 2 2 2082 9325 2 2 1981 9326 2 2 2084 9327 2 2 1981 9328 2 2 2082 9329 2 2 1981 9330 2 2 2084 9331 2 2 1983 9332 2 2 2086 9333 2 2 1983 9334 2 2 2084 9335 2 2 1983 9336 2 2 2086 9337 2 2 1985 9338 2 2 2088 9339 2 2 1985 9340 2 2 2086 9341 2 2 1985 9342 2 2 2088 9343 2 2 1987 9344 2 2 1992 9345 2 2 1987 9346 2 2 2088 9347 2 2 1987 9348 2 2 1992 9349 2 2 1890 9350 2 2 2089 9351 2 2 1990 9352 2 2 2090 9353 2 2 1990 9354 2 2 2089 9355 2 2 1991 9356 2 2 2091 9357 2 2 1991 9358 2 2 2089 9359 2 2 1991 9360 2 2 2091 9361 2 2 1994 9362 2 2 2092 9363 2 2 1994 9364 2 2 2091 9365 2 2 1994 9366 2 2 2092 9367 2 2 1996 9368 2 2 2093 9369 2 2 1996 9370 2 2 2092 9371 2 2 1996 9372 2 2 2093 9373 2 2 1998 9374 2 2 2094 9375 2 2 1998 9376 2 2 2093 9377 2 2 1998 9378 2 2 2094 9379 2 2 2000 9380 2 2 2095 9381 2 2 2000 9382 2 2 2094 9383 2 2 2000 9384 2 2 2095 9385 2 2 2002 9386 2 2 2002 9387 2 2 2096 9388 2 2 2004 9389 2 2 2096 9390 2 2 2002 9391 2 2 2095 9392 2 2 2096 9393 2 2 2006 9394 2 2 2004 9395 2 2 2006 9396 2 2 2096 9397 2 2 2097 9398 2 2 2097 9399 2 2 2008 9400 2 2 2006 9401 2 2 2008 9402 2 2 2097 9403 2 2 2098 9404 2 2 2008 9405 2 2 2099 9406 2 2 2010 9407 2 2 2099 9408 2 2 2008 9409 2 2 2098 9410 2 2 2099 9411 2 2 2012 9412 2 2 2010 9413 2 2 2012 9414 2 2 2099 9415 2 2 2100 9416 2 2 2100 9417 2 2 2014 9418 2 2 2012 9419 2 2 2014 9420 2 2 2100 9421 2 2 2101 9422 2 2 2014 9423 2 2 2102 9424 2 2 2015 9425 2 2 2102 9426 2 2 2014 9427 2 2 2101 9428 2 2 2015 9429 2 2 2103 9430 2 2 2017 9431 2 2 2103 9432 2 2 2015 9433 2 2 2102 9434 2 2 2103 9435 2 2 2019 9436 2 2 2017 9437 2 2 2019 9438 2 2 2103 9439 2 2 2104 9440 2 2 2019 9441 2 2 2105 9442 2 2 2021 9443 2 2 2105 9444 2 2 2019 9445 2 2 2104 9446 2 2 2021 9447 2 2 2106 9448 2 2 2023 9449 2 2 2106 9450 2 2 2021 9451 2 2 2105 9452 2 2 2106 9453 2 2 2025 9454 2 2 2023 9455 2 2 2025 9456 2 2 2106 9457 2 2 2107 9458 2 2 2025 9459 2 2 2108 9460 2 2 2027 9461 2 2 2108 9462 2 2 2025 9463 2 2 2107 9464 2 2 2027 9465 2 2 2109 9466 2 2 2029 9467 2 2 2109 9468 2 2 2027 9469 2 2 2108 9470 2 2 2029 9471 2 2 2110 9472 2 2 2031 9473 2 2 2110 9474 2 2 2029 9475 2 2 2109 9476 2 2 2031 9477 2 2 2111 9478 2 2 2033 9479 2 2 2111 9480 2 2 2031 9481 2 2 2110 9482 2 2 2033 9483 2 2 2112 9484 2 2 2035 9485 2 2 2112 9486 2 2 2033 9487 2 2 2111 9488 2 2 2035 9489 2 2 2113 9490 2 2 2037 9491 2 2 2113 9492 2 2 2035 9493 2 2 2112 9494 2 2 2037 9495 2 2 2114 9496 2 2 2039 9497 2 2 2114 9498 2 2 2037 9499 2 2 2113 9500 2 2 2039 9501 2 2 2115 9502 2 2 2042 9503 2 2 2115 9504 2 2 2039 9505 2 2 2114 9506 2 2 2042 9507 2 2 2116 9508 2 2 2044 9509 2 2 2116 9510 2 2 2042 9511 2 2 2115 9512 2 2 2044 9513 2 2 2117 9514 2 2 2046 9515 2 2 2117 9516 2 2 2044 9517 2 2 2116 9518 2 2 2046 9519 2 2 2118 9520 2 2 2048 9521 2 2 2118 9522 2 2 2046 9523 2 2 2117 9524 2 2 2048 9525 2 2 2119 9526 2 2 2050 9527 2 2 2119 9528 2 2 2048 9529 2 2 2118 9530 2 2 2050 9531 2 2 2120 9532 2 2 2052 9533 2 2 2120 9534 2 2 2050 9535 2 2 2119 9536 2 2 2120 9537 2 2 2054 9538 2 2 2052 9539 2 2 2054 9540 2 2 2120 9541 2 2 2121 9542 2 2 2121 9543 2 2 2056 9544 2 2 2054 9545 2 2 2056 9546 2 2 2121 9547 2 2 2122 9548 2 2 2122 9549 2 2 2058 9550 2 2 2056 9551 2 2 2058 9552 2 2 2122 9553 2 2 2123 9554 2 2 2123 9555 2 2 2060 9556 2 2 2058 9557 2 2 2060 9558 2 2 2123 9559 2 2 2124 9560 2 2 2060 9561 2 2 2125 9562 2 2 2062 9563 2 2 2125 9564 2 2 2060 9565 2 2 2124 9566 2 2 2125 9567 2 2 2064 9568 2 2 2062 9569 2 2 2064 9570 2 2 2125 9571 2 2 2126 9572 2 2 2126 9573 2 2 2066 9574 2 2 2064 9575 2 2 2066 9576 2 2 2126 9577 2 2 2127 9578 2 2 2066 9579 2 2 2128 9580 2 2 2067 9581 2 2 2128 9582 2 2 2066 9583 2 2 2127 9584 2 2 2128 9585 2 2 2069 9586 2 2 2067 9587 2 2 2069 9588 2 2 2128 9589 2 2 2129 9590 2 2 2129 9591 2 2 2071 9592 2 2 2069 9593 2 2 2071 9594 2 2 2129 9595 2 2 2130 9596 2 2 2071 9597 2 2 2131 9598 2 2 2073 9599 2 2 2131 9600 2 2 2071 9601 2 2 2130 9602 2 2 2073 9603 2 2 2132 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2 2144 9676 2 2 2140 9677 2 2 2140 9678 2 2 2144 9679 2 2 2145 9680 2 2 2141 9681 2 2 2140 9682 2 2 2145 9683 2 2 2141 9684 2 2 2145 9685 2 2 2146 9686 2 2 2141 9687 2 2 2146 9688 2 2 2142 9689 2 2 2142 9690 2 2 2146 9691 2 2 2147 9692 2 2 2148 9693 2 2 2142 9694 2 2 2147 9695 2 2 2142 9696 2 2 2148 9697 2 2 2143 9698 2 2 1142 9699 2 2 1143 9700 2 2 2139 9701 2 2 1143 9702 2 2 1150 9703 2 2 2139 9704 2 2 2139 9705 2 2 1150 9706 2 2 2149 9707 2 2 1150 9708 2 2 1154 9709 2 2 2149 9710 2 2 2149 9711 2 2 1154 9712 2 2 2150 9713 2 2 1154 9714 2 2 1156 9715 2 2 2150 9716 2 2 2150 9717 2 2 1156 9718 2 2 2151 9719 2 2 1156 9720 2 2 1158 9721 2 2 2151 9722 2 2 2151 9723 2 2 1158 9724 2 2 2152 9725 2 2 1158 9726 2 2 1160 9727 2 2 2152 9728 2 2 2152 9729 2 2 1160 9730 2 2 2153 9731 2 2 1160 9732 2 2 1162 9733 2 2 2153 9734 2 2 2153 9735 2 2 1162 9736 2 2 2154 9737 2 2 1162 9738 2 2 1166 9739 2 2 2154 9740 2 2 2154 9741 2 2 1166 9742 2 2 2155 9743 2 2 1166 9744 2 2 1504 9745 2 2 2155 9746 2 2 2155 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1294 10431 2 2 2269 10432 2 2 2270 10433 2 2 1294 10434 2 2 2270 10435 2 2 1296 10436 2 2 1296 10437 2 2 2270 10438 2 2 2271 10439 2 2 1296 10440 2 2 2271 10441 2 2 1298 10442 2 2 1298 10443 2 2 2271 10444 2 2 2272 10445 2 2 1298 10446 2 2 2272 10447 2 2 1300 10448 2 2 2273 10449 2 2 1300 10450 2 2 2272 10451 2 2 1302 10452 2 2 1300 10453 2 2 2273 10454 2 2 2274 10455 2 2 1302 10456 2 2 2273 10457 2 2 1306 10458 2 2 1302 10459 2 2 2274 10460 2 2 2275 10461 2 2 1306 10462 2 2 2274 10463 2 2 1699 10464 2 2 1306 10465 2 2 2275 10466 2 2 2276 10467 2 2 1699 10468 2 2 2275 10469 2 2 1700 10470 2 2 1699 10471 2 2 2276 10472 2 2 2277 10473 2 2 1700 10474 2 2 2276 10475 2 2 2277 10476 2 2 1701 10477 2 2 1700 10478 2 2 1701 10479 2 2 2277 10480 2 2 2278 10481 2 2 1603 10482 2 2 1701 10483 2 2 2278 10484 2 2 1603 10485 2 2 2278 10486 2 2 2209 10487 2 2 2261 10488 2 2 2265 10489 2 2 2269 10490 2 2 2269 10491 2 2 2265 10492 2 2 2279 10493 2 2 2269 10494 2 2 2279 10495 2 2 2270 10496 2 2 2270 10497 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2302 10631 2 2 2283 10632 2 2 2293 10633 2 2 2288 10634 2 2 2293 10635 2 2 2304 10636 2 2 2288 10637 2 2 2293 10638 2 2 2294 10639 2 2 2304 10640 2 2 2294 10641 2 2 2305 10642 2 2 2304 10643 2 2 2294 10644 2 2 2295 10645 2 2 2305 10646 2 2 2295 10647 2 2 2306 10648 2 2 2305 10649 2 2 2296 10650 2 2 2306 10651 2 2 2295 10652 2 2 2307 10653 2 2 2306 10654 2 2 2296 10655 2 2 2297 10656 2 2 2307 10657 2 2 2296 10658 2 2 2308 10659 2 2 1338 10660 2 2 1336 10661 2 2 2309 10662 2 2 2308 10663 2 2 1336 10664 2 2 1335 10665 2 2 2309 10666 2 2 1336 10667 2 2 2310 10668 2 2 2309 10669 2 2 1335 10670 2 2 1487 10671 2 2 2310 10672 2 2 1335 10673 2 2 2311 10674 2 2 2310 10675 2 2 1487 10676 2 2 1464 10677 2 2 2311 10678 2 2 1487 10679 2 2 2240 10680 2 2 2311 10681 2 2 1464 10682 2 2 2309 10683 2 2 2312 10684 2 2 2308 10685 2 2 2309 10686 2 2 2313 10687 2 2 2312 10688 2 2 2310 10689 2 2 2313 10690 2 2 2309 10691 2 2 2310 10692 2 2 2314 10693 2 2 2313 10694 2 2 2310 10695 2 2 2311 10696 2 2 2314 10697 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2 2 2344 10898 2 2 1814 10899 2 2 2345 10900 2 2 2344 10901 2 2 1815 10902 2 2 2345 10903 2 2 1814 10904 2 2 1815 10905 2 2 2346 10906 2 2 2345 10907 2 2 1815 10908 2 2 2347 10909 2 2 2346 10910 2 2 2347 10911 2 2 1815 10912 2 2 1816 10913 2 2 1562 10914 2 2 2347 10915 2 2 1816 10916 2 2 1562 10917 2 2 2184 10918 2 2 2347 10919 2 2 2330 10920 2 2 2338 10921 2 2 2334 10922 2 2 2334 10923 2 2 2338 10924 2 2 2348 10925 2 2 2338 10926 2 2 2339 10927 2 2 2348 10928 2 2 2339 10929 2 2 2349 10930 2 2 2348 10931 2 2 2339 10932 2 2 2340 10933 2 2 2349 10934 2 2 2340 10935 2 2 2350 10936 2 2 2349 10937 2 2 2341 10938 2 2 2350 10939 2 2 2340 10940 2 2 2341 10941 2 2 2351 10942 2 2 2350 10943 2 2 2342 10944 2 2 2351 10945 2 2 2341 10946 2 2 2352 10947 2 2 1394 10948 2 2 1391 10949 2 2 2352 10950 2 2 1391 10951 2 2 2353 10952 2 2 2353 10953 2 2 1391 10954 2 2 1393 10955 2 2 2354 10956 2 2 2353 10957 2 2 1393 10958 2 2 2354 10959 2 2 1393 10960 2 2 1502 10961 2 2 2355 10962 2 2 2354 10963 2 2 1502 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1414 11031 2 2 2364 11032 2 2 2365 11033 2 2 1414 11034 2 2 2365 11035 2 2 1418 11036 2 2 1418 11037 2 2 2365 11038 2 2 2366 11039 2 2 1418 11040 2 2 2366 11041 2 2 1855 11042 2 2 1855 11043 2 2 2366 11044 2 2 2367 11045 2 2 1855 11046 2 2 2367 11047 2 2 1856 11048 2 2 1856 11049 2 2 2367 11050 2 2 2368 11051 2 2 1857 11052 2 2 2368 11053 2 2 2369 11054 2 2 2368 11055 2 2 1857 11056 2 2 1856 11057 2 2 1857 11058 2 2 2369 11059 2 2 1745 11060 2 2 2369 11061 2 2 2303 11062 2 2 1745 11063 2 2 2352 11064 2 2 2356 11065 2 2 2360 11066 2 2 2360 11067 2 2 2356 11068 2 2 2370 11069 2 2 2360 11070 2 2 2370 11071 2 2 2361 11072 2 2 2361 11073 2 2 2370 11074 2 2 2371 11075 2 2 2361 11076 2 2 2371 11077 2 2 2362 11078 2 2 2362 11079 2 2 2371 11080 2 2 2372 11081 2 2 2363 11082 2 2 2362 11083 2 2 2372 11084 2 2 2363 11085 2 2 2372 11086 2 2 2373 11087 2 2 2364 11088 2 2 2363 11089 2 2 2373 11090 2 2 2144 11091 2 2 2374 11092 2 2 2145 11093 2 2 2145 11094 2 2 2374 11095 2 2 2375 11096 2 2 2145 11097 2 2 2375 11098 2 2 2146 11099 2 2 2147 11100 2 2 2375 11101 2 2 2376 11102 2 2 2375 11103 2 2 2147 11104 2 2 2146 11105 2 2 2147 11106 2 2 2376 11107 2 2 2377 11108 2 2 2148 11109 2 2 2147 11110 2 2 2377 11111 2 2 2148 11112 2 2 2377 11113 2 2 2378 11114 2 2 2144 11115 2 2 2160 11116 2 2 2374 11117 2 2 2160 11118 2 2 2379 11119 2 2 2374 11120 2 2 2160 11121 2 2 2161 11122 2 2 2379 11123 2 2 2379 11124 2 2 2161 11125 2 2 2380 11126 2 2 2380 11127 2 2 2161 11128 2 2 2381 11129 2 2 2161 11130 2 2 2162 11131 2 2 2381 11132 2 2 2169 11133 2 2 2170 11134 2 2 2382 11135 2 2 2170 11136 2 2 2383 11137 2 2 2382 11138 2 2 2170 11139 2 2 2171 11140 2 2 2383 11141 2 2 2171 11142 2 2 2384 11143 2 2 2383 11144 2 2 2384 11145 2 2 2171 11146 2 2 2172 11147 2 2 2172 11148 2 2 2385 11149 2 2 2384 11150 2 2 2173 11151 2 2 2385 11152 2 2 2172 11153 2 2 2173 11154 2 2 2386 11155 2 2 2385 11156 2 2 2169 11157 2 2 2382 11158 2 2 2185 11159 2 2 2185 11160 2 2 2382 11161 2 2 2387 11162 2 2 2185 11163 2 2 2387 11164 2 2 2186 11165 2 2 2387 11166 2 2 2388 11167 2 2 2186 11168 2 2 2388 11169 2 2 2389 11170 2 2 2186 11171 2 2 2186 11172 2 2 2389 11173 2 2 2187 11174 2 2 2194 11175 2 2 2390 11176 2 2 2195 11177 2 2 2390 11178 2 2 2391 11179 2 2 2195 11180 2 2 2195 11181 2 2 2391 11182 2 2 2196 11183 2 2 2196 11184 2 2 2392 11185 2 2 2197 11186 2 2 2392 11187 2 2 2196 11188 2 2 2391 11189 2 2 2392 11190 2 2 2393 11191 2 2 2197 11192 2 2 2393 11193 2 2 2198 11194 2 2 2197 11195 2 2 2393 11196 2 2 2394 11197 2 2 2198 11198 2 2 2210 11199 2 2 2390 11200 2 2 2194 11201 2 2 2210 11202 2 2 2395 11203 2 2 2390 11204 2 2 2211 11205 2 2 2395 11206 2 2 2210 11207 2 2 2211 11208 2 2 2396 11209 2 2 2395 11210 2 2 2211 11211 2 2 2397 11212 2 2 2396 11213 2 2 2211 11214 2 2 2212 11215 2 2 2397 11216 2 2 2219 11217 2 2 2398 11218 2 2 2218 11219 2 2 2219 11220 2 2 2399 11221 2 2 2398 11222 2 2 2220 11223 2 2 2399 11224 2 2 2219 11225 2 2 2220 11226 2 2 2400 11227 2 2 2399 11228 2 2 2400 11229 2 2 2220 11230 2 2 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2 1799 7665 2 2 1036 7666 2 2 1066 7667 2 2 1799 7668 2 2 1761 7669 2 2 1036 7670 2 2 1762 7671 2 2 1800 7672 2 2 1763 7673 2 2 1800 7674 2 2 1801 7675 2 2 1763 7676 2 2 1802 7677 2 2 1801 7678 2 2 1800 7679 2 2 1803 7680 2 2 1801 7681 2 2 1802 7682 2 2 1803 7683 2 2 1804 7684 2 2 1801 7685 2 2 1803 7686 2 2 1805 7687 2 2 1804 7688 2 2 1806 7689 2 2 1804 7690 2 2 1805 7691 2 2 1806 7692 2 2 1807 7693 2 2 1804 7694 2 2 1808 7695 2 2 1807 7696 2 2 1806 7697 2 2 1809 7698 2 2 1807 7699 2 2 1808 7700 2 2 1810 7701 2 2 1809 7702 2 2 1808 7703 2 2 1811 7704 2 2 1809 7705 2 2 1810 7706 2 2 1812 7707 2 2 1811 7708 2 2 1810 7709 2 2 1813 7710 2 2 1811 7711 2 2 1812 7712 2 2 1813 7713 2 2 1778 7714 2 2 1811 7715 2 2 1779 7716 2 2 1778 7717 2 2 1813 7718 2 2 1491 7719 2 2 1490 7720 2 2 1095 7721 2 2 1094 7722 2 2 1491 7723 2 2 1095 7724 2 2 1387 7725 2 2 1491 7726 2 2 1094 7727 2 2 1097 7728 2 2 1387 7729 2 2 1094 7730 2 2 1388 7731 2 2 1387 7732 2 2 1097 7733 2 2 1099 7734 2 2 1388 7735 2 2 1097 7736 2 2 1389 7737 2 2 1388 7738 2 2 1099 7739 2 2 1101 7740 2 2 1389 7741 2 2 1099 7742 2 2 1101 7743 2 2 1390 7744 2 2 1389 7745 2 2 1814 7746 2 2 1390 7747 2 2 1102 7748 2 2 1102 7749 2 2 1390 7750 2 2 1101 7751 2 2 1815 7752 2 2 1814 7753 2 2 1102 7754 2 2 1815 7755 2 2 1102 7756 2 2 1104 7757 2 2 1816 7758 2 2 1815 7759 2 2 1104 7760 2 2 1817 7761 2 2 1816 7762 2 2 1104 7763 2 2 1817 7764 2 2 1104 7765 2 2 1106 7766 2 2 1818 7767 2 2 1817 7768 2 2 1106 7769 2 2 1818 7770 2 2 1106 7771 2 2 1083 7772 2 2 1819 7773 2 2 1818 7774 2 2 1083 7775 2 2 1819 7776 2 2 1083 7777 2 2 1082 7778 2 2 1820 7779 2 2 1819 7780 2 2 1082 7781 2 2 1820 7782 2 2 1082 7783 2 2 1085 7784 2 2 1821 7785 2 2 1820 7786 2 2 1085 7787 2 2 1821 7788 2 2 1085 7789 2 2 1822 7790 2 2 1822 7791 2 2 1085 7792 2 2 1823 7793 2 2 1823 7794 2 2 1085 7795 2 2 1087 7796 2 2 1823 7797 2 2 1087 7798 2 2 1824 7799 2 2 1824 7800 2 2 1087 7801 2 2 1089 7802 2 2 1824 7803 2 2 1089 7804 2 2 1825 7805 2 2 1825 7806 2 2 1089 7807 2 2 1091 7808 2 2 1817 7809 2 2 1562 7810 2 2 1816 7811 2 2 1563 7812 2 2 1562 7813 2 2 1817 7814 2 2 1818 7815 2 2 1563 7816 2 2 1817 7817 2 2 1564 7818 2 2 1563 7819 2 2 1818 7820 2 2 1564 7821 2 2 1818 7822 2 2 1819 7823 2 2 1565 7824 2 2 1564 7825 2 2 1819 7826 2 2 1820 7827 2 2 1565 7828 2 2 1819 7829 2 2 1566 7830 2 2 1565 7831 2 2 1820 7832 2 2 1821 7833 2 2 1566 7834 2 2 1820 7835 2 2 1567 7836 2 2 1566 7837 2 2 1821 7838 2 2 1111 7839 2 2 1826 7840 2 2 1112 7841 2 2 1827 7842 2 2 1826 7843 2 2 1111 7844 2 2 1110 7845 2 2 1827 7846 2 2 1111 7847 2 2 1110 7848 2 2 1828 7849 2 2 1827 7850 2 2 1109 7851 2 2 1828 7852 2 2 1110 7853 2 2 1109 7854 2 2 1829 7855 2 2 1828 7856 2 2 1829 7857 2 2 1109 7858 2 2 1108 7859 2 2 1829 7860 2 2 1108 7861 2 2 1830 7862 2 2 1830 7863 2 2 1108 7864 2 2 1107 7865 2 2 1830 7866 2 2 1107 7867 2 2 1831 7868 2 2 1831 7869 2 2 1107 7870 2 2 1105 7871 2 2 1832 7872 2 2 1831 7873 2 2 1105 7874 2 2 1832 7875 2 2 1105 7876 2 2 1103 7877 2 2 1832 7878 2 2 1103 7879 2 2 1833 7880 2 2 1833 7881 2 2 1103 7882 2 2 1100 7883 2 2 1833 7884 2 2 1100 7885 2 2 1098 7886 2 2 1833 7887 2 2 1098 7888 2 2 1834 7889 2 2 1098 7890 2 2 1096 7891 2 2 1834 7892 2 2 1834 7893 2 2 1096 7894 2 2 1835 7895 2 2 1096 7896 2 2 1093 7897 2 2 1835 7898 2 2 1835 7899 2 2 1093 7900 2 2 1836 7901 2 2 1837 7902 2 2 1838 7903 2 2 1839 7904 2 2 1837 7905 2 2 1839 7906 2 2 1840 7907 2 2 1837 7908 2 2 1840 7909 2 2 1841 7910 2 2 1842 7911 2 2 1841 7912 2 2 1840 7913 2 2 1842 7914 2 2 1840 7915 2 2 1843 7916 2 2 1842 7917 2 2 1843 7918 2 2 1844 7919 2 2 1844 7920 2 2 1843 7921 2 2 1845 7922 2 2 1845 7923 2 2 1843 7924 2 2 1846 7925 2 2 1847 7926 2 2 1845 7927 2 2 1846 7928 2 2 1847 7929 2 2 1846 7930 2 2 1848 7931 2 2 1847 7932 2 2 1848 7933 2 2 1849 7934 2 2 1848 7935 2 2 1850 7936 2 2 1849 7937 2 2 1849 7938 2 2 1850 7939 2 2 1851 7940 2 2 1851 7941 2 2 1850 7942 2 2 1852 7943 2 2 1850 7944 2 2 1853 7945 2 2 1852 7946 2 2 1852 7947 2 2 1853 7948 2 2 1854 7949 2 2 1095 7950 2 2 1490 7951 2 2 1498 7952 2 2 1095 7953 2 2 1498 7954 2 2 1122 7955 2 2 1122 7956 2 2 1498 7957 2 2 1415 7958 2 2 1122 7959 2 2 1415 7960 2 2 1124 7961 2 2 1124 7962 2 2 1415 7963 2 2 1416 7964 2 2 1126 7965 2 2 1124 7966 2 2 1416 7967 2 2 1126 7968 2 2 1416 7969 2 2 1417 7970 2 2 1128 7971 2 2 1126 7972 2 2 1417 7973 2 2 1128 7974 2 2 1417 7975 2 2 1418 7976 2 2 1129 7977 2 2 1418 7978 2 2 1855 7979 2 2 1129 7980 2 2 1128 7981 2 2 1418 7982 2 2 1856 7983 2 2 1129 7984 2 2 1855 7985 2 2 1131 7986 2 2 1129 7987 2 2 1856 7988 2 2 1131 7989 2 2 1856 7990 2 2 1857 7991 2 2 1858 7992 2 2 1131 7993 2 2 1857 7994 2 2 1858 7995 2 2 1133 7996 2 2 1131 7997 2 2 1859 7998 2 2 1133 7999 2 2 1858 8000 2 2 1859 8001 2 2 1115 8002 2 2 1133 8003 2 2 1860 8004 2 2 1115 8005 2 2 1859 8006 2 2 1113 8007 2 2 1115 8008 2 2 1860 8009 2 2 1861 8010 2 2 1113 8011 2 2 1860 8012 2 2 1116 8013 2 2 1113 8014 2 2 1861 8015 2 2 1862 8016 2 2 1116 8017 2 2 1861 8018 2 2 1862 8019 2 2 1863 8020 2 2 1116 8021 2 2 1863 8022 2 2 1864 8023 2 2 1116 8024 2 2 1864 8025 2 2 1118 8026 2 2 1116 8027 2 2 1865 8028 2 2 1118 8029 2 2 1864 8030 2 2 1865 8031 2 2 1120 8032 2 2 1118 8033 2 2 1825 8034 2 2 1120 8035 2 2 1865 8036 2 2 1825 8037 2 2 1091 8038 2 2 1120 8039 2 2 1858 8040 2 2 1857 8041 2 2 1745 8042 2 2 1746 8043 2 2 1858 8044 2 2 1745 8045 2 2 1859 8046 2 2 1858 8047 2 2 1746 8048 2 2 1747 8049 2 2 1859 8050 2 2 1746 8051 2 2 1860 8052 2 2 1859 8053 2 2 1747 8054 2 2 1748 8055 2 2 1860 8056 2 2 1747 8057 2 2 1861 8058 2 2 1860 8059 2 2 1748 8060 2 2 1749 8061 2 2 1861 8062 2 2 1748 8063 2 2 1862 8064 2 2 1861 8065 2 2 1749 8066 2 2 1750 8067 2 2 1862 8068 2 2 1749 8069 2 2 1826 8070 2 2 1138 8071 2 2 1112 8072 2 2 1826 8073 2 2 1866 8074 2 2 1138 8075 2 2 1866 8076 2 2 1137 8077 2 2 1138 8078 2 2 1866 8079 2 2 1867 8080 2 2 1137 8081 2 2 1867 8082 2 2 1136 8083 2 2 1137 8084 2 2 1868 8085 2 2 1136 8086 2 2 1867 8087 2 2 1868 8088 2 2 1135 8089 2 2 1136 8090 2 2 1869 8091 2 2 1135 8092 2 2 1868 8093 2 2 1869 8094 2 2 1134 8095 2 2 1135 8096 2 2 1869 8097 2 2 1870 8098 2 2 1134 8099 2 2 1870 8100 2 2 1132 8101 2 2 1134 8102 2 2 1871 8103 2 2 1132 8104 2 2 1870 8105 2 2 1871 8106 2 2 1130 8107 2 2 1132 8108 2 2 1871 8109 2 2 1872 8110 2 2 1130 8111 2 2 1872 8112 2 2 1127 8113 2 2 1130 8114 2 2 1125 8115 2 2 1127 8116 2 2 1872 8117 2 2 1873 8118 2 2 1125 8119 2 2 1872 8120 2 2 1123 8121 2 2 1125 8122 2 2 1873 8123 2 2 1123 8124 2 2 1873 8125 2 2 1874 8126 2 2 1093 8127 2 2 1123 8128 2 2 1874 8129 2 2 1093 8130 2 2 1874 8131 2 2 1836 8132 2 2 1838 8133 2 2 1875 8134 2 2 1839 8135 2 2 1839 8136 2 2 1875 8137 2 2 1876 8138 2 2 1875 8139 2 2 1877 8140 2 2 1876 8141 2 2 1876 8142 2 2 1877 8143 2 2 1878 8144 2 2 1876 8145 2 2 1878 8146 2 2 1879 8147 2 2 1878 8148 2 2 1880 8149 2 2 1879 8150 2 2 1881 8151 2 2 1879 8152 2 2 1880 8153 2 2 1881 8154 2 2 1882 8155 2 2 1879 8156 2 2 1883 8157 2 2 1882 8158 2 2 1881 8159 2 2 1883 8160 2 2 1884 8161 2 2 1882 8162 2 2 1885 8163 2 2 1884 8164 2 2 1883 8165 2 2 1885 8166 2 2 1886 8167 2 2 1884 8168 2 2 1887 8169 2 2 1886 8170 2 2 1885 8171 2 2 1888 8172 2 2 1886 8173 2 2 1887 8174 2 2 1853 8175 2 2 1886 8176 2 2 1888 8177 2 2 1853 8178 2 2 1888 8179 2 2 1854 8180 2 2 1514 8181 2 2 1515 8182 2 2 843 8183 2 2 844 8184 2 2 1514 8185 2 2 843 8186 2 2 1513 8187 2 2 1514 8188 2 2 844 8189 2 2 845 8190 2 2 1513 8191 2 2 844 8192 2 2 1512 8193 2 2 1513 8194 2 2 845 8195 2 2 846 8196 2 2 1512 8197 2 2 845 8198 2 2 1511 8199 2 2 1512 8200 2 2 846 8201 2 2 847 8202 2 2 1511 8203 2 2 846 8204 2 2 1521 8205 2 2 1511 8206 2 2 847 8207 2 2 848 8208 2 2 1521 8209 2 2 847 8210 2 2 1634 8211 2 2 1521 8212 2 2 848 8213 2 2 1635 8214 2 2 1634 8215 2 2 848 8216 2 2 1635 8217 2 2 848 8218 2 2 849 8219 2 2 1636 8220 2 2 1635 8221 2 2 849 8222 2 2 1636 8223 2 2 849 8224 2 2 850 8225 2 2 1637 8226 2 2 1636 8227 2 2 850 8228 2 2 1637 8229 2 2 850 8230 2 2 851 8231 2 2 1602 8232 2 2 1637 8233 2 2 851 8234 2 2 1602 8235 2 2 851 8236 2 2 852 8237 2 2 1601 8238 2 2 1602 8239 2 2 852 8240 2 2 853 8241 2 2 1601 8242 2 2 852 8243 2 2 1601 8244 2 2 853 8245 2 2 1600 8246 2 2 1600 8247 2 2 853 8248 2 2 834 8249 2 2 1600 8250 2 2 834 8251 2 2 1599 8252 2 2 1599 8253 2 2 834 8254 2 2 1598 8255 2 2 1598 8256 2 2 834 8257 2 2 833 8258 2 2 1598 8259 2 2 833 8260 2 2 1608 8261 2 2 1608 8262 2 2 833 8263 2 2 1706 8264 2 2 1706 8265 2 2 833 8266 2 2 832 8267 2 2 1706 8268 2 2 832 8269 2 2 1707 8270 2 2 1707 8271 2 2 832 8272 2 2 831 8273 2 2 1707 8274 2 2 831 8275 2 2 1708 8276 2 2 1708 8277 2 2 831 8278 2 2 1709 8279 2 2 831 8280 2 2 830 8281 2 2 1709 8282 2 2 1709 8283 2 2 830 8284 2 2 1663 8285 2 2 830 8286 2 2 829 8287 2 2 1663 8288 2 2 1663 8289 2 2 829 8290 2 2 1662 8291 2 2 829 8292 2 2 828 8293 2 2 1662 8294 2 2 1661 8295 2 2 828 8296 2 2 827 8297 2 2 828 8298 2 2 1661 8299 2 2 1662 8300 2 2 1661 8301 2 2 827 8302 2 2 1660 8303 2 2 827 8304 2 2 826 8305 2 2 1660 8306 2 2 1660 8307 2 2 826 8308 2 2 1659 8309 2 2 826 8310 2 2 1669 8311 2 2 1659 8312 2 2 826 8313 2 2 825 8314 2 2 1669 8315 2 2 1669 8316 2 2 825 8317 2 2 1787 8318 2 2 825 8319 2 2 824 8320 2 2 1787 8321 2 2 824 8322 2 2 823 8323 2 2 1788 8324 2 2 1788 8325 2 2 823 8326 2 2 1789 8327 2 2 1789 8328 2 2 823 8329 2 2 1790 8330 2 2 823 8331 2 2 822 8332 2 2 1790 8333 2 2 822 8334 2 2 1744 8335 2 2 1790 8336 2 2 822 8337 2 2 821 8338 2 2 1744 8339 2 2 821 8340 2 2 1743 8341 2 2 1744 8342 2 2 821 8343 2 2 820 8344 2 2 1743 8345 2 2 820 8346 2 2 1742 8347 2 2 1743 8348 2 2 820 8349 2 2 819 8350 2 2 1742 8351 2 2 819 8352 2 2 1741 8353 2 2 1742 8354 2 2 819 8355 2 2 818 8356 2 2 1741 8357 2 2 1741 8358 2 2 818 8359 2 2 1740 8360 2 2 818 8361 2 2 817 8362 2 2 1740 8363 2 2 817 8364 2 2 1750 8365 2 2 1740 8366 2 2 814 8367 2 2 1750 8368 2 2 817 8369 2 2 814 8370 2 2 1862 8371 2 2 1750 8372 2 2 814 8373 2 2 816 8374 2 2 1862 8375 2 2 816 8376 2 2 1863 8377 2 2 1862 8378 2 2 816 8379 2 2 1864 8380 2 2 1863 8381 2 2 815 8382 2 2 1864 8383 2 2 816 8384 2 2 815 8385 2 2 1865 8386 2 2 1864 8387 2 2 835 8388 2 2 1865 8389 2 2 815 8390 2 2 835 8391 2 2 1825 8392 2 2 1865 8393 2 2 836 8394 2 2 1825 8395 2 2 835 8396 2 2 836 8397 2 2 1824 8398 2 2 1825 8399 2 2 837 8400 2 2 1824 8401 2 2 836 8402 2 2 837 8403 2 2 1823 8404 2 2 1824 8405 2 2 838 8406 2 2 1823 8407 2 2 837 8408 2 2 838 8409 2 2 1822 8410 2 2 1823 8411 2 2 838 8412 2 2 1821 8413 2 2 1822 8414 2 2 839 8415 2 2 1821 8416 2 2 838 8417 2 2 839 8418 2 2 1567 8419 2 2 1821 8420 2 2 839 8421 2 2 1558 8422 2 2 1567 8423 2 2 840 8424 2 2 1558 8425 2 2 839 8426 2 2 840 8427 2 2 1559 8428 2 2 1558 8429 2 2 1560 8430 2 2 1559 8431 2 2 840 8432 2 2 841 8433 2 2 1560 8434 2 2 840 8435 2 2 1561 8436 2 2 1560 8437 2 2 841 8438 2 2 842 8439 2 2 1561 8440 2 2 841 8441 2 2 1515 8442 2 2 1561 8443 2 2 842 8444 2 2 843 8445 2 2 1515 8446 2 2 842 8447 2 2 1787 8448 2 2 824 8449 2 2 1788 8450 2 2 1889 8451 2 2 1890 8452 2 2 1891 8453 2 2 1890 8454 2 2 1889 8455 2 2 1892 8456 2 2 1893 8457 2 2 1891 8458 2 2 1894 8459 2 2 1891 8460 2 2 1893 8461 2 2 1889 8462 2 2 1895 8463 2 2 1894 8464 2 2 1896 8465 2 2 1894 8466 2 2 1895 8467 2 2 1893 8468 2 2 1897 8469 2 2 1896 8470 2 2 1898 8471 2 2 1896 8472 2 2 1897 8473 2 2 1895 8474 2 2 1899 8475 2 2 1898 8476 2 2 1900 8477 2 2 1898 8478 2 2 1899 8479 2 2 1897 8480 2 2 1901 8481 2 2 1900 8482 2 2 1902 8483 2 2 1900 8484 2 2 1901 8485 2 2 1899 8486 2 2 1903 8487 2 2 1902 8488 2 2 1904 8489 2 2 1902 8490 2 2 1903 8491 2 2 1901 8492 2 2 1905 8493 2 2 1904 8494 2 2 1906 8495 2 2 1904 8496 2 2 1905 8497 2 2 1903 8498 2 2 1907 8499 2 2 1906 8500 2 2 1908 8501 2 2 1906 8502 2 2 1907 8503 2 2 1905 8504 2 2 1909 8505 2 2 1908 8506 2 2 1910 8507 2 2 1908 8508 2 2 1909 8509 2 2 1907 8510 2 2 1911 8511 2 2 1910 8512 2 2 1912 8513 2 2 1910 8514 2 2 1911 8515 2 2 1909 8516 2 2 1913 8517 2 2 1912 8518 2 2 1914 8519 2 2 1912 8520 2 2 1913 8521 2 2 1911 8522 2 2 1913 8523 2 2 1915 8524 2 2 1916 8525 2 2 1915 8526 2 2 1913 8527 2 2 1914 8528 2 2 1916 8529 2 2 1917 8530 2 2 1918 8531 2 2 1917 8532 2 2 1916 8533 2 2 1915 8534 2 2 1918 8535 2 2 1919 8536 2 2 1920 8537 2 2 1919 8538 2 2 1918 8539 2 2 1917 8540 2 2 1920 8541 2 2 1921 8542 2 2 1922 8543 2 2 1921 8544 2 2 1920 8545 2 2 1919 8546 2 2 1922 8547 2 2 1923 8548 2 2 1924 8549 2 2 1923 8550 2 2 1922 8551 2 2 1921 8552 2 2 1924 8553 2 2 1925 8554 2 2 1926 8555 2 2 1925 8556 2 2 1924 8557 2 2 1923 8558 2 2 1926 8559 2 2 1927 8560 2 2 1928 8561 2 2 1927 8562 2 2 1926 8563 2 2 1925 8564 2 2 1928 8565 2 2 1929 8566 2 2 1930 8567 2 2 1929 8568 2 2 1928 8569 2 2 1927 8570 2 2 1930 8571 2 2 1931 8572 2 2 1932 8573 2 2 1931 8574 2 2 1930 8575 2 2 1929 8576 2 2 1932 8577 2 2 1933 8578 2 2 1934 8579 2 2 1933 8580 2 2 1932 8581 2 2 1931 8582 2 2 1934 8583 2 2 1935 8584 2 2 1936 8585 2 2 1935 8586 2 2 1934 8587 2 2 1933 8588 2 2 1936 8589 2 2 1937 8590 2 2 1938 8591 2 2 1937 8592 2 2 1936 8593 2 2 1935 8594 2 2 1938 8595 2 2 1939 8596 2 2 1940 8597 2 2 1939 8598 2 2 1938 8599 2 2 1937 8600 2 2 1939 8601 2 2 1941 8602 2 2 1940 8603 2 2 1941 8604 2 2 1939 8605 2 2 1942 8606 2 2 1942 8607 2 2 1943 8608 2 2 1941 8609 2 2 1943 8610 2 2 1942 8611 2 2 1944 8612 2 2 1944 8613 2 2 1945 8614 2 2 1943 8615 2 2 1945 8616 2 2 1944 8617 2 2 1946 8618 2 2 1946 8619 2 2 1947 8620 2 2 1945 8621 2 2 1947 8622 2 2 1946 8623 2 2 1948 8624 2 2 1948 8625 2 2 1949 8626 2 2 1947 8627 2 2 1949 8628 2 2 1948 8629 2 2 1950 8630 2 2 1950 8631 2 2 1951 8632 2 2 1949 8633 2 2 1951 8634 2 2 1950 8635 2 2 1952 8636 2 2 1952 8637 2 2 1953 8638 2 2 1951 8639 2 2 1953 8640 2 2 1952 8641 2 2 1954 8642 2 2 1954 8643 2 2 1955 8644 2 2 1953 8645 2 2 1955 8646 2 2 1954 8647 2 2 1956 8648 2 2 1956 8649 2 2 1957 8650 2 2 1955 8651 2 2 1957 8652 2 2 1956 8653 2 2 1958 8654 2 2 1958 8655 2 2 1959 8656 2 2 1957 8657 2 2 1959 8658 2 2 1958 8659 2 2 1960 8660 2 2 1960 8661 2 2 1961 8662 2 2 1959 8663 2 2 1961 8664 2 2 1960 8665 2 2 1962 8666 2 2 1962 8667 2 2 1963 8668 2 2 1961 8669 2 2 1963 8670 2 2 1962 8671 2 2 1964 8672 2 2 1964 8673 2 2 1965 8674 2 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2 2012 8818 2 2 2014 8819 2 2 2012 8820 2 2 2013 8821 2 2 2011 8822 2 2 2013 8823 2 2 2015 8824 2 2 2016 8825 2 2 2015 8826 2 2 2013 8827 2 2 2014 8828 2 2 2016 8829 2 2 2017 8830 2 2 2018 8831 2 2 2017 8832 2 2 2016 8833 2 2 2015 8834 2 2 2018 8835 2 2 2019 8836 2 2 2020 8837 2 2 2019 8838 2 2 2018 8839 2 2 2017 8840 2 2 2020 8841 2 2 2021 8842 2 2 2022 8843 2 2 2021 8844 2 2 2020 8845 2 2 2019 8846 2 2 2022 8847 2 2 2023 8848 2 2 2024 8849 2 2 2023 8850 2 2 2022 8851 2 2 2021 8852 2 2 2024 8853 2 2 2025 8854 2 2 2026 8855 2 2 2025 8856 2 2 2024 8857 2 2 2023 8858 2 2 2026 8859 2 2 2027 8860 2 2 2028 8861 2 2 2027 8862 2 2 2026 8863 2 2 2025 8864 2 2 2028 8865 2 2 2029 8866 2 2 2030 8867 2 2 2029 8868 2 2 2028 8869 2 2 2027 8870 2 2 2030 8871 2 2 2031 8872 2 2 2032 8873 2 2 2031 8874 2 2 2030 8875 2 2 2029 8876 2 2 2032 8877 2 2 2033 8878 2 2 2034 8879 2 2 2033 8880 2 2 2032 8881 2 2 2031 8882 2 2 2034 8883 2 2 2035 8884 2 2 2036 8885 2 2 2035 8886 2 2 2034 8887 2 2 2033 8888 2 2 2036 8889 2 2 2037 8890 2 2 2038 8891 2 2 2037 8892 2 2 2036 8893 2 2 2035 8894 2 2 2038 8895 2 2 2039 8896 2 2 2040 8897 2 2 2039 8898 2 2 2038 8899 2 2 2037 8900 2 2 2039 8901 2 2 2041 8902 2 2 2040 8903 2 2 2041 8904 2 2 2039 8905 2 2 2042 8906 2 2 2042 8907 2 2 2043 8908 2 2 2041 8909 2 2 2043 8910 2 2 2042 8911 2 2 2044 8912 2 2 2044 8913 2 2 2045 8914 2 2 2043 8915 2 2 2045 8916 2 2 2044 8917 2 2 2046 8918 2 2 2046 8919 2 2 2047 8920 2 2 2045 8921 2 2 2047 8922 2 2 2046 8923 2 2 2048 8924 2 2 2048 8925 2 2 2049 8926 2 2 2047 8927 2 2 2049 8928 2 2 2048 8929 2 2 2050 8930 2 2 2050 8931 2 2 2051 8932 2 2 2049 8933 2 2 2051 8934 2 2 2050 8935 2 2 2052 8936 2 2 2052 8937 2 2 2053 8938 2 2 2051 8939 2 2 2053 8940 2 2 2052 8941 2 2 2054 8942 2 2 2054 8943 2 2 2055 8944 2 2 2053 8945 2 2 2055 8946 2 2 2054 8947 2 2 2056 8948 2 2 2056 8949 2 2 2057 8950 2 2 2055 8951 2 2 2057 8952 2 2 2056 8953 2 2 2058 8954 2 2 2058 8955 2 2 2059 8956 2 2 2057 8957 2 2 2059 8958 2 2 2058 8959 2 2 2060 8960 2 2 2060 8961 2 2 2061 8962 2 2 2059 8963 2 2 2061 8964 2 2 2060 8965 2 2 2062 8966 2 2 2062 8967 2 2 2063 8968 2 2 2061 8969 2 2 2063 8970 2 2 2062 8971 2 2 2064 8972 2 2 2064 8973 2 2 2065 8974 2 2 2063 8975 2 2 2065 8976 2 2 2064 8977 2 2 2066 8978 2 2 2067 8979 2 2 2065 8980 2 2 2066 8981 2 2 2065 8982 2 2 2067 8983 2 2 2068 8984 2 2 2069 8985 2 2 2068 8986 2 2 2067 8987 2 2 2068 8988 2 2 2069 8989 2 2 2070 8990 2 2 2071 8991 2 2 2070 8992 2 2 2069 8993 2 2 2070 8994 2 2 2071 8995 2 2 2072 8996 2 2 2073 8997 2 2 2072 8998 2 2 2071 8999 2 2 2072 9000 2 2 2073 9001 2 2 2074 9002 2 2 2075 9003 2 2 2074 9004 2 2 2073 9005 2 2 2074 9006 2 2 2075 9007 2 2 2076 9008 2 2 2077 9009 2 2 2076 9010 2 2 2075 9011 2 2 2076 9012 2 2 2077 9013 2 2 2078 9014 2 2 2079 9015 2 2 2078 9016 2 2 2077 9017 2 2 2078 9018 2 2 2079 9019 2 2 2080 9020 2 2 2081 9021 2 2 2080 9022 2 2 2079 9023 2 2 2080 9024 2 2 2081 9025 2 2 2082 9026 2 2 2083 9027 2 2 2082 9028 2 2 2081 9029 2 2 2082 9030 2 2 2083 9031 2 2 2084 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2 2007 9104 2 2 1908 9105 2 2 2009 9106 2 2 1910 9107 2 2 2009 9108 2 2 1908 9109 2 2 2007 9110 2 2 2009 9111 2 2 1912 9112 2 2 1910 9113 2 2 1912 9114 2 2 2009 9115 2 2 2011 9116 2 2 2011 9117 2 2 1914 9118 2 2 1912 9119 2 2 1914 9120 2 2 2011 9121 2 2 2013 9122 2 2 2013 9123 2 2 1915 9124 2 2 1914 9125 2 2 1915 9126 2 2 2013 9127 2 2 2016 9128 2 2 1915 9129 2 2 2018 9130 2 2 1917 9131 2 2 2018 9132 2 2 1915 9133 2 2 2016 9134 2 2 2018 9135 2 2 1919 9136 2 2 1917 9137 2 2 1919 9138 2 2 2018 9139 2 2 2020 9140 2 2 2020 9141 2 2 1921 9142 2 2 1919 9143 2 2 1921 9144 2 2 2020 9145 2 2 2022 9146 2 2 2022 9147 2 2 1923 9148 2 2 1921 9149 2 2 1923 9150 2 2 2022 9151 2 2 2024 9152 2 2 2024 9153 2 2 1925 9154 2 2 1923 9155 2 2 1925 9156 2 2 2024 9157 2 2 2026 9158 2 2 2026 9159 2 2 1927 9160 2 2 1925 9161 2 2 1927 9162 2 2 2026 9163 2 2 2028 9164 2 2 1927 9165 2 2 2030 9166 2 2 1929 9167 2 2 2030 9168 2 2 1927 9169 2 2 2028 9170 2 2 1929 9171 2 2 2032 9172 2 2 1931 9173 2 2 2032 9174 2 2 1929 9175 2 2 2030 9176 2 2 1931 9177 2 2 2034 9178 2 2 1933 9179 2 2 2034 9180 2 2 1931 9181 2 2 2032 9182 2 2 1933 9183 2 2 2036 9184 2 2 1935 9185 2 2 2036 9186 2 2 1933 9187 2 2 2034 9188 2 2 1935 9189 2 2 2038 9190 2 2 1937 9191 2 2 2038 9192 2 2 1935 9193 2 2 2036 9194 2 2 1937 9195 2 2 2040 9196 2 2 1939 9197 2 2 2040 9198 2 2 1937 9199 2 2 2038 9200 2 2 1939 9201 2 2 2041 9202 2 2 1942 9203 2 2 2041 9204 2 2 1939 9205 2 2 2040 9206 2 2 1942 9207 2 2 2043 9208 2 2 1944 9209 2 2 2043 9210 2 2 1942 9211 2 2 2041 9212 2 2 1944 9213 2 2 2045 9214 2 2 1946 9215 2 2 2045 9216 2 2 1944 9217 2 2 2043 9218 2 2 1946 9219 2 2 2047 9220 2 2 1948 9221 2 2 2047 9222 2 2 1946 9223 2 2 2045 9224 2 2 1948 9225 2 2 2049 9226 2 2 1950 9227 2 2 2049 9228 2 2 1948 9229 2 2 2047 9230 2 2 1950 9231 2 2 2051 9232 2 2 1952 9233 2 2 2051 9234 2 2 1950 9235 2 2 2049 9236 2 2 2051 9237 2 2 1954 9238 2 2 1952 9239 2 2 1954 9240 2 2 2051 9241 2 2 2053 9242 2 2 1954 9243 2 2 2055 9244 2 2 1956 9245 2 2 2055 9246 2 2 1954 9247 2 2 2053 9248 2 2 1956 9249 2 2 2057 9250 2 2 1958 9251 2 2 2057 9252 2 2 1956 9253 2 2 2055 9254 2 2 2057 9255 2 2 1960 9256 2 2 1958 9257 2 2 1960 9258 2 2 2057 9259 2 2 2059 9260 2 2 1960 9261 2 2 2061 9262 2 2 1962 9263 2 2 2061 9264 2 2 1960 9265 2 2 2059 9266 2 2 2061 9267 2 2 1964 9268 2 2 1962 9269 2 2 1964 9270 2 2 2061 9271 2 2 2063 9272 2 2 2063 9273 2 2 1966 9274 2 2 1964 9275 2 2 1966 9276 2 2 2063 9277 2 2 2065 9278 2 2 2065 9279 2 2 1967 9280 2 2 1966 9281 2 2 1967 9282 2 2 2065 9283 2 2 2068 9284 2 2 2068 9285 2 2 1969 9286 2 2 1967 9287 2 2 1969 9288 2 2 2068 9289 2 2 2070 9290 2 2 2070 9291 2 2 1971 9292 2 2 1969 9293 2 2 1971 9294 2 2 2070 9295 2 2 2072 9296 2 2 1971 9297 2 2 2074 9298 2 2 1973 9299 2 2 2074 9300 2 2 1971 9301 2 2 2072 9302 2 2 2074 9303 2 2 1975 9304 2 2 1973 9305 2 2 1975 9306 2 2 2074 9307 2 2 2076 9308 2 2 2076 9309 2 2 1977 9310 2 2 1975 9311 2 2 1977 9312 2 2 2076 9313 2 2 2078 9314 2 2 2080 9315 2 2 1977 9316 2 2 2078 9317 2 2 1977 9318 2 2 2080 9319 2 2 1979 9320 2 2 2082 9321 2 2 1979 9322 2 2 2080 9323 2 2 1979 9324 2 2 2082 9325 2 2 1981 9326 2 2 2084 9327 2 2 1981 9328 2 2 2082 9329 2 2 1981 9330 2 2 2084 9331 2 2 1983 9332 2 2 2086 9333 2 2 1983 9334 2 2 2084 9335 2 2 1983 9336 2 2 2086 9337 2 2 1985 9338 2 2 2088 9339 2 2 1985 9340 2 2 2086 9341 2 2 1985 9342 2 2 2088 9343 2 2 1987 9344 2 2 1992 9345 2 2 1987 9346 2 2 2088 9347 2 2 1987 9348 2 2 1992 9349 2 2 1890 9350 2 2 2089 9351 2 2 1990 9352 2 2 2090 9353 2 2 1990 9354 2 2 2089 9355 2 2 1991 9356 2 2 2091 9357 2 2 1991 9358 2 2 2089 9359 2 2 1991 9360 2 2 2091 9361 2 2 1994 9362 2 2 2092 9363 2 2 1994 9364 2 2 2091 9365 2 2 1994 9366 2 2 2092 9367 2 2 1996 9368 2 2 2093 9369 2 2 1996 9370 2 2 2092 9371 2 2 1996 9372 2 2 2093 9373 2 2 1998 9374 2 2 2094 9375 2 2 1998 9376 2 2 2093 9377 2 2 1998 9378 2 2 2094 9379 2 2 2000 9380 2 2 2095 9381 2 2 2000 9382 2 2 2094 9383 2 2 2000 9384 2 2 2095 9385 2 2 2002 9386 2 2 2002 9387 2 2 2096 9388 2 2 2004 9389 2 2 2096 9390 2 2 2002 9391 2 2 2095 9392 2 2 2096 9393 2 2 2006 9394 2 2 2004 9395 2 2 2006 9396 2 2 2096 9397 2 2 2097 9398 2 2 2097 9399 2 2 2008 9400 2 2 2006 9401 2 2 2008 9402 2 2 2097 9403 2 2 2098 9404 2 2 2008 9405 2 2 2099 9406 2 2 2010 9407 2 2 2099 9408 2 2 2008 9409 2 2 2098 9410 2 2 2099 9411 2 2 2012 9412 2 2 2010 9413 2 2 2012 9414 2 2 2099 9415 2 2 2100 9416 2 2 2100 9417 2 2 2014 9418 2 2 2012 9419 2 2 2014 9420 2 2 2100 9421 2 2 2101 9422 2 2 2014 9423 2 2 2102 9424 2 2 2015 9425 2 2 2102 9426 2 2 2014 9427 2 2 2101 9428 2 2 2015 9429 2 2 2103 9430 2 2 2017 9431 2 2 2103 9432 2 2 2015 9433 2 2 2102 9434 2 2 2103 9435 2 2 2019 9436 2 2 2017 9437 2 2 2019 9438 2 2 2103 9439 2 2 2104 9440 2 2 2019 9441 2 2 2105 9442 2 2 2021 9443 2 2 2105 9444 2 2 2019 9445 2 2 2104 9446 2 2 2021 9447 2 2 2106 9448 2 2 2023 9449 2 2 2106 9450 2 2 2021 9451 2 2 2105 9452 2 2 2106 9453 2 2 2025 9454 2 2 2023 9455 2 2 2025 9456 2 2 2106 9457 2 2 2107 9458 2 2 2025 9459 2 2 2108 9460 2 2 2027 9461 2 2 2108 9462 2 2 2025 9463 2 2 2107 9464 2 2 2027 9465 2 2 2109 9466 2 2 2029 9467 2 2 2109 9468 2 2 2027 9469 2 2 2108 9470 2 2 2029 9471 2 2 2110 9472 2 2 2031 9473 2 2 2110 9474 2 2 2029 9475 2 2 2109 9476 2 2 2031 9477 2 2 2111 9478 2 2 2033 9479 2 2 2111 9480 2 2 2031 9481 2 2 2110 9482 2 2 2033 9483 2 2 2112 9484 2 2 2035 9485 2 2 2112 9486 2 2 2033 9487 2 2 2111 9488 2 2 2035 9489 2 2 2113 9490 2 2 2037 9491 2 2 2113 9492 2 2 2035 9493 2 2 2112 9494 2 2 2037 9495 2 2 2114 9496 2 2 2039 9497 2 2 2114 9498 2 2 2037 9499 2 2 2113 9500 2 2 2039 9501 2 2 2115 9502 2 2 2042 9503 2 2 2115 9504 2 2 2039 9505 2 2 2114 9506 2 2 2042 9507 2 2 2116 9508 2 2 2044 9509 2 2 2116 9510 2 2 2042 9511 2 2 2115 9512 2 2 2044 9513 2 2 2117 9514 2 2 2046 9515 2 2 2117 9516 2 2 2044 9517 2 2 2116 9518 2 2 2046 9519 2 2 2118 9520 2 2 2048 9521 2 2 2118 9522 2 2 2046 9523 2 2 2117 9524 2 2 2048 9525 2 2 2119 9526 2 2 2050 9527 2 2 2119 9528 2 2 2048 9529 2 2 2118 9530 2 2 2050 9531 2 2 2120 9532 2 2 2052 9533 2 2 2120 9534 2 2 2050 9535 2 2 2119 9536 2 2 2120 9537 2 2 2054 9538 2 2 2052 9539 2 2 2054 9540 2 2 2120 9541 2 2 2121 9542 2 2 2121 9543 2 2 2056 9544 2 2 2054 9545 2 2 2056 9546 2 2 2121 9547 2 2 2122 9548 2 2 2122 9549 2 2 2058 9550 2 2 2056 9551 2 2 2058 9552 2 2 2122 9553 2 2 2123 9554 2 2 2123 9555 2 2 2060 9556 2 2 2058 9557 2 2 2060 9558 2 2 2123 9559 2 2 2124 9560 2 2 2060 9561 2 2 2125 9562 2 2 2062 9563 2 2 2125 9564 2 2 2060 9565 2 2 2124 9566 2 2 2125 9567 2 2 2064 9568 2 2 2062 9569 2 2 2064 9570 2 2 2125 9571 2 2 2126 9572 2 2 2126 9573 2 2 2066 9574 2 2 2064 9575 2 2 2066 9576 2 2 2126 9577 2 2 2127 9578 2 2 2066 9579 2 2 2128 9580 2 2 2067 9581 2 2 2128 9582 2 2 2066 9583 2 2 2127 9584 2 2 2128 9585 2 2 2069 9586 2 2 2067 9587 2 2 2069 9588 2 2 2128 9589 2 2 2129 9590 2 2 2129 9591 2 2 2071 9592 2 2 2069 9593 2 2 2071 9594 2 2 2129 9595 2 2 2130 9596 2 2 2071 9597 2 2 2131 9598 2 2 2073 9599 2 2 2131 9600 2 2 2071 9601 2 2 2130 9602 2 2 2073 9603 2 2 2132 9604 2 2 2075 9605 2 2 2132 9606 2 2 2073 9607 2 2 2131 9608 2 2 2132 9609 2 2 2077 9610 2 2 2075 9611 2 2 2077 9612 2 2 2132 9613 2 2 2133 9614 2 2 2134 9615 2 2 2077 9616 2 2 2133 9617 2 2 2077 9618 2 2 2134 9619 2 2 2079 9620 2 2 2135 9621 2 2 2079 9622 2 2 2134 9623 2 2 2079 9624 2 2 2135 9625 2 2 2081 9626 2 2 2136 9627 2 2 2081 9628 2 2 2135 9629 2 2 2081 9630 2 2 2136 9631 2 2 2083 9632 2 2 2137 9633 2 2 2083 9634 2 2 2136 9635 2 2 2083 9636 2 2 2137 9637 2 2 2085 9638 2 2 2138 9639 2 2 2085 9640 2 2 2137 9641 2 2 2085 9642 2 2 2138 9643 2 2 2087 9644 2 2 2090 9645 2 2 2087 9646 2 2 2138 9647 2 2 2087 9648 2 2 2090 9649 2 2 1990 9650 2 2 1141 9651 2 2 1142 9652 2 2 2139 9653 2 2 2140 9654 2 2 1141 9655 2 2 2139 9656 2 2 1139 9657 2 2 1141 9658 2 2 2140 9659 2 2 1139 9660 2 2 2140 9661 2 2 2141 9662 2 2 1426 9663 2 2 1139 9664 2 2 2141 9665 2 2 1426 9666 2 2 2141 9667 2 2 2142 9668 2 2 1428 9669 2 2 1426 9670 2 2 2142 9671 2 2 1428 9672 2 2 2142 9673 2 2 2143 9674 2 2 2139 9675 2 2 2144 9676 2 2 2140 9677 2 2 2140 9678 2 2 2144 9679 2 2 2145 9680 2 2 2141 9681 2 2 2140 9682 2 2 2145 9683 2 2 2141 9684 2 2 2145 9685 2 2 2146 9686 2 2 2141 9687 2 2 2146 9688 2 2 2142 9689 2 2 2142 9690 2 2 2146 9691 2 2 2147 9692 2 2 2148 9693 2 2 2142 9694 2 2 2147 9695 2 2 2142 9696 2 2 2148 9697 2 2 2143 9698 2 2 1142 9699 2 2 1143 9700 2 2 2139 9701 2 2 1143 9702 2 2 1150 9703 2 2 2139 9704 2 2 2139 9705 2 2 1150 9706 2 2 2149 9707 2 2 1150 9708 2 2 1154 9709 2 2 2149 9710 2 2 2149 9711 2 2 1154 9712 2 2 2150 9713 2 2 1154 9714 2 2 1156 9715 2 2 2150 9716 2 2 2150 9717 2 2 1156 9718 2 2 2151 9719 2 2 1156 9720 2 2 1158 9721 2 2 2151 9722 2 2 2151 9723 2 2 1158 9724 2 2 2152 9725 2 2 1158 9726 2 2 1160 9727 2 2 2152 9728 2 2 2152 9729 2 2 1160 9730 2 2 2153 9731 2 2 1160 9732 2 2 1162 9733 2 2 2153 9734 2 2 2153 9735 2 2 1162 9736 2 2 2154 9737 2 2 1162 9738 2 2 1166 9739 2 2 2154 9740 2 2 2154 9741 2 2 1166 9742 2 2 2155 9743 2 2 1166 9744 2 2 1504 9745 2 2 2155 9746 2 2 2155 9747 2 2 1504 9748 2 2 2156 9749 2 2 2156 9750 2 2 1504 9751 2 2 1505 9752 2 2 2156 9753 2 2 1505 9754 2 2 2157 9755 2 2 2158 9756 2 2 1505 9757 2 2 1506 9758 2 2 1505 9759 2 2 2158 9760 2 2 2157 9761 2 2 1506 9762 2 2 1516 9763 2 2 2158 9764 2 2 1516 9765 2 2 2159 9766 2 2 2158 9767 2 2 2139 9768 2 2 2149 9769 2 2 2144 9770 2 2 2144 9771 2 2 2149 9772 2 2 2160 9773 2 2 2149 9774 2 2 2150 9775 2 2 2160 9776 2 2 2160 9777 2 2 2150 9778 2 2 2161 9779 2 2 2150 9780 2 2 2151 9781 2 2 2161 9782 2 2 2161 9783 2 2 2151 9784 2 2 2162 9785 2 2 2151 9786 2 2 2152 9787 2 2 2162 9788 2 2 2162 9789 2 2 2152 9790 2 2 2163 9791 2 2 2152 9792 2 2 2153 9793 2 2 2163 9794 2 2 2164 9795 2 2 1170 9796 2 2 1169 9797 2 2 2164 9798 2 2 1169 9799 2 2 2165 9800 2 2 1169 9801 2 2 1168 9802 2 2 2165 9803 2 2 2165 9804 2 2 1168 9805 2 2 2166 9806 2 2 2166 9807 2 2 1168 9808 2 2 1434 9809 2 2 2166 9810 2 2 1434 9811 2 2 2167 9812 2 2 2167 9813 2 2 1434 9814 2 2 1436 9815 2 2 2167 9816 2 2 1436 9817 2 2 2168 9818 2 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9890 2 2 2180 9891 2 2 2181 9892 2 2 1551 9893 2 2 2181 9894 2 2 1552 9895 2 2 1551 9896 2 2 2181 9897 2 2 2182 9898 2 2 1552 9899 2 2 1552 9900 2 2 2183 9901 2 2 1553 9902 2 2 2183 9903 2 2 1552 9904 2 2 2182 9905 2 2 2183 9906 2 2 1562 9907 2 2 1553 9908 2 2 1562 9909 2 2 2183 9910 2 2 2184 9911 2 2 2164 9912 2 2 2169 9913 2 2 2174 9914 2 2 2169 9915 2 2 2185 9916 2 2 2174 9917 2 2 2174 9918 2 2 2185 9919 2 2 2175 9920 2 2 2185 9921 2 2 2186 9922 2 2 2175 9923 2 2 2175 9924 2 2 2186 9925 2 2 2176 9926 2 2 2186 9927 2 2 2187 9928 2 2 2176 9929 2 2 2176 9930 2 2 2187 9931 2 2 2177 9932 2 2 2187 9933 2 2 2188 9934 2 2 2177 9935 2 2 2177 9936 2 2 2188 9937 2 2 2178 9938 2 2 1197 9939 2 2 1198 9940 2 2 2189 9941 2 2 1197 9942 2 2 2189 9943 2 2 2190 9944 2 2 1195 9945 2 2 1197 9946 2 2 2190 9947 2 2 1195 9948 2 2 2190 9949 2 2 2191 9950 2 2 1195 9951 2 2 2191 9952 2 2 1445 9953 2 2 1445 9954 2 2 2191 9955 2 2 2192 9956 2 2 1445 9957 2 2 2192 9958 2 2 1447 9959 2 2 1447 9960 2 2 2192 9961 2 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10964 2 2 2355 10965 2 2 1502 10966 2 2 1481 10967 2 2 2287 10968 2 2 2355 10969 2 2 1481 10970 2 2 2352 10971 2 2 2353 10972 2 2 2356 10973 2 2 2356 10974 2 2 2353 10975 2 2 2357 10976 2 2 2353 10977 2 2 2354 10978 2 2 2357 10979 2 2 2357 10980 2 2 2354 10981 2 2 2358 10982 2 2 2358 10983 2 2 2354 10984 2 2 2355 10985 2 2 2358 10986 2 2 2355 10987 2 2 2359 10988 2 2 2292 10989 2 2 2355 10990 2 2 2287 10991 2 2 2355 10992 2 2 2292 10993 2 2 2359 10994 2 2 1394 10995 2 2 2352 10996 2 2 1395 10997 2 2 1395 10998 2 2 2352 10999 2 2 1402 11000 2 2 1402 11001 2 2 2352 11002 2 2 2360 11003 2 2 1402 11004 2 2 2360 11005 2 2 1406 11006 2 2 1406 11007 2 2 2360 11008 2 2 2361 11009 2 2 1408 11010 2 2 1406 11011 2 2 2361 11012 2 2 1408 11013 2 2 2361 11014 2 2 2362 11015 2 2 1410 11016 2 2 1408 11017 2 2 2362 11018 2 2 1410 11019 2 2 2362 11020 2 2 2363 11021 2 2 1410 11022 2 2 2363 11023 2 2 1412 11024 2 2 1412 11025 2 2 2363 11026 2 2 2364 11027 2 2 1412 11028 2 2 2364 11029 2 2 1414 11030 2 2 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7879 2 2 1833 7880 2 2 1833 7881 2 2 1103 7882 2 2 1100 7883 2 2 1833 7884 2 2 1100 7885 2 2 1098 7886 2 2 1833 7887 2 2 1098 7888 2 2 1834 7889 2 2 1098 7890 2 2 1096 7891 2 2 1834 7892 2 2 1834 7893 2 2 1096 7894 2 2 1835 7895 2 2 1096 7896 2 2 1093 7897 2 2 1835 7898 2 2 1835 7899 2 2 1093 7900 2 2 1836 7901 2 2 1837 7902 2 2 1838 7903 2 2 1839 7904 2 2 1837 7905 2 2 1839 7906 2 2 1840 7907 2 2 1837 7908 2 2 1840 7909 2 2 1841 7910 2 2 1842 7911 2 2 1841 7912 2 2 1840 7913 2 2 1842 7914 2 2 1840 7915 2 2 1843 7916 2 2 1842 7917 2 2 1843 7918 2 2 1844 7919 2 2 1844 7920 2 2 1843 7921 2 2 1845 7922 2 2 1845 7923 2 2 1843 7924 2 2 1846 7925 2 2 1847 7926 2 2 1845 7927 2 2 1846 7928 2 2 1847 7929 2 2 1846 7930 2 2 1848 7931 2 2 1847 7932 2 2 1848 7933 2 2 1849 7934 2 2 1848 7935 2 2 1850 7936 2 2 1849 7937 2 2 1849 7938 2 2 1850 7939 2 2 1851 7940 2 2 1851 7941 2 2 1850 7942 2 2 1852 7943 2 2 1850 7944 2 2 1853 7945 2 2 1852 7946 2 2 1852 7947 2 2 1853 7948 2 2 1854 7949 2 2 1095 7950 2 2 1490 7951 2 2 1498 7952 2 2 1095 7953 2 2 1498 7954 2 2 1122 7955 2 2 1122 7956 2 2 1498 7957 2 2 1415 7958 2 2 1122 7959 2 2 1415 7960 2 2 1124 7961 2 2 1124 7962 2 2 1415 7963 2 2 1416 7964 2 2 1126 7965 2 2 1124 7966 2 2 1416 7967 2 2 1126 7968 2 2 1416 7969 2 2 1417 7970 2 2 1128 7971 2 2 1126 7972 2 2 1417 7973 2 2 1128 7974 2 2 1417 7975 2 2 1418 7976 2 2 1129 7977 2 2 1418 7978 2 2 1855 7979 2 2 1129 7980 2 2 1128 7981 2 2 1418 7982 2 2 1856 7983 2 2 1129 7984 2 2 1855 7985 2 2 1131 7986 2 2 1129 7987 2 2 1856 7988 2 2 1131 7989 2 2 1856 7990 2 2 1857 7991 2 2 1858 7992 2 2 1131 7993 2 2 1857 7994 2 2 1858 7995 2 2 1133 7996 2 2 1131 7997 2 2 1859 7998 2 2 1133 7999 2 2 1858 8000 2 2 1859 8001 2 2 1115 8002 2 2 1133 8003 2 2 1860 8004 2 2 1115 8005 2 2 1859 8006 2 2 1113 8007 2 2 1115 8008 2 2 1860 8009 2 2 1861 8010 2 2 1113 8011 2 2 1860 8012 2 2 1116 8013 2 2 1113 8014 2 2 1861 8015 2 2 1862 8016 2 2 1116 8017 2 2 1861 8018 2 2 1862 8019 2 2 1863 8020 2 2 1116 8021 2 2 1863 8022 2 2 1864 8023 2 2 1116 8024 2 2 1864 8025 2 2 1118 8026 2 2 1116 8027 2 2 1865 8028 2 2 1118 8029 2 2 1864 8030 2 2 1865 8031 2 2 1120 8032 2 2 1118 8033 2 2 1825 8034 2 2 1120 8035 2 2 1865 8036 2 2 1825 8037 2 2 1091 8038 2 2 1120 8039 2 2 1858 8040 2 2 1857 8041 2 2 1745 8042 2 2 1746 8043 2 2 1858 8044 2 2 1745 8045 2 2 1859 8046 2 2 1858 8047 2 2 1746 8048 2 2 1747 8049 2 2 1859 8050 2 2 1746 8051 2 2 1860 8052 2 2 1859 8053 2 2 1747 8054 2 2 1748 8055 2 2 1860 8056 2 2 1747 8057 2 2 1861 8058 2 2 1860 8059 2 2 1748 8060 2 2 1749 8061 2 2 1861 8062 2 2 1748 8063 2 2 1862 8064 2 2 1861 8065 2 2 1749 8066 2 2 1750 8067 2 2 1862 8068 2 2 1749 8069 2 2 1826 8070 2 2 1138 8071 2 2 1112 8072 2 2 1826 8073 2 2 1866 8074 2 2 1138 8075 2 2 1866 8076 2 2 1137 8077 2 2 1138 8078 2 2 1866 8079 2 2 1867 8080 2 2 1137 8081 2 2 1867 8082 2 2 1136 8083 2 2 1137 8084 2 2 1868 8085 2 2 1136 8086 2 2 1867 8087 2 2 1868 8088 2 2 1135 8089 2 2 1136 8090 2 2 1869 8091 2 2 1135 8092 2 2 1868 8093 2 2 1869 8094 2 2 1134 8095 2 2 1135 8096 2 2 1869 8097 2 2 1870 8098 2 2 1134 8099 2 2 1870 8100 2 2 1132 8101 2 2 1134 8102 2 2 1871 8103 2 2 1132 8104 2 2 1870 8105 2 2 1871 8106 2 2 1130 8107 2 2 1132 8108 2 2 1871 8109 2 2 1872 8110 2 2 1130 8111 2 2 1872 8112 2 2 1127 8113 2 2 1130 8114 2 2 1125 8115 2 2 1127 8116 2 2 1872 8117 2 2 1873 8118 2 2 1125 8119 2 2 1872 8120 2 2 1123 8121 2 2 1125 8122 2 2 1873 8123 2 2 1123 8124 2 2 1873 8125 2 2 1874 8126 2 2 1093 8127 2 2 1123 8128 2 2 1874 8129 2 2 1093 8130 2 2 1874 8131 2 2 1836 8132 2 2 1838 8133 2 2 1875 8134 2 2 1839 8135 2 2 1839 8136 2 2 1875 8137 2 2 1876 8138 2 2 1875 8139 2 2 1877 8140 2 2 1876 8141 2 2 1876 8142 2 2 1877 8143 2 2 1878 8144 2 2 1876 8145 2 2 1878 8146 2 2 1879 8147 2 2 1878 8148 2 2 1880 8149 2 2 1879 8150 2 2 1881 8151 2 2 1879 8152 2 2 1880 8153 2 2 1881 8154 2 2 1882 8155 2 2 1879 8156 2 2 1883 8157 2 2 1882 8158 2 2 1881 8159 2 2 1883 8160 2 2 1884 8161 2 2 1882 8162 2 2 1885 8163 2 2 1884 8164 2 2 1883 8165 2 2 1885 8166 2 2 1886 8167 2 2 1884 8168 2 2 1887 8169 2 2 1886 8170 2 2 1885 8171 2 2 1888 8172 2 2 1886 8173 2 2 1887 8174 2 2 1853 8175 2 2 1886 8176 2 2 1888 8177 2 2 1853 8178 2 2 1888 8179 2 2 1854 8180 2 2 1514 8181 2 2 1515 8182 2 2 843 8183 2 2 844 8184 2 2 1514 8185 2 2 843 8186 2 2 1513 8187 2 2 1514 8188 2 2 844 8189 2 2 845 8190 2 2 1513 8191 2 2 844 8192 2 2 1512 8193 2 2 1513 8194 2 2 845 8195 2 2 846 8196 2 2 1512 8197 2 2 845 8198 2 2 1511 8199 2 2 1512 8200 2 2 846 8201 2 2 847 8202 2 2 1511 8203 2 2 846 8204 2 2 1521 8205 2 2 1511 8206 2 2 847 8207 2 2 848 8208 2 2 1521 8209 2 2 847 8210 2 2 1634 8211 2 2 1521 8212 2 2 848 8213 2 2 1635 8214 2 2 1634 8215 2 2 848 8216 2 2 1635 8217 2 2 848 8218 2 2 849 8219 2 2 1636 8220 2 2 1635 8221 2 2 849 8222 2 2 1636 8223 2 2 849 8224 2 2 850 8225 2 2 1637 8226 2 2 1636 8227 2 2 850 8228 2 2 1637 8229 2 2 850 8230 2 2 851 8231 2 2 1602 8232 2 2 1637 8233 2 2 851 8234 2 2 1602 8235 2 2 851 8236 2 2 852 8237 2 2 1601 8238 2 2 1602 8239 2 2 852 8240 2 2 853 8241 2 2 1601 8242 2 2 852 8243 2 2 1601 8244 2 2 853 8245 2 2 1600 8246 2 2 1600 8247 2 2 853 8248 2 2 834 8249 2 2 1600 8250 2 2 834 8251 2 2 1599 8252 2 2 1599 8253 2 2 834 8254 2 2 1598 8255 2 2 1598 8256 2 2 834 8257 2 2 833 8258 2 2 1598 8259 2 2 833 8260 2 2 1608 8261 2 2 1608 8262 2 2 833 8263 2 2 1706 8264 2 2 1706 8265 2 2 833 8266 2 2 832 8267 2 2 1706 8268 2 2 832 8269 2 2 1707 8270 2 2 1707 8271 2 2 832 8272 2 2 831 8273 2 2 1707 8274 2 2 831 8275 2 2 1708 8276 2 2 1708 8277 2 2 831 8278 2 2 1709 8279 2 2 831 8280 2 2 830 8281 2 2 1709 8282 2 2 1709 8283 2 2 830 8284 2 2 1663 8285 2 2 830 8286 2 2 829 8287 2 2 1663 8288 2 2 1663 8289 2 2 829 8290 2 2 1662 8291 2 2 829 8292 2 2 828 8293 2 2 1662 8294 2 2 1661 8295 2 2 828 8296 2 2 827 8297 2 2 828 8298 2 2 1661 8299 2 2 1662 8300 2 2 1661 8301 2 2 827 8302 2 2 1660 8303 2 2 827 8304 2 2 826 8305 2 2 1660 8306 2 2 1660 8307 2 2 826 8308 2 2 1659 8309 2 2 826 8310 2 2 1669 8311 2 2 1659 8312 2 2 826 8313 2 2 825 8314 2 2 1669 8315 2 2 1669 8316 2 2 825 8317 2 2 1787 8318 2 2 825 8319 2 2 824 8320 2 2 1787 8321 2 2 824 8322 2 2 823 8323 2 2 1788 8324 2 2 1788 8325 2 2 823 8326 2 2 1789 8327 2 2 1789 8328 2 2 823 8329 2 2 1790 8330 2 2 823 8331 2 2 822 8332 2 2 1790 8333 2 2 822 8334 2 2 1744 8335 2 2 1790 8336 2 2 822 8337 2 2 821 8338 2 2 1744 8339 2 2 821 8340 2 2 1743 8341 2 2 1744 8342 2 2 821 8343 2 2 820 8344 2 2 1743 8345 2 2 820 8346 2 2 1742 8347 2 2 1743 8348 2 2 820 8349 2 2 819 8350 2 2 1742 8351 2 2 819 8352 2 2 1741 8353 2 2 1742 8354 2 2 819 8355 2 2 818 8356 2 2 1741 8357 2 2 1741 8358 2 2 818 8359 2 2 1740 8360 2 2 818 8361 2 2 817 8362 2 2 1740 8363 2 2 817 8364 2 2 1750 8365 2 2 1740 8366 2 2 814 8367 2 2 1750 8368 2 2 817 8369 2 2 814 8370 2 2 1862 8371 2 2 1750 8372 2 2 814 8373 2 2 816 8374 2 2 1862 8375 2 2 816 8376 2 2 1863 8377 2 2 1862 8378 2 2 816 8379 2 2 1864 8380 2 2 1863 8381 2 2 815 8382 2 2 1864 8383 2 2 816 8384 2 2 815 8385 2 2 1865 8386 2 2 1864 8387 2 2 835 8388 2 2 1865 8389 2 2 815 8390 2 2 835 8391 2 2 1825 8392 2 2 1865 8393 2 2 836 8394 2 2 1825 8395 2 2 835 8396 2 2 836 8397 2 2 1824 8398 2 2 1825 8399 2 2 837 8400 2 2 1824 8401 2 2 836 8402 2 2 837 8403 2 2 1823 8404 2 2 1824 8405 2 2 838 8406 2 2 1823 8407 2 2 837 8408 2 2 838 8409 2 2 1822 8410 2 2 1823 8411 2 2 838 8412 2 2 1821 8413 2 2 1822 8414 2 2 839 8415 2 2 1821 8416 2 2 838 8417 2 2 839 8418 2 2 1567 8419 2 2 1821 8420 2 2 839 8421 2 2 1558 8422 2 2 1567 8423 2 2 840 8424 2 2 1558 8425 2 2 839 8426 2 2 840 8427 2 2 1559 8428 2 2 1558 8429 2 2 1560 8430 2 2 1559 8431 2 2 840 8432 2 2 841 8433 2 2 1560 8434 2 2 840 8435 2 2 1561 8436 2 2 1560 8437 2 2 841 8438 2 2 842 8439 2 2 1561 8440 2 2 841 8441 2 2 1515 8442 2 2 1561 8443 2 2 842 8444 2 2 843 8445 2 2 1515 8446 2 2 842 8447 2 2 1787 8448 2 2 824 8449 2 2 1788 8450 2 2 1889 8451 2 2 1890 8452 2 2 1891 8453 2 2 1890 8454 2 2 1889 8455 2 2 1892 8456 2 2 1893 8457 2 2 1891 8458 2 2 1894 8459 2 2 1891 8460 2 2 1893 8461 2 2 1889 8462 2 2 1895 8463 2 2 1894 8464 2 2 1896 8465 2 2 1894 8466 2 2 1895 8467 2 2 1893 8468 2 2 1897 8469 2 2 1896 8470 2 2 1898 8471 2 2 1896 8472 2 2 1897 8473 2 2 1895 8474 2 2 1899 8475 2 2 1898 8476 2 2 1900 8477 2 2 1898 8478 2 2 1899 8479 2 2 1897 8480 2 2 1901 8481 2 2 1900 8482 2 2 1902 8483 2 2 1900 8484 2 2 1901 8485 2 2 1899 8486 2 2 1903 8487 2 2 1902 8488 2 2 1904 8489 2 2 1902 8490 2 2 1903 8491 2 2 1901 8492 2 2 1905 8493 2 2 1904 8494 2 2 1906 8495 2 2 1904 8496 2 2 1905 8497 2 2 1903 8498 2 2 1907 8499 2 2 1906 8500 2 2 1908 8501 2 2 1906 8502 2 2 1907 8503 2 2 1905 8504 2 2 1909 8505 2 2 1908 8506 2 2 1910 8507 2 2 1908 8508 2 2 1909 8509 2 2 1907 8510 2 2 1911 8511 2 2 1910 8512 2 2 1912 8513 2 2 1910 8514 2 2 1911 8515 2 2 1909 8516 2 2 1913 8517 2 2 1912 8518 2 2 1914 8519 2 2 1912 8520 2 2 1913 8521 2 2 1911 8522 2 2 1913 8523 2 2 1915 8524 2 2 1916 8525 2 2 1915 8526 2 2 1913 8527 2 2 1914 8528 2 2 1916 8529 2 2 1917 8530 2 2 1918 8531 2 2 1917 8532 2 2 1916 8533 2 2 1915 8534 2 2 1918 8535 2 2 1919 8536 2 2 1920 8537 2 2 1919 8538 2 2 1918 8539 2 2 1917 8540 2 2 1920 8541 2 2 1921 8542 2 2 1922 8543 2 2 1921 8544 2 2 1920 8545 2 2 1919 8546 2 2 1922 8547 2 2 1923 8548 2 2 1924 8549 2 2 1923 8550 2 2 1922 8551 2 2 1921 8552 2 2 1924 8553 2 2 1925 8554 2 2 1926 8555 2 2 1925 8556 2 2 1924 8557 2 2 1923 8558 2 2 1926 8559 2 2 1927 8560 2 2 1928 8561 2 2 1927 8562 2 2 1926 8563 2 2 1925 8564 2 2 1928 8565 2 2 1929 8566 2 2 1930 8567 2 2 1929 8568 2 2 1928 8569 2 2 1927 8570 2 2 1930 8571 2 2 1931 8572 2 2 1932 8573 2 2 1931 8574 2 2 1930 8575 2 2 1929 8576 2 2 1932 8577 2 2 1933 8578 2 2 1934 8579 2 2 1933 8580 2 2 1932 8581 2 2 1931 8582 2 2 1934 8583 2 2 1935 8584 2 2 1936 8585 2 2 1935 8586 2 2 1934 8587 2 2 1933 8588 2 2 1936 8589 2 2 1937 8590 2 2 1938 8591 2 2 1937 8592 2 2 1936 8593 2 2 1935 8594 2 2 1938 8595 2 2 1939 8596 2 2 1940 8597 2 2 1939 8598 2 2 1938 8599 2 2 1937 8600 2 2 1939 8601 2 2 1941 8602 2 2 1940 8603 2 2 1941 8604 2 2 1939 8605 2 2 1942 8606 2 2 1942 8607 2 2 1943 8608 2 2 1941 8609 2 2 1943 8610 2 2 1942 8611 2 2 1944 8612 2 2 1944 8613 2 2 1945 8614 2 2 1943 8615 2 2 1945 8616 2 2 1944 8617 2 2 1946 8618 2 2 1946 8619 2 2 1947 8620 2 2 1945 8621 2 2 1947 8622 2 2 1946 8623 2 2 1948 8624 2 2 1948 8625 2 2 1949 8626 2 2 1947 8627 2 2 1949 8628 2 2 1948 8629 2 2 1950 8630 2 2 1950 8631 2 2 1951 8632 2 2 1949 8633 2 2 1951 8634 2 2 1950 8635 2 2 1952 8636 2 2 1952 8637 2 2 1953 8638 2 2 1951 8639 2 2 1953 8640 2 2 1952 8641 2 2 1954 8642 2 2 1954 8643 2 2 1955 8644 2 2 1953 8645 2 2 1955 8646 2 2 1954 8647 2 2 1956 8648 2 2 1956 8649 2 2 1957 8650 2 2 1955 8651 2 2 1957 8652 2 2 1956 8653 2 2 1958 8654 2 2 1958 8655 2 2 1959 8656 2 2 1957 8657 2 2 1959 8658 2 2 1958 8659 2 2 1960 8660 2 2 1960 8661 2 2 1961 8662 2 2 1959 8663 2 2 1961 8664 2 2 1960 8665 2 2 1962 8666 2 2 1962 8667 2 2 1963 8668 2 2 1961 8669 2 2 1963 8670 2 2 1962 8671 2 2 1964 8672 2 2 1964 8673 2 2 1965 8674 2 2 1963 8675 2 2 1965 8676 2 2 1964 8677 2 2 1966 8678 2 2 1967 8679 2 2 1965 8680 2 2 1966 8681 2 2 1965 8682 2 2 1967 8683 2 2 1968 8684 2 2 1969 8685 2 2 1968 8686 2 2 1967 8687 2 2 1968 8688 2 2 1969 8689 2 2 1970 8690 2 2 1971 8691 2 2 1970 8692 2 2 1969 8693 2 2 1970 8694 2 2 1971 8695 2 2 1972 8696 2 2 1973 8697 2 2 1972 8698 2 2 1971 8699 2 2 1972 8700 2 2 1973 8701 2 2 1974 8702 2 2 1975 8703 2 2 1974 8704 2 2 1973 8705 2 2 1974 8706 2 2 1975 8707 2 2 1976 8708 2 2 1977 8709 2 2 1976 8710 2 2 1975 8711 2 2 1976 8712 2 2 1977 8713 2 2 1978 8714 2 2 1979 8715 2 2 1978 8716 2 2 1977 8717 2 2 1978 8718 2 2 1979 8719 2 2 1980 8720 2 2 1981 8721 2 2 1980 8722 2 2 1979 8723 2 2 1980 8724 2 2 1981 8725 2 2 1982 8726 2 2 1983 8727 2 2 1982 8728 2 2 1981 8729 2 2 1982 8730 2 2 1983 8731 2 2 1984 8732 2 2 1985 8733 2 2 1984 8734 2 2 1983 8735 2 2 1984 8736 2 2 1985 8737 2 2 1986 8738 2 2 1987 8739 2 2 1986 8740 2 2 1985 8741 2 2 1986 8742 2 2 1987 8743 2 2 1988 8744 2 2 1890 8745 2 2 1988 8746 2 2 1987 8747 2 2 1988 8748 2 2 1890 8749 2 2 1892 8750 2 2 1989 8751 2 2 1990 8752 2 2 1991 8753 2 2 1990 8754 2 2 1989 8755 2 2 1992 8756 2 2 1993 8757 2 2 1991 8758 2 2 1994 8759 2 2 1991 8760 2 2 1993 8761 2 2 1989 8762 2 2 1995 8763 2 2 1994 8764 2 2 1996 8765 2 2 1994 8766 2 2 1995 8767 2 2 1993 8768 2 2 1997 8769 2 2 1996 8770 2 2 1998 8771 2 2 1996 8772 2 2 1997 8773 2 2 1995 8774 2 2 1999 8775 2 2 1998 8776 2 2 2000 8777 2 2 1998 8778 2 2 1999 8779 2 2 1997 8780 2 2 2001 8781 2 2 2000 8782 2 2 2002 8783 2 2 2000 8784 2 2 2001 8785 2 2 1999 8786 2 2 2003 8787 2 2 2002 8788 2 2 2004 8789 2 2 2002 8790 2 2 2003 8791 2 2 2001 8792 2 2 2005 8793 2 2 2004 8794 2 2 2006 8795 2 2 2004 8796 2 2 2005 8797 2 2 2003 8798 2 2 2007 8799 2 2 2006 8800 2 2 2008 8801 2 2 2006 8802 2 2 2007 8803 2 2 2005 8804 2 2 2009 8805 2 2 2008 8806 2 2 2010 8807 2 2 2008 8808 2 2 2009 8809 2 2 2007 8810 2 2 2011 8811 2 2 2010 8812 2 2 2012 8813 2 2 2010 8814 2 2 2011 8815 2 2 2009 8816 2 2 2013 8817 2 2 2012 8818 2 2 2014 8819 2 2 2012 8820 2 2 2013 8821 2 2 2011 8822 2 2 2013 8823 2 2 2015 8824 2 2 2016 8825 2 2 2015 8826 2 2 2013 8827 2 2 2014 8828 2 2 2016 8829 2 2 2017 8830 2 2 2018 8831 2 2 2017 8832 2 2 2016 8833 2 2 2015 8834 2 2 2018 8835 2 2 2019 8836 2 2 2020 8837 2 2 2019 8838 2 2 2018 8839 2 2 2017 8840 2 2 2020 8841 2 2 2021 8842 2 2 2022 8843 2 2 2021 8844 2 2 2020 8845 2 2 2019 8846 2 2 2022 8847 2 2 2023 8848 2 2 2024 8849 2 2 2023 8850 2 2 2022 8851 2 2 2021 8852 2 2 2024 8853 2 2 2025 8854 2 2 2026 8855 2 2 2025 8856 2 2 2024 8857 2 2 2023 8858 2 2 2026 8859 2 2 2027 8860 2 2 2028 8861 2 2 2027 8862 2 2 2026 8863 2 2 2025 8864 2 2 2028 8865 2 2 2029 8866 2 2 2030 8867 2 2 2029 8868 2 2 2028 8869 2 2 2027 8870 2 2 2030 8871 2 2 2031 8872 2 2 2032 8873 2 2 2031 8874 2 2 2030 8875 2 2 2029 8876 2 2 2032 8877 2 2 2033 8878 2 2 2034 8879 2 2 2033 8880 2 2 2032 8881 2 2 2031 8882 2 2 2034 8883 2 2 2035 8884 2 2 2036 8885 2 2 2035 8886 2 2 2034 8887 2 2 2033 8888 2 2 2036 8889 2 2 2037 8890 2 2 2038 8891 2 2 2037 8892 2 2 2036 8893 2 2 2035 8894 2 2 2038 8895 2 2 2039 8896 2 2 2040 8897 2 2 2039 8898 2 2 2038 8899 2 2 2037 8900 2 2 2039 8901 2 2 2041 8902 2 2 2040 8903 2 2 2041 8904 2 2 2039 8905 2 2 2042 8906 2 2 2042 8907 2 2 2043 8908 2 2 2041 8909 2 2 2043 8910 2 2 2042 8911 2 2 2044 8912 2 2 2044 8913 2 2 2045 8914 2 2 2043 8915 2 2 2045 8916 2 2 2044 8917 2 2 2046 8918 2 2 2046 8919 2 2 2047 8920 2 2 2045 8921 2 2 2047 8922 2 2 2046 8923 2 2 2048 8924 2 2 2048 8925 2 2 2049 8926 2 2 2047 8927 2 2 2049 8928 2 2 2048 8929 2 2 2050 8930 2 2 2050 8931 2 2 2051 8932 2 2 2049 8933 2 2 2051 8934 2 2 2050 8935 2 2 2052 8936 2 2 2052 8937 2 2 2053 8938 2 2 2051 8939 2 2 2053 8940 2 2 2052 8941 2 2 2054 8942 2 2 2054 8943 2 2 2055 8944 2 2 2053 8945 2 2 2055 8946 2 2 2054 8947 2 2 2056 8948 2 2 2056 8949 2 2 2057 8950 2 2 2055 8951 2 2 2057 8952 2 2 2056 8953 2 2 2058 8954 2 2 2058 8955 2 2 2059 8956 2 2 2057 8957 2 2 2059 8958 2 2 2058 8959 2 2 2060 8960 2 2 2060 8961 2 2 2061 8962 2 2 2059 8963 2 2 2061 8964 2 2 2060 8965 2 2 2062 8966 2 2 2062 8967 2 2 2063 8968 2 2 2061 8969 2 2 2063 8970 2 2 2062 8971 2 2 2064 8972 2 2 2064 8973 2 2 2065 8974 2 2 2063 8975 2 2 2065 8976 2 2 2064 8977 2 2 2066 8978 2 2 2067 8979 2 2 2065 8980 2 2 2066 8981 2 2 2065 8982 2 2 2067 8983 2 2 2068 8984 2 2 2069 8985 2 2 2068 8986 2 2 2067 8987 2 2 2068 8988 2 2 2069 8989 2 2 2070 8990 2 2 2071 8991 2 2 2070 8992 2 2 2069 8993 2 2 2070 8994 2 2 2071 8995 2 2 2072 8996 2 2 2073 8997 2 2 2072 8998 2 2 2071 8999 2 2 2072 9000 2 2 2073 9001 2 2 2074 9002 2 2 2075 9003 2 2 2074 9004 2 2 2073 9005 2 2 2074 9006 2 2 2075 9007 2 2 2076 9008 2 2 2077 9009 2 2 2076 9010 2 2 2075 9011 2 2 2076 9012 2 2 2077 9013 2 2 2078 9014 2 2 2079 9015 2 2 2078 9016 2 2 2077 9017 2 2 2078 9018 2 2 2079 9019 2 2 2080 9020 2 2 2081 9021 2 2 2080 9022 2 2 2079 9023 2 2 2080 9024 2 2 2081 9025 2 2 2082 9026 2 2 2083 9027 2 2 2082 9028 2 2 2081 9029 2 2 2082 9030 2 2 2083 9031 2 2 2084 9032 2 2 2085 9033 2 2 2084 9034 2 2 2083 9035 2 2 2084 9036 2 2 2085 9037 2 2 2086 9038 2 2 2087 9039 2 2 2086 9040 2 2 2085 9041 2 2 2086 9042 2 2 2087 9043 2 2 2088 9044 2 2 1990 9045 2 2 2088 9046 2 2 2087 9047 2 2 2088 9048 2 2 1990 9049 2 2 1992 9050 2 2 1989 9051 2 2 1890 9052 2 2 1992 9053 2 2 1890 9054 2 2 1989 9055 2 2 1891 9056 2 2 1993 9057 2 2 1891 9058 2 2 1989 9059 2 2 1891 9060 2 2 1993 9061 2 2 1894 9062 2 2 1995 9063 2 2 1894 9064 2 2 1993 9065 2 2 1894 9066 2 2 1995 9067 2 2 1896 9068 2 2 1997 9069 2 2 1896 9070 2 2 1995 9071 2 2 1896 9072 2 2 1997 9073 2 2 1898 9074 2 2 1999 9075 2 2 1898 9076 2 2 1997 9077 2 2 1898 9078 2 2 1999 9079 2 2 1900 9080 2 2 2001 9081 2 2 1900 9082 2 2 1999 9083 2 2 1900 9084 2 2 2001 9085 2 2 1902 9086 2 2 2001 9087 2 2 1904 9088 2 2 1902 9089 2 2 1904 9090 2 2 2001 9091 2 2 2003 9092 2 2 2003 9093 2 2 1906 9094 2 2 1904 9095 2 2 1906 9096 2 2 2003 9097 2 2 2005 9098 2 2 2005 9099 2 2 1908 9100 2 2 1906 9101 2 2 1908 9102 2 2 2005 9103 2 2 2007 9104 2 2 1908 9105 2 2 2009 9106 2 2 1910 9107 2 2 2009 9108 2 2 1908 9109 2 2 2007 9110 2 2 2009 9111 2 2 1912 9112 2 2 1910 9113 2 2 1912 9114 2 2 2009 9115 2 2 2011 9116 2 2 2011 9117 2 2 1914 9118 2 2 1912 9119 2 2 1914 9120 2 2 2011 9121 2 2 2013 9122 2 2 2013 9123 2 2 1915 9124 2 2 1914 9125 2 2 1915 9126 2 2 2013 9127 2 2 2016 9128 2 2 1915 9129 2 2 2018 9130 2 2 1917 9131 2 2 2018 9132 2 2 1915 9133 2 2 2016 9134 2 2 2018 9135 2 2 1919 9136 2 2 1917 9137 2 2 1919 9138 2 2 2018 9139 2 2 2020 9140 2 2 2020 9141 2 2 1921 9142 2 2 1919 9143 2 2 1921 9144 2 2 2020 9145 2 2 2022 9146 2 2 2022 9147 2 2 1923 9148 2 2 1921 9149 2 2 1923 9150 2 2 2022 9151 2 2 2024 9152 2 2 2024 9153 2 2 1925 9154 2 2 1923 9155 2 2 1925 9156 2 2 2024 9157 2 2 2026 9158 2 2 2026 9159 2 2 1927 9160 2 2 1925 9161 2 2 1927 9162 2 2 2026 9163 2 2 2028 9164 2 2 1927 9165 2 2 2030 9166 2 2 1929 9167 2 2 2030 9168 2 2 1927 9169 2 2 2028 9170 2 2 1929 9171 2 2 2032 9172 2 2 1931 9173 2 2 2032 9174 2 2 1929 9175 2 2 2030 9176 2 2 1931 9177 2 2 2034 9178 2 2 1933 9179 2 2 2034 9180 2 2 1931 9181 2 2 2032 9182 2 2 1933 9183 2 2 2036 9184 2 2 1935 9185 2 2 2036 9186 2 2 1933 9187 2 2 2034 9188 2 2 1935 9189 2 2 2038 9190 2 2 1937 9191 2 2 2038 9192 2 2 1935 9193 2 2 2036 9194 2 2 1937 9195 2 2 2040 9196 2 2 1939 9197 2 2 2040 9198 2 2 1937 9199 2 2 2038 9200 2 2 1939 9201 2 2 2041 9202 2 2 1942 9203 2 2 2041 9204 2 2 1939 9205 2 2 2040 9206 2 2 1942 9207 2 2 2043 9208 2 2 1944 9209 2 2 2043 9210 2 2 1942 9211 2 2 2041 9212 2 2 1944 9213 2 2 2045 9214 2 2 1946 9215 2 2 2045 9216 2 2 1944 9217 2 2 2043 9218 2 2 1946 9219 2 2 2047 9220 2 2 1948 9221 2 2 2047 9222 2 2 1946 9223 2 2 2045 9224 2 2 1948 9225 2 2 2049 9226 2 2 1950 9227 2 2 2049 9228 2 2 1948 9229 2 2 2047 9230 2 2 1950 9231 2 2 2051 9232 2 2 1952 9233 2 2 2051 9234 2 2 1950 9235 2 2 2049 9236 2 2 2051 9237 2 2 1954 9238 2 2 1952 9239 2 2 1954 9240 2 2 2051 9241 2 2 2053 9242 2 2 1954 9243 2 2 2055 9244 2 2 1956 9245 2 2 2055 9246 2 2 1954 9247 2 2 2053 9248 2 2 1956 9249 2 2 2057 9250 2 2 1958 9251 2 2 2057 9252 2 2 1956 9253 2 2 2055 9254 2 2 2057 9255 2 2 1960 9256 2 2 1958 9257 2 2 1960 9258 2 2 2057 9259 2 2 2059 9260 2 2 1960 9261 2 2 2061 9262 2 2 1962 9263 2 2 2061 9264 2 2 1960 9265 2 2 2059 9266 2 2 2061 9267 2 2 1964 9268 2 2 1962 9269 2 2 1964 9270 2 2 2061 9271 2 2 2063 9272 2 2 2063 9273 2 2 1966 9274 2 2 1964 9275 2 2 1966 9276 2 2 2063 9277 2 2 2065 9278 2 2 2065 9279 2 2 1967 9280 2 2 1966 9281 2 2 1967 9282 2 2 2065 9283 2 2 2068 9284 2 2 2068 9285 2 2 1969 9286 2 2 1967 9287 2 2 1969 9288 2 2 2068 9289 2 2 2070 9290 2 2 2070 9291 2 2 1971 9292 2 2 1969 9293 2 2 1971 9294 2 2 2070 9295 2 2 2072 9296 2 2 1971 9297 2 2 2074 9298 2 2 1973 9299 2 2 2074 9300 2 2 1971 9301 2 2 2072 9302 2 2 2074 9303 2 2 1975 9304 2 2 1973 9305 2 2 1975 9306 2 2 2074 9307 2 2 2076 9308 2 2 2076 9309 2 2 1977 9310 2 2 1975 9311 2 2 1977 9312 2 2 2076 9313 2 2 2078 9314 2 2 2080 9315 2 2 1977 9316 2 2 2078 9317 2 2 1977 9318 2 2 2080 9319 2 2 1979 9320 2 2 2082 9321 2 2 1979 9322 2 2 2080 9323 2 2 1979 9324 2 2 2082 9325 2 2 1981 9326 2 2 2084 9327 2 2 1981 9328 2 2 2082 9329 2 2 1981 9330 2 2 2084 9331 2 2 1983 9332 2 2 2086 9333 2 2 1983 9334 2 2 2084 9335 2 2 1983 9336 2 2 2086 9337 2 2 1985 9338 2 2 2088 9339 2 2 1985 9340 2 2 2086 9341 2 2 1985 9342 2 2 2088 9343 2 2 1987 9344 2 2 1992 9345 2 2 1987 9346 2 2 2088 9347 2 2 1987 9348 2 2 1992 9349 2 2 1890 9350 2 2 2089 9351 2 2 1990 9352 2 2 2090 9353 2 2 1990 9354 2 2 2089 9355 2 2 1991 9356 2 2 2091 9357 2 2 1991 9358 2 2 2089 9359 2 2 1991 9360 2 2 2091 9361 2 2 1994 9362 2 2 2092 9363 2 2 1994 9364 2 2 2091 9365 2 2 1994 9366 2 2 2092 9367 2 2 1996 9368 2 2 2093 9369 2 2 1996 9370 2 2 2092 9371 2 2 1996 9372 2 2 2093 9373 2 2 1998 9374 2 2 2094 9375 2 2 1998 9376 2 2 2093 9377 2 2 1998 9378 2 2 2094 9379 2 2 2000 9380 2 2 2095 9381 2 2 2000 9382 2 2 2094 9383 2 2 2000 9384 2 2 2095 9385 2 2 2002 9386 2 2 2002 9387 2 2 2096 9388 2 2 2004 9389 2 2 2096 9390 2 2 2002 9391 2 2 2095 9392 2 2 2096 9393 2 2 2006 9394 2 2 2004 9395 2 2 2006 9396 2 2 2096 9397 2 2 2097 9398 2 2 2097 9399 2 2 2008 9400 2 2 2006 9401 2 2 2008 9402 2 2 2097 9403 2 2 2098 9404 2 2 2008 9405 2 2 2099 9406 2 2 2010 9407 2 2 2099 9408 2 2 2008 9409 2 2 2098 9410 2 2 2099 9411 2 2 2012 9412 2 2 2010 9413 2 2 2012 9414 2 2 2099 9415 2 2 2100 9416 2 2 2100 9417 2 2 2014 9418 2 2 2012 9419 2 2 2014 9420 2 2 2100 9421 2 2 2101 9422 2 2 2014 9423 2 2 2102 9424 2 2 2015 9425 2 2 2102 9426 2 2 2014 9427 2 2 2101 9428 2 2 2015 9429 2 2 2103 9430 2 2 2017 9431 2 2 2103 9432 2 2 2015 9433 2 2 2102 9434 2 2 2103 9435 2 2 2019 9436 2 2 2017 9437 2 2 2019 9438 2 2 2103 9439 2 2 2104 9440 2 2 2019 9441 2 2 2105 9442 2 2 2021 9443 2 2 2105 9444 2 2 2019 9445 2 2 2104 9446 2 2 2021 9447 2 2 2106 9448 2 2 2023 9449 2 2 2106 9450 2 2 2021 9451 2 2 2105 9452 2 2 2106 9453 2 2 2025 9454 2 2 2023 9455 2 2 2025 9456 2 2 2106 9457 2 2 2107 9458 2 2 2025 9459 2 2 2108 9460 2 2 2027 9461 2 2 2108 9462 2 2 2025 9463 2 2 2107 9464 2 2 2027 9465 2 2 2109 9466 2 2 2029 9467 2 2 2109 9468 2 2 2027 9469 2 2 2108 9470 2 2 2029 9471 2 2 2110 9472 2 2 2031 9473 2 2 2110 9474 2 2 2029 9475 2 2 2109 9476 2 2 2031 9477 2 2 2111 9478 2 2 2033 9479 2 2 2111 9480 2 2 2031 9481 2 2 2110 9482 2 2 2033 9483 2 2 2112 9484 2 2 2035 9485 2 2 2112 9486 2 2 2033 9487 2 2 2111 9488 2 2 2035 9489 2 2 2113 9490 2 2 2037 9491 2 2 2113 9492 2 2 2035 9493 2 2 2112 9494 2 2 2037 9495 2 2 2114 9496 2 2 2039 9497 2 2 2114 9498 2 2 2037 9499 2 2 2113 9500 2 2 2039 9501 2 2 2115 9502 2 2 2042 9503 2 2 2115 9504 2 2 2039 9505 2 2 2114 9506 2 2 2042 9507 2 2 2116 9508 2 2 2044 9509 2 2 2116 9510 2 2 2042 9511 2 2 2115 9512 2 2 2044 9513 2 2 2117 9514 2 2 2046 9515 2 2 2117 9516 2 2 2044 9517 2 2 2116 9518 2 2 2046 9519 2 2 2118 9520 2 2 2048 9521 2 2 2118 9522 2 2 2046 9523 2 2 2117 9524 2 2 2048 9525 2 2 2119 9526 2 2 2050 9527 2 2 2119 9528 2 2 2048 9529 2 2 2118 9530 2 2 2050 9531 2 2 2120 9532 2 2 2052 9533 2 2 2120 9534 2 2 2050 9535 2 2 2119 9536 2 2 2120 9537 2 2 2054 9538 2 2 2052 9539 2 2 2054 9540 2 2 2120 9541 2 2 2121 9542 2 2 2121 9543 2 2 2056 9544 2 2 2054 9545 2 2 2056 9546 2 2 2121 9547 2 2 2122 9548 2 2 2122 9549 2 2 2058 9550 2 2 2056 9551 2 2 2058 9552 2 2 2122 9553 2 2 2123 9554 2 2 2123 9555 2 2 2060 9556 2 2 2058 9557 2 2 2060 9558 2 2 2123 9559 2 2 2124 9560 2 2 2060 9561 2 2 2125 9562 2 2 2062 9563 2 2 2125 9564 2 2 2060 9565 2 2 2124 9566 2 2 2125 9567 2 2 2064 9568 2 2 2062 9569 2 2 2064 9570 2 2 2125 9571 2 2 2126 9572 2 2 2126 9573 2 2 2066 9574 2 2 2064 9575 2 2 2066 9576 2 2 2126 9577 2 2 2127 9578 2 2 2066 9579 2 2 2128 9580 2 2 2067 9581 2 2 2128 9582 2 2 2066 9583 2 2 2127 9584 2 2 2128 9585 2 2 2069 9586 2 2 2067 9587 2 2 2069 9588 2 2 2128 9589 2 2 2129 9590 2 2 2129 9591 2 2 2071 9592 2 2 2069 9593 2 2 2071 9594 2 2 2129 9595 2 2 2130 9596 2 2 2071 9597 2 2 2131 9598 2 2 2073 9599 2 2 2131 9600 2 2 2071 9601 2 2 2130 9602 2 2 2073 9603 2 2 2132 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2 2144 9676 2 2 2140 9677 2 2 2140 9678 2 2 2144 9679 2 2 2145 9680 2 2 2141 9681 2 2 2140 9682 2 2 2145 9683 2 2 2141 9684 2 2 2145 9685 2 2 2146 9686 2 2 2141 9687 2 2 2146 9688 2 2 2142 9689 2 2 2142 9690 2 2 2146 9691 2 2 2147 9692 2 2 2148 9693 2 2 2142 9694 2 2 2147 9695 2 2 2142 9696 2 2 2148 9697 2 2 2143 9698 2 2 1142 9699 2 2 1143 9700 2 2 2139 9701 2 2 1143 9702 2 2 1150 9703 2 2 2139 9704 2 2 2139 9705 2 2 1150 9706 2 2 2149 9707 2 2 1150 9708 2 2 1154 9709 2 2 2149 9710 2 2 2149 9711 2 2 1154 9712 2 2 2150 9713 2 2 1154 9714 2 2 1156 9715 2 2 2150 9716 2 2 2150 9717 2 2 1156 9718 2 2 2151 9719 2 2 1156 9720 2 2 1158 9721 2 2 2151 9722 2 2 2151 9723 2 2 1158 9724 2 2 2152 9725 2 2 1158 9726 2 2 1160 9727 2 2 2152 9728 2 2 2152 9729 2 2 1160 9730 2 2 2153 9731 2 2 1160 9732 2 2 1162 9733 2 2 2153 9734 2 2 2153 9735 2 2 1162 9736 2 2 2154 9737 2 2 1162 9738 2 2 1166 9739 2 2 2154 9740 2 2 2154 9741 2 2 1166 9742 2 2 2155 9743 2 2 1166 9744 2 2 1504 9745 2 2 2155 9746 2 2 2155 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2 2193 9962 2 2 2189 9963 2 2 2194 9964 2 2 2190 9965 2 2 2194 9966 2 2 2195 9967 2 2 2190 9968 2 2 2190 9969 2 2 2195 9970 2 2 2191 9971 2 2 2195 9972 2 2 2196 9973 2 2 2191 9974 2 2 2196 9975 2 2 2192 9976 2 2 2191 9977 2 2 2196 9978 2 2 2197 9979 2 2 2192 9980 2 2 2192 9981 2 2 2198 9982 2 2 2193 9983 2 2 2198 9984 2 2 2192 9985 2 2 2197 9986 2 2 1198 9987 2 2 1199 9988 2 2 2189 9989 2 2 1199 9990 2 2 1206 9991 2 2 2189 9992 2 2 1206 9993 2 2 2199 9994 2 2 2189 9995 2 2 1206 9996 2 2 1210 9997 2 2 2199 9998 2 2 1210 9999 2 2 2200 10000 2 2 2199 10001 2 2 1212 10002 2 2 2200 10003 2 2 1210 10004 2 2 1212 10005 2 2 2201 10006 2 2 2200 10007 2 2 1212 10008 2 2 1214 10009 2 2 2201 10010 2 2 1214 10011 2 2 2202 10012 2 2 2201 10013 2 2 1214 10014 2 2 1216 10015 2 2 2202 10016 2 2 1216 10017 2 2 2203 10018 2 2 2202 10019 2 2 1216 10020 2 2 1218 10021 2 2 2203 10022 2 2 1218 10023 2 2 2204 10024 2 2 2203 10025 2 2 1218 10026 2 2 1222 10027 2 2 2204 10028 2 2 1222 10029 2 2 2205 10030 2 2 2204 10031 2 2 1222 10032 2 2 1591 10033 2 2 2205 10034 2 2 1591 10035 2 2 2206 10036 2 2 2205 10037 2 2 1592 10038 2 2 2206 10039 2 2 1591 10040 2 2 1592 10041 2 2 2207 10042 2 2 2206 10043 2 2 2207 10044 2 2 1593 10045 2 2 2208 10046 2 2 1593 10047 2 2 2207 10048 2 2 1592 10049 2 2 1593 10050 2 2 1603 10051 2 2 2208 10052 2 2 2208 10053 2 2 1603 10054 2 2 2209 10055 2 2 2189 10056 2 2 2199 10057 2 2 2194 10058 2 2 2199 10059 2 2 2210 10060 2 2 2194 10061 2 2 2199 10062 2 2 2200 10063 2 2 2210 10064 2 2 2200 10065 2 2 2211 10066 2 2 2210 10067 2 2 2200 10068 2 2 2201 10069 2 2 2211 10070 2 2 2201 10071 2 2 2212 10072 2 2 2211 10073 2 2 2202 10074 2 2 2212 10075 2 2 2201 10076 2 2 2202 10077 2 2 2213 10078 2 2 2212 10079 2 2 2203 10080 2 2 2213 10081 2 2 2202 10082 2 2 1225 10083 2 2 2214 10084 2 2 1226 10085 2 2 1225 10086 2 2 2215 10087 2 2 2214 10088 2 2 1225 10089 2 2 1224 10090 2 2 2215 10091 2 2 1224 10092 2 2 2216 10093 2 2 2215 10094 2 2 1224 10095 2 2 1453 10096 2 2 2216 10097 2 2 2216 10098 2 2 1453 10099 2 2 2217 10100 2 2 1453 10101 2 2 1428 10102 2 2 2217 10103 2 2 2217 10104 2 2 1428 10105 2 2 2143 10106 2 2 2214 10107 2 2 2215 10108 2 2 2218 10109 2 2 2215 10110 2 2 2219 10111 2 2 2218 10112 2 2 2216 10113 2 2 2219 10114 2 2 2215 10115 2 2 2216 10116 2 2 2220 10117 2 2 2219 10118 2 2 2217 10119 2 2 2220 10120 2 2 2216 10121 2 2 2217 10122 2 2 2221 10123 2 2 2220 10124 2 2 2217 10125 2 2 2148 10126 2 2 2221 10127 2 2 2148 10128 2 2 2217 10129 2 2 2143 10130 2 2 1226 10131 2 2 2214 10132 2 2 1227 10133 2 2 1227 10134 2 2 2214 10135 2 2 1234 10136 2 2 2214 10137 2 2 2222 10138 2 2 1234 10139 2 2 1238 10140 2 2 1234 10141 2 2 2222 10142 2 2 1238 10143 2 2 2222 10144 2 2 2223 10145 2 2 1238 10146 2 2 2223 10147 2 2 1240 10148 2 2 1240 10149 2 2 2223 10150 2 2 2224 10151 2 2 1240 10152 2 2 2224 10153 2 2 1242 10154 2 2 1242 10155 2 2 2224 10156 2 2 2225 10157 2 2 1242 10158 2 2 2225 10159 2 2 1244 10160 2 2 1244 10161 2 2 2225 10162 2 2 2226 10163 2 2 1244 10164 2 2 2226 10165 2 2 1246 10166 2 2 1246 10167 2 2 2226 10168 2 2 2227 10169 2 2 1246 10170 2 2 2227 10171 2 2 1250 10172 2 2 1250 10173 2 2 2227 10174 2 2 2228 10175 2 2 1250 10176 2 2 2228 10177 2 2 1627 10178 2 2 1627 10179 2 2 2228 10180 2 2 2229 10181 2 2 1628 10182 2 2 1627 10183 2 2 2229 10184 2 2 1628 10185 2 2 2229 10186 2 2 2230 10187 2 2 2231 10188 2 2 1628 10189 2 2 2230 10190 2 2 1628 10191 2 2 2231 10192 2 2 1629 10193 2 2 1629 10194 2 2 2231 10195 2 2 1516 10196 2 2 1516 10197 2 2 2231 10198 2 2 2159 10199 2 2 2214 10200 2 2 2218 10201 2 2 2222 10202 2 2 2218 10203 2 2 2232 10204 2 2 2222 10205 2 2 2222 10206 2 2 2232 10207 2 2 2223 10208 2 2 2223 10209 2 2 2232 10210 2 2 2233 10211 2 2 2223 10212 2 2 2233 10213 2 2 2224 10214 2 2 2224 10215 2 2 2233 10216 2 2 2234 10217 2 2 2225 10218 2 2 2224 10219 2 2 2234 10220 2 2 2225 10221 2 2 2234 10222 2 2 2235 10223 2 2 2226 10224 2 2 2225 10225 2 2 2235 10226 2 2 1254 10227 2 2 2236 10228 2 2 1252 10229 2 2 1252 10230 2 2 2236 10231 2 2 2237 10232 2 2 1252 10233 2 2 2237 10234 2 2 1253 10235 2 2 2237 10236 2 2 2238 10237 2 2 1253 10238 2 2 1253 10239 2 2 2238 10240 2 2 1462 10241 2 2 2238 10242 2 2 2239 10243 2 2 1462 10244 2 2 1462 10245 2 2 2239 10246 2 2 1464 10247 2 2 2239 10248 2 2 2240 10249 2 2 1464 10250 2 2 2236 10251 2 2 2241 10252 2 2 2237 10253 2 2 2237 10254 2 2 2241 10255 2 2 2242 10256 2 2 2237 10257 2 2 2242 10258 2 2 2238 10259 2 2 2238 10260 2 2 2242 10261 2 2 2243 10262 2 2 2238 10263 2 2 2243 10264 2 2 2239 10265 2 2 2239 10266 2 2 2243 10267 2 2 2244 10268 2 2 2240 10269 2 2 2244 10270 2 2 2245 10271 2 2 2244 10272 2 2 2240 10273 2 2 2239 10274 2 2 2236 10275 2 2 1254 10276 2 2 1255 10277 2 2 1262 10278 2 2 2236 10279 2 2 1255 10280 2 2 1262 10281 2 2 2246 10282 2 2 2236 10283 2 2 1266 10284 2 2 2246 10285 2 2 1262 10286 2 2 1266 10287 2 2 2247 10288 2 2 2246 10289 2 2 1268 10290 2 2 2247 10291 2 2 1266 10292 2 2 1268 10293 2 2 2248 10294 2 2 2247 10295 2 2 1270 10296 2 2 2248 10297 2 2 1268 10298 2 2 1270 10299 2 2 2249 10300 2 2 2248 10301 2 2 1272 10302 2 2 2249 10303 2 2 1270 10304 2 2 1272 10305 2 2 2250 10306 2 2 2249 10307 2 2 1274 10308 2 2 2250 10309 2 2 1272 10310 2 2 1274 10311 2 2 2251 10312 2 2 2250 10313 2 2 1278 10314 2 2 2251 10315 2 2 1274 10316 2 2 1278 10317 2 2 2252 10318 2 2 2251 10319 2 2 1652 10320 2 2 2252 10321 2 2 1278 10322 2 2 1652 10323 2 2 2253 10324 2 2 2252 10325 2 2 1653 10326 2 2 2253 10327 2 2 1652 10328 2 2 1653 10329 2 2 2254 10330 2 2 2253 10331 2 2 1653 10332 2 2 2255 10333 2 2 2254 10334 2 2 2255 10335 2 2 1653 10336 2 2 1654 10337 2 2 1664 10338 2 2 2255 10339 2 2 1654 10340 2 2 1664 10341 2 2 2256 10342 2 2 2255 10343 2 2 2246 10344 2 2 2241 10345 2 2 2236 10346 2 2 2246 10347 2 2 2257 10348 2 2 2241 10349 2 2 2247 10350 2 2 2257 10351 2 2 2246 10352 2 2 2247 10353 2 2 2258 10354 2 2 2257 10355 2 2 2248 10356 2 2 2258 10357 2 2 2247 10358 2 2 2248 10359 2 2 2259 10360 2 2 2258 10361 2 2 2249 10362 2 2 2259 10363 2 2 2248 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2 2 2375 11098 2 2 2146 11099 2 2 2147 11100 2 2 2375 11101 2 2 2376 11102 2 2 2375 11103 2 2 2147 11104 2 2 2146 11105 2 2 2147 11106 2 2 2376 11107 2 2 2377 11108 2 2 2148 11109 2 2 2147 11110 2 2 2377 11111 2 2 2148 11112 2 2 2377 11113 2 2 2378 11114 2 2 2144 11115 2 2 2160 11116 2 2 2374 11117 2 2 2160 11118 2 2 2379 11119 2 2 2374 11120 2 2 2160 11121 2 2 2161 11122 2 2 2379 11123 2 2 2379 11124 2 2 2161 11125 2 2 2380 11126 2 2 2380 11127 2 2 2161 11128 2 2 2381 11129 2 2 2161 11130 2 2 2162 11131 2 2 2381 11132 2 2 2169 11133 2 2 2170 11134 2 2 2382 11135 2 2 2170 11136 2 2 2383 11137 2 2 2382 11138 2 2 2170 11139 2 2 2171 11140 2 2 2383 11141 2 2 2171 11142 2 2 2384 11143 2 2 2383 11144 2 2 2384 11145 2 2 2171 11146 2 2 2172 11147 2 2 2172 11148 2 2 2385 11149 2 2 2384 11150 2 2 2173 11151 2 2 2385 11152 2 2 2172 11153 2 2 2173 11154 2 2 2386 11155 2 2 2385 11156 2 2 2169 11157 2 2 2382 11158 2 2 2185 11159 2 2 2185 11160 2 2 2382 11161 2 2 2387 11162 2 2 2185 11163 2 2 2387 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2434 11431 2 2 2435 11432 2 2 2242 11433 2 2 2435 11434 2 2 2243 11435 2 2 2244 11436 2 2 2435 11437 2 2 2436 11438 2 2 2435 11439 2 2 2244 11440 2 2 2243 11441 2 2 2244 11442 2 2 2436 11443 2 2 2437 11444 2 2 2244 11445 2 2 2437 11446 2 2 2245 11447 2 2 2245 11448 2 2 2437 11449 2 2 2438 11450 2 2 2257 11451 2 2 2434 11452 2 2 2241 11453 2 2 2257 11454 2 2 2439 11455 2 2 2434 11456 2 2 2258 11457 2 2 2439 11458 2 2 2257 11459 2 2 2258 11460 2 2 2440 11461 2 2 2439 11462 2 2 2258 11463 2 2 2441 11464 2 2 2440 11465 2 2 2259 11466 2 2 2441 11467 2 2 2258 11468 2 2 2312 11469 2 2 2313 11470 2 2 2442 11471 2 2 2313 11472 2 2 2443 11473 2 2 2442 11474 2 2 2313 11475 2 2 2314 11476 2 2 2443 11477 2 2 2314 11478 2 2 2444 11479 2 2 2443 11480 2 2 2444 11481 2 2 2314 11482 2 2 2315 11483 2 2 2315 11484 2 2 2445 11485 2 2 2444 11486 2 2 2245 11487 2 2 2445 11488 2 2 2315 11489 2 2 2245 11490 2 2 2438 11491 2 2 2445 11492 2 2 2326 11493 2 2 2312 11494 2 2 2442 11495 2 2 2326 11496 2 2 2442 11497 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2 1799 7665 2 2 1036 7666 2 2 1066 7667 2 2 1799 7668 2 2 1761 7669 2 2 1036 7670 2 2 1762 7671 2 2 1800 7672 2 2 1763 7673 2 2 1800 7674 2 2 1801 7675 2 2 1763 7676 2 2 1802 7677 2 2 1801 7678 2 2 1800 7679 2 2 1803 7680 2 2 1801 7681 2 2 1802 7682 2 2 1803 7683 2 2 1804 7684 2 2 1801 7685 2 2 1803 7686 2 2 1805 7687 2 2 1804 7688 2 2 1806 7689 2 2 1804 7690 2 2 1805 7691 2 2 1806 7692 2 2 1807 7693 2 2 1804 7694 2 2 1808 7695 2 2 1807 7696 2 2 1806 7697 2 2 1809 7698 2 2 1807 7699 2 2 1808 7700 2 2 1810 7701 2 2 1809 7702 2 2 1808 7703 2 2 1811 7704 2 2 1809 7705 2 2 1810 7706 2 2 1812 7707 2 2 1811 7708 2 2 1810 7709 2 2 1813 7710 2 2 1811 7711 2 2 1812 7712 2 2 1813 7713 2 2 1778 7714 2 2 1811 7715 2 2 1779 7716 2 2 1778 7717 2 2 1813 7718 2 2 1491 7719 2 2 1490 7720 2 2 1095 7721 2 2 1094 7722 2 2 1491 7723 2 2 1095 7724 2 2 1387 7725 2 2 1491 7726 2 2 1094 7727 2 2 1097 7728 2 2 1387 7729 2 2 1094 7730 2 2 1388 7731 2 2 1387 7732 2 2 1097 7733 2 2 1099 7734 2 2 1388 7735 2 2 1097 7736 2 2 1389 7737 2 2 1388 7738 2 2 1099 7739 2 2 1101 7740 2 2 1389 7741 2 2 1099 7742 2 2 1101 7743 2 2 1390 7744 2 2 1389 7745 2 2 1814 7746 2 2 1390 7747 2 2 1102 7748 2 2 1102 7749 2 2 1390 7750 2 2 1101 7751 2 2 1815 7752 2 2 1814 7753 2 2 1102 7754 2 2 1815 7755 2 2 1102 7756 2 2 1104 7757 2 2 1816 7758 2 2 1815 7759 2 2 1104 7760 2 2 1817 7761 2 2 1816 7762 2 2 1104 7763 2 2 1817 7764 2 2 1104 7765 2 2 1106 7766 2 2 1818 7767 2 2 1817 7768 2 2 1106 7769 2 2 1818 7770 2 2 1106 7771 2 2 1083 7772 2 2 1819 7773 2 2 1818 7774 2 2 1083 7775 2 2 1819 7776 2 2 1083 7777 2 2 1082 7778 2 2 1820 7779 2 2 1819 7780 2 2 1082 7781 2 2 1820 7782 2 2 1082 7783 2 2 1085 7784 2 2 1821 7785 2 2 1820 7786 2 2 1085 7787 2 2 1821 7788 2 2 1085 7789 2 2 1822 7790 2 2 1822 7791 2 2 1085 7792 2 2 1823 7793 2 2 1823 7794 2 2 1085 7795 2 2 1087 7796 2 2 1823 7797 2 2 1087 7798 2 2 1824 7799 2 2 1824 7800 2 2 1087 7801 2 2 1089 7802 2 2 1824 7803 2 2 1089 7804 2 2 1825 7805 2 2 1825 7806 2 2 1089 7807 2 2 1091 7808 2 2 1817 7809 2 2 1562 7810 2 2 1816 7811 2 2 1563 7812 2 2 1562 7813 2 2 1817 7814 2 2 1818 7815 2 2 1563 7816 2 2 1817 7817 2 2 1564 7818 2 2 1563 7819 2 2 1818 7820 2 2 1564 7821 2 2 1818 7822 2 2 1819 7823 2 2 1565 7824 2 2 1564 7825 2 2 1819 7826 2 2 1820 7827 2 2 1565 7828 2 2 1819 7829 2 2 1566 7830 2 2 1565 7831 2 2 1820 7832 2 2 1821 7833 2 2 1566 7834 2 2 1820 7835 2 2 1567 7836 2 2 1566 7837 2 2 1821 7838 2 2 1111 7839 2 2 1826 7840 2 2 1112 7841 2 2 1827 7842 2 2 1826 7843 2 2 1111 7844 2 2 1110 7845 2 2 1827 7846 2 2 1111 7847 2 2 1110 7848 2 2 1828 7849 2 2 1827 7850 2 2 1109 7851 2 2 1828 7852 2 2 1110 7853 2 2 1109 7854 2 2 1829 7855 2 2 1828 7856 2 2 1829 7857 2 2 1109 7858 2 2 1108 7859 2 2 1829 7860 2 2 1108 7861 2 2 1830 7862 2 2 1830 7863 2 2 1108 7864 2 2 1107 7865 2 2 1830 7866 2 2 1107 7867 2 2 1831 7868 2 2 1831 7869 2 2 1107 7870 2 2 1105 7871 2 2 1832 7872 2 2 1831 7873 2 2 1105 7874 2 2 1832 7875 2 2 1105 7876 2 2 1103 7877 2 2 1832 7878 2 2 1103 7879 2 2 1833 7880 2 2 1833 7881 2 2 1103 7882 2 2 1100 7883 2 2 1833 7884 2 2 1100 7885 2 2 1098 7886 2 2 1833 7887 2 2 1098 7888 2 2 1834 7889 2 2 1098 7890 2 2 1096 7891 2 2 1834 7892 2 2 1834 7893 2 2 1096 7894 2 2 1835 7895 2 2 1096 7896 2 2 1093 7897 2 2 1835 7898 2 2 1835 7899 2 2 1093 7900 2 2 1836 7901 2 2 1837 7902 2 2 1838 7903 2 2 1839 7904 2 2 1837 7905 2 2 1839 7906 2 2 1840 7907 2 2 1837 7908 2 2 1840 7909 2 2 1841 7910 2 2 1842 7911 2 2 1841 7912 2 2 1840 7913 2 2 1842 7914 2 2 1840 7915 2 2 1843 7916 2 2 1842 7917 2 2 1843 7918 2 2 1844 7919 2 2 1844 7920 2 2 1843 7921 2 2 1845 7922 2 2 1845 7923 2 2 1843 7924 2 2 1846 7925 2 2 1847 7926 2 2 1845 7927 2 2 1846 7928 2 2 1847 7929 2 2 1846 7930 2 2 1848 7931 2 2 1847 7932 2 2 1848 7933 2 2 1849 7934 2 2 1848 7935 2 2 1850 7936 2 2 1849 7937 2 2 1849 7938 2 2 1850 7939 2 2 1851 7940 2 2 1851 7941 2 2 1850 7942 2 2 1852 7943 2 2 1850 7944 2 2 1853 7945 2 2 1852 7946 2 2 1852 7947 2 2 1853 7948 2 2 1854 7949 2 2 1095 7950 2 2 1490 7951 2 2 1498 7952 2 2 1095 7953 2 2 1498 7954 2 2 1122 7955 2 2 1122 7956 2 2 1498 7957 2 2 1415 7958 2 2 1122 7959 2 2 1415 7960 2 2 1124 7961 2 2 1124 7962 2 2 1415 7963 2 2 1416 7964 2 2 1126 7965 2 2 1124 7966 2 2 1416 7967 2 2 1126 7968 2 2 1416 7969 2 2 1417 7970 2 2 1128 7971 2 2 1126 7972 2 2 1417 7973 2 2 1128 7974 2 2 1417 7975 2 2 1418 7976 2 2 1129 7977 2 2 1418 7978 2 2 1855 7979 2 2 1129 7980 2 2 1128 7981 2 2 1418 7982 2 2 1856 7983 2 2 1129 7984 2 2 1855 7985 2 2 1131 7986 2 2 1129 7987 2 2 1856 7988 2 2 1131 7989 2 2 1856 7990 2 2 1857 7991 2 2 1858 7992 2 2 1131 7993 2 2 1857 7994 2 2 1858 7995 2 2 1133 7996 2 2 1131 7997 2 2 1859 7998 2 2 1133 7999 2 2 1858 8000 2 2 1859 8001 2 2 1115 8002 2 2 1133 8003 2 2 1860 8004 2 2 1115 8005 2 2 1859 8006 2 2 1113 8007 2 2 1115 8008 2 2 1860 8009 2 2 1861 8010 2 2 1113 8011 2 2 1860 8012 2 2 1116 8013 2 2 1113 8014 2 2 1861 8015 2 2 1862 8016 2 2 1116 8017 2 2 1861 8018 2 2 1862 8019 2 2 1863 8020 2 2 1116 8021 2 2 1863 8022 2 2 1864 8023 2 2 1116 8024 2 2 1864 8025 2 2 1118 8026 2 2 1116 8027 2 2 1865 8028 2 2 1118 8029 2 2 1864 8030 2 2 1865 8031 2 2 1120 8032 2 2 1118 8033 2 2 1825 8034 2 2 1120 8035 2 2 1865 8036 2 2 1825 8037 2 2 1091 8038 2 2 1120 8039 2 2 1858 8040 2 2 1857 8041 2 2 1745 8042 2 2 1746 8043 2 2 1858 8044 2 2 1745 8045 2 2 1859 8046 2 2 1858 8047 2 2 1746 8048 2 2 1747 8049 2 2 1859 8050 2 2 1746 8051 2 2 1860 8052 2 2 1859 8053 2 2 1747 8054 2 2 1748 8055 2 2 1860 8056 2 2 1747 8057 2 2 1861 8058 2 2 1860 8059 2 2 1748 8060 2 2 1749 8061 2 2 1861 8062 2 2 1748 8063 2 2 1862 8064 2 2 1861 8065 2 2 1749 8066 2 2 1750 8067 2 2 1862 8068 2 2 1749 8069 2 2 1826 8070 2 2 1138 8071 2 2 1112 8072 2 2 1826 8073 2 2 1866 8074 2 2 1138 8075 2 2 1866 8076 2 2 1137 8077 2 2 1138 8078 2 2 1866 8079 2 2 1867 8080 2 2 1137 8081 2 2 1867 8082 2 2 1136 8083 2 2 1137 8084 2 2 1868 8085 2 2 1136 8086 2 2 1867 8087 2 2 1868 8088 2 2 1135 8089 2 2 1136 8090 2 2 1869 8091 2 2 1135 8092 2 2 1868 8093 2 2 1869 8094 2 2 1134 8095 2 2 1135 8096 2 2 1869 8097 2 2 1870 8098 2 2 1134 8099 2 2 1870 8100 2 2 1132 8101 2 2 1134 8102 2 2 1871 8103 2 2 1132 8104 2 2 1870 8105 2 2 1871 8106 2 2 1130 8107 2 2 1132 8108 2 2 1871 8109 2 2 1872 8110 2 2 1130 8111 2 2 1872 8112 2 2 1127 8113 2 2 1130 8114 2 2 1125 8115 2 2 1127 8116 2 2 1872 8117 2 2 1873 8118 2 2 1125 8119 2 2 1872 8120 2 2 1123 8121 2 2 1125 8122 2 2 1873 8123 2 2 1123 8124 2 2 1873 8125 2 2 1874 8126 2 2 1093 8127 2 2 1123 8128 2 2 1874 8129 2 2 1093 8130 2 2 1874 8131 2 2 1836 8132 2 2 1838 8133 2 2 1875 8134 2 2 1839 8135 2 2 1839 8136 2 2 1875 8137 2 2 1876 8138 2 2 1875 8139 2 2 1877 8140 2 2 1876 8141 2 2 1876 8142 2 2 1877 8143 2 2 1878 8144 2 2 1876 8145 2 2 1878 8146 2 2 1879 8147 2 2 1878 8148 2 2 1880 8149 2 2 1879 8150 2 2 1881 8151 2 2 1879 8152 2 2 1880 8153 2 2 1881 8154 2 2 1882 8155 2 2 1879 8156 2 2 1883 8157 2 2 1882 8158 2 2 1881 8159 2 2 1883 8160 2 2 1884 8161 2 2 1882 8162 2 2 1885 8163 2 2 1884 8164 2 2 1883 8165 2 2 1885 8166 2 2 1886 8167 2 2 1884 8168 2 2 1887 8169 2 2 1886 8170 2 2 1885 8171 2 2 1888 8172 2 2 1886 8173 2 2 1887 8174 2 2 1853 8175 2 2 1886 8176 2 2 1888 8177 2 2 1853 8178 2 2 1888 8179 2 2 1854 8180 2 2 1514 8181 2 2 1515 8182 2 2 843 8183 2 2 844 8184 2 2 1514 8185 2 2 843 8186 2 2 1513 8187 2 2 1514 8188 2 2 844 8189 2 2 845 8190 2 2 1513 8191 2 2 844 8192 2 2 1512 8193 2 2 1513 8194 2 2 845 8195 2 2 846 8196 2 2 1512 8197 2 2 845 8198 2 2 1511 8199 2 2 1512 8200 2 2 846 8201 2 2 847 8202 2 2 1511 8203 2 2 846 8204 2 2 1521 8205 2 2 1511 8206 2 2 847 8207 2 2 848 8208 2 2 1521 8209 2 2 847 8210 2 2 1634 8211 2 2 1521 8212 2 2 848 8213 2 2 1635 8214 2 2 1634 8215 2 2 848 8216 2 2 1635 8217 2 2 848 8218 2 2 849 8219 2 2 1636 8220 2 2 1635 8221 2 2 849 8222 2 2 1636 8223 2 2 849 8224 2 2 850 8225 2 2 1637 8226 2 2 1636 8227 2 2 850 8228 2 2 1637 8229 2 2 850 8230 2 2 851 8231 2 2 1602 8232 2 2 1637 8233 2 2 851 8234 2 2 1602 8235 2 2 851 8236 2 2 852 8237 2 2 1601 8238 2 2 1602 8239 2 2 852 8240 2 2 853 8241 2 2 1601 8242 2 2 852 8243 2 2 1601 8244 2 2 853 8245 2 2 1600 8246 2 2 1600 8247 2 2 853 8248 2 2 834 8249 2 2 1600 8250 2 2 834 8251 2 2 1599 8252 2 2 1599 8253 2 2 834 8254 2 2 1598 8255 2 2 1598 8256 2 2 834 8257 2 2 833 8258 2 2 1598 8259 2 2 833 8260 2 2 1608 8261 2 2 1608 8262 2 2 833 8263 2 2 1706 8264 2 2 1706 8265 2 2 833 8266 2 2 832 8267 2 2 1706 8268 2 2 832 8269 2 2 1707 8270 2 2 1707 8271 2 2 832 8272 2 2 831 8273 2 2 1707 8274 2 2 831 8275 2 2 1708 8276 2 2 1708 8277 2 2 831 8278 2 2 1709 8279 2 2 831 8280 2 2 830 8281 2 2 1709 8282 2 2 1709 8283 2 2 830 8284 2 2 1663 8285 2 2 830 8286 2 2 829 8287 2 2 1663 8288 2 2 1663 8289 2 2 829 8290 2 2 1662 8291 2 2 829 8292 2 2 828 8293 2 2 1662 8294 2 2 1661 8295 2 2 828 8296 2 2 827 8297 2 2 828 8298 2 2 1661 8299 2 2 1662 8300 2 2 1661 8301 2 2 827 8302 2 2 1660 8303 2 2 827 8304 2 2 826 8305 2 2 1660 8306 2 2 1660 8307 2 2 826 8308 2 2 1659 8309 2 2 826 8310 2 2 1669 8311 2 2 1659 8312 2 2 826 8313 2 2 825 8314 2 2 1669 8315 2 2 1669 8316 2 2 825 8317 2 2 1787 8318 2 2 825 8319 2 2 824 8320 2 2 1787 8321 2 2 824 8322 2 2 823 8323 2 2 1788 8324 2 2 1788 8325 2 2 823 8326 2 2 1789 8327 2 2 1789 8328 2 2 823 8329 2 2 1790 8330 2 2 823 8331 2 2 822 8332 2 2 1790 8333 2 2 822 8334 2 2 1744 8335 2 2 1790 8336 2 2 822 8337 2 2 821 8338 2 2 1744 8339 2 2 821 8340 2 2 1743 8341 2 2 1744 8342 2 2 821 8343 2 2 820 8344 2 2 1743 8345 2 2 820 8346 2 2 1742 8347 2 2 1743 8348 2 2 820 8349 2 2 819 8350 2 2 1742 8351 2 2 819 8352 2 2 1741 8353 2 2 1742 8354 2 2 819 8355 2 2 818 8356 2 2 1741 8357 2 2 1741 8358 2 2 818 8359 2 2 1740 8360 2 2 818 8361 2 2 817 8362 2 2 1740 8363 2 2 817 8364 2 2 1750 8365 2 2 1740 8366 2 2 814 8367 2 2 1750 8368 2 2 817 8369 2 2 814 8370 2 2 1862 8371 2 2 1750 8372 2 2 814 8373 2 2 816 8374 2 2 1862 8375 2 2 816 8376 2 2 1863 8377 2 2 1862 8378 2 2 816 8379 2 2 1864 8380 2 2 1863 8381 2 2 815 8382 2 2 1864 8383 2 2 816 8384 2 2 815 8385 2 2 1865 8386 2 2 1864 8387 2 2 835 8388 2 2 1865 8389 2 2 815 8390 2 2 835 8391 2 2 1825 8392 2 2 1865 8393 2 2 836 8394 2 2 1825 8395 2 2 835 8396 2 2 836 8397 2 2 1824 8398 2 2 1825 8399 2 2 837 8400 2 2 1824 8401 2 2 836 8402 2 2 837 8403 2 2 1823 8404 2 2 1824 8405 2 2 838 8406 2 2 1823 8407 2 2 837 8408 2 2 838 8409 2 2 1822 8410 2 2 1823 8411 2 2 838 8412 2 2 1821 8413 2 2 1822 8414 2 2 839 8415 2 2 1821 8416 2 2 838 8417 2 2 839 8418 2 2 1567 8419 2 2 1821 8420 2 2 839 8421 2 2 1558 8422 2 2 1567 8423 2 2 840 8424 2 2 1558 8425 2 2 839 8426 2 2 840 8427 2 2 1559 8428 2 2 1558 8429 2 2 1560 8430 2 2 1559 8431 2 2 840 8432 2 2 841 8433 2 2 1560 8434 2 2 840 8435 2 2 1561 8436 2 2 1560 8437 2 2 841 8438 2 2 842 8439 2 2 1561 8440 2 2 841 8441 2 2 1515 8442 2 2 1561 8443 2 2 842 8444 2 2 843 8445 2 2 1515 8446 2 2 842 8447 2 2 1787 8448 2 2 824 8449 2 2 1788 8450 2 2 1889 8451 2 2 1890 8452 2 2 1891 8453 2 2 1890 8454 2 2 1889 8455 2 2 1892 8456 2 2 1893 8457 2 2 1891 8458 2 2 1894 8459 2 2 1891 8460 2 2 1893 8461 2 2 1889 8462 2 2 1895 8463 2 2 1894 8464 2 2 1896 8465 2 2 1894 8466 2 2 1895 8467 2 2 1893 8468 2 2 1897 8469 2 2 1896 8470 2 2 1898 8471 2 2 1896 8472 2 2 1897 8473 2 2 1895 8474 2 2 1899 8475 2 2 1898 8476 2 2 1900 8477 2 2 1898 8478 2 2 1899 8479 2 2 1897 8480 2 2 1901 8481 2 2 1900 8482 2 2 1902 8483 2 2 1900 8484 2 2 1901 8485 2 2 1899 8486 2 2 1903 8487 2 2 1902 8488 2 2 1904 8489 2 2 1902 8490 2 2 1903 8491 2 2 1901 8492 2 2 1905 8493 2 2 1904 8494 2 2 1906 8495 2 2 1904 8496 2 2 1905 8497 2 2 1903 8498 2 2 1907 8499 2 2 1906 8500 2 2 1908 8501 2 2 1906 8502 2 2 1907 8503 2 2 1905 8504 2 2 1909 8505 2 2 1908 8506 2 2 1910 8507 2 2 1908 8508 2 2 1909 8509 2 2 1907 8510 2 2 1911 8511 2 2 1910 8512 2 2 1912 8513 2 2 1910 8514 2 2 1911 8515 2 2 1909 8516 2 2 1913 8517 2 2 1912 8518 2 2 1914 8519 2 2 1912 8520 2 2 1913 8521 2 2 1911 8522 2 2 1913 8523 2 2 1915 8524 2 2 1916 8525 2 2 1915 8526 2 2 1913 8527 2 2 1914 8528 2 2 1916 8529 2 2 1917 8530 2 2 1918 8531 2 2 1917 8532 2 2 1916 8533 2 2 1915 8534 2 2 1918 8535 2 2 1919 8536 2 2 1920 8537 2 2 1919 8538 2 2 1918 8539 2 2 1917 8540 2 2 1920 8541 2 2 1921 8542 2 2 1922 8543 2 2 1921 8544 2 2 1920 8545 2 2 1919 8546 2 2 1922 8547 2 2 1923 8548 2 2 1924 8549 2 2 1923 8550 2 2 1922 8551 2 2 1921 8552 2 2 1924 8553 2 2 1925 8554 2 2 1926 8555 2 2 1925 8556 2 2 1924 8557 2 2 1923 8558 2 2 1926 8559 2 2 1927 8560 2 2 1928 8561 2 2 1927 8562 2 2 1926 8563 2 2 1925 8564 2 2 1928 8565 2 2 1929 8566 2 2 1930 8567 2 2 1929 8568 2 2 1928 8569 2 2 1927 8570 2 2 1930 8571 2 2 1931 8572 2 2 1932 8573 2 2 1931 8574 2 2 1930 8575 2 2 1929 8576 2 2 1932 8577 2 2 1933 8578 2 2 1934 8579 2 2 1933 8580 2 2 1932 8581 2 2 1931 8582 2 2 1934 8583 2 2 1935 8584 2 2 1936 8585 2 2 1935 8586 2 2 1934 8587 2 2 1933 8588 2 2 1936 8589 2 2 1937 8590 2 2 1938 8591 2 2 1937 8592 2 2 1936 8593 2 2 1935 8594 2 2 1938 8595 2 2 1939 8596 2 2 1940 8597 2 2 1939 8598 2 2 1938 8599 2 2 1937 8600 2 2 1939 8601 2 2 1941 8602 2 2 1940 8603 2 2 1941 8604 2 2 1939 8605 2 2 1942 8606 2 2 1942 8607 2 2 1943 8608 2 2 1941 8609 2 2 1943 8610 2 2 1942 8611 2 2 1944 8612 2 2 1944 8613 2 2 1945 8614 2 2 1943 8615 2 2 1945 8616 2 2 1944 8617 2 2 1946 8618 2 2 1946 8619 2 2 1947 8620 2 2 1945 8621 2 2 1947 8622 2 2 1946 8623 2 2 1948 8624 2 2 1948 8625 2 2 1949 8626 2 2 1947 8627 2 2 1949 8628 2 2 1948 8629 2 2 1950 8630 2 2 1950 8631 2 2 1951 8632 2 2 1949 8633 2 2 1951 8634 2 2 1950 8635 2 2 1952 8636 2 2 1952 8637 2 2 1953 8638 2 2 1951 8639 2 2 1953 8640 2 2 1952 8641 2 2 1954 8642 2 2 1954 8643 2 2 1955 8644 2 2 1953 8645 2 2 1955 8646 2 2 1954 8647 2 2 1956 8648 2 2 1956 8649 2 2 1957 8650 2 2 1955 8651 2 2 1957 8652 2 2 1956 8653 2 2 1958 8654 2 2 1958 8655 2 2 1959 8656 2 2 1957 8657 2 2 1959 8658 2 2 1958 8659 2 2 1960 8660 2 2 1960 8661 2 2 1961 8662 2 2 1959 8663 2 2 1961 8664 2 2 1960 8665 2 2 1962 8666 2 2 1962 8667 2 2 1963 8668 2 2 1961 8669 2 2 1963 8670 2 2 1962 8671 2 2 1964 8672 2 2 1964 8673 2 2 1965 8674 2 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2 2012 8818 2 2 2014 8819 2 2 2012 8820 2 2 2013 8821 2 2 2011 8822 2 2 2013 8823 2 2 2015 8824 2 2 2016 8825 2 2 2015 8826 2 2 2013 8827 2 2 2014 8828 2 2 2016 8829 2 2 2017 8830 2 2 2018 8831 2 2 2017 8832 2 2 2016 8833 2 2 2015 8834 2 2 2018 8835 2 2 2019 8836 2 2 2020 8837 2 2 2019 8838 2 2 2018 8839 2 2 2017 8840 2 2 2020 8841 2 2 2021 8842 2 2 2022 8843 2 2 2021 8844 2 2 2020 8845 2 2 2019 8846 2 2 2022 8847 2 2 2023 8848 2 2 2024 8849 2 2 2023 8850 2 2 2022 8851 2 2 2021 8852 2 2 2024 8853 2 2 2025 8854 2 2 2026 8855 2 2 2025 8856 2 2 2024 8857 2 2 2023 8858 2 2 2026 8859 2 2 2027 8860 2 2 2028 8861 2 2 2027 8862 2 2 2026 8863 2 2 2025 8864 2 2 2028 8865 2 2 2029 8866 2 2 2030 8867 2 2 2029 8868 2 2 2028 8869 2 2 2027 8870 2 2 2030 8871 2 2 2031 8872 2 2 2032 8873 2 2 2031 8874 2 2 2030 8875 2 2 2029 8876 2 2 2032 8877 2 2 2033 8878 2 2 2034 8879 2 2 2033 8880 2 2 2032 8881 2 2 2031 8882 2 2 2034 8883 2 2 2035 8884 2 2 2036 8885 2 2 2035 8886 2 2 2034 8887 2 2 2033 8888 2 2 2036 8889 2 2 2037 8890 2 2 2038 8891 2 2 2037 8892 2 2 2036 8893 2 2 2035 8894 2 2 2038 8895 2 2 2039 8896 2 2 2040 8897 2 2 2039 8898 2 2 2038 8899 2 2 2037 8900 2 2 2039 8901 2 2 2041 8902 2 2 2040 8903 2 2 2041 8904 2 2 2039 8905 2 2 2042 8906 2 2 2042 8907 2 2 2043 8908 2 2 2041 8909 2 2 2043 8910 2 2 2042 8911 2 2 2044 8912 2 2 2044 8913 2 2 2045 8914 2 2 2043 8915 2 2 2045 8916 2 2 2044 8917 2 2 2046 8918 2 2 2046 8919 2 2 2047 8920 2 2 2045 8921 2 2 2047 8922 2 2 2046 8923 2 2 2048 8924 2 2 2048 8925 2 2 2049 8926 2 2 2047 8927 2 2 2049 8928 2 2 2048 8929 2 2 2050 8930 2 2 2050 8931 2 2 2051 8932 2 2 2049 8933 2 2 2051 8934 2 2 2050 8935 2 2 2052 8936 2 2 2052 8937 2 2 2053 8938 2 2 2051 8939 2 2 2053 8940 2 2 2052 8941 2 2 2054 8942 2 2 2054 8943 2 2 2055 8944 2 2 2053 8945 2 2 2055 8946 2 2 2054 8947 2 2 2056 8948 2 2 2056 8949 2 2 2057 8950 2 2 2055 8951 2 2 2057 8952 2 2 2056 8953 2 2 2058 8954 2 2 2058 8955 2 2 2059 8956 2 2 2057 8957 2 2 2059 8958 2 2 2058 8959 2 2 2060 8960 2 2 2060 8961 2 2 2061 8962 2 2 2059 8963 2 2 2061 8964 2 2 2060 8965 2 2 2062 8966 2 2 2062 8967 2 2 2063 8968 2 2 2061 8969 2 2 2063 8970 2 2 2062 8971 2 2 2064 8972 2 2 2064 8973 2 2 2065 8974 2 2 2063 8975 2 2 2065 8976 2 2 2064 8977 2 2 2066 8978 2 2 2067 8979 2 2 2065 8980 2 2 2066 8981 2 2 2065 8982 2 2 2067 8983 2 2 2068 8984 2 2 2069 8985 2 2 2068 8986 2 2 2067 8987 2 2 2068 8988 2 2 2069 8989 2 2 2070 8990 2 2 2071 8991 2 2 2070 8992 2 2 2069 8993 2 2 2070 8994 2 2 2071 8995 2 2 2072 8996 2 2 2073 8997 2 2 2072 8998 2 2 2071 8999 2 2 2072 9000 2 2 2073 9001 2 2 2074 9002 2 2 2075 9003 2 2 2074 9004 2 2 2073 9005 2 2 2074 9006 2 2 2075 9007 2 2 2076 9008 2 2 2077 9009 2 2 2076 9010 2 2 2075 9011 2 2 2076 9012 2 2 2077 9013 2 2 2078 9014 2 2 2079 9015 2 2 2078 9016 2 2 2077 9017 2 2 2078 9018 2 2 2079 9019 2 2 2080 9020 2 2 2081 9021 2 2 2080 9022 2 2 2079 9023 2 2 2080 9024 2 2 2081 9025 2 2 2082 9026 2 2 2083 9027 2 2 2082 9028 2 2 2081 9029 2 2 2082 9030 2 2 2083 9031 2 2 2084 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2 2007 9104 2 2 1908 9105 2 2 2009 9106 2 2 1910 9107 2 2 2009 9108 2 2 1908 9109 2 2 2007 9110 2 2 2009 9111 2 2 1912 9112 2 2 1910 9113 2 2 1912 9114 2 2 2009 9115 2 2 2011 9116 2 2 2011 9117 2 2 1914 9118 2 2 1912 9119 2 2 1914 9120 2 2 2011 9121 2 2 2013 9122 2 2 2013 9123 2 2 1915 9124 2 2 1914 9125 2 2 1915 9126 2 2 2013 9127 2 2 2016 9128 2 2 1915 9129 2 2 2018 9130 2 2 1917 9131 2 2 2018 9132 2 2 1915 9133 2 2 2016 9134 2 2 2018 9135 2 2 1919 9136 2 2 1917 9137 2 2 1919 9138 2 2 2018 9139 2 2 2020 9140 2 2 2020 9141 2 2 1921 9142 2 2 1919 9143 2 2 1921 9144 2 2 2020 9145 2 2 2022 9146 2 2 2022 9147 2 2 1923 9148 2 2 1921 9149 2 2 1923 9150 2 2 2022 9151 2 2 2024 9152 2 2 2024 9153 2 2 1925 9154 2 2 1923 9155 2 2 1925 9156 2 2 2024 9157 2 2 2026 9158 2 2 2026 9159 2 2 1927 9160 2 2 1925 9161 2 2 1927 9162 2 2 2026 9163 2 2 2028 9164 2 2 1927 9165 2 2 2030 9166 2 2 1929 9167 2 2 2030 9168 2 2 1927 9169 2 2 2028 9170 2 2 1929 9171 2 2 2032 9172 2 2 1931 9173 2 2 2032 9174 2 2 1929 9175 2 2 2030 9176 2 2 1931 9177 2 2 2034 9178 2 2 1933 9179 2 2 2034 9180 2 2 1931 9181 2 2 2032 9182 2 2 1933 9183 2 2 2036 9184 2 2 1935 9185 2 2 2036 9186 2 2 1933 9187 2 2 2034 9188 2 2 1935 9189 2 2 2038 9190 2 2 1937 9191 2 2 2038 9192 2 2 1935 9193 2 2 2036 9194 2 2 1937 9195 2 2 2040 9196 2 2 1939 9197 2 2 2040 9198 2 2 1937 9199 2 2 2038 9200 2 2 1939 9201 2 2 2041 9202 2 2 1942 9203 2 2 2041 9204 2 2 1939 9205 2 2 2040 9206 2 2 1942 9207 2 2 2043 9208 2 2 1944 9209 2 2 2043 9210 2 2 1942 9211 2 2 2041 9212 2 2 1944 9213 2 2 2045 9214 2 2 1946 9215 2 2 2045 9216 2 2 1944 9217 2 2 2043 9218 2 2 1946 9219 2 2 2047 9220 2 2 1948 9221 2 2 2047 9222 2 2 1946 9223 2 2 2045 9224 2 2 1948 9225 2 2 2049 9226 2 2 1950 9227 2 2 2049 9228 2 2 1948 9229 2 2 2047 9230 2 2 1950 9231 2 2 2051 9232 2 2 1952 9233 2 2 2051 9234 2 2 1950 9235 2 2 2049 9236 2 2 2051 9237 2 2 1954 9238 2 2 1952 9239 2 2 1954 9240 2 2 2051 9241 2 2 2053 9242 2 2 1954 9243 2 2 2055 9244 2 2 1956 9245 2 2 2055 9246 2 2 1954 9247 2 2 2053 9248 2 2 1956 9249 2 2 2057 9250 2 2 1958 9251 2 2 2057 9252 2 2 1956 9253 2 2 2055 9254 2 2 2057 9255 2 2 1960 9256 2 2 1958 9257 2 2 1960 9258 2 2 2057 9259 2 2 2059 9260 2 2 1960 9261 2 2 2061 9262 2 2 1962 9263 2 2 2061 9264 2 2 1960 9265 2 2 2059 9266 2 2 2061 9267 2 2 1964 9268 2 2 1962 9269 2 2 1964 9270 2 2 2061 9271 2 2 2063 9272 2 2 2063 9273 2 2 1966 9274 2 2 1964 9275 2 2 1966 9276 2 2 2063 9277 2 2 2065 9278 2 2 2065 9279 2 2 1967 9280 2 2 1966 9281 2 2 1967 9282 2 2 2065 9283 2 2 2068 9284 2 2 2068 9285 2 2 1969 9286 2 2 1967 9287 2 2 1969 9288 2 2 2068 9289 2 2 2070 9290 2 2 2070 9291 2 2 1971 9292 2 2 1969 9293 2 2 1971 9294 2 2 2070 9295 2 2 2072 9296 2 2 1971 9297 2 2 2074 9298 2 2 1973 9299 2 2 2074 9300 2 2 1971 9301 2 2 2072 9302 2 2 2074 9303 2 2 1975 9304 2 2 1973 9305 2 2 1975 9306 2 2 2074 9307 2 2 2076 9308 2 2 2076 9309 2 2 1977 9310 2 2 1975 9311 2 2 1977 9312 2 2 2076 9313 2 2 2078 9314 2 2 2080 9315 2 2 1977 9316 2 2 2078 9317 2 2 1977 9318 2 2 2080 9319 2 2 1979 9320 2 2 2082 9321 2 2 1979 9322 2 2 2080 9323 2 2 1979 9324 2 2 2082 9325 2 2 1981 9326 2 2 2084 9327 2 2 1981 9328 2 2 2082 9329 2 2 1981 9330 2 2 2084 9331 2 2 1983 9332 2 2 2086 9333 2 2 1983 9334 2 2 2084 9335 2 2 1983 9336 2 2 2086 9337 2 2 1985 9338 2 2 2088 9339 2 2 1985 9340 2 2 2086 9341 2 2 1985 9342 2 2 2088 9343 2 2 1987 9344 2 2 1992 9345 2 2 1987 9346 2 2 2088 9347 2 2 1987 9348 2 2 1992 9349 2 2 1890 9350 2 2 2089 9351 2 2 1990 9352 2 2 2090 9353 2 2 1990 9354 2 2 2089 9355 2 2 1991 9356 2 2 2091 9357 2 2 1991 9358 2 2 2089 9359 2 2 1991 9360 2 2 2091 9361 2 2 1994 9362 2 2 2092 9363 2 2 1994 9364 2 2 2091 9365 2 2 1994 9366 2 2 2092 9367 2 2 1996 9368 2 2 2093 9369 2 2 1996 9370 2 2 2092 9371 2 2 1996 9372 2 2 2093 9373 2 2 1998 9374 2 2 2094 9375 2 2 1998 9376 2 2 2093 9377 2 2 1998 9378 2 2 2094 9379 2 2 2000 9380 2 2 2095 9381 2 2 2000 9382 2 2 2094 9383 2 2 2000 9384 2 2 2095 9385 2 2 2002 9386 2 2 2002 9387 2 2 2096 9388 2 2 2004 9389 2 2 2096 9390 2 2 2002 9391 2 2 2095 9392 2 2 2096 9393 2 2 2006 9394 2 2 2004 9395 2 2 2006 9396 2 2 2096 9397 2 2 2097 9398 2 2 2097 9399 2 2 2008 9400 2 2 2006 9401 2 2 2008 9402 2 2 2097 9403 2 2 2098 9404 2 2 2008 9405 2 2 2099 9406 2 2 2010 9407 2 2 2099 9408 2 2 2008 9409 2 2 2098 9410 2 2 2099 9411 2 2 2012 9412 2 2 2010 9413 2 2 2012 9414 2 2 2099 9415 2 2 2100 9416 2 2 2100 9417 2 2 2014 9418 2 2 2012 9419 2 2 2014 9420 2 2 2100 9421 2 2 2101 9422 2 2 2014 9423 2 2 2102 9424 2 2 2015 9425 2 2 2102 9426 2 2 2014 9427 2 2 2101 9428 2 2 2015 9429 2 2 2103 9430 2 2 2017 9431 2 2 2103 9432 2 2 2015 9433 2 2 2102 9434 2 2 2103 9435 2 2 2019 9436 2 2 2017 9437 2 2 2019 9438 2 2 2103 9439 2 2 2104 9440 2 2 2019 9441 2 2 2105 9442 2 2 2021 9443 2 2 2105 9444 2 2 2019 9445 2 2 2104 9446 2 2 2021 9447 2 2 2106 9448 2 2 2023 9449 2 2 2106 9450 2 2 2021 9451 2 2 2105 9452 2 2 2106 9453 2 2 2025 9454 2 2 2023 9455 2 2 2025 9456 2 2 2106 9457 2 2 2107 9458 2 2 2025 9459 2 2 2108 9460 2 2 2027 9461 2 2 2108 9462 2 2 2025 9463 2 2 2107 9464 2 2 2027 9465 2 2 2109 9466 2 2 2029 9467 2 2 2109 9468 2 2 2027 9469 2 2 2108 9470 2 2 2029 9471 2 2 2110 9472 2 2 2031 9473 2 2 2110 9474 2 2 2029 9475 2 2 2109 9476 2 2 2031 9477 2 2 2111 9478 2 2 2033 9479 2 2 2111 9480 2 2 2031 9481 2 2 2110 9482 2 2 2033 9483 2 2 2112 9484 2 2 2035 9485 2 2 2112 9486 2 2 2033 9487 2 2 2111 9488 2 2 2035 9489 2 2 2113 9490 2 2 2037 9491 2 2 2113 9492 2 2 2035 9493 2 2 2112 9494 2 2 2037 9495 2 2 2114 9496 2 2 2039 9497 2 2 2114 9498 2 2 2037 9499 2 2 2113 9500 2 2 2039 9501 2 2 2115 9502 2 2 2042 9503 2 2 2115 9504 2 2 2039 9505 2 2 2114 9506 2 2 2042 9507 2 2 2116 9508 2 2 2044 9509 2 2 2116 9510 2 2 2042 9511 2 2 2115 9512 2 2 2044 9513 2 2 2117 9514 2 2 2046 9515 2 2 2117 9516 2 2 2044 9517 2 2 2116 9518 2 2 2046 9519 2 2 2118 9520 2 2 2048 9521 2 2 2118 9522 2 2 2046 9523 2 2 2117 9524 2 2 2048 9525 2 2 2119 9526 2 2 2050 9527 2 2 2119 9528 2 2 2048 9529 2 2 2118 9530 2 2 2050 9531 2 2 2120 9532 2 2 2052 9533 2 2 2120 9534 2 2 2050 9535 2 2 2119 9536 2 2 2120 9537 2 2 2054 9538 2 2 2052 9539 2 2 2054 9540 2 2 2120 9541 2 2 2121 9542 2 2 2121 9543 2 2 2056 9544 2 2 2054 9545 2 2 2056 9546 2 2 2121 9547 2 2 2122 9548 2 2 2122 9549 2 2 2058 9550 2 2 2056 9551 2 2 2058 9552 2 2 2122 9553 2 2 2123 9554 2 2 2123 9555 2 2 2060 9556 2 2 2058 9557 2 2 2060 9558 2 2 2123 9559 2 2 2124 9560 2 2 2060 9561 2 2 2125 9562 2 2 2062 9563 2 2 2125 9564 2 2 2060 9565 2 2 2124 9566 2 2 2125 9567 2 2 2064 9568 2 2 2062 9569 2 2 2064 9570 2 2 2125 9571 2 2 2126 9572 2 2 2126 9573 2 2 2066 9574 2 2 2064 9575 2 2 2066 9576 2 2 2126 9577 2 2 2127 9578 2 2 2066 9579 2 2 2128 9580 2 2 2067 9581 2 2 2128 9582 2 2 2066 9583 2 2 2127 9584 2 2 2128 9585 2 2 2069 9586 2 2 2067 9587 2 2 2069 9588 2 2 2128 9589 2 2 2129 9590 2 2 2129 9591 2 2 2071 9592 2 2 2069 9593 2 2 2071 9594 2 2 2129 9595 2 2 2130 9596 2 2 2071 9597 2 2 2131 9598 2 2 2073 9599 2 2 2131 9600 2 2 2071 9601 2 2 2130 9602 2 2 2073 9603 2 2 2132 9604 2 2 2075 9605 2 2 2132 9606 2 2 2073 9607 2 2 2131 9608 2 2 2132 9609 2 2 2077 9610 2 2 2075 9611 2 2 2077 9612 2 2 2132 9613 2 2 2133 9614 2 2 2134 9615 2 2 2077 9616 2 2 2133 9617 2 2 2077 9618 2 2 2134 9619 2 2 2079 9620 2 2 2135 9621 2 2 2079 9622 2 2 2134 9623 2 2 2079 9624 2 2 2135 9625 2 2 2081 9626 2 2 2136 9627 2 2 2081 9628 2 2 2135 9629 2 2 2081 9630 2 2 2136 9631 2 2 2083 9632 2 2 2137 9633 2 2 2083 9634 2 2 2136 9635 2 2 2083 9636 2 2 2137 9637 2 2 2085 9638 2 2 2138 9639 2 2 2085 9640 2 2 2137 9641 2 2 2085 9642 2 2 2138 9643 2 2 2087 9644 2 2 2090 9645 2 2 2087 9646 2 2 2138 9647 2 2 2087 9648 2 2 2090 9649 2 2 1990 9650 2 2 1141 9651 2 2 1142 9652 2 2 2139 9653 2 2 2140 9654 2 2 1141 9655 2 2 2139 9656 2 2 1139 9657 2 2 1141 9658 2 2 2140 9659 2 2 1139 9660 2 2 2140 9661 2 2 2141 9662 2 2 1426 9663 2 2 1139 9664 2 2 2141 9665 2 2 1426 9666 2 2 2141 9667 2 2 2142 9668 2 2 1428 9669 2 2 1426 9670 2 2 2142 9671 2 2 1428 9672 2 2 2142 9673 2 2 2143 9674 2 2 2139 9675 2 2 2144 9676 2 2 2140 9677 2 2 2140 9678 2 2 2144 9679 2 2 2145 9680 2 2 2141 9681 2 2 2140 9682 2 2 2145 9683 2 2 2141 9684 2 2 2145 9685 2 2 2146 9686 2 2 2141 9687 2 2 2146 9688 2 2 2142 9689 2 2 2142 9690 2 2 2146 9691 2 2 2147 9692 2 2 2148 9693 2 2 2142 9694 2 2 2147 9695 2 2 2142 9696 2 2 2148 9697 2 2 2143 9698 2 2 1142 9699 2 2 1143 9700 2 2 2139 9701 2 2 1143 9702 2 2 1150 9703 2 2 2139 9704 2 2 2139 9705 2 2 1150 9706 2 2 2149 9707 2 2 1150 9708 2 2 1154 9709 2 2 2149 9710 2 2 2149 9711 2 2 1154 9712 2 2 2150 9713 2 2 1154 9714 2 2 1156 9715 2 2 2150 9716 2 2 2150 9717 2 2 1156 9718 2 2 2151 9719 2 2 1156 9720 2 2 1158 9721 2 2 2151 9722 2 2 2151 9723 2 2 1158 9724 2 2 2152 9725 2 2 1158 9726 2 2 1160 9727 2 2 2152 9728 2 2 2152 9729 2 2 1160 9730 2 2 2153 9731 2 2 1160 9732 2 2 1162 9733 2 2 2153 9734 2 2 2153 9735 2 2 1162 9736 2 2 2154 9737 2 2 1162 9738 2 2 1166 9739 2 2 2154 9740 2 2 2154 9741 2 2 1166 9742 2 2 2155 9743 2 2 1166 9744 2 2 1504 9745 2 2 2155 9746 2 2 2155 9747 2 2 1504 9748 2 2 2156 9749 2 2 2156 9750 2 2 1504 9751 2 2 1505 9752 2 2 2156 9753 2 2 1505 9754 2 2 2157 9755 2 2 2158 9756 2 2 1505 9757 2 2 1506 9758 2 2 1505 9759 2 2 2158 9760 2 2 2157 9761 2 2 1506 9762 2 2 1516 9763 2 2 2158 9764 2 2 1516 9765 2 2 2159 9766 2 2 2158 9767 2 2 2139 9768 2 2 2149 9769 2 2 2144 9770 2 2 2144 9771 2 2 2149 9772 2 2 2160 9773 2 2 2149 9774 2 2 2150 9775 2 2 2160 9776 2 2 2160 9777 2 2 2150 9778 2 2 2161 9779 2 2 2150 9780 2 2 2151 9781 2 2 2161 9782 2 2 2161 9783 2 2 2151 9784 2 2 2162 9785 2 2 2151 9786 2 2 2152 9787 2 2 2162 9788 2 2 2162 9789 2 2 2152 9790 2 2 2163 9791 2 2 2152 9792 2 2 2153 9793 2 2 2163 9794 2 2 2164 9795 2 2 1170 9796 2 2 1169 9797 2 2 2164 9798 2 2 1169 9799 2 2 2165 9800 2 2 1169 9801 2 2 1168 9802 2 2 2165 9803 2 2 2165 9804 2 2 1168 9805 2 2 2166 9806 2 2 2166 9807 2 2 1168 9808 2 2 1434 9809 2 2 2166 9810 2 2 1434 9811 2 2 2167 9812 2 2 2167 9813 2 2 1434 9814 2 2 1436 9815 2 2 2167 9816 2 2 1436 9817 2 2 2168 9818 2 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9890 2 2 2180 9891 2 2 2181 9892 2 2 1551 9893 2 2 2181 9894 2 2 1552 9895 2 2 1551 9896 2 2 2181 9897 2 2 2182 9898 2 2 1552 9899 2 2 1552 9900 2 2 2183 9901 2 2 1553 9902 2 2 2183 9903 2 2 1552 9904 2 2 2182 9905 2 2 2183 9906 2 2 1562 9907 2 2 1553 9908 2 2 1562 9909 2 2 2183 9910 2 2 2184 9911 2 2 2164 9912 2 2 2169 9913 2 2 2174 9914 2 2 2169 9915 2 2 2185 9916 2 2 2174 9917 2 2 2174 9918 2 2 2185 9919 2 2 2175 9920 2 2 2185 9921 2 2 2186 9922 2 2 2175 9923 2 2 2175 9924 2 2 2186 9925 2 2 2176 9926 2 2 2186 9927 2 2 2187 9928 2 2 2176 9929 2 2 2176 9930 2 2 2187 9931 2 2 2177 9932 2 2 2187 9933 2 2 2188 9934 2 2 2177 9935 2 2 2177 9936 2 2 2188 9937 2 2 2178 9938 2 2 1197 9939 2 2 1198 9940 2 2 2189 9941 2 2 1197 9942 2 2 2189 9943 2 2 2190 9944 2 2 1195 9945 2 2 1197 9946 2 2 2190 9947 2 2 1195 9948 2 2 2190 9949 2 2 2191 9950 2 2 1195 9951 2 2 2191 9952 2 2 1445 9953 2 2 1445 9954 2 2 2191 9955 2 2 2192 9956 2 2 1445 9957 2 2 2192 9958 2 2 1447 9959 2 2 1447 9960 2 2 2192 9961 2 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10964 2 2 2355 10965 2 2 1502 10966 2 2 1481 10967 2 2 2287 10968 2 2 2355 10969 2 2 1481 10970 2 2 2352 10971 2 2 2353 10972 2 2 2356 10973 2 2 2356 10974 2 2 2353 10975 2 2 2357 10976 2 2 2353 10977 2 2 2354 10978 2 2 2357 10979 2 2 2357 10980 2 2 2354 10981 2 2 2358 10982 2 2 2358 10983 2 2 2354 10984 2 2 2355 10985 2 2 2358 10986 2 2 2355 10987 2 2 2359 10988 2 2 2292 10989 2 2 2355 10990 2 2 2287 10991 2 2 2355 10992 2 2 2292 10993 2 2 2359 10994 2 2 1394 10995 2 2 2352 10996 2 2 1395 10997 2 2 1395 10998 2 2 2352 10999 2 2 1402 11000 2 2 1402 11001 2 2 2352 11002 2 2 2360 11003 2 2 1402 11004 2 2 2360 11005 2 2 1406 11006 2 2 1406 11007 2 2 2360 11008 2 2 2361 11009 2 2 1408 11010 2 2 1406 11011 2 2 2361 11012 2 2 1408 11013 2 2 2361 11014 2 2 2362 11015 2 2 1410 11016 2 2 1408 11017 2 2 2362 11018 2 2 1410 11019 2 2 2362 11020 2 2 2363 11021 2 2 1410 11022 2 2 2363 11023 2 2 1412 11024 2 2 1412 11025 2 2 2363 11026 2 2 2364 11027 2 2 1412 11028 2 2 2364 11029 2 2 1414 11030 2 2 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892 4023 3 3 893 4024 3 3 894 4025 3 3 892 4026 3 3 894 4027 3 3 895 4028 3 3 896 4029 3 3 897 4030 3 3 893 4031 3 3 896 4032 3 3 893 4033 3 3 892 4034 3 3 898 4035 3 3 899 4036 3 3 897 4037 3 3 896 4038 3 3 898 4039 3 3 897 4040 3 3 900 4041 3 3 898 4042 3 3 896 4043 3 3 900 4044 3 3 901 4045 3 3 898 4046 3 3 900 4047 3 3 896 4048 3 3 892 4049 3 3 900 4050 3 3 892 4051 3 3 902 4052 3 3 902 4053 3 3 892 4054 3 3 895 4055 3 3 902 4056 3 3 895 4057 3 3 903 4058 3 3 903 4059 3 3 895 4060 3 3 904 4061 3 3 903 4062 3 3 904 4063 3 3 905 4064 3 3 895 4065 3 3 894 4066 3 3 906 4067 3 3 895 4068 3 3 906 4069 3 3 904 4070 3 3 904 4071 3 3 906 4072 3 3 907 4073 3 3 904 4074 3 3 907 4075 3 3 908 4076 3 3 909 4077 3 3 910 4078 3 3 911 4079 3 3 908 4080 3 3 910 4081 3 3 909 4082 3 3 907 4083 3 3 912 4084 3 3 908 4085 3 3 908 4086 3 3 912 4087 3 3 910 4088 3 3 910 4089 3 3 913 4090 3 3 914 4091 3 3 912 4092 3 3 913 4093 3 3 910 4094 3 3 911 4095 3 3 914 4096 3 3 915 4097 3 3 910 4098 3 3 914 4099 3 3 911 4100 3 3 915 4101 3 3 916 4102 3 3 917 4103 3 3 914 4104 3 3 916 4105 3 3 915 4106 3 3 914 4107 3 3 918 4108 3 3 916 4109 3 3 913 4110 3 3 918 4111 3 3 914 4112 3 3 916 4113 3 3 919 4114 3 3 920 4115 3 3 918 4116 3 3 919 4117 3 3 916 4118 3 3 916 4119 3 3 920 4120 3 3 917 4121 3 3 917 4122 3 3 920 4123 3 3 921 4124 3 3 921 4125 3 3 922 4126 3 3 923 4127 3 3 920 4128 3 3 922 4129 3 3 921 4130 3 3 919 4131 3 3 924 4132 3 3 920 4133 3 3 920 4134 3 3 924 4135 3 3 922 4136 3 3 925 4137 3 3 926 4138 3 3 922 4139 3 3 924 4140 3 3 925 4141 3 3 922 4142 3 3 926 4143 3 3 927 4144 3 3 928 4145 3 3 926 4146 3 3 925 4147 3 3 927 4148 3 3 928 4149 3 3 929 4150 3 3 930 4151 3 3 928 4152 3 3 927 4153 3 3 929 4154 3 3 931 4155 3 3 929 4156 3 3 932 4157 3 3 931 4158 3 3 930 4159 3 3 929 4160 3 3 933 4161 3 3 932 4162 3 3 934 4163 3 3 933 4164 3 3 931 4165 3 3 932 4166 3 3 935 4167 3 3 934 4168 3 3 936 4169 3 3 935 4170 3 3 933 4171 3 3 934 4172 3 3 937 4173 3 3 935 4174 3 3 936 4175 3 3 937 4176 3 3 936 4177 3 3 938 4178 3 3 938 4179 3 3 939 4180 3 3 937 4181 3 3 939 4182 3 3 938 4183 3 3 940 4184 3 3 941 4185 3 3 933 4186 3 3 935 4187 3 3 941 4188 3 3 942 4189 3 3 933 4190 3 3 942 4191 3 3 931 4192 3 3 933 4193 3 3 942 4194 3 3 943 4195 3 3 931 4196 3 3 943 4197 3 3 930 4198 3 3 931 4199 3 3 943 4200 3 3 944 4201 3 3 930 4202 3 3 945 4203 3 3 946 4204 3 3 939 4205 3 3 946 4206 3 3 947 4207 3 3 939 4208 3 3 945 4209 3 3 939 4210 3 3 940 4211 3 3 948 4212 3 3 945 4213 3 3 940 4214 3 3 949 4215 3 3 945 4216 3 3 948 4217 3 3 950 4218 3 3 949 4219 3 3 948 4220 3 3 949 4221 3 3 951 4222 3 3 945 4223 3 3 951 4224 3 3 946 4225 3 3 945 4226 3 3 952 4227 3 3 951 4228 3 3 949 4229 3 3 953 4230 3 3 952 4231 3 3 949 4232 3 3 953 4233 3 3 949 4234 3 3 950 4235 3 3 954 4236 3 3 953 4237 3 3 950 4238 3 3 955 4239 3 3 953 4240 3 3 954 4241 3 3 956 4242 3 3 955 4243 3 3 954 4244 3 3 955 4245 3 3 957 4246 3 3 953 4247 3 3 957 4248 3 3 952 4249 3 3 953 4250 3 3 958 4251 3 3 957 4252 3 3 955 4253 3 3 959 4254 3 3 958 4255 3 3 955 4256 3 3 959 4257 3 3 955 4258 3 3 956 4259 3 3 960 4260 3 3 959 4261 3 3 956 4262 3 3 961 4263 3 3 959 4264 3 3 960 4265 3 3 962 4266 3 3 961 4267 3 3 960 4268 3 3 961 4269 3 3 963 4270 3 3 959 4271 3 3 963 4272 3 3 958 4273 3 3 959 4274 3 3 901 4275 3 3 961 4276 3 3 898 4277 3 3 901 4278 3 3 963 4279 3 3 961 4280 3 3 898 4281 3 3 961 4282 3 3 899 4283 3 3 961 4284 3 3 962 4285 3 3 899 4286 3 3

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964 4287 4 4 965 4288 4 4 966 4289 4 4 966 4290 4 4 965 4291 4 4 967 4292 4 4 968 4293 4 4 969 4294 4 4 970 4295 4 4 970 4296 4 4 969 4297 4 4 971 4298 4 4 971 4299 4 4 972 4300 4 4 970 4301 4 4 971 4302 4 4 966 4303 4 4 967 4304 4 4 971 4305 4 4 967 4306 4 4 972 4307 4 4 973 4308 4 4 974 4309 4 4 975 4310 4 4 976 4311 4 4 974 4312 4 4 973 4313 4 4 977 4314 4 4 976 4315 4 4 973 4316 4 4 977 4317 4 4 978 4318 4 4 976 4319 4 4 979 4320 4 4 978 4321 4 4 977 4322 4 4 980 4323 4 4 979 4324 4 4 977 4325 4 4 980 4326 4 4 981 4327 4 4 979 4328 4 4 975 4329 4 4 974 4330 4 4 982 4331 4 4 975 4332 4 4 982 4333 4 4 983 4334 4 4 975 4335 4 4 983 4336 4 4 984 4337 4 4 984 4338 4 4 983 4339 4 4 985 4340 4 4 984 4341 4 4 985 4342 4 4 986 4343 4 4 984 4344 4 4 986 4345 4 4 987 4346 4 4 987 4347 4 4 986 4348 4 4 988 4349 4 4 987 4350 4 4 988 4351 4 4 989 4352 4 4 990 4353 4 4 987 4354 4 4 989 4355 4 4 990 4356 4 4 989 4357 4 4 991 4358 4 4 992 4359 4 4 990 4360 4 4 991 4361 4 4 992 4362 4 4 993 4363 4 4 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1024 4510 4 4 991 4511 4 4 989 4512 4 4 1035 4513 4 4 1024 4514 4 4 989 4515 4 4 988 4516 4 4 1035 4517 4 4 988 4518 4 4 1036 4519 4 4 1035 4520 4 4 986 4521 4 4 1036 4522 4 4 988 4523 4 4 986 4524 4 4 1037 4525 4 4 1036 4526 4 4 986 4527 4 4 985 4528 4 4 1037 4529 4 4 985 4530 4 4 1038 4531 4 4 1037 4532 4 4 983 4533 4 4 1038 4534 4 4 985 4535 4 4 983 4536 4 4 1039 4537 4 4 1038 4538 4 4 982 4539 4 4 1039 4540 4 4 983 4541 4 4 982 4542 4 4 1040 4543 4 4 1039 4544 4 4 974 4545 4 4 1040 4546 4 4 982 4547 4 4 974 4548 4 4 1041 4549 4 4 1040 4550 4 4 976 4551 4 4 1041 4552 4 4 974 4553 4 4 1042 4554 4 4 1041 4555 4 4 976 4556 4 4 978 4557 4 4 1042 4558 4 4 976 4559 4 4 1043 4560 4 4 1042 4561 4 4 978 4562 4 4 979 4563 4 4 1043 4564 4 4 978 4565 4 4 979 4566 4 4 1044 4567 4 4 1043 4568 4 4 981 4569 4 4 1044 4570 4 4 979 4571 4 4 1045 4572 4 4 1044 4573 4 4 981 4574 4 4 1046 4575 4 4 1045 4576 4 4 981 4577 4 4 1047 4578 4 4 1046 4579 4 4 981 4580 4 4 1047 4581 4 4 981 4582 4 4 1007 4583 4 4 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171 504 3 3 172 505 3 3 173 506 3 3 171 507 3 3 174 508 3 3 172 509 3 3 172 510 3 3 174 511 3 3 175 512 3 3 174 513 3 3 176 514 3 3 175 515 3 3 175 516 3 3 176 517 3 3 177 518 3 3 176 519 3 3 178 520 3 3 177 521 3 3 178 522 3 3 179 523 3 3 177 524 3 3 178 525 3 3 180 526 3 3 179 527 3 3 180 528 3 3 181 529 3 3 179 530 3 3 182 531 3 3 181 532 3 3 180 533 3 3 183 534 3 3 181 535 3 3 182 536 3 3 183 537 3 3 182 538 3 3 184 539 3 3 185 540 3 3 183 541 3 3 184 542 3 3 185 543 3 3 184 544 3 3 186 545 3 3 186 546 3 3 173 547 3 3 185 548 3 3 171 549 3 3 173 550 3 3 186 551 3 3 187 552 3 3 174 553 3 3 171 554 3 3 187 555 3 3 188 556 3 3 174 557 3 3 174 558 3 3 188 559 3 3 176 560 3 3 176 561 3 3 188 562 3 3 189 563 3 3 176 564 3 3 189 565 3 3 178 566 3 3 178 567 3 3 189 568 3 3 190 569 3 3 190 570 3 3 180 571 3 3 178 572 3 3 190 573 3 3 191 574 3 3 180 575 3 3 191 576 3 3 182 577 3 3 180 578 3 3 192 579 3 3 182 580 3 3 191 581 3 3 184 582 3 3 182 583 3 3 192 584 3 3 184 585 3 3 192 586 3 3 193 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3 3 275 1081 3 3 268 1082 3 3 268 1083 3 3 275 1084 3 3 276 1085 3 3 269 1086 3 3 268 1087 3 3 276 1088 3 3 269 1089 3 3 276 1090 3 3 277 1091 3 3 270 1092 3 3 269 1093 3 3 277 1094 3 3 270 1095 3 3 277 1096 3 3 278 1097 3 3 270 1098 3 3 278 1099 3 3 271 1100 3 3 271 1101 3 3 278 1102 3 3 279 1103 3 3 272 1104 3 3 271 1105 3 3 279 1106 3 3 272 1107 3 3 279 1108 3 3 280 1109 3 3 272 1110 3 3 280 1111 3 3 273 1112 3 3 273 1113 3 3 280 1114 3 3 281 1115 3 3 273 1116 3 3 281 1117 3 3 274 1118 3 3 274 1119 3 3 281 1120 3 3 282 1121 3 3 267 1122 3 3 274 1123 3 3 282 1124 3 3 267 1125 3 3 282 1126 3 3 275 1127 3 3 275 1128 3 3 283 1129 3 3 276 1130 3 3 276 1131 3 3 283 1132 3 3 284 1133 3 3 277 1134 3 3 276 1135 3 3 284 1136 3 3 277 1137 3 3 284 1138 3 3 285 1139 3 3 278 1140 3 3 277 1141 3 3 285 1142 3 3 278 1143 3 3 285 1144 3 3 286 1145 3 3 278 1146 3 3 286 1147 3 3 279 1148 3 3 279 1149 3 3 286 1150 3 3 287 1151 3 3 280 1152 3 3 279 1153 3 3 287 1154 3 3 280 1155 3 3 287 1156 3 3 288 1157 3 3 280 1158 3 3 288 1159 3 3 281 1160 3 3 281 1161 3 3 288 1162 3 3 289 1163 3 3 281 1164 3 3 289 1165 3 3 282 1166 3 3 282 1167 3 3 289 1168 3 3 290 1169 3 3 275 1170 3 3 282 1171 3 3 290 1172 3 3 275 1173 3 3 290 1174 3 3 283 1175 3 3 283 1176 3 3 291 1177 3 3 284 1178 3 3 284 1179 3 3 291 1180 3 3 292 1181 3 3 285 1182 3 3 284 1183 3 3 292 1184 3 3 285 1185 3 3 292 1186 3 3 293 1187 3 3 286 1188 3 3 285 1189 3 3 293 1190 3 3 286 1191 3 3 293 1192 3 3 294 1193 3 3 286 1194 3 3 294 1195 3 3 287 1196 3 3 287 1197 3 3 294 1198 3 3 295 1199 3 3 288 1200 3 3 287 1201 3 3 295 1202 3 3 288 1203 3 3 295 1204 3 3 296 1205 3 3 289 1206 3 3 288 1207 3 3 296 1208 3 3 289 1209 3 3 296 1210 3 3 297 1211 3 3 289 1212 3 3 297 1213 3 3 290 1214 3 3 290 1215 3 3 297 1216 3 3 298 1217 3 3 283 1218 3 3 290 1219 3 3 298 1220 3 3 283 1221 3 3 298 1222 3 3 291 1223 3 3 291 1224 3 3 299 1225 3 3 292 1226 3 3 292 1227 3 3 299 1228 3 3 300 1229 3 3 293 1230 3 3 292 1231 3 3 300 1232 3 3 293 1233 3 3 300 1234 3 3 301 1235 3 3 293 1236 3 3 301 1237 3 3 294 1238 3 3 294 1239 3 3 301 1240 3 3 302 1241 3 3 294 1242 3 3 302 1243 3 3 295 1244 3 3 295 1245 3 3 302 1246 3 3 303 1247 3 3 296 1248 3 3 295 1249 3 3 303 1250 3 3 296 1251 3 3 303 1252 3 3 304 1253 3 3 297 1254 3 3 296 1255 3 3 304 1256 3 3 304 1257 3 3 305 1258 3 3 297 1259 3 3 297 1260 3 3 305 1261 3 3 298 1262 3 3 305 1263 3 3 306 1264 3 3 298 1265 3 3 291 1266 3 3 298 1267 3 3 306 1268 3 3 291 1269 3 3 306 1270 3 3 299 1271 3 3 299 1272 3 3 307 1273 3 3 300 1274 3 3 300 1275 3 3 307 1276 3 3 308 1277 3 3 301 1278 3 3 300 1279 3 3 308 1280 3 3 309 1281 3 3 301 1282 3 3 308 1283 3 3 302 1284 3 3 301 1285 3 3 309 1286 3 3 310 1287 3 3 302 1288 3 3 309 1289 3 3 302 1290 3 3 310 1291 3 3 303 1292 3 3 303 1293 3 3 310 1294 3 3 311 1295 3 3 303 1296 3 3 311 1297 3 3 304 1298 3 3 304 1299 3 3 311 1300 3 3 312 1301 3 3 312 1302 3 3 305 1303 3 3 304 1304 3 3 312 1305 3 3 313 1306 3 3 305 1307 3 3 313 1308 3 3 306 1309 3 3 305 1310 3 3 313 1311 3 3 314 1312 3 3 306 1313 3 3 306 1314 3 3 314 1315 3 3 299 1316 3 3 299 1317 3 3 314 1318 3 3 307 1319 3 3 308 1320 3 3 307 1321 3 3 315 1322 3 3 308 1323 3 3 315 1324 3 3 316 1325 3 3 316 1326 3 3 309 1327 3 3 308 1328 3 3 317 1329 3 3 309 1330 3 3 316 1331 3 3 317 1332 3 3 310 1333 3 3 309 1334 3 3 318 1335 3 3 310 1336 3 3 317 1337 3 3 311 1338 3 3 310 1339 3 3 318 1340 3 3 311 1341 3 3 318 1342 3 3 319 1343 3 3 311 1344 3 3 319 1345 3 3 312 1346 3 3 312 1347 3 3 319 1348 3 3 320 1349 3 3 320 1350 3 3 313 1351 3 3 312 1352 3 3 320 1353 3 3 321 1354 3 3 313 1355 3 3 321 1356 3 3 314 1357 3 3 313 1358 3 3 321 1359 3 3 322 1360 3 3 314 1361 3 3 314 1362 3 3 322 1363 3 3 307 1364 3 3 307 1365 3 3 322 1366 3 3 315 1367 3 3 316 1368 3 3 315 1369 3 3 323 1370 3 3 316 1371 3 3 323 1372 3 3 324 1373 3 3 324 1374 3 3 317 1375 3 3 316 1376 3 3 325 1377 3 3 317 1378 3 3 324 1379 3 3 325 1380 3 3 318 1381 3 3 317 1382 3 3 326 1383 3 3 318 1384 3 3 325 1385 3 3 319 1386 3 3 318 1387 3 3 326 1388 3 3 319 1389 3 3 326 1390 3 3 327 1391 3 3 319 1392 3 3 327 1393 3 3 320 1394 3 3 320 1395 3 3 327 1396 3 3 328 1397 3 3 328 1398 3 3 321 1399 3 3 320 1400 3 3 328 1401 3 3 329 1402 3 3 321 1403 3 3 329 1404 3 3 322 1405 3 3 321 1406 3 3 329 1407 3 3 330 1408 3 3 322 1409 3 3 322 1410 3 3 330 1411 3 3 315 1412 3 3 315 1413 3 3 330 1414 3 3 323 1415 3 3 324 1416 3 3 323 1417 3 3 331 1418 3 3 324 1419 3 3 331 1420 3 3 332 1421 3 3 332 1422 3 3 325 1423 3 3 324 1424 3 3 333 1425 3 3 325 1426 3 3 332 1427 3 3 333 1428 3 3 326 1429 3 3 325 1430 3 3 334 1431 3 3 326 1432 3 3 333 1433 3 3 327 1434 3 3 326 1435 3 3 334 1436 3 3 327 1437 3 3 334 1438 3 3 335 1439 3 3 327 1440 3 3 335 1441 3 3 328 1442 3 3 328 1443 3 3 335 1444 3 3 336 1445 3 3 336 1446 3 3 329 1447 3 3 328 1448 3 3 336 1449 3 3 337 1450 3 3 329 1451 3 3 337 1452 3 3 330 1453 3 3 329 1454 3 3 337 1455 3 3 338 1456 3 3 330 1457 3 3 330 1458 3 3 338 1459 3 3 323 1460 3 3 323 1461 3 3 338 1462 3 3 331 1463 3 3 332 1464 3 3 331 1465 3 3 339 1466 3 3 340 1467 3 3 332 1468 3 3 339 1469 3 3 340 1470 3 3 333 1471 3 3 332 1472 3 3 341 1473 3 3 333 1474 3 3 340 1475 3 3 341 1476 3 3 334 1477 3 3 333 1478 3 3 342 1479 3 3 334 1480 3 3 341 1481 3 3 342 1482 3 3 335 1483 3 3 334 1484 3 3 342 1485 3 3 343 1486 3 3 335 1487 3 3 343 1488 3 3 336 1489 3 3 335 1490 3 3 343 1491 3 3 344 1492 3 3 336 1493 3 3 344 1494 3 3 337 1495 3 3 336 1496 3 3 344 1497 3 3 345 1498 3 3 337 1499 3 3 345 1500 3 3 338 1501 3 3 337 1502 3 3 345 1503 3 3 346 1504 3 3 338 1505 3 3 331 1506 3 3 338 1507 3 3 346 1508 3 3 331 1509 3 3 346 1510 3 3 339 1511 3 3 340 1512 3 3 339 1513 3 3 347 1514 3 3 340 1515 3 3 347 1516 3 3 348 1517 3 3 348 1518 3 3 341 1519 3 3 340 1520 3 3 349 1521 3 3 341 1522 3 3 348 1523 3 3 349 1524 3 3 342 1525 3 3 341 1526 3 3 350 1527 3 3 342 1528 3 3 349 1529 3 3 350 1530 3 3 343 1531 3 3 342 1532 3 3 350 1533 3 3 351 1534 3 3 343 1535 3 3 351 1536 3 3 344 1537 3 3 343 1538 3 3 351 1539 3 3 352 1540 3 3 344 1541 3 3 352 1542 3 3 345 1543 3 3 344 1544 3 3 352 1545 3 3 353 1546 3 3 345 1547 3 3 353 1548 3 3 346 1549 3 3 345 1550 3 3 353 1551 3 3 354 1552 3 3 346 1553 3 3 339 1554 3 3 346 1555 3 3 354 1556 3 3 339 1557 3 3 354 1558 3 3 347 1559 3 3 348 1560 3 3 347 1561 3 3 355 1562 3 3 348 1563 3 3 355 1564 3 3 356 1565 3 3 356 1566 3 3 349 1567 3 3 348 1568 3 3 357 1569 3 3 349 1570 3 3 356 1571 3 3 357 1572 3 3 350 1573 3 3 349 1574 3 3 358 1575 3 3 350 1576 3 3 357 1577 3 3 358 1578 3 3 351 1579 3 3 350 1580 3 3 358 1581 3 3 359 1582 3 3 351 1583 3 3 359 1584 3 3 352 1585 3 3 351 1586 3 3 359 1587 3 3 360 1588 3 3 352 1589 3 3 360 1590 3 3 353 1591 3 3 352 1592 3 3 360 1593 3 3 361 1594 3 3 353 1595 3 3 361 1596 3 3 354 1597 3 3 353 1598 3 3 361 1599 3 3 362 1600 3 3 354 1601 3 3 347 1602 3 3 354 1603 3 3 362 1604 3 3 347 1605 3 3 362 1606 3 3 355 1607 3 3 356 1608 3 3 355 1609 3 3 363 1610 3 3 356 1611 3 3 363 1612 3 3 364 1613 3 3 364 1614 3 3 357 1615 3 3 356 1616 3 3 364 1617 3 3 365 1618 3 3 357 1619 3 3 365 1620 3 3 358 1621 3 3 357 1622 3 3 366 1623 3 3 358 1624 3 3 365 1625 3 3 366 1626 3 3 359 1627 3 3 358 1628 3 3 366 1629 3 3 367 1630 3 3 359 1631 3 3 367 1632 3 3 360 1633 3 3 359 1634 3 3 367 1635 3 3 368 1636 3 3 360 1637 3 3 368 1638 3 3 361 1639 3 3 360 1640 3 3 369 1641 3 3 361 1642 3 3 368 1643 3 3 369 1644 3 3 362 1645 3 3 361 1646 3 3 370 1647 3 3 362 1648 3 3 369 1649 3 3 355 1650 3 3 362 1651 3 3 370 1652 3 3 355 1653 3 3 370 1654 3 3 363 1655 3 3 364 1656 3 3 363 1657 3 3 371 1658 3 3 372 1659 3 3 364 1660 3 3 371 1661 3 3 372 1662 3 3 365 1663 3 3 364 1664 3 3 372 1665 3 3 373 1666 3 3 365 1667 3 3 373 1668 3 3 366 1669 3 3 365 1670 3 3 373 1671 3 3 374 1672 3 3 366 1673 3 3 374 1674 3 3 367 1675 3 3 366 1676 3 3 374 1677 3 3 375 1678 3 3 367 1679 3 3 375 1680 3 3 368 1681 3 3 367 1682 3 3 375 1683 3 3 376 1684 3 3 368 1685 3 3 376 1686 3 3 369 1687 3 3 368 1688 3 3 377 1689 3 3 369 1690 3 3 376 1691 3 3 377 1692 3 3 370 1693 3 3 369 1694 3 3 378 1695 3 3 370 1696 3 3 377 1697 3 3 363 1698 3 3 370 1699 3 3 378 1700 3 3 363 1701 3 3 378 1702 3 3 371 1703 3 3 372 1704 3 3 371 1705 3 3 379 1706 3 3 372 1707 3 3 379 1708 3 3 380 1709 3 3 380 1710 3 3 373 1711 3 3 372 1712 3 3 380 1713 3 3 381 1714 3 3 373 1715 3 3 381 1716 3 3 374 1717 3 3 373 1718 3 3 381 1719 3 3 382 1720 3 3 374 1721 3 3 382 1722 3 3 375 1723 3 3 374 1724 3 3 382 1725 3 3 383 1726 3 3 375 1727 3 3 383 1728 3 3 376 1729 3 3 375 1730 3 3 383 1731 3 3 384 1732 3 3 376 1733 3 3 384 1734 3 3 377 1735 3 3 376 1736 3 3 385 1737 3 3 377 1738 3 3 384 1739 3 3 385 1740 3 3 378 1741 3 3 377 1742 3 3 386 1743 3 3 378 1744 3 3 385 1745 3 3 371 1746 3 3 378 1747 3 3 386 1748 3 3 371 1749 3 3 386 1750 3 3 379 1751 3 3 380 1752 3 3 379 1753 3 3 387 1754 3 3 380 1755 3 3 387 1756 3 3 388 1757 3 3 388 1758 3 3 381 1759 3 3 380 1760 3 3 388 1761 3 3 389 1762 3 3 381 1763 3 3 389 1764 3 3 382 1765 3 3 381 1766 3 3 389 1767 3 3 390 1768 3 3 382 1769 3 3 390 1770 3 3 383 1771 3 3 382 1772 3 3 390 1773 3 3 391 1774 3 3 383 1775 3 3 391 1776 3 3 384 1777 3 3 383 1778 3 3 391 1779 3 3 392 1780 3 3 384 1781 3 3 392 1782 3 3 385 1783 3 3 384 1784 3 3 393 1785 3 3 385 1786 3 3 392 1787 3 3 393 1788 3 3 386 1789 3 3 385 1790 3 3 394 1791 3 3 386 1792 3 3 393 1793 3 3 379 1794 3 3 386 1795 3 3 394 1796 3 3 379 1797 3 3 394 1798 3 3 387 1799 3 3 388 1800 3 3 387 1801 3 3 395 1802 3 3 388 1803 3 3 395 1804 3 3 396 1805 3 3 396 1806 3 3 389 1807 3 3 388 1808 3 3 396 1809 3 3 397 1810 3 3 389 1811 3 3 397 1812 3 3 390 1813 3 3 389 1814 3 3 397 1815 3 3 398 1816 3 3 390 1817 3 3 398 1818 3 3 391 1819 3 3 390 1820 3 3 398 1821 3 3 399 1822 3 3 391 1823 3 3 399 1824 3 3 392 1825 3 3 391 1826 3 3 399 1827 3 3 400 1828 3 3 392 1829 3 3 400 1830 3 3 393 1831 3 3 392 1832 3 3 401 1833 3 3 393 1834 3 3 400 1835 3 3 401 1836 3 3 394 1837 3 3 393 1838 3 3 402 1839 3 3 394 1840 3 3 401 1841 3 3 387 1842 3 3 394 1843 3 3 402 1844 3 3 387 1845 3 3 402 1846 3 3 395 1847 3 3 403 1848 3 3 396 1849 3 3 395 1850 3 3 404 1851 3 3 396 1852 3 3 403 1853 3 3 404 1854 3 3 397 1855 3 3 396 1856 3 3 404 1857 3 3 405 1858 3 3 397 1859 3 3 405 1860 3 3 398 1861 3 3 397 1862 3 3 405 1863 3 3 406 1864 3 3 398 1865 3 3 406 1866 3 3 399 1867 3 3 398 1868 3 3 407 1869 3 3 399 1870 3 3 406 1871 3 3 407 1872 3 3 400 1873 3 3 399 1874 3 3 407 1875 3 3 408 1876 3 3 400 1877 3 3 408 1878 3 3 401 1879 3 3 400 1880 3 3 409 1881 3 3 401 1882 3 3 408 1883 3 3 409 1884 3 3 402 1885 3 3 401 1886 3 3 410 1887 3 3 402 1888 3 3 409 1889 3 3 410 1890 3 3 395 1891 3 3 402 1892 3 3 410 1893 3 3 403 1894 3 3 395 1895 3 3 411 1896 3 3 404 1897 3 3 403 1898 3 3 412 1899 3 3 404 1900 3 3 411 1901 3 3 412 1902 3 3 405 1903 3 3 404 1904 3 3 412 1905 3 3 413 1906 3 3 405 1907 3 3 413 1908 3 3 406 1909 3 3 405 1910 3 3 414 1911 3 3 406 1912 3 3 413 1913 3 3 414 1914 3 3 407 1915 3 3 406 1916 3 3 415 1917 3 3 407 1918 3 3 414 1919 3 3 415 1920 3 3 408 1921 3 3 407 1922 3 3 415 1923 3 3 416 1924 3 3 408 1925 3 3 416 1926 3 3 409 1927 3 3 408 1928 3 3 416 1929 3 3 417 1930 3 3 409 1931 3 3 417 1932 3 3 410 1933 3 3 409 1934 3 3 418 1935 3 3 410 1936 3 3 417 1937 3 3 418 1938 3 3 403 1939 3 3 410 1940 3 3 418 1941 3 3 411 1942 3 3 403 1943 3 3 419 1944 3 3 412 1945 3 3 411 1946 3 3 420 1947 3 3 412 1948 3 3 419 1949 3 3 420 1950 3 3 413 1951 3 3 412 1952 3 3 420 1953 3 3 421 1954 3 3 413 1955 3 3 421 1956 3 3 414 1957 3 3 413 1958 3 3 421 1959 3 3 422 1960 3 3 414 1961 3 3 422 1962 3 3 415 1963 3 3 414 1964 3 3 423 1965 3 3 415 1966 3 3 422 1967 3 3 423 1968 3 3 416 1969 3 3 415 1970 3 3 423 1971 3 3 424 1972 3 3 416 1973 3 3 424 1974 3 3 417 1975 3 3 416 1976 3 3 425 1977 3 3 417 1978 3 3 424 1979 3 3 425 1980 3 3 418 1981 3 3 417 1982 3 3 426 1983 3 3 418 1984 3 3 425 1985 3 3 426 1986 3 3 411 1987 3 3 418 1988 3 3 426 1989 3 3 419 1990 3 3 411 1991 3 3 173 1992 3 3 420 1993 3 3 419 1994 3 3 172 1995 3 3 420 1996 3 3 173 1997 3 3 172 1998 3 3 421 1999 3 3 420 2000 3 3 172 2001 3 3 175 2002 3 3 421 2003 3 3 175 2004 3 3 422 2005 3 3 421 2006 3 3 175 2007 3 3 177 2008 3 3 422 2009 3 3 177 2010 3 3 423 2011 3 3 422 2012 3 3 179 2013 3 3 423 2014 3 3 177 2015 3 3 179 2016 3 3 424 2017 3 3 423 2018 3 3 181 2019 3 3 424 2020 3 3 179 2021 3 3 425 2022 3 3 424 2023 3 3 181 2024 3 3 183 2025 3 3 425 2026 3 3 181 2027 3 3 426 2028 3 3 425 2029 3 3 183 2030 3 3 185 2031 3 3 426 2032 3 3 183 2033 3 3 185 2034 3 3 419 2035 3 3 426 2036 3 3 173 2037 3 3 419 2038 3 3 185 2039 3 3 427 2040 3 3 428 2041 3 3 429 2042 3 3 427 2043 3 3 430 2044 3 3 428 2045 3 3 428 2046 3 3 430 2047 3 3 431 2048 3 3 430 2049 3 3 432 2050 3 3 431 2051 3 3 431 2052 3 3 432 2053 3 3 433 2054 3 3 432 2055 3 3 434 2056 3 3 433 2057 3 3 434 2058 3 3 435 2059 3 3 433 2060 3 3 434 2061 3 3 436 2062 3 3 435 2063 3 3 436 2064 3 3 437 2065 3 3 435 2066 3 3 438 2067 3 3 437 2068 3 3 436 2069 3 3 439 2070 3 3 437 2071 3 3 438 2072 3 3 439 2073 3 3 438 2074 3 3 440 2075 3 3 441 2076 3 3 439 2077 3 3 440 2078 3 3 441 2079 3 3 440 2080 3 3 442 2081 3 3 442 2082 3 3 429 2083 3 3 441 2084 3 3 427 2085 3 3 429 2086 3 3 442 2087 3 3 443 2088 3 3 430 2089 3 3 427 2090 3 3 443 2091 3 3 444 2092 3 3 430 2093 3 3 430 2094 3 3 444 2095 3 3 432 2096 3 3 432 2097 3 3 444 2098 3 3 445 2099 3 3 432 2100 3 3 445 2101 3 3 434 2102 3 3 434 2103 3 3 445 2104 3 3 446 2105 3 3 446 2106 3 3 436 2107 3 3 434 2108 3 3 446 2109 3 3 447 2110 3 3 436 2111 3 3 447 2112 3 3 438 2113 3 3 436 2114 3 3 448 2115 3 3 438 2116 3 3 447 2117 3 3 440 2118 3 3 438 2119 3 3 448 2120 3 3 440 2121 3 3 448 2122 3 3 449 2123 3 3 442 2124 3 3 440 2125 3 3 449 2126 3 3 442 2127 3 3 449 2128 3 3 450 2129 3 3 450 2130 3 3 427 2131 3 3 442 2132 3 3 443 2133 3 3 427 2134 3 3 450 2135 3 3 451 2136 3 3 444 2137 3 3 443 2138 3 3 451 2139 3 3 452 2140 3 3 444 2141 3 3 444 2142 3 3 452 2143 3 3 445 2144 3 3 445 2145 3 3 452 2146 3 3 453 2147 3 3 445 2148 3 3 453 2149 3 3 446 2150 3 3 446 2151 3 3 453 2152 3 3 454 2153 3 3 454 2154 3 3 447 2155 3 3 446 2156 3 3 454 2157 3 3 455 2158 3 3 447 2159 3 3 455 2160 3 3 448 2161 3 3 447 2162 3 3 456 2163 3 3 448 2164 3 3 455 2165 3 3 449 2166 3 3 448 2167 3 3 456 2168 3 3 449 2169 3 3 456 2170 3 3 457 2171 3 3 450 2172 3 3 449 2173 3 3 457 2174 3 3 450 2175 3 3 457 2176 3 3 458 2177 3 3 458 2178 3 3 443 2179 3 3 450 2180 3 3 451 2181 3 3 443 2182 3 3 458 2183 3 3 459 2184 3 3 452 2185 3 3 451 2186 3 3 459 2187 3 3 460 2188 3 3 452 2189 3 3 452 2190 3 3 460 2191 3 3 453 2192 3 3 453 2193 3 3 460 2194 3 3 461 2195 3 3 453 2196 3 3 461 2197 3 3 454 2198 3 3 454 2199 3 3 461 2200 3 3 462 2201 3 3 462 2202 3 3 455 2203 3 3 454 2204 3 3 462 2205 3 3 463 2206 3 3 455 2207 3 3 463 2208 3 3 456 2209 3 3 455 2210 3 3 464 2211 3 3 456 2212 3 3 463 2213 3 3 457 2214 3 3 456 2215 3 3 464 2216 3 3 457 2217 3 3 464 2218 3 3 465 2219 3 3 458 2220 3 3 457 2221 3 3 465 2222 3 3 458 2223 3 3 465 2224 3 3 466 2225 3 3 466 2226 3 3 451 2227 3 3 458 2228 3 3 459 2229 3 3 451 2230 3 3 466 2231 3 3 460 2232 3 3 459 2233 3 3 467 2234 3 3 460 2235 3 3 467 2236 3 3 468 2237 3 3 460 2238 3 3 468 2239 3 3 461 2240 3 3 461 2241 3 3 468 2242 3 3 469 2243 3 3 461 2244 3 3 469 2245 3 3 462 2246 3 3 462 2247 3 3 469 2248 3 3 470 2249 3 3 470 2250 3 3 463 2251 3 3 462 2252 3 3 470 2253 3 3 471 2254 3 3 463 2255 3 3 471 2256 3 3 464 2257 3 3 463 2258 3 3 471 2259 3 3 472 2260 3 3 464 2261 3 3 465 2262 3 3 464 2263 3 3 472 2264 3 3 465 2265 3 3 472 2266 3 3 473 2267 3 3 466 2268 3 3 465 2269 3 3 473 2270 3 3 466 2271 3 3 473 2272 3 3 474 2273 3 3 459 2274 3 3 466 2275 3 3 474 2276 3 3 459 2277 3 3 474 2278 3 3 467 2279 3 3 468 2280 3 3 467 2281 3 3 475 2282 3 3 476 2283 3 3 468 2284 3 3 475 2285 3 3 468 2286 3 3 476 2287 3 3 469 2288 3 3 469 2289 3 3 476 2290 3 3 477 2291 3 3 469 2292 3 3 477 2293 3 3 470 2294 3 3 470 2295 3 3 477 2296 3 3 478 2297 3 3 478 2298 3 3 471 2299 3 3 470 2300 3 3 478 2301 3 3 479 2302 3 3 471 2303 3 3 479 2304 3 3 472 2305 3 3 471 2306 3 3 479 2307 3 3 480 2308 3 3 472 2309 3 3 473 2310 3 3 472 2311 3 3 480 2312 3 3 473 2313 3 3 480 2314 3 3 481 2315 3 3 474 2316 3 3 473 2317 3 3 481 2318 3 3 474 2319 3 3 481 2320 3 3 482 2321 3 3 467 2322 3 3 474 2323 3 3 482 2324 3 3 475 2325 3 3 467 2326 3 3 482 2327 3 3 476 2328 3 3 475 2329 3 3 483 2330 3 3 476 2331 3 3 483 2332 3 3 484 2333 3 3 476 2334 3 3 484 2335 3 3 477 2336 3 3 477 2337 3 3 484 2338 3 3 485 2339 3 3 477 2340 3 3 485 2341 3 3 478 2342 3 3 478 2343 3 3 485 2344 3 3 486 2345 3 3 486 2346 3 3 479 2347 3 3 478 2348 3 3 486 2349 3 3 487 2350 3 3 479 2351 3 3 487 2352 3 3 480 2353 3 3 479 2354 3 3 487 2355 3 3 488 2356 3 3 480 2357 3 3 481 2358 3 3 480 2359 3 3 488 2360 3 3 481 2361 3 3 488 2362 3 3 489 2363 3 3 482 2364 3 3 481 2365 3 3 489 2366 3 3 482 2367 3 3 489 2368 3 3 490 2369 3 3 475 2370 3 3 482 2371 3 3 490 2372 3 3 475 2373 3 3 490 2374 3 3 483 2375 3 3 484 2376 3 3 483 2377 3 3 491 2378 3 3 484 2379 3 3 491 2380 3 3 492 2381 3 3 484 2382 3 3 492 2383 3 3 485 2384 3 3 485 2385 3 3 492 2386 3 3 493 2387 3 3 485 2388 3 3 493 2389 3 3 486 2390 3 3 486 2391 3 3 493 2392 3 3 494 2393 3 3 486 2394 3 3 494 2395 3 3 487 2396 3 3 494 2397 3 3 495 2398 3 3 487 2399 3 3 487 2400 3 3 495 2401 3 3 488 2402 3 3 495 2403 3 3 496 2404 3 3 488 2405 3 3 489 2406 3 3 488 2407 3 3 496 2408 3 3 489 2409 3 3 496 2410 3 3 497 2411 3 3 490 2412 3 3 489 2413 3 3 497 2414 3 3 490 2415 3 3 497 2416 3 3 498 2417 3 3 483 2418 3 3 490 2419 3 3 498 2420 3 3 483 2421 3 3 498 2422 3 3 491 2423 3 3 492 2424 3 3 491 2425 3 3 499 2426 3 3 492 2427 3 3 499 2428 3 3 500 2429 3 3 492 2430 3 3 500 2431 3 3 493 2432 3 3 493 2433 3 3 500 2434 3 3 501 2435 3 3 493 2436 3 3 501 2437 3 3 494 2438 3 3 494 2439 3 3 501 2440 3 3 502 2441 3 3 502 2442 3 3 495 2443 3 3 494 2444 3 3 502 2445 3 3 503 2446 3 3 495 2447 3 3 503 2448 3 3 496 2449 3 3 495 2450 3 3 503 2451 3 3 504 2452 3 3 496 2453 3 3 496 2454 3 3 504 2455 3 3 497 2456 3 3 497 2457 3 3 504 2458 3 3 505 2459 3 3 497 2460 3 3 505 2461 3 3 498 2462 3 3 498 2463 3 3 505 2464 3 3 506 2465 3 3 491 2466 3 3 498 2467 3 3 506 2468 3 3 491 2469 3 3 506 2470 3 3 499 2471 3 3 500 2472 3 3 499 2473 3 3 507 2474 3 3 500 2475 3 3 507 2476 3 3 508 2477 3 3 501 2478 3 3 500 2479 3 3 508 2480 3 3 501 2481 3 3 508 2482 3 3 509 2483 3 3 502 2484 3 3 501 2485 3 3 509 2486 3 3 502 2487 3 3 509 2488 3 3 510 2489 3 3 510 2490 3 3 503 2491 3 3 502 2492 3 3 510 2493 3 3 511 2494 3 3 503 2495 3 3 511 2496 3 3 504 2497 3 3 503 2498 3 3 511 2499 3 3 512 2500 3 3 504 2501 3 3 504 2502 3 3 512 2503 3 3 505 2504 3 3 505 2505 3 3 512 2506 3 3 513 2507 3 3 505 2508 3 3 513 2509 3 3 506 2510 3 3 506 2511 3 3 513 2512 3 3 514 2513 3 3 499 2514 3 3 506 2515 3 3 514 2516 3 3 499 2517 3 3 514 2518 3 3 507 2519 3 3 508 2520 3 3 507 2521 3 3 515 2522 3 3 508 2523 3 3 515 2524 3 3 516 2525 3 3 509 2526 3 3 508 2527 3 3 516 2528 3 3 509 2529 3 3 516 2530 3 3 517 2531 3 3 510 2532 3 3 509 2533 3 3 517 2534 3 3 510 2535 3 3 517 2536 3 3 518 2537 3 3 518 2538 3 3 511 2539 3 3 510 2540 3 3 518 2541 3 3 519 2542 3 3 511 2543 3 3 519 2544 3 3 512 2545 3 3 511 2546 3 3 519 2547 3 3 520 2548 3 3 512 2549 3 3 512 2550 3 3 520 2551 3 3 513 2552 3 3 513 2553 3 3 520 2554 3 3 521 2555 3 3 513 2556 3 3 521 2557 3 3 514 2558 3 3 514 2559 3 3 521 2560 3 3 522 2561 3 3 507 2562 3 3 514 2563 3 3 522 2564 3 3 507 2565 3 3 522 2566 3 3 515 2567 3 3 516 2568 3 3 515 2569 3 3 523 2570 3 3 516 2571 3 3 523 2572 3 3 524 2573 3 3 517 2574 3 3 516 2575 3 3 524 2576 3 3 517 2577 3 3 524 2578 3 3 525 2579 3 3 518 2580 3 3 517 2581 3 3 525 2582 3 3 518 2583 3 3 525 2584 3 3 526 2585 3 3 526 2586 3 3 519 2587 3 3 518 2588 3 3 526 2589 3 3 527 2590 3 3 519 2591 3 3 527 2592 3 3 520 2593 3 3 519 2594 3 3 527 2595 3 3 528 2596 3 3 520 2597 3 3 520 2598 3 3 528 2599 3 3 521 2600 3 3 521 2601 3 3 528 2602 3 3 529 2603 3 3 521 2604 3 3 529 2605 3 3 522 2606 3 3 522 2607 3 3 529 2608 3 3 530 2609 3 3 515 2610 3 3 522 2611 3 3 530 2612 3 3 515 2613 3 3 530 2614 3 3 523 2615 3 3 523 2616 3 3 531 2617 3 3 524 2618 3 3 524 2619 3 3 531 2620 3 3 532 2621 3 3 525 2622 3 3 524 2623 3 3 532 2624 3 3 525 2625 3 3 532 2626 3 3 533 2627 3 3 526 2628 3 3 525 2629 3 3 533 2630 3 3 526 2631 3 3 533 2632 3 3 534 2633 3 3 526 2634 3 3 534 2635 3 3 527 2636 3 3 527 2637 3 3 534 2638 3 3 535 2639 3 3 528 2640 3 3 527 2641 3 3 535 2642 3 3 528 2643 3 3 535 2644 3 3 536 2645 3 3 528 2646 3 3 536 2647 3 3 529 2648 3 3 529 2649 3 3 536 2650 3 3 537 2651 3 3 529 2652 3 3 537 2653 3 3 530 2654 3 3 530 2655 3 3 537 2656 3 3 538 2657 3 3 523 2658 3 3 530 2659 3 3 538 2660 3 3 523 2661 3 3 538 2662 3 3 531 2663 3 3 531 2664 3 3 539 2665 3 3 532 2666 3 3 532 2667 3 3 539 2668 3 3 540 2669 3 3 533 2670 3 3 532 2671 3 3 540 2672 3 3 533 2673 3 3 540 2674 3 3 541 2675 3 3 534 2676 3 3 533 2677 3 3 541 2678 3 3 534 2679 3 3 541 2680 3 3 542 2681 3 3 534 2682 3 3 542 2683 3 3 535 2684 3 3 535 2685 3 3 542 2686 3 3 543 2687 3 3 536 2688 3 3 535 2689 3 3 543 2690 3 3 536 2691 3 3 543 2692 3 3 544 2693 3 3 536 2694 3 3 544 2695 3 3 537 2696 3 3 537 2697 3 3 544 2698 3 3 545 2699 3 3 537 2700 3 3 545 2701 3 3 538 2702 3 3 538 2703 3 3 545 2704 3 3 539 2705 3 3 531 2706 3 3 538 2707 3 3 539 2708 3 3 539 2709 3 3 546 2710 3 3 540 2711 3 3 541 2712 3 3 540 2713 3 3 547 2714 3 3 541 2715 3 3 547 2716 3 3 548 2717 3 3 542 2718 3 3 541 2719 3 3 548 2720 3 3 542 2721 3 3 548 2722 3 3 549 2723 3 3 542 2724 3 3 549 2725 3 3 543 2726 3 3 543 2727 3 3 549 2728 3 3 550 2729 3 3 544 2730 3 3 543 2731 3 3 550 2732 3 3 544 2733 3 3 550 2734 3 3 551 2735 3 3 544 2736 3 3 551 2737 3 3 545 2738 3 3 545 2739 3 3 551 2740 3 3 552 2741 3 3 545 2742 3 3 552 2743 3 3 539 2744 3 3 539 2745 3 3 552 2746 3 3 553 2747 3 3 547 2748 3 3 554 2749 3 3 555 2750 3 3 548 2751 3 3 547 2752 3 3 555 2753 3 3 548 2754 3 3 555 2755 3 3 556 2756 3 3 548 2757 3 3 556 2758 3 3 549 2759 3 3 549 2760 3 3 556 2761 3 3 557 2762 3 3 549 2763 3 3 557 2764 3 3 550 2765 3 3 550 2766 3 3 557 2767 3 3 558 2768 3 3 551 2769 3 3 550 2770 3 3 558 2771 3 3 551 2772 3 3 558 2773 3 3 559 2774 3 3 551 2775 3 3 559 2776 3 3 552 2777 3 3 559 2778 3 3 560 2779 3 3 552 2780 3 3 552 2781 3 3 560 2782 3 3 553 2783 3 3 560 2784 3 3 561 2785 3 3 553 2786 3 3 546 2787 3 3 553 2788 3 3 561 2789 3 3 546 2790 3 3 561 2791 3 3 554 2792 3 3 554 2793 3 3 562 2794 3 3 555 2795 3 3 555 2796 3 3 562 2797 3 3 563 2798 3 3 556 2799 3 3 555 2800 3 3 563 2801 3 3 564 2802 3 3 556 2803 3 3 563 2804 3 3 557 2805 3 3 556 2806 3 3 564 2807 3 3 565 2808 3 3 557 2809 3 3 564 2810 3 3 557 2811 3 3 565 2812 3 3 558 2813 3 3 558 2814 3 3 565 2815 3 3 566 2816 3 3 558 2817 3 3 566 2818 3 3 559 2819 3 3 559 2820 3 3 566 2821 3 3 567 2822 3 3 567 2823 3 3 560 2824 3 3 559 2825 3 3 567 2826 3 3 568 2827 3 3 560 2828 3 3 568 2829 3 3 561 2830 3 3 560 2831 3 3 568 2832 3 3 569 2833 3 3 561 2834 3 3 561 2835 3 3 569 2836 3 3 554 2837 3 3 554 2838 3 3 569 2839 3 3 562 2840 3 3 563 2841 3 3 562 2842 3 3 570 2843 3 3 563 2844 3 3 570 2845 3 3 571 2846 3 3 571 2847 3 3 564 2848 3 3 563 2849 3 3 572 2850 3 3 564 2851 3 3 571 2852 3 3 572 2853 3 3 565 2854 3 3 564 2855 3 3 573 2856 3 3 565 2857 3 3 572 2858 3 3 566 2859 3 3 565 2860 3 3 573 2861 3 3 566 2862 3 3 573 2863 3 3 574 2864 3 3 566 2865 3 3 574 2866 3 3 567 2867 3 3 567 2868 3 3 574 2869 3 3 575 2870 3 3 575 2871 3 3 568 2872 3 3 567 2873 3 3 575 2874 3 3 576 2875 3 3 568 2876 3 3 576 2877 3 3 569 2878 3 3 568 2879 3 3 576 2880 3 3 577 2881 3 3 569 2882 3 3 569 2883 3 3 577 2884 3 3 562 2885 3 3 562 2886 3 3 577 2887 3 3 570 2888 3 3 571 2889 3 3 570 2890 3 3 578 2891 3 3 571 2892 3 3 578 2893 3 3 579 2894 3 3 579 2895 3 3 572 2896 3 3 571 2897 3 3 580 2898 3 3 572 2899 3 3 579 2900 3 3 580 2901 3 3 573 2902 3 3 572 2903 3 3 581 2904 3 3 573 2905 3 3 580 2906 3 3 574 2907 3 3 573 2908 3 3 581 2909 3 3 574 2910 3 3 581 2911 3 3 582 2912 3 3 574 2913 3 3 582 2914 3 3 575 2915 3 3 575 2916 3 3 582 2917 3 3 583 2918 3 3 583 2919 3 3 576 2920 3 3 575 2921 3 3 583 2922 3 3 584 2923 3 3 576 2924 3 3 584 2925 3 3 577 2926 3 3 576 2927 3 3 584 2928 3 3 585 2929 3 3 577 2930 3 3 577 2931 3 3 585 2932 3 3 570 2933 3 3 570 2934 3 3 585 2935 3 3 578 2936 3 3 579 2937 3 3 578 2938 3 3 586 2939 3 3 579 2940 3 3 586 2941 3 3 587 2942 3 3 587 2943 3 3 580 2944 3 3 579 2945 3 3 588 2946 3 3 580 2947 3 3 587 2948 3 3 588 2949 3 3 581 2950 3 3 580 2951 3 3 589 2952 3 3 581 2953 3 3 588 2954 3 3 582 2955 3 3 581 2956 3 3 589 2957 3 3 582 2958 3 3 589 2959 3 3 590 2960 3 3 582 2961 3 3 590 2962 3 3 583 2963 3 3 583 2964 3 3 590 2965 3 3 591 2966 3 3 591 2967 3 3 584 2968 3 3 583 2969 3 3 591 2970 3 3 592 2971 3 3 584 2972 3 3 592 2973 3 3 585 2974 3 3 584 2975 3 3 592 2976 3 3 593 2977 3 3 585 2978 3 3 585 2979 3 3 593 2980 3 3 578 2981 3 3 578 2982 3 3 593 2983 3 3 586 2984 3 3 587 2985 3 3 586 2986 3 3 594 2987 3 3 587 2988 3 3 594 2989 3 3 595 2990 3 3 595 2991 3 3 588 2992 3 3 587 2993 3 3 596 2994 3 3 588 2995 3 3 595 2996 3 3 596 2997 3 3 589 2998 3 3 588 2999 3 3 597 3000 3 3 589 3001 3 3 596 3002 3 3 597 3003 3 3 590 3004 3 3 589 3005 3 3 597 3006 3 3 598 3007 3 3 590 3008 3 3 598 3009 3 3 591 3010 3 3 590 3011 3 3 598 3012 3 3 599 3013 3 3 591 3014 3 3 599 3015 3 3 592 3016 3 3 591 3017 3 3 599 3018 3 3 600 3019 3 3 592 3020 3 3 600 3021 3 3 593 3022 3 3 592 3023 3 3 600 3024 3 3 601 3025 3 3 593 3026 3 3 586 3027 3 3 593 3028 3 3 601 3029 3 3 586 3030 3 3 601 3031 3 3 594 3032 3 3 595 3033 3 3 594 3034 3 3 602 3035 3 3 595 3036 3 3 602 3037 3 3 603 3038 3 3 603 3039 3 3 596 3040 3 3 595 3041 3 3 604 3042 3 3 596 3043 3 3 603 3044 3 3 604 3045 3 3 597 3046 3 3 596 3047 3 3 605 3048 3 3 597 3049 3 3 604 3050 3 3 605 3051 3 3 598 3052 3 3 597 3053 3 3 605 3054 3 3 606 3055 3 3 598 3056 3 3 606 3057 3 3 599 3058 3 3 598 3059 3 3 606 3060 3 3 607 3061 3 3 599 3062 3 3 607 3063 3 3 600 3064 3 3 599 3065 3 3 607 3066 3 3 608 3067 3 3 600 3068 3 3 608 3069 3 3 601 3070 3 3 600 3071 3 3 608 3072 3 3 609 3073 3 3 601 3074 3 3 594 3075 3 3 601 3076 3 3 609 3077 3 3 594 3078 3 3 609 3079 3 3 602 3080 3 3 603 3081 3 3 602 3082 3 3 610 3083 3 3 603 3084 3 3 610 3085 3 3 611 3086 3 3 611 3087 3 3 604 3088 3 3 603 3089 3 3 612 3090 3 3 604 3091 3 3 611 3092 3 3 612 3093 3 3 605 3094 3 3 604 3095 3 3 613 3096 3 3 605 3097 3 3 612 3098 3 3 613 3099 3 3 606 3100 3 3 605 3101 3 3 613 3102 3 3 614 3103 3 3 606 3104 3 3 614 3105 3 3 607 3106 3 3 606 3107 3 3 614 3108 3 3 615 3109 3 3 607 3110 3 3 615 3111 3 3 608 3112 3 3 607 3113 3 3 615 3114 3 3 616 3115 3 3 608 3116 3 3 616 3117 3 3 609 3118 3 3 608 3119 3 3 616 3120 3 3 617 3121 3 3 609 3122 3 3 602 3123 3 3 609 3124 3 3 617 3125 3 3 602 3126 3 3 617 3127 3 3 610 3128 3 3 611 3129 3 3 610 3130 3 3 618 3131 3 3 611 3132 3 3 618 3133 3 3 619 3134 3 3 619 3135 3 3 612 3136 3 3 611 3137 3 3 620 3138 3 3 612 3139 3 3 619 3140 3 3 620 3141 3 3 613 3142 3 3 612 3143 3 3 621 3144 3 3 613 3145 3 3 620 3146 3 3 621 3147 3 3 614 3148 3 3 613 3149 3 3 621 3150 3 3 622 3151 3 3 614 3152 3 3 622 3153 3 3 615 3154 3 3 614 3155 3 3 622 3156 3 3 623 3157 3 3 615 3158 3 3 623 3159 3 3 616 3160 3 3 615 3161 3 3 624 3162 3 3 616 3163 3 3 623 3164 3 3 624 3165 3 3 617 3166 3 3 616 3167 3 3 625 3168 3 3 617 3169 3 3 624 3170 3 3 610 3171 3 3 617 3172 3 3 625 3173 3 3 610 3174 3 3 625 3175 3 3 618 3176 3 3 619 3177 3 3 618 3178 3 3 626 3179 3 3 619 3180 3 3 626 3181 3 3 627 3182 3 3 627 3183 3 3 620 3184 3 3 619 3185 3 3 627 3186 3 3 628 3187 3 3 620 3188 3 3 628 3189 3 3 621 3190 3 3 620 3191 3 3 628 3192 3 3 629 3193 3 3 621 3194 3 3 629 3195 3 3 622 3196 3 3 621 3197 3 3 629 3198 3 3 630 3199 3 3 622 3200 3 3 630 3201 3 3 623 3202 3 3 622 3203 3 3 630 3204 3 3 631 3205 3 3 623 3206 3 3 631 3207 3 3 624 3208 3 3 623 3209 3 3 632 3210 3 3 624 3211 3 3 631 3212 3 3 632 3213 3 3 625 3214 3 3 624 3215 3 3 633 3216 3 3 625 3217 3 3 632 3218 3 3 618 3219 3 3 625 3220 3 3 633 3221 3 3 618 3222 3 3 633 3223 3 3 626 3224 3 3 627 3225 3 3 626 3226 3 3 634 3227 3 3 627 3228 3 3 634 3229 3 3 635 3230 3 3 635 3231 3 3 628 3232 3 3 627 3233 3 3 635 3234 3 3 636 3235 3 3 628 3236 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171 504 3 3 172 505 3 3 173 506 3 3 171 507 3 3 174 508 3 3 172 509 3 3 172 510 3 3 174 511 3 3 175 512 3 3 174 513 3 3 176 514 3 3 175 515 3 3 175 516 3 3 176 517 3 3 177 518 3 3 176 519 3 3 178 520 3 3 177 521 3 3 178 522 3 3 179 523 3 3 177 524 3 3 178 525 3 3 180 526 3 3 179 527 3 3 180 528 3 3 181 529 3 3 179 530 3 3 182 531 3 3 181 532 3 3 180 533 3 3 183 534 3 3 181 535 3 3 182 536 3 3 183 537 3 3 182 538 3 3 184 539 3 3 185 540 3 3 183 541 3 3 184 542 3 3 185 543 3 3 184 544 3 3 186 545 3 3 186 546 3 3 173 547 3 3 185 548 3 3 171 549 3 3 173 550 3 3 186 551 3 3 187 552 3 3 174 553 3 3 171 554 3 3 187 555 3 3 188 556 3 3 174 557 3 3 174 558 3 3 188 559 3 3 176 560 3 3 176 561 3 3 188 562 3 3 189 563 3 3 176 564 3 3 189 565 3 3 178 566 3 3 178 567 3 3 189 568 3 3 190 569 3 3 190 570 3 3 180 571 3 3 178 572 3 3 190 573 3 3 191 574 3 3 180 575 3 3 191 576 3 3 182 577 3 3 180 578 3 3 192 579 3 3 182 580 3 3 191 581 3 3 184 582 3 3 182 583 3 3 192 584 3 3 184 585 3 3 192 586 3 3 193 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3 3 275 1081 3 3 268 1082 3 3 268 1083 3 3 275 1084 3 3 276 1085 3 3 269 1086 3 3 268 1087 3 3 276 1088 3 3 269 1089 3 3 276 1090 3 3 277 1091 3 3 270 1092 3 3 269 1093 3 3 277 1094 3 3 270 1095 3 3 277 1096 3 3 278 1097 3 3 270 1098 3 3 278 1099 3 3 271 1100 3 3 271 1101 3 3 278 1102 3 3 279 1103 3 3 272 1104 3 3 271 1105 3 3 279 1106 3 3 272 1107 3 3 279 1108 3 3 280 1109 3 3 272 1110 3 3 280 1111 3 3 273 1112 3 3 273 1113 3 3 280 1114 3 3 281 1115 3 3 273 1116 3 3 281 1117 3 3 274 1118 3 3 274 1119 3 3 281 1120 3 3 282 1121 3 3 267 1122 3 3 274 1123 3 3 282 1124 3 3 267 1125 3 3 282 1126 3 3 275 1127 3 3 275 1128 3 3 283 1129 3 3 276 1130 3 3 276 1131 3 3 283 1132 3 3 284 1133 3 3 277 1134 3 3 276 1135 3 3 284 1136 3 3 277 1137 3 3 284 1138 3 3 285 1139 3 3 278 1140 3 3 277 1141 3 3 285 1142 3 3 278 1143 3 3 285 1144 3 3 286 1145 3 3 278 1146 3 3 286 1147 3 3 279 1148 3 3 279 1149 3 3 286 1150 3 3 287 1151 3 3 280 1152 3 3 279 1153 3 3 287 1154 3 3 280 1155 3 3 287 1156 3 3 288 1157 3 3 280 1158 3 3 288 1159 3 3 281 1160 3 3 281 1161 3 3 288 1162 3 3 289 1163 3 3 281 1164 3 3 289 1165 3 3 282 1166 3 3 282 1167 3 3 289 1168 3 3 290 1169 3 3 275 1170 3 3 282 1171 3 3 290 1172 3 3 275 1173 3 3 290 1174 3 3 283 1175 3 3 283 1176 3 3 291 1177 3 3 284 1178 3 3 284 1179 3 3 291 1180 3 3 292 1181 3 3 285 1182 3 3 284 1183 3 3 292 1184 3 3 285 1185 3 3 292 1186 3 3 293 1187 3 3 286 1188 3 3 285 1189 3 3 293 1190 3 3 286 1191 3 3 293 1192 3 3 294 1193 3 3 286 1194 3 3 294 1195 3 3 287 1196 3 3 287 1197 3 3 294 1198 3 3 295 1199 3 3 288 1200 3 3 287 1201 3 3 295 1202 3 3 288 1203 3 3 295 1204 3 3 296 1205 3 3 289 1206 3 3 288 1207 3 3 296 1208 3 3 289 1209 3 3 296 1210 3 3 297 1211 3 3 289 1212 3 3 297 1213 3 3 290 1214 3 3 290 1215 3 3 297 1216 3 3 298 1217 3 3 283 1218 3 3 290 1219 3 3 298 1220 3 3 283 1221 3 3 298 1222 3 3 291 1223 3 3 291 1224 3 3 299 1225 3 3 292 1226 3 3 292 1227 3 3 299 1228 3 3 300 1229 3 3 293 1230 3 3 292 1231 3 3 300 1232 3 3 293 1233 3 3 300 1234 3 3 301 1235 3 3 293 1236 3 3 301 1237 3 3 294 1238 3 3 294 1239 3 3 301 1240 3 3 302 1241 3 3 294 1242 3 3 302 1243 3 3 295 1244 3 3 295 1245 3 3 302 1246 3 3 303 1247 3 3 296 1248 3 3 295 1249 3 3 303 1250 3 3 296 1251 3 3 303 1252 3 3 304 1253 3 3 297 1254 3 3 296 1255 3 3 304 1256 3 3 304 1257 3 3 305 1258 3 3 297 1259 3 3 297 1260 3 3 305 1261 3 3 298 1262 3 3 305 1263 3 3 306 1264 3 3 298 1265 3 3 291 1266 3 3 298 1267 3 3 306 1268 3 3 291 1269 3 3 306 1270 3 3 299 1271 3 3 299 1272 3 3 307 1273 3 3 300 1274 3 3 300 1275 3 3 307 1276 3 3 308 1277 3 3 301 1278 3 3 300 1279 3 3 308 1280 3 3 309 1281 3 3 301 1282 3 3 308 1283 3 3 302 1284 3 3 301 1285 3 3 309 1286 3 3 310 1287 3 3 302 1288 3 3 309 1289 3 3 302 1290 3 3 310 1291 3 3 303 1292 3 3 303 1293 3 3 310 1294 3 3 311 1295 3 3 303 1296 3 3 311 1297 3 3 304 1298 3 3 304 1299 3 3 311 1300 3 3 312 1301 3 3 312 1302 3 3 305 1303 3 3 304 1304 3 3 312 1305 3 3 313 1306 3 3 305 1307 3 3 313 1308 3 3 306 1309 3 3 305 1310 3 3 313 1311 3 3 314 1312 3 3 306 1313 3 3 306 1314 3 3 314 1315 3 3 299 1316 3 3 299 1317 3 3 314 1318 3 3 307 1319 3 3 308 1320 3 3 307 1321 3 3 315 1322 3 3 308 1323 3 3 315 1324 3 3 316 1325 3 3 316 1326 3 3 309 1327 3 3 308 1328 3 3 317 1329 3 3 309 1330 3 3 316 1331 3 3 317 1332 3 3 310 1333 3 3 309 1334 3 3 318 1335 3 3 310 1336 3 3 317 1337 3 3 311 1338 3 3 310 1339 3 3 318 1340 3 3 311 1341 3 3 318 1342 3 3 319 1343 3 3 311 1344 3 3 319 1345 3 3 312 1346 3 3 312 1347 3 3 319 1348 3 3 320 1349 3 3 320 1350 3 3 313 1351 3 3 312 1352 3 3 320 1353 3 3 321 1354 3 3 313 1355 3 3 321 1356 3 3 314 1357 3 3 313 1358 3 3 321 1359 3 3 322 1360 3 3 314 1361 3 3 314 1362 3 3 322 1363 3 3 307 1364 3 3 307 1365 3 3 322 1366 3 3 315 1367 3 3 316 1368 3 3 315 1369 3 3 323 1370 3 3 316 1371 3 3 323 1372 3 3 324 1373 3 3 324 1374 3 3 317 1375 3 3 316 1376 3 3 325 1377 3 3 317 1378 3 3 324 1379 3 3 325 1380 3 3 318 1381 3 3 317 1382 3 3 326 1383 3 3 318 1384 3 3 325 1385 3 3 319 1386 3 3 318 1387 3 3 326 1388 3 3 319 1389 3 3 326 1390 3 3 327 1391 3 3 319 1392 3 3 327 1393 3 3 320 1394 3 3 320 1395 3 3 327 1396 3 3 328 1397 3 3 328 1398 3 3 321 1399 3 3 320 1400 3 3 328 1401 3 3 329 1402 3 3 321 1403 3 3 329 1404 3 3 322 1405 3 3 321 1406 3 3 329 1407 3 3 330 1408 3 3 322 1409 3 3 322 1410 3 3 330 1411 3 3 315 1412 3 3 315 1413 3 3 330 1414 3 3 323 1415 3 3 324 1416 3 3 323 1417 3 3 331 1418 3 3 324 1419 3 3 331 1420 3 3 332 1421 3 3 332 1422 3 3 325 1423 3 3 324 1424 3 3 333 1425 3 3 325 1426 3 3 332 1427 3 3 333 1428 3 3 326 1429 3 3 325 1430 3 3 334 1431 3 3 326 1432 3 3 333 1433 3 3 327 1434 3 3 326 1435 3 3 334 1436 3 3 327 1437 3 3 334 1438 3 3 335 1439 3 3 327 1440 3 3 335 1441 3 3 328 1442 3 3 328 1443 3 3 335 1444 3 3 336 1445 3 3 336 1446 3 3 329 1447 3 3 328 1448 3 3 336 1449 3 3 337 1450 3 3 329 1451 3 3 337 1452 3 3 330 1453 3 3 329 1454 3 3 337 1455 3 3 338 1456 3 3 330 1457 3 3 330 1458 3 3 338 1459 3 3 323 1460 3 3 323 1461 3 3 338 1462 3 3 331 1463 3 3 332 1464 3 3 331 1465 3 3 339 1466 3 3 340 1467 3 3 332 1468 3 3 339 1469 3 3 340 1470 3 3 333 1471 3 3 332 1472 3 3 341 1473 3 3 333 1474 3 3 340 1475 3 3 341 1476 3 3 334 1477 3 3 333 1478 3 3 342 1479 3 3 334 1480 3 3 341 1481 3 3 342 1482 3 3 335 1483 3 3 334 1484 3 3 342 1485 3 3 343 1486 3 3 335 1487 3 3 343 1488 3 3 336 1489 3 3 335 1490 3 3 343 1491 3 3 344 1492 3 3 336 1493 3 3 344 1494 3 3 337 1495 3 3 336 1496 3 3 344 1497 3 3 345 1498 3 3 337 1499 3 3 345 1500 3 3 338 1501 3 3 337 1502 3 3 345 1503 3 3 346 1504 3 3 338 1505 3 3 331 1506 3 3 338 1507 3 3 346 1508 3 3 331 1509 3 3 346 1510 3 3 339 1511 3 3 340 1512 3 3 339 1513 3 3 347 1514 3 3 340 1515 3 3 347 1516 3 3 348 1517 3 3 348 1518 3 3 341 1519 3 3 340 1520 3 3 349 1521 3 3 341 1522 3 3 348 1523 3 3 349 1524 3 3 342 1525 3 3 341 1526 3 3 350 1527 3 3 342 1528 3 3 349 1529 3 3 350 1530 3 3 343 1531 3 3 342 1532 3 3 350 1533 3 3 351 1534 3 3 343 1535 3 3 351 1536 3 3 344 1537 3 3 343 1538 3 3 351 1539 3 3 352 1540 3 3 344 1541 3 3 352 1542 3 3 345 1543 3 3 344 1544 3 3 352 1545 3 3 353 1546 3 3 345 1547 3 3 353 1548 3 3 346 1549 3 3 345 1550 3 3 353 1551 3 3 354 1552 3 3 346 1553 3 3 339 1554 3 3 346 1555 3 3 354 1556 3 3 339 1557 3 3 354 1558 3 3 347 1559 3 3 348 1560 3 3 347 1561 3 3 355 1562 3 3 348 1563 3 3 355 1564 3 3 356 1565 3 3 356 1566 3 3 349 1567 3 3 348 1568 3 3 357 1569 3 3 349 1570 3 3 356 1571 3 3 357 1572 3 3 350 1573 3 3 349 1574 3 3 358 1575 3 3 350 1576 3 3 357 1577 3 3 358 1578 3 3 351 1579 3 3 350 1580 3 3 358 1581 3 3 359 1582 3 3 351 1583 3 3 359 1584 3 3 352 1585 3 3 351 1586 3 3 359 1587 3 3 360 1588 3 3 352 1589 3 3 360 1590 3 3 353 1591 3 3 352 1592 3 3 360 1593 3 3 361 1594 3 3 353 1595 3 3 361 1596 3 3 354 1597 3 3 353 1598 3 3 361 1599 3 3 362 1600 3 3 354 1601 3 3 347 1602 3 3 354 1603 3 3 362 1604 3 3 347 1605 3 3 362 1606 3 3 355 1607 3 3 356 1608 3 3 355 1609 3 3 363 1610 3 3 356 1611 3 3 363 1612 3 3 364 1613 3 3 364 1614 3 3 357 1615 3 3 356 1616 3 3 364 1617 3 3 365 1618 3 3 357 1619 3 3 365 1620 3 3 358 1621 3 3 357 1622 3 3 366 1623 3 3 358 1624 3 3 365 1625 3 3 366 1626 3 3 359 1627 3 3 358 1628 3 3 366 1629 3 3 367 1630 3 3 359 1631 3 3 367 1632 3 3 360 1633 3 3 359 1634 3 3 367 1635 3 3 368 1636 3 3 360 1637 3 3 368 1638 3 3 361 1639 3 3 360 1640 3 3 369 1641 3 3 361 1642 3 3 368 1643 3 3 369 1644 3 3 362 1645 3 3 361 1646 3 3 370 1647 3 3 362 1648 3 3 369 1649 3 3 355 1650 3 3 362 1651 3 3 370 1652 3 3 355 1653 3 3 370 1654 3 3 363 1655 3 3 364 1656 3 3 363 1657 3 3 371 1658 3 3 372 1659 3 3 364 1660 3 3 371 1661 3 3 372 1662 3 3 365 1663 3 3 364 1664 3 3 372 1665 3 3 373 1666 3 3 365 1667 3 3 373 1668 3 3 366 1669 3 3 365 1670 3 3 373 1671 3 3 374 1672 3 3 366 1673 3 3 374 1674 3 3 367 1675 3 3 366 1676 3 3 374 1677 3 3 375 1678 3 3 367 1679 3 3 375 1680 3 3 368 1681 3 3 367 1682 3 3 375 1683 3 3 376 1684 3 3 368 1685 3 3 376 1686 3 3 369 1687 3 3 368 1688 3 3 377 1689 3 3 369 1690 3 3 376 1691 3 3 377 1692 3 3 370 1693 3 3 369 1694 3 3 378 1695 3 3 370 1696 3 3 377 1697 3 3 363 1698 3 3 370 1699 3 3 378 1700 3 3 363 1701 3 3 378 1702 3 3 371 1703 3 3 372 1704 3 3 371 1705 3 3 379 1706 3 3 372 1707 3 3 379 1708 3 3 380 1709 3 3 380 1710 3 3 373 1711 3 3 372 1712 3 3 380 1713 3 3 381 1714 3 3 373 1715 3 3 381 1716 3 3 374 1717 3 3 373 1718 3 3 381 1719 3 3 382 1720 3 3 374 1721 3 3 382 1722 3 3 375 1723 3 3 374 1724 3 3 382 1725 3 3 383 1726 3 3 375 1727 3 3 383 1728 3 3 376 1729 3 3 375 1730 3 3 383 1731 3 3 384 1732 3 3 376 1733 3 3 384 1734 3 3 377 1735 3 3 376 1736 3 3 385 1737 3 3 377 1738 3 3 384 1739 3 3 385 1740 3 3 378 1741 3 3 377 1742 3 3 386 1743 3 3 378 1744 3 3 385 1745 3 3 371 1746 3 3 378 1747 3 3 386 1748 3 3 371 1749 3 3 386 1750 3 3 379 1751 3 3 380 1752 3 3 379 1753 3 3 387 1754 3 3 380 1755 3 3 387 1756 3 3 388 1757 3 3 388 1758 3 3 381 1759 3 3 380 1760 3 3 388 1761 3 3 389 1762 3 3 381 1763 3 3 389 1764 3 3 382 1765 3 3 381 1766 3 3 389 1767 3 3 390 1768 3 3 382 1769 3 3 390 1770 3 3 383 1771 3 3 382 1772 3 3 390 1773 3 3 391 1774 3 3 383 1775 3 3 391 1776 3 3 384 1777 3 3 383 1778 3 3 391 1779 3 3 392 1780 3 3 384 1781 3 3 392 1782 3 3 385 1783 3 3 384 1784 3 3 393 1785 3 3 385 1786 3 3 392 1787 3 3 393 1788 3 3 386 1789 3 3 385 1790 3 3 394 1791 3 3 386 1792 3 3 393 1793 3 3 379 1794 3 3 386 1795 3 3 394 1796 3 3 379 1797 3 3 394 1798 3 3 387 1799 3 3 388 1800 3 3 387 1801 3 3 395 1802 3 3 388 1803 3 3 395 1804 3 3 396 1805 3 3 396 1806 3 3 389 1807 3 3 388 1808 3 3 396 1809 3 3 397 1810 3 3 389 1811 3 3 397 1812 3 3 390 1813 3 3 389 1814 3 3 397 1815 3 3 398 1816 3 3 390 1817 3 3 398 1818 3 3 391 1819 3 3 390 1820 3 3 398 1821 3 3 399 1822 3 3 391 1823 3 3 399 1824 3 3 392 1825 3 3 391 1826 3 3 399 1827 3 3 400 1828 3 3 392 1829 3 3 400 1830 3 3 393 1831 3 3 392 1832 3 3 401 1833 3 3 393 1834 3 3 400 1835 3 3 401 1836 3 3 394 1837 3 3 393 1838 3 3 402 1839 3 3 394 1840 3 3 401 1841 3 3 387 1842 3 3 394 1843 3 3 402 1844 3 3 387 1845 3 3 402 1846 3 3 395 1847 3 3 403 1848 3 3 396 1849 3 3 395 1850 3 3 404 1851 3 3 396 1852 3 3 403 1853 3 3 404 1854 3 3 397 1855 3 3 396 1856 3 3 404 1857 3 3 405 1858 3 3 397 1859 3 3 405 1860 3 3 398 1861 3 3 397 1862 3 3 405 1863 3 3 406 1864 3 3 398 1865 3 3 406 1866 3 3 399 1867 3 3 398 1868 3 3 407 1869 3 3 399 1870 3 3 406 1871 3 3 407 1872 3 3 400 1873 3 3 399 1874 3 3 407 1875 3 3 408 1876 3 3 400 1877 3 3 408 1878 3 3 401 1879 3 3 400 1880 3 3 409 1881 3 3 401 1882 3 3 408 1883 3 3 409 1884 3 3 402 1885 3 3 401 1886 3 3 410 1887 3 3 402 1888 3 3 409 1889 3 3 410 1890 3 3 395 1891 3 3 402 1892 3 3 410 1893 3 3 403 1894 3 3 395 1895 3 3 411 1896 3 3 404 1897 3 3 403 1898 3 3 412 1899 3 3 404 1900 3 3 411 1901 3 3 412 1902 3 3 405 1903 3 3 404 1904 3 3 412 1905 3 3 413 1906 3 3 405 1907 3 3 413 1908 3 3 406 1909 3 3 405 1910 3 3 414 1911 3 3 406 1912 3 3 413 1913 3 3 414 1914 3 3 407 1915 3 3 406 1916 3 3 415 1917 3 3 407 1918 3 3 414 1919 3 3 415 1920 3 3 408 1921 3 3 407 1922 3 3 415 1923 3 3 416 1924 3 3 408 1925 3 3 416 1926 3 3 409 1927 3 3 408 1928 3 3 416 1929 3 3 417 1930 3 3 409 1931 3 3 417 1932 3 3 410 1933 3 3 409 1934 3 3 418 1935 3 3 410 1936 3 3 417 1937 3 3 418 1938 3 3 403 1939 3 3 410 1940 3 3 418 1941 3 3 411 1942 3 3 403 1943 3 3 419 1944 3 3 412 1945 3 3 411 1946 3 3 420 1947 3 3 412 1948 3 3 419 1949 3 3 420 1950 3 3 413 1951 3 3 412 1952 3 3 420 1953 3 3 421 1954 3 3 413 1955 3 3 421 1956 3 3 414 1957 3 3 413 1958 3 3 421 1959 3 3 422 1960 3 3 414 1961 3 3 422 1962 3 3 415 1963 3 3 414 1964 3 3 423 1965 3 3 415 1966 3 3 422 1967 3 3 423 1968 3 3 416 1969 3 3 415 1970 3 3 423 1971 3 3 424 1972 3 3 416 1973 3 3 424 1974 3 3 417 1975 3 3 416 1976 3 3 425 1977 3 3 417 1978 3 3 424 1979 3 3 425 1980 3 3 418 1981 3 3 417 1982 3 3 426 1983 3 3 418 1984 3 3 425 1985 3 3 426 1986 3 3 411 1987 3 3 418 1988 3 3 426 1989 3 3 419 1990 3 3 411 1991 3 3 173 1992 3 3 420 1993 3 3 419 1994 3 3 172 1995 3 3 420 1996 3 3 173 1997 3 3 172 1998 3 3 421 1999 3 3 420 2000 3 3 172 2001 3 3 175 2002 3 3 421 2003 3 3 175 2004 3 3 422 2005 3 3 421 2006 3 3 175 2007 3 3 177 2008 3 3 422 2009 3 3 177 2010 3 3 423 2011 3 3 422 2012 3 3 179 2013 3 3 423 2014 3 3 177 2015 3 3 179 2016 3 3 424 2017 3 3 423 2018 3 3 181 2019 3 3 424 2020 3 3 179 2021 3 3 425 2022 3 3 424 2023 3 3 181 2024 3 3 183 2025 3 3 425 2026 3 3 181 2027 3 3 426 2028 3 3 425 2029 3 3 183 2030 3 3 185 2031 3 3 426 2032 3 3 183 2033 3 3 185 2034 3 3 419 2035 3 3 426 2036 3 3 173 2037 3 3 419 2038 3 3 185 2039 3 3 427 2040 3 3 428 2041 3 3 429 2042 3 3 427 2043 3 3 430 2044 3 3 428 2045 3 3 428 2046 3 3 430 2047 3 3 431 2048 3 3 430 2049 3 3 432 2050 3 3 431 2051 3 3 431 2052 3 3 432 2053 3 3 433 2054 3 3 432 2055 3 3 434 2056 3 3 433 2057 3 3 434 2058 3 3 435 2059 3 3 433 2060 3 3 434 2061 3 3 436 2062 3 3 435 2063 3 3 436 2064 3 3 437 2065 3 3 435 2066 3 3 438 2067 3 3 437 2068 3 3 436 2069 3 3 439 2070 3 3 437 2071 3 3 438 2072 3 3 439 2073 3 3 438 2074 3 3 440 2075 3 3 441 2076 3 3 439 2077 3 3 440 2078 3 3 441 2079 3 3 440 2080 3 3 442 2081 3 3 442 2082 3 3 429 2083 3 3 441 2084 3 3 427 2085 3 3 429 2086 3 3 442 2087 3 3 443 2088 3 3 430 2089 3 3 427 2090 3 3 443 2091 3 3 444 2092 3 3 430 2093 3 3 430 2094 3 3 444 2095 3 3 432 2096 3 3 432 2097 3 3 444 2098 3 3 445 2099 3 3 432 2100 3 3 445 2101 3 3 434 2102 3 3 434 2103 3 3 445 2104 3 3 446 2105 3 3 446 2106 3 3 436 2107 3 3 434 2108 3 3 446 2109 3 3 447 2110 3 3 436 2111 3 3 447 2112 3 3 438 2113 3 3 436 2114 3 3 448 2115 3 3 438 2116 3 3 447 2117 3 3 440 2118 3 3 438 2119 3 3 448 2120 3 3 440 2121 3 3 448 2122 3 3 449 2123 3 3 442 2124 3 3 440 2125 3 3 449 2126 3 3 442 2127 3 3 449 2128 3 3 450 2129 3 3 450 2130 3 3 427 2131 3 3 442 2132 3 3 443 2133 3 3 427 2134 3 3 450 2135 3 3 451 2136 3 3 444 2137 3 3 443 2138 3 3 451 2139 3 3 452 2140 3 3 444 2141 3 3 444 2142 3 3 452 2143 3 3 445 2144 3 3 445 2145 3 3 452 2146 3 3 453 2147 3 3 445 2148 3 3 453 2149 3 3 446 2150 3 3 446 2151 3 3 453 2152 3 3 454 2153 3 3 454 2154 3 3 447 2155 3 3 446 2156 3 3 454 2157 3 3 455 2158 3 3 447 2159 3 3 455 2160 3 3 448 2161 3 3 447 2162 3 3 456 2163 3 3 448 2164 3 3 455 2165 3 3 449 2166 3 3 448 2167 3 3 456 2168 3 3 449 2169 3 3 456 2170 3 3 457 2171 3 3 450 2172 3 3 449 2173 3 3 457 2174 3 3 450 2175 3 3 457 2176 3 3 458 2177 3 3 458 2178 3 3 443 2179 3 3 450 2180 3 3 451 2181 3 3 443 2182 3 3 458 2183 3 3 459 2184 3 3 452 2185 3 3 451 2186 3 3 459 2187 3 3 460 2188 3 3 452 2189 3 3 452 2190 3 3 460 2191 3 3 453 2192 3 3 453 2193 3 3 460 2194 3 3 461 2195 3 3 453 2196 3 3 461 2197 3 3 454 2198 3 3 454 2199 3 3 461 2200 3 3 462 2201 3 3 462 2202 3 3 455 2203 3 3 454 2204 3 3 462 2205 3 3 463 2206 3 3 455 2207 3 3 463 2208 3 3 456 2209 3 3 455 2210 3 3 464 2211 3 3 456 2212 3 3 463 2213 3 3 457 2214 3 3 456 2215 3 3 464 2216 3 3 457 2217 3 3 464 2218 3 3 465 2219 3 3 458 2220 3 3 457 2221 3 3 465 2222 3 3 458 2223 3 3 465 2224 3 3 466 2225 3 3 466 2226 3 3 451 2227 3 3 458 2228 3 3 459 2229 3 3 451 2230 3 3 466 2231 3 3 460 2232 3 3 459 2233 3 3 467 2234 3 3 460 2235 3 3 467 2236 3 3 468 2237 3 3 460 2238 3 3 468 2239 3 3 461 2240 3 3 461 2241 3 3 468 2242 3 3 469 2243 3 3 461 2244 3 3 469 2245 3 3 462 2246 3 3 462 2247 3 3 469 2248 3 3 470 2249 3 3 470 2250 3 3 463 2251 3 3 462 2252 3 3 470 2253 3 3 471 2254 3 3 463 2255 3 3 471 2256 3 3 464 2257 3 3 463 2258 3 3 471 2259 3 3 472 2260 3 3 464 2261 3 3 465 2262 3 3 464 2263 3 3 472 2264 3 3 465 2265 3 3 472 2266 3 3 473 2267 3 3 466 2268 3 3 465 2269 3 3 473 2270 3 3 466 2271 3 3 473 2272 3 3 474 2273 3 3 459 2274 3 3 466 2275 3 3 474 2276 3 3 459 2277 3 3 474 2278 3 3 467 2279 3 3 468 2280 3 3 467 2281 3 3 475 2282 3 3 476 2283 3 3 468 2284 3 3 475 2285 3 3 468 2286 3 3 476 2287 3 3 469 2288 3 3 469 2289 3 3 476 2290 3 3 477 2291 3 3 469 2292 3 3 477 2293 3 3 470 2294 3 3 470 2295 3 3 477 2296 3 3 478 2297 3 3 478 2298 3 3 471 2299 3 3 470 2300 3 3 478 2301 3 3 479 2302 3 3 471 2303 3 3 479 2304 3 3 472 2305 3 3 471 2306 3 3 479 2307 3 3 480 2308 3 3 472 2309 3 3 473 2310 3 3 472 2311 3 3 480 2312 3 3 473 2313 3 3 480 2314 3 3 481 2315 3 3 474 2316 3 3 473 2317 3 3 481 2318 3 3 474 2319 3 3 481 2320 3 3 482 2321 3 3 467 2322 3 3 474 2323 3 3 482 2324 3 3 475 2325 3 3 467 2326 3 3 482 2327 3 3 476 2328 3 3 475 2329 3 3 483 2330 3 3 476 2331 3 3 483 2332 3 3 484 2333 3 3 476 2334 3 3 484 2335 3 3 477 2336 3 3 477 2337 3 3 484 2338 3 3 485 2339 3 3 477 2340 3 3 485 2341 3 3 478 2342 3 3 478 2343 3 3 485 2344 3 3 486 2345 3 3 486 2346 3 3 479 2347 3 3 478 2348 3 3 486 2349 3 3 487 2350 3 3 479 2351 3 3 487 2352 3 3 480 2353 3 3 479 2354 3 3 487 2355 3 3 488 2356 3 3 480 2357 3 3 481 2358 3 3 480 2359 3 3 488 2360 3 3 481 2361 3 3 488 2362 3 3 489 2363 3 3 482 2364 3 3 481 2365 3 3 489 2366 3 3 482 2367 3 3 489 2368 3 3 490 2369 3 3 475 2370 3 3 482 2371 3 3 490 2372 3 3 475 2373 3 3 490 2374 3 3 483 2375 3 3 484 2376 3 3 483 2377 3 3 491 2378 3 3 484 2379 3 3 491 2380 3 3 492 2381 3 3 484 2382 3 3 492 2383 3 3 485 2384 3 3 485 2385 3 3 492 2386 3 3 493 2387 3 3 485 2388 3 3 493 2389 3 3 486 2390 3 3 486 2391 3 3 493 2392 3 3 494 2393 3 3 486 2394 3 3 494 2395 3 3 487 2396 3 3 494 2397 3 3 495 2398 3 3 487 2399 3 3 487 2400 3 3 495 2401 3 3 488 2402 3 3 495 2403 3 3 496 2404 3 3 488 2405 3 3 489 2406 3 3 488 2407 3 3 496 2408 3 3 489 2409 3 3 496 2410 3 3 497 2411 3 3 490 2412 3 3 489 2413 3 3 497 2414 3 3 490 2415 3 3 497 2416 3 3 498 2417 3 3 483 2418 3 3 490 2419 3 3 498 2420 3 3 483 2421 3 3 498 2422 3 3 491 2423 3 3 492 2424 3 3 491 2425 3 3 499 2426 3 3 492 2427 3 3 499 2428 3 3 500 2429 3 3 492 2430 3 3 500 2431 3 3 493 2432 3 3 493 2433 3 3 500 2434 3 3 501 2435 3 3 493 2436 3 3 501 2437 3 3 494 2438 3 3 494 2439 3 3 501 2440 3 3 502 2441 3 3 502 2442 3 3 495 2443 3 3 494 2444 3 3 502 2445 3 3 503 2446 3 3 495 2447 3 3 503 2448 3 3 496 2449 3 3 495 2450 3 3 503 2451 3 3 504 2452 3 3 496 2453 3 3 496 2454 3 3 504 2455 3 3 497 2456 3 3 497 2457 3 3 504 2458 3 3 505 2459 3 3 497 2460 3 3 505 2461 3 3 498 2462 3 3 498 2463 3 3 505 2464 3 3 506 2465 3 3 491 2466 3 3 498 2467 3 3 506 2468 3 3 491 2469 3 3 506 2470 3 3 499 2471 3 3 500 2472 3 3 499 2473 3 3 507 2474 3 3 500 2475 3 3 507 2476 3 3 508 2477 3 3 501 2478 3 3 500 2479 3 3 508 2480 3 3 501 2481 3 3 508 2482 3 3 509 2483 3 3 502 2484 3 3 501 2485 3 3 509 2486 3 3 502 2487 3 3 509 2488 3 3 510 2489 3 3 510 2490 3 3 503 2491 3 3 502 2492 3 3 510 2493 3 3 511 2494 3 3 503 2495 3 3 511 2496 3 3 504 2497 3 3 503 2498 3 3 511 2499 3 3 512 2500 3 3 504 2501 3 3 504 2502 3 3 512 2503 3 3 505 2504 3 3 505 2505 3 3 512 2506 3 3 513 2507 3 3 505 2508 3 3 513 2509 3 3 506 2510 3 3 506 2511 3 3 513 2512 3 3 514 2513 3 3 499 2514 3 3 506 2515 3 3 514 2516 3 3 499 2517 3 3 514 2518 3 3 507 2519 3 3 508 2520 3 3 507 2521 3 3 515 2522 3 3 508 2523 3 3 515 2524 3 3 516 2525 3 3 509 2526 3 3 508 2527 3 3 516 2528 3 3 509 2529 3 3 516 2530 3 3 517 2531 3 3 510 2532 3 3 509 2533 3 3 517 2534 3 3 510 2535 3 3 517 2536 3 3 518 2537 3 3 518 2538 3 3 511 2539 3 3 510 2540 3 3 518 2541 3 3 519 2542 3 3 511 2543 3 3 519 2544 3 3 512 2545 3 3 511 2546 3 3 519 2547 3 3 520 2548 3 3 512 2549 3 3 512 2550 3 3 520 2551 3 3 513 2552 3 3 513 2553 3 3 520 2554 3 3 521 2555 3 3 513 2556 3 3 521 2557 3 3 514 2558 3 3 514 2559 3 3 521 2560 3 3 522 2561 3 3 507 2562 3 3 514 2563 3 3 522 2564 3 3 507 2565 3 3 522 2566 3 3 515 2567 3 3 516 2568 3 3 515 2569 3 3 523 2570 3 3 516 2571 3 3 523 2572 3 3 524 2573 3 3 517 2574 3 3 516 2575 3 3 524 2576 3 3 517 2577 3 3 524 2578 3 3 525 2579 3 3 518 2580 3 3 517 2581 3 3 525 2582 3 3 518 2583 3 3 525 2584 3 3 526 2585 3 3 526 2586 3 3 519 2587 3 3 518 2588 3 3 526 2589 3 3 527 2590 3 3 519 2591 3 3 527 2592 3 3 520 2593 3 3 519 2594 3 3 527 2595 3 3 528 2596 3 3 520 2597 3 3 520 2598 3 3 528 2599 3 3 521 2600 3 3 521 2601 3 3 528 2602 3 3 529 2603 3 3 521 2604 3 3 529 2605 3 3 522 2606 3 3 522 2607 3 3 529 2608 3 3 530 2609 3 3 515 2610 3 3 522 2611 3 3 530 2612 3 3 515 2613 3 3 530 2614 3 3 523 2615 3 3 523 2616 3 3 531 2617 3 3 524 2618 3 3 524 2619 3 3 531 2620 3 3 532 2621 3 3 525 2622 3 3 524 2623 3 3 532 2624 3 3 525 2625 3 3 532 2626 3 3 533 2627 3 3 526 2628 3 3 525 2629 3 3 533 2630 3 3 526 2631 3 3 533 2632 3 3 534 2633 3 3 526 2634 3 3 534 2635 3 3 527 2636 3 3 527 2637 3 3 534 2638 3 3 535 2639 3 3 528 2640 3 3 527 2641 3 3 535 2642 3 3 528 2643 3 3 535 2644 3 3 536 2645 3 3 528 2646 3 3 536 2647 3 3 529 2648 3 3 529 2649 3 3 536 2650 3 3 537 2651 3 3 529 2652 3 3 537 2653 3 3 530 2654 3 3 530 2655 3 3 537 2656 3 3 538 2657 3 3 523 2658 3 3 530 2659 3 3 538 2660 3 3 523 2661 3 3 538 2662 3 3 531 2663 3 3 531 2664 3 3 539 2665 3 3 532 2666 3 3 532 2667 3 3 539 2668 3 3 540 2669 3 3 533 2670 3 3 532 2671 3 3 540 2672 3 3 533 2673 3 3 540 2674 3 3 541 2675 3 3 534 2676 3 3 533 2677 3 3 541 2678 3 3 534 2679 3 3 541 2680 3 3 542 2681 3 3 534 2682 3 3 542 2683 3 3 535 2684 3 3 535 2685 3 3 542 2686 3 3 543 2687 3 3 536 2688 3 3 535 2689 3 3 543 2690 3 3 536 2691 3 3 543 2692 3 3 544 2693 3 3 536 2694 3 3 544 2695 3 3 537 2696 3 3 537 2697 3 3 544 2698 3 3 545 2699 3 3 537 2700 3 3 545 2701 3 3 538 2702 3 3 538 2703 3 3 545 2704 3 3 539 2705 3 3 531 2706 3 3 538 2707 3 3 539 2708 3 3 539 2709 3 3 546 2710 3 3 540 2711 3 3 541 2712 3 3 540 2713 3 3 547 2714 3 3 541 2715 3 3 547 2716 3 3 548 2717 3 3 542 2718 3 3 541 2719 3 3 548 2720 3 3 542 2721 3 3 548 2722 3 3 549 2723 3 3 542 2724 3 3 549 2725 3 3 543 2726 3 3 543 2727 3 3 549 2728 3 3 550 2729 3 3 544 2730 3 3 543 2731 3 3 550 2732 3 3 544 2733 3 3 550 2734 3 3 551 2735 3 3 544 2736 3 3 551 2737 3 3 545 2738 3 3 545 2739 3 3 551 2740 3 3 552 2741 3 3 545 2742 3 3 552 2743 3 3 539 2744 3 3 539 2745 3 3 552 2746 3 3 553 2747 3 3 547 2748 3 3 554 2749 3 3 555 2750 3 3 548 2751 3 3 547 2752 3 3 555 2753 3 3 548 2754 3 3 555 2755 3 3 556 2756 3 3 548 2757 3 3 556 2758 3 3 549 2759 3 3 549 2760 3 3 556 2761 3 3 557 2762 3 3 549 2763 3 3 557 2764 3 3 550 2765 3 3 550 2766 3 3 557 2767 3 3 558 2768 3 3 551 2769 3 3 550 2770 3 3 558 2771 3 3 551 2772 3 3 558 2773 3 3 559 2774 3 3 551 2775 3 3 559 2776 3 3 552 2777 3 3 559 2778 3 3 560 2779 3 3 552 2780 3 3 552 2781 3 3 560 2782 3 3 553 2783 3 3 560 2784 3 3 561 2785 3 3 553 2786 3 3 546 2787 3 3 553 2788 3 3 561 2789 3 3 546 2790 3 3 561 2791 3 3 554 2792 3 3 554 2793 3 3 562 2794 3 3 555 2795 3 3 555 2796 3 3 562 2797 3 3 563 2798 3 3 556 2799 3 3 555 2800 3 3 563 2801 3 3 564 2802 3 3 556 2803 3 3 563 2804 3 3 557 2805 3 3 556 2806 3 3 564 2807 3 3 565 2808 3 3 557 2809 3 3 564 2810 3 3 557 2811 3 3 565 2812 3 3 558 2813 3 3 558 2814 3 3 565 2815 3 3 566 2816 3 3 558 2817 3 3 566 2818 3 3 559 2819 3 3 559 2820 3 3 566 2821 3 3 567 2822 3 3 567 2823 3 3 560 2824 3 3 559 2825 3 3 567 2826 3 3 568 2827 3 3 560 2828 3 3 568 2829 3 3 561 2830 3 3 560 2831 3 3 568 2832 3 3 569 2833 3 3 561 2834 3 3 561 2835 3 3 569 2836 3 3 554 2837 3 3 554 2838 3 3 569 2839 3 3 562 2840 3 3 563 2841 3 3 562 2842 3 3 570 2843 3 3 563 2844 3 3 570 2845 3 3 571 2846 3 3 571 2847 3 3 564 2848 3 3 563 2849 3 3 572 2850 3 3 564 2851 3 3 571 2852 3 3 572 2853 3 3 565 2854 3 3 564 2855 3 3 573 2856 3 3 565 2857 3 3 572 2858 3 3 566 2859 3 3 565 2860 3 3 573 2861 3 3 566 2862 3 3 573 2863 3 3 574 2864 3 3 566 2865 3 3 574 2866 3 3 567 2867 3 3 567 2868 3 3 574 2869 3 3 575 2870 3 3 575 2871 3 3 568 2872 3 3 567 2873 3 3 575 2874 3 3 576 2875 3 3 568 2876 3 3 576 2877 3 3 569 2878 3 3 568 2879 3 3 576 2880 3 3 577 2881 3 3 569 2882 3 3 569 2883 3 3 577 2884 3 3 562 2885 3 3 562 2886 3 3 577 2887 3 3 570 2888 3 3 571 2889 3 3 570 2890 3 3 578 2891 3 3 571 2892 3 3 578 2893 3 3 579 2894 3 3 579 2895 3 3 572 2896 3 3 571 2897 3 3 580 2898 3 3 572 2899 3 3 579 2900 3 3 580 2901 3 3 573 2902 3 3 572 2903 3 3 581 2904 3 3 573 2905 3 3 580 2906 3 3 574 2907 3 3 573 2908 3 3 581 2909 3 3 574 2910 3 3 581 2911 3 3 582 2912 3 3 574 2913 3 3 582 2914 3 3 575 2915 3 3 575 2916 3 3 582 2917 3 3 583 2918 3 3 583 2919 3 3 576 2920 3 3 575 2921 3 3 583 2922 3 3 584 2923 3 3 576 2924 3 3 584 2925 3 3 577 2926 3 3 576 2927 3 3 584 2928 3 3 585 2929 3 3 577 2930 3 3 577 2931 3 3 585 2932 3 3 570 2933 3 3 570 2934 3 3 585 2935 3 3 578 2936 3 3 579 2937 3 3 578 2938 3 3 586 2939 3 3 579 2940 3 3 586 2941 3 3 587 2942 3 3 587 2943 3 3 580 2944 3 3 579 2945 3 3 588 2946 3 3 580 2947 3 3 587 2948 3 3 588 2949 3 3 581 2950 3 3 580 2951 3 3 589 2952 3 3 581 2953 3 3 588 2954 3 3 582 2955 3 3 581 2956 3 3 589 2957 3 3 582 2958 3 3 589 2959 3 3 590 2960 3 3 582 2961 3 3 590 2962 3 3 583 2963 3 3 583 2964 3 3 590 2965 3 3 591 2966 3 3 591 2967 3 3 584 2968 3 3 583 2969 3 3 591 2970 3 3 592 2971 3 3 584 2972 3 3 592 2973 3 3 585 2974 3 3 584 2975 3 3 592 2976 3 3 593 2977 3 3 585 2978 3 3 585 2979 3 3 593 2980 3 3 578 2981 3 3 578 2982 3 3 593 2983 3 3 586 2984 3 3 587 2985 3 3 586 2986 3 3 594 2987 3 3 587 2988 3 3 594 2989 3 3 595 2990 3 3 595 2991 3 3 588 2992 3 3 587 2993 3 3 596 2994 3 3 588 2995 3 3 595 2996 3 3 596 2997 3 3 589 2998 3 3 588 2999 3 3 597 3000 3 3 589 3001 3 3 596 3002 3 3 597 3003 3 3 590 3004 3 3 589 3005 3 3 597 3006 3 3 598 3007 3 3 590 3008 3 3 598 3009 3 3 591 3010 3 3 590 3011 3 3 598 3012 3 3 599 3013 3 3 591 3014 3 3 599 3015 3 3 592 3016 3 3 591 3017 3 3 599 3018 3 3 600 3019 3 3 592 3020 3 3 600 3021 3 3 593 3022 3 3 592 3023 3 3 600 3024 3 3 601 3025 3 3 593 3026 3 3 586 3027 3 3 593 3028 3 3 601 3029 3 3 586 3030 3 3 601 3031 3 3 594 3032 3 3 595 3033 3 3 594 3034 3 3 602 3035 3 3 595 3036 3 3 602 3037 3 3 603 3038 3 3 603 3039 3 3 596 3040 3 3 595 3041 3 3 604 3042 3 3 596 3043 3 3 603 3044 3 3 604 3045 3 3 597 3046 3 3 596 3047 3 3 605 3048 3 3 597 3049 3 3 604 3050 3 3 605 3051 3 3 598 3052 3 3 597 3053 3 3 605 3054 3 3 606 3055 3 3 598 3056 3 3 606 3057 3 3 599 3058 3 3 598 3059 3 3 606 3060 3 3 607 3061 3 3 599 3062 3 3 607 3063 3 3 600 3064 3 3 599 3065 3 3 607 3066 3 3 608 3067 3 3 600 3068 3 3 608 3069 3 3 601 3070 3 3 600 3071 3 3 608 3072 3 3 609 3073 3 3 601 3074 3 3 594 3075 3 3 601 3076 3 3 609 3077 3 3 594 3078 3 3 609 3079 3 3 602 3080 3 3 603 3081 3 3 602 3082 3 3 610 3083 3 3 603 3084 3 3 610 3085 3 3 611 3086 3 3 611 3087 3 3 604 3088 3 3 603 3089 3 3 612 3090 3 3 604 3091 3 3 611 3092 3 3 612 3093 3 3 605 3094 3 3 604 3095 3 3 613 3096 3 3 605 3097 3 3 612 3098 3 3 613 3099 3 3 606 3100 3 3 605 3101 3 3 613 3102 3 3 614 3103 3 3 606 3104 3 3 614 3105 3 3 607 3106 3 3 606 3107 3 3 614 3108 3 3 615 3109 3 3 607 3110 3 3 615 3111 3 3 608 3112 3 3 607 3113 3 3 615 3114 3 3 616 3115 3 3 608 3116 3 3 616 3117 3 3 609 3118 3 3 608 3119 3 3 616 3120 3 3 617 3121 3 3 609 3122 3 3 602 3123 3 3 609 3124 3 3 617 3125 3 3 602 3126 3 3 617 3127 3 3 610 3128 3 3 611 3129 3 3 610 3130 3 3 618 3131 3 3 611 3132 3 3 618 3133 3 3 619 3134 3 3 619 3135 3 3 612 3136 3 3 611 3137 3 3 620 3138 3 3 612 3139 3 3 619 3140 3 3 620 3141 3 3 613 3142 3 3 612 3143 3 3 621 3144 3 3 613 3145 3 3 620 3146 3 3 621 3147 3 3 614 3148 3 3 613 3149 3 3 621 3150 3 3 622 3151 3 3 614 3152 3 3 622 3153 3 3 615 3154 3 3 614 3155 3 3 622 3156 3 3 623 3157 3 3 615 3158 3 3 623 3159 3 3 616 3160 3 3 615 3161 3 3 624 3162 3 3 616 3163 3 3 623 3164 3 3 624 3165 3 3 617 3166 3 3 616 3167 3 3 625 3168 3 3 617 3169 3 3 624 3170 3 3 610 3171 3 3 617 3172 3 3 625 3173 3 3 610 3174 3 3 625 3175 3 3 618 3176 3 3 619 3177 3 3 618 3178 3 3 626 3179 3 3 619 3180 3 3 626 3181 3 3 627 3182 3 3 627 3183 3 3 620 3184 3 3 619 3185 3 3 627 3186 3 3 628 3187 3 3 620 3188 3 3 628 3189 3 3 621 3190 3 3 620 3191 3 3 628 3192 3 3 629 3193 3 3 621 3194 3 3 629 3195 3 3 622 3196 3 3 621 3197 3 3 629 3198 3 3 630 3199 3 3 622 3200 3 3 630 3201 3 3 623 3202 3 3 622 3203 3 3 630 3204 3 3 631 3205 3 3 623 3206 3 3 631 3207 3 3 624 3208 3 3 623 3209 3 3 632 3210 3 3 624 3211 3 3 631 3212 3 3 632 3213 3 3 625 3214 3 3 624 3215 3 3 633 3216 3 3 625 3217 3 3 632 3218 3 3 618 3219 3 3 625 3220 3 3 633 3221 3 3 618 3222 3 3 633 3223 3 3 626 3224 3 3 627 3225 3 3 626 3226 3 3 634 3227 3 3 627 3228 3 3 634 3229 3 3 635 3230 3 3 635 3231 3 3 628 3232 3 3 627 3233 3 3 635 3234 3 3 636 3235 3 3 628 3236 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7016 4 4 1841 7017 4 4 1888 7018 4 4 1842 7019 4 4 1889 7020 4 4 1890 7021 4 4 1891 7022 4 4 1889 7023 4 4 1892 7024 4 4 1890 7025 4 4 1892 7026 4 4 1893 7027 4 4 1890 7028 4 4 1892 7029 4 4 1894 7030 4 4 1893 7031 4 4 1894 7032 4 4 1895 7033 4 4 1893 7034 4 4 1894 7035 4 4 1896 7036 4 4 1895 7037 4 4 1895 7038 4 4 1896 7039 4 4 1897 7040 4 4 1896 7041 4 4 1898 7042 4 4 1897 7043 4 4 1897 7044 4 4 1898 7045 4 4 1899 7046 4 4 1898 7047 4 4 1900 7048 4 4 1899 7049 4 4 1899 7050 4 4 1900 7051 4 4 1901 7052 4 4 1900 7053 4 4 1902 7054 4 4 1901 7055 4 4 1901 7056 4 4 1902 7057 4 4 1903 7058 4 4 1902 7059 4 4 1904 7060 4 4 1903 7061 4 4 1903 7062 4 4 1904 7063 4 4 1905 7064 4 4 1904 7065 4 4 1906 7066 4 4 1905 7067 4 4 1905 7068 4 4 1906 7069 4 4 1907 7070 4 4 1906 7071 4 4 1908 7072 4 4 1907 7073 4 4 1908 7074 4 4 1909 7075 4 4 1907 7076 4 4 1908 7077 4 4 1910 7078 4 4 1909 7079 4 4 1910 7080 4 4 1911 7081 4 4 1909 7082 4 4 1910 7083 4 4 1912 7084 4 4 1911 7085 4 4 1912 7086 4 4 1913 7087 4 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7302 4 4 1983 7303 4 4 1938 7304 4 4 1984 7305 4 4 1938 7306 4 4 1937 7307 4 4 1985 7308 4 4 1986 7309 4 4 1987 7310 4 4 1988 7311 4 4 1986 7312 4 4 1985 7313 4 4 1988 7314 4 4 1989 7315 4 4 1986 7316 4 4 1990 7317 4 4 1989 7318 4 4 1988 7319 4 4 1990 7320 4 4 1991 7321 4 4 1989 7322 4 4 1992 7323 4 4 1991 7324 4 4 1990 7325 4 4 1992 7326 4 4 1993 7327 4 4 1991 7328 4 4 1992 7329 4 4 1994 7330 4 4 1993 7331 4 4 1994 7332 4 4 1995 7333 4 4 1993 7334 4 4 1994 7335 4 4 1996 7336 4 4 1995 7337 4 4 1996 7338 4 4 1997 7339 4 4 1995 7340 4 4 1996 7341 4 4 1998 7342 4 4 1997 7343 4 4 1998 7344 4 4 1999 7345 4 4 1997 7346 4 4 1998 7347 4 4 2000 7348 4 4 1999 7349 4 4 2000 7350 4 4 2001 7351 4 4 1999 7352 4 4 2000 7353 4 4 2002 7354 4 4 2001 7355 4 4 2002 7356 4 4 2003 7357 4 4 2001 7358 4 4 2002 7359 4 4 2004 7360 4 4 2003 7361 4 4 2004 7362 4 4 2005 7363 4 4 2003 7364 4 4 2006 7365 4 4 2005 7366 4 4 2004 7367 4 4 2006 7368 4 4 2007 7369 4 4 2005 7370 4 4 2008 7371 4 4 2007 7372 4 4 2006 7373 4 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8446 4 4 2358 8447 4 4 2361 8448 4 4 2358 8449 4 4 2360 8450 4 4 2361 8451 4 4 2362 8452 4 4 2358 8453 4 4 2363 8454 4 4 2364 8455 4 4 2365 8456 4 4 2363 8457 4 4 2366 8458 4 4 2364 8459 4 4 2367 8460 4 4 2364 8461 4 4 2366 8462 4 4 2367 8463 4 4 2368 8464 4 4 2364 8465 4 4 2369 8466 4 4 2370 8467 4 4 2371 8468 4 4 2372 8469 4 4 2371 8470 4 4 2373 8471 4 4 2374 8472 4 4 2375 8473 4 4 2373 8474 4 4 2376 8475 4 4 2377 8476 4 4 2374 8477 4 4 2378 8478 4 4 2379 8479 4 4 2376 8480 4 4 2380 8481 4 4 2381 8482 4 4 2378 8483 4 4 2382 8484 4 4 2380 8485 4 4 2383 8486 4 4 2384 8487 4 4 2383 8488 4 4 2385 8489 4 4 2386 8490 4 4 2385 8491 4 4 2387 8492 4 4 2388 8493 4 4 2387 8494 4 4 2389 8495 4 4 2389 8496 4 4 2390 8497 4 4 2391 8498 4 4 2390 8499 4 4 2392 8500 4 4 2393 8501 4 4 2392 8502 4 4 2394 8503 4 4 2395 8504 4 4 2394 8505 4 4 2396 8506 4 4 2397 8507 4 4 2398 8508 4 4 2396 8509 4 4 2399 8510 4 4 2400 8511 4 4 2399 8512 4 4 2370 8513 4 4 2401 8514 4 4 2402 8515 4 4 2403 8516 4 4 2404 8517 4 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2829 10044 105 9 2830 10045 105 9 2831 10046 105 9 2831 10047 105 9 2830 10048 105 9 2832 10049 105 9 2832 10050 105 9 2830 10051 105 9 2833 10052 105 9 2830 10053 105 9 2834 10054 105 9 2833 10055 105 9 2830 10056 105 9 2835 10057 105 9 2834 10058 105 9 2830 10059 105 9 2836 10060 105 9 2835 10061 105 9 2830 10062 105 9 2837 10063 105 9 2836 10064 105 9 2830 10065 105 9 2838 10066 105 9 2837 10067 105 9 2839 10068 105 9 2838 10069 105 9 2830 10070 105 9 2840 10071 105 9 2839 10072 105 9 2830 10073 105 9 2841 10074 105 9 2840 10075 105 9 2830 10076 105 9 2829 10077 105 9 2841 10078 105 9 2830 10079 105 9

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3098 10806 109 13 3099 10807 109 13 3100 10808 109 13 3101 10809 109 13 3098 10810 109 13 3100 10811 109 13 3101 10812 109 13 3100 10813 109 13 3102 10814 109 13 3101 10815 109 13 3102 10816 109 13 3103 10817 109 13 3103 10818 109 13 3102 10819 109 13 3104 10820 109 13 3103 10821 109 13 3104 10822 109 13 3105 10823 109 13 3105 10824 109 13 3104 10825 109 13 3106 10826 109 13 3107 10827 109 13 3105 10828 109 13 3106 10829 109 13 3107 10830 109 13 3106 10831 109 13 3108 10832 109 13 3109 10833 109 13 3107 10834 109 13 3108 10835 109 13 3109 10836 109 13 3108 10837 109 13 3110 10838 109 13 3111 10839 109 13 3109 10840 109 13 3110 10841 109 13 3111 10842 109 13 3110 10843 109 13 3112 10844 109 13 3113 10845 109 13 3114 10846 109 13 3115 10847 109 13 3116 10848 109 13 3114 10849 109 13 3113 10850 109 13 3116 10851 109 13 3117 10852 109 13 3114 10853 109 13 3116 10854 109 13 3118 10855 109 13 3117 10856 109 13 3118 10857 109 13 3119 10858 109 13 3117 10859 109 13 3118 10860 109 13 3120 10861 109 13 3119 10862 109 13 3120 10863 109 13 3121 10864 109 13 3119 10865 109 13 3122 10866 109 13 3121 10867 109 13 3120 10868 109 13 3122 10869 109 13 3123 10870 109 13 3121 10871 109 13 3124 10872 109 13 3123 10873 109 13 3122 10874 109 13 3124 10875 109 13 3125 10876 109 13 3123 10877 109 13 3126 10878 109 13 3125 10879 109 13 3124 10880 109 13 3126 10881 109 13 3127 10882 109 13 3125 10883 109 13 3128 10884 109 13 3107 10885 109 13 3109 10886 109 13

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3288 11553 110 14 3282 11554 110 14 3279 11555 110 14 3287 11556 110 14 3290 11557 110 14 3285 11558 110 14 3287 11559 110 14 3288 11560 110 14 3290 11561 110 14 3280 11562 110 14 3284 11563 110 14 3283 11564 110 14 3281 11565 110 14 3280 11566 110 14 3283 11567 110 14 3289 11568 110 14 3285 11569 110 14 3290 11570 110 14 3289 11571 110 14 3286 11572 110 14 3285 11573 110 14 3291 11574 110 14 3292 11575 110 14 3293 11576 110 14 3291 11577 110 14 3294 11578 110 14 3292 11579 110 14 3295 11580 110 14 3296 11581 110 14 3297 11582 110 14 3295 11583 110 14 3297 11584 110 14 3298 11585 110 14 3299 11586 110 14 3300 11587 110 14 3301 11588 110 14 3302 11589 110 14 3300 11590 110 14 3299 11591 110 14 3291 11592 110 14 3302 11593 110 14 3303 11594 110 14 3294 11595 110 14 3291 11596 110 14 3303 11597 110 14 3294 11598 110 14 3303 11599 110 14 3304 11600 110 14 3304 11601 110 14 3303 11602 110 14 3297 11603 110 14 3303 11604 110 14 3298 11605 110 14 3297 11606 110 14 3303 11607 110 14 3299 11608 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3306 11664 110 14 3317 11665 110 14 3318 11666 110 14 3306 11667 110 14 3318 11668 110 14 3319 11669 110 14 3319 11670 110 14 3318 11671 110 14 3320 11672 110 14 3321 11673 110 14 3322 11674 110 14 3323 11675 110 14 3321 11676 110 14 3324 11677 110 14 3322 11678 110 14 3322 11679 110 14 3324 11680 110 14 3316 11681 110 14 3324 11682 110 14 3325 11683 110 14 3316 11684 110 14 3325 11685 110 14 3307 11686 110 14 3316 11687 110 14 3325 11688 110 14 3326 11689 110 14 3307 11690 110 14 3327 11691 110 14 3328 11692 110 14 3329 11693 110 14 3327 11694 110 14 3330 11695 110 14 3328 11696 110 14 3330 11697 110 14 3322 11698 110 14 3328 11699 110 14 3330 11700 110 14 3331 11701 110 14 3322 11702 110 14 3331 11703 110 14 3314 11704 110 14 3322 11705 110 14 3331 11706 110 14 3332 11707 110 14 3314 11708 110 14 3333 11709 110 14 3334 11710 110 14 3335 11711 110 14 3333 11712 110 14 3335 11713 110 14 3336 11714 110 14 3336 11715 110 14 3328 11716 110 14 3333 11717 110 14 3337 11718 110 14 3328 11719 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3757 13440 110 14 3741 13441 110 14 3743 13442 110 14 3759 13443 110 14 3764 13444 110 14 3763 13445 110 14 3757 13446 110 14 3743 13447 110 14 3745 13448 110 14 3759 13449 110 14 3765 13450 110 14 3764 13451 110 14 3747 13452 110 14 3757 13453 110 14 3745 13454 110 14 3766 13455 110 14 3765 13456 110 14 3759 13457 110 14 3733 13458 110 14 3757 13459 110 14 3747 13460 110 14 3758 13461 110 14 3766 13462 110 14 3759 13463 110 14 3695 13464 110 14 3697 13465 110 14 3676 13466 110 14 3678 13467 110 14 3695 13468 110 14 3676 13469 110 14 3686 13470 110 14 3695 13471 110 14 3678 13472 110 14 3680 13473 110 14 3686 13474 110 14 3678 13475 110 14 3684 13476 110 14 3686 13477 110 14 3680 13478 110 14 3682 13479 110 14 3684 13480 110 14 3680 13481 110 14 3686 13482 110 14 3767 13483 110 14 3695 13484 110 14 3767 13485 110 14 3693 13486 110 14 3695 13487 110 14 3767 13488 110 14 3691 13489 110 14 3693 13490 110 14 3767 13491 110 14 3688 13492 110 14 3691 13493 110 14 3684 13494 110 14 3682 13495 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4228 15549 110 14 4243 15550 110 14 4230 15551 110 14 4229 15552 110 14 4231 15553 110 14 4242 15554 110 14 4230 15555 110 14 4243 15556 110 14 4232 15557 110 14 4231 15558 110 14 4233 15559 110 14 4242 15560 110 14 4232 15561 110 14 4243 15562 110 14 4234 15563 110 14 4242 15564 110 14 4233 15565 110 14 4235 15566 110 14 4243 15567 110 14 4236 15568 110 14 4234 15569 110 14 4242 15570 110 14 4235 15571 110 14 4237 15572 110 14 4243 15573 110 14 4238 15574 110 14 4236 15575 110 14 4242 15576 110 14 4237 15577 110 14 4239 15578 110 14 4243 15579 110 14 4183 15580 110 14 4238 15581 110 14 4240 15582 110 14 4242 15583 110 14 4239 15584 110 14 4241 15585 110 14 4183 15586 110 14 4243 15587 110 14 4227 15588 110 14 4242 15589 110 14 4240 15590 110 14 4228 15591 110 14 4241 15592 110 14 4243 15593 110 14 4244 15594 110 14 4245 15595 110 14 4246 15596 110 14 4244 15597 110 14 4246 15598 110 14 4247 15599 110 14 4248 15600 110 14 4244 15601 110 14 4247 15602 110 14 4248 15603 110 14 4247 15604 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4267 15660 110 14 4268 15661 110 14 4266 15662 110 14 4267 15663 110 14 4269 15664 110 14 4268 15665 110 14 4269 15666 110 14 4270 15667 110 14 4268 15668 110 14 4271 15669 110 14 4270 15670 110 14 4269 15671 110 14 4271 15672 110 14 4272 15673 110 14 4270 15674 110 14 4273 15675 110 14 4272 15676 110 14 4271 15677 110 14 4274 15678 110 14 4272 15679 110 14 4273 15680 110 14 4274 15681 110 14 4273 15682 110 14 4275 15683 110 14 4245 15684 110 14 4274 15685 110 14 4275 15686 110 14 4245 15687 110 14 4275 15688 110 14 4246 15689 110 14 4276 15690 110 14 4277 15691 110 14 4278 15692 110 14 4276 15693 110 14 4278 15694 110 14 4279 15695 110 14 4280 15696 110 14 4276 15697 110 14 4279 15698 110 14 4280 15699 110 14 4279 15700 110 14 4281 15701 110 14 4281 15702 110 14 4282 15703 110 14 4280 15704 110 14 4283 15705 110 14 4282 15706 110 14 4281 15707 110 14 4283 15708 110 14 4284 15709 110 14 4282 15710 110 14 4285 15711 110 14 4284 15712 110 14 4283 15713 110 14 4285 15714 110 14 4286 15715 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4305 15771 110 14 4304 15772 110 14 4303 15773 110 14 4306 15774 110 14 4304 15775 110 14 4305 15776 110 14 4306 15777 110 14 4305 15778 110 14 4307 15779 110 14 4277 15780 110 14 4306 15781 110 14 4307 15782 110 14 4277 15783 110 14 4307 15784 110 14 4278 15785 110 14 4308 15786 110 14 4309 15787 110 14 4310 15788 110 14 4308 15789 110 14 4310 15790 110 14 4311 15791 110 14 4312 15792 110 14 4308 15793 110 14 4311 15794 110 14 4312 15795 110 14 4311 15796 110 14 4313 15797 110 14 4313 15798 110 14 4314 15799 110 14 4312 15800 110 14 4315 15801 110 14 4314 15802 110 14 4313 15803 110 14 4315 15804 110 14 4316 15805 110 14 4314 15806 110 14 4317 15807 110 14 4316 15808 110 14 4315 15809 110 14 4317 15810 110 14 4318 15811 110 14 4316 15812 110 14 4317 15813 110 14 4319 15814 110 14 4318 15815 110 14 4319 15816 110 14 4320 15817 110 14 4318 15818 110 14 4319 15819 110 14 4321 15820 110 14 4320 15821 110 14 4320 15822 110 14 4321 15823 110 14 4322 15824 110 14 4321 15825 110 14 4323 15826 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4340 15882 110 14 4341 15883 110 14 4342 15884 110 14 4340 15885 110 14 4342 15886 110 14 4343 15887 110 14 4344 15888 110 14 4340 15889 110 14 4343 15890 110 14 4344 15891 110 14 4343 15892 110 14 4345 15893 110 14 4345 15894 110 14 4346 15895 110 14 4344 15896 110 14 4347 15897 110 14 4346 15898 110 14 4345 15899 110 14 4347 15900 110 14 4348 15901 110 14 4346 15902 110 14 4349 15903 110 14 4348 15904 110 14 4347 15905 110 14 4349 15906 110 14 4350 15907 110 14 4348 15908 110 14 4349 15909 110 14 4351 15910 110 14 4350 15911 110 14 4351 15912 110 14 4352 15913 110 14 4350 15914 110 14 4351 15915 110 14 4353 15916 110 14 4352 15917 110 14 4352 15918 110 14 4353 15919 110 14 4354 15920 110 14 4353 15921 110 14 4355 15922 110 14 4354 15923 110 14 4354 15924 110 14 4355 15925 110 14 4356 15926 110 14 4355 15927 110 14 4357 15928 110 14 4356 15929 110 14 4356 15930 110 14 4357 15931 110 14 4358 15932 110 14 4357 15933 110 14 4359 15934 110 14 4358 15935 110 14 4358 15936 110 14 4359 15937 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4379 15993 110 14 4378 15994 110 14 4377 15995 110 14 4379 15996 110 14 4380 15997 110 14 4378 15998 110 14 4381 15999 110 14 4380 16000 110 14 4379 16001 110 14 4381 16002 110 14 4382 16003 110 14 4380 16004 110 14 4381 16005 110 14 4383 16006 110 14 4382 16007 110 14 4383 16008 110 14 4384 16009 110 14 4382 16010 110 14 4383 16011 110 14 4385 16012 110 14 4384 16013 110 14 4384 16014 110 14 4385 16015 110 14 4386 16016 110 14 4385 16017 110 14 4387 16018 110 14 4386 16019 110 14 4386 16020 110 14 4387 16021 110 14 4388 16022 110 14 4387 16023 110 14 4389 16024 110 14 4388 16025 110 14 4388 16026 110 14 4389 16027 110 14 4390 16028 110 14 4389 16029 110 14 4391 16030 110 14 4390 16031 110 14 4390 16032 110 14 4391 16033 110 14 4392 16034 110 14 4391 16035 110 14 4393 16036 110 14 4392 16037 110 14 4393 16038 110 14 4394 16039 110 14 4392 16040 110 14 4393 16041 110 14 4395 16042 110 14 4394 16043 110 14 4395 16044 110 14 4396 16045 110 14 4394 16046 110 14 4395 16047 110 14 4397 16048 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4415 16104 110 14 4416 16105 110 14 4414 16106 110 14 4415 16107 110 14 4417 16108 110 14 4416 16109 110 14 4416 16110 110 14 4417 16111 110 14 4418 16112 110 14 4417 16113 110 14 4419 16114 110 14 4418 16115 110 14 4418 16116 110 14 4419 16117 110 14 4420 16118 110 14 4419 16119 110 14 4421 16120 110 14 4420 16121 110 14 4420 16122 110 14 4421 16123 110 14 4422 16124 110 14 4421 16125 110 14 4423 16126 110 14 4422 16127 110 14 4422 16128 110 14 4423 16129 110 14 4424 16130 110 14 4423 16131 110 14 4425 16132 110 14 4424 16133 110 14 4425 16134 110 14 4426 16135 110 14 4424 16136 110 14 4425 16137 110 14 4427 16138 110 14 4426 16139 110 14 4427 16140 110 14 4428 16141 110 14 4426 16142 110 14 4427 16143 110 14 4429 16144 110 14 4428 16145 110 14 4429 16146 110 14 4430 16147 110 14 4428 16148 110 14 4431 16149 110 14 4430 16150 110 14 4429 16151 110 14 4431 16152 110 14 4432 16153 110 14 4430 16154 110 14 4433 16155 110 14 4432 16156 110 14 4431 16157 110 14 4434 16158 110 14 4432 16159 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4451 16215 110 14 4453 16216 110 14 4452 16217 110 14 4452 16218 110 14 4453 16219 110 14 4454 16220 110 14 4453 16221 110 14 4455 16222 110 14 4454 16223 110 14 4454 16224 110 14 4455 16225 110 14 4456 16226 110 14 4455 16227 110 14 4457 16228 110 14 4456 16229 110 14 4457 16230 110 14 4458 16231 110 14 4456 16232 110 14 4457 16233 110 14 4459 16234 110 14 4458 16235 110 14 4459 16236 110 14 4460 16237 110 14 4458 16238 110 14 4459 16239 110 14 4461 16240 110 14 4460 16241 110 14 4461 16242 110 14 4462 16243 110 14 4460 16244 110 14 4463 16245 110 14 4462 16246 110 14 4461 16247 110 14 4463 16248 110 14 4464 16249 110 14 4462 16250 110 14 4465 16251 110 14 4464 16252 110 14 4463 16253 110 14 4466 16254 110 14 4464 16255 110 14 4465 16256 110 14 4466 16257 110 14 4465 16258 110 14 4467 16259 110 14 4437 16260 110 14 4466 16261 110 14 4467 16262 110 14 4437 16263 110 14 4467 16264 110 14 4438 16265 110 14 4468 16266 110 14 4469 16267 110 14 4470 16268 110 14 4468 16269 110 14 4470 16270 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4489 16326 110 14 4490 16327 110 14 4488 16328 110 14 4489 16329 110 14 4491 16330 110 14 4490 16331 110 14 4491 16332 110 14 4492 16333 110 14 4490 16334 110 14 4491 16335 110 14 4493 16336 110 14 4492 16337 110 14 4493 16338 110 14 4494 16339 110 14 4492 16340 110 14 4495 16341 110 14 4494 16342 110 14 4493 16343 110 14 4495 16344 110 14 4496 16345 110 14 4494 16346 110 14 4497 16347 110 14 4496 16348 110 14 4495 16349 110 14 4498 16350 110 14 4496 16351 110 14 4497 16352 110 14 4498 16353 110 14 4497 16354 110 14 4499 16355 110 14 4469 16356 110 14 4498 16357 110 14 4499 16358 110 14 4469 16359 110 14 4499 16360 110 14 4470 16361 110 14 4500 16362 110 14 4501 16363 110 14 4245 16364 110 14 4500 16365 110 14 4245 16366 110 14 4244 16367 110 14 4502 16368 110 14 4500 16369 110 14 4244 16370 110 14 4248 16371 110 14 4502 16372 110 14 4244 16373 110 14 4248 16374 110 14 4503 16375 110 14 4502 16376 110 14 4250 16377 110 14 4503 16378 110 14 4248 16379 110 14 4250 16380 110 14 4504 16381 110 14 4503 16382 110 14 4252 16383 110 14 4504 16384 110 14 4250 16385 110 14 4252 16386 110 14 4505 16387 110 14 4504 16388 110 14 4252 16389 110 14 4254 16390 110 14 4505 16391 110 14 4254 16392 110 14 4506 16393 110 14 4505 16394 110 14 4254 16395 110 14 4256 16396 110 14 4506 16397 110 14 4256 16398 110 14 4507 16399 110 14 4506 16400 110 14 4256 16401 110 14 4258 16402 110 14 4507 16403 110 14 4507 16404 110 14 4258 16405 110 14 4508 16406 110 14 4258 16407 110 14 4260 16408 110 14 4508 16409 110 14 4508 16410 110 14 4260 16411 110 14 4509 16412 110 14 4260 16413 110 14 4262 16414 110 14 4509 16415 110 14 4509 16416 110 14 4262 16417 110 14 4510 16418 110 14 4262 16419 110 14 4264 16420 110 14 4510 16421 110 14 4264 16422 110 14 4511 16423 110 14 4510 16424 110 14 4264 16425 110 14 4266 16426 110 14 4511 16427 110 14 4266 16428 110 14 4512 16429 110 14 4511 16430 110 14 4266 16431 110 14 4268 16432 110 14 4512 16433 110 14 4268 16434 110 14 4513 16435 110 14 4512 16436 110 14 4270 16437 110 14 4513 16438 110 14 4268 16439 110 14 4270 16440 110 14 4514 16441 110 14 4513 16442 110 14 4272 16443 110 14 4514 16444 110 14 4270 16445 110 14 4515 16446 110 14 4514 16447 110 14 4272 16448 110 14 4515 16449 110 14 4272 16450 110 14 4274 16451 110 14 4501 16452 110 14 4274 16453 110 14 4245 16454 110 14 4247 16455 110 14 4246 16456 110 14 4277 16457 110 14 4247 16458 110 14 4277 16459 110 14 4276 16460 110 14 4249 16461 110 14 4247 16462 110 14 4276 16463 110 14 4249 16464 110 14 4276 16465 110 14 4280 16466 110 14 4251 16467 110 14 4249 16468 110 14 4280 16469 110 14 4251 16470 110 14 4280 16471 110 14 4282 16472 110 14 4253 16473 110 14 4251 16474 110 14 4282 16475 110 14 4253 16476 110 14 4282 16477 110 14 4284 16478 110 14 4255 16479 110 14 4253 16480 110 14 4284 16481 110 14 4286 16482 110 14 4255 16483 110 14 4284 16484 110 14 4257 16485 110 14 4255 16486 110 14 4286 16487 110 14 4288 16488 110 14 4257 16489 110 14 4286 16490 110 14 4259 16491 110 14 4257 16492 110 14 4288 16493 110 14 4290 16494 110 14 4259 16495 110 14 4288 16496 110 14 4290 16497 110 14 4261 16498 110 14 4259 16499 110 14 4292 16500 110 14 4261 16501 110 14 4290 16502 110 14 4292 16503 110 14 4263 16504 110 14 4261 16505 110 14 4292 16506 110 14 4294 16507 110 14 4263 16508 110 14 4294 16509 110 14 4265 16510 110 14 4263 16511 110 14 4294 16512 110 14 4296 16513 110 14 4265 16514 110 14 4296 16515 110 14 4267 16516 110 14 4265 16517 110 14 4296 16518 110 14 4298 16519 110 14 4267 16520 110 14 4298 16521 110 14 4269 16522 110 14 4267 16523 110 14 4298 16524 110 14 4300 16525 110 14 4269 16526 110 14 4300 16527 110 14 4271 16528 110 14 4269 16529 110 14 4300 16530 110 14 4302 16531 110 14 4271 16532 110 14 4271 16533 110 14 4302 16534 110 14 4273 16535 110 14 4302 16536 110 14 4304 16537 110 14 4273 16538 110 14 4273 16539 110 14 4304 16540 110 14 4275 16541 110 14 4304 16542 110 14 4306 16543 110 14 4275 16544 110 14 4275 16545 110 14 4306 16546 110 14 4246 16547 110 14 4246 16548 110 14 4306 16549 110 14 4277 16550 110 14 4309 16551 110 14 4279 16552 110 14 4278 16553 110 14 4308 16554 110 14 4279 16555 110 14 4309 16556 110 14 4281 16557 110 14 4279 16558 110 14 4308 16559 110 14 4312 16560 110 14 4281 16561 110 14 4308 16562 110 14 4283 16563 110 14 4281 16564 110 14 4312 16565 110 14 4314 16566 110 14 4283 16567 110 14 4312 16568 110 14 4285 16569 110 14 4283 16570 110 14 4314 16571 110 14 4316 16572 110 14 4285 16573 110 14 4314 16574 110 14 4287 16575 110 14 4285 16576 110 14 4316 16577 110 14 4287 16578 110 14 4316 16579 110 14 4318 16580 110 14 4289 16581 110 14 4287 16582 110 14 4318 16583 110 14 4289 16584 110 14 4318 16585 110 14 4320 16586 110 14 4291 16587 110 14 4289 16588 110 14 4320 16589 110 14 4291 16590 110 14 4320 16591 110 14 4322 16592 110 14 4293 16593 110 14 4291 16594 110 14 4322 16595 110 14 4293 16596 110 14 4322 16597 110 14 4324 16598 110 14 4293 16599 110 14 4324 16600 110 14 4295 16601 110 14 4295 16602 110 14 4324 16603 110 14 4326 16604 110 14 4295 16605 110 14 4326 16606 110 14 4297 16607 110 14 4326 16608 110 14 4328 16609 110 14 4297 16610 110 14 4297 16611 110 14 4328 16612 110 14 4299 16613 110 14 4328 16614 110 14 4330 16615 110 14 4299 16616 110 14 4299 16617 110 14 4330 16618 110 14 4301 16619 110 14 4330 16620 110 14 4332 16621 110 14 4301 16622 110 14 4301 16623 110 14 4332 16624 110 14 4303 16625 110 14 4332 16626 110 14 4334 16627 110 14 4303 16628 110 14 4334 16629 110 14 4305 16630 110 14 4303 16631 110 14 4334 16632 110 14 4336 16633 110 14 4305 16634 110 14 4336 16635 110 14 4307 16636 110 14 4305 16637 110 14 4336 16638 110 14 4338 16639 110 14 4307 16640 110 14 4338 16641 110 14 4278 16642 110 14 4307 16643 110 14 4338 16644 110 14 4309 16645 110 14 4278 16646 110 14 4311 16647 110 14 4310 16648 110 14 4341 16649 110 14 4311 16650 110 14 4341 16651 110 14 4340 16652 110 14 4313 16653 110 14 4311 16654 110 14 4340 16655 110 14 4313 16656 110 14 4340 16657 110 14 4344 16658 110 14 4315 16659 110 14 4313 16660 110 14 4344 16661 110 14 4315 16662 110 14 4344 16663 110 14 4346 16664 110 14 4317 16665 110 14 4315 16666 110 14 4346 16667 110 14 4317 16668 110 14 4346 16669 110 14 4348 16670 110 14 4319 16671 110 14 4317 16672 110 14 4348 16673 110 14 4350 16674 110 14 4319 16675 110 14 4348 16676 110 14 4321 16677 110 14 4319 16678 110 14 4350 16679 110 14 4352 16680 110 14 4321 16681 110 14 4350 16682 110 14 4323 16683 110 14 4321 16684 110 14 4352 16685 110 14 4354 16686 110 14 4323 16687 110 14 4352 16688 110 14 4354 16689 110 14 4325 16690 110 14 4323 16691 110 14 4356 16692 110 14 4325 16693 110 14 4354 16694 110 14 4356 16695 110 14 4327 16696 110 14 4325 16697 110 14 4356 16698 110 14 4358 16699 110 14 4327 16700 110 14 4358 16701 110 14 4329 16702 110 14 4327 16703 110 14 4358 16704 110 14 4360 16705 110 14 4329 16706 110 14 4360 16707 110 14 4331 16708 110 14 4329 16709 110 14 4360 16710 110 14 4362 16711 110 14 4331 16712 110 14 4362 16713 110 14 4333 16714 110 14 4331 16715 110 14 4362 16716 110 14 4364 16717 110 14 4333 16718 110 14 4364 16719 110 14 4335 16720 110 14 4333 16721 110 14 4364 16722 110 14 4366 16723 110 14 4335 16724 110 14 4335 16725 110 14 4366 16726 110 14 4337 16727 110 14 4366 16728 110 14 4368 16729 110 14 4337 16730 110 14 4337 16731 110 14 4368 16732 110 14 4339 16733 110 14 4368 16734 110 14 4370 16735 110 14 4339 16736 110 14 4339 16737 110 14 4370 16738 110 14 4310 16739 110 14 4310 16740 110 14 4370 16741 110 14 4341 16742 110 14 4373 16743 110 14 4343 16744 110 14 4342 16745 110 14 4372 16746 110 14 4343 16747 110 14 4373 16748 110 14 4345 16749 110 14 4343 16750 110 14 4372 16751 110 14 4376 16752 110 14 4345 16753 110 14 4372 16754 110 14 4347 16755 110 14 4345 16756 110 14 4376 16757 110 14 4378 16758 110 14 4347 16759 110 14 4376 16760 110 14 4349 16761 110 14 4347 16762 110 14 4378 16763 110 14 4380 16764 110 14 4349 16765 110 14 4378 16766 110 14 4351 16767 110 14 4349 16768 110 14 4380 16769 110 14 4351 16770 110 14 4380 16771 110 14 4382 16772 110 14 4353 16773 110 14 4351 16774 110 14 4382 16775 110 14 4353 16776 110 14 4382 16777 110 14 4384 16778 110 14 4355 16779 110 14 4353 16780 110 14 4384 16781 110 14 4355 16782 110 14 4384 16783 110 14 4386 16784 110 14 4357 16785 110 14 4355 16786 110 14 4386 16787 110 14 4357 16788 110 14 4386 16789 110 14 4388 16790 110 14 4357 16791 110 14 4388 16792 110 14 4359 16793 110 14 4359 16794 110 14 4388 16795 110 14 4390 16796 110 14 4359 16797 110 14 4390 16798 110 14 4361 16799 110 14 4390 16800 110 14 4392 16801 110 14 4361 16802 110 14 4361 16803 110 14 4392 16804 110 14 4363 16805 110 14 4392 16806 110 14 4394 16807 110 14 4363 16808 110 14 4363 16809 110 14 4394 16810 110 14 4365 16811 110 14 4394 16812 110 14 4396 16813 110 14 4365 16814 110 14 4365 16815 110 14 4396 16816 110 14 4367 16817 110 14 4396 16818 110 14 4398 16819 110 14 4367 16820 110 14 4398 16821 110 14 4369 16822 110 14 4367 16823 110 14 4398 16824 110 14 4400 16825 110 14 4369 16826 110 14 4400 16827 110 14 4371 16828 110 14 4369 16829 110 14 4400 16830 110 14 4402 16831 110 14 4371 16832 110 14 4402 16833 110 14 4342 16834 110 14 4371 16835 110 14 4402 16836 110 14 4373 16837 110 14 4342 16838 110 14 4375 16839 110 14 4374 16840 110 14 4405 16841 110 14 4375 16842 110 14 4405 16843 110 14 4404 16844 110 14 4377 16845 110 14 4375 16846 110 14 4404 16847 110 14 4377 16848 110 14 4404 16849 110 14 4408 16850 110 14 4379 16851 110 14 4377 16852 110 14 4408 16853 110 14 4379 16854 110 14 4408 16855 110 14 4410 16856 110 14 4381 16857 110 14 4379 16858 110 14 4410 16859 110 14 4381 16860 110 14 4410 16861 110 14 4412 16862 110 14 4383 16863 110 14 4381 16864 110 14 4412 16865 110 14 4414 16866 110 14 4383 16867 110 14 4412 16868 110 14 4385 16869 110 14 4383 16870 110 14 4414 16871 110 14 4416 16872 110 14 4385 16873 110 14 4414 16874 110 14 4387 16875 110 14 4385 16876 110 14 4416 16877 110 14 4418 16878 110 14 4387 16879 110 14 4416 16880 110 14 4418 16881 110 14 4389 16882 110 14 4387 16883 110 14 4420 16884 110 14 4389 16885 110 14 4418 16886 110 14 4420 16887 110 14 4391 16888 110 14 4389 16889 110 14 4420 16890 110 14 4422 16891 110 14 4391 16892 110 14 4422 16893 110 14 4393 16894 110 14 4391 16895 110 14 4422 16896 110 14 4424 16897 110 14 4393 16898 110 14 4424 16899 110 14 4395 16900 110 14 4393 16901 110 14 4424 16902 110 14 4426 16903 110 14 4395 16904 110 14 4426 16905 110 14 4397 16906 110 14 4395 16907 110 14 4426 16908 110 14 4428 16909 110 14 4397 16910 110 14 4428 16911 110 14 4399 16912 110 14 4397 16913 110 14 4428 16914 110 14 4430 16915 110 14 4399 16916 110 14 4399 16917 110 14 4430 16918 110 14 4401 16919 110 14 4430 16920 110 14 4432 16921 110 14 4401 16922 110 14 4401 16923 110 14 4432 16924 110 14 4403 16925 110 14 4432 16926 110 14 4434 16927 110 14 4403 16928 110 14 4403 16929 110 14 4434 16930 110 14 4374 16931 110 14 4374 16932 110 14 4434 16933 110 14 4405 16934 110 14 4437 16935 110 14 4407 16936 110 14 4406 16937 110 14 4436 16938 110 14 4407 16939 110 14 4437 16940 110 14 4409 16941 110 14 4407 16942 110 14 4436 16943 110 14 4440 16944 110 14 4409 16945 110 14 4436 16946 110 14 4411 16947 110 14 4409 16948 110 14 4440 16949 110 14 4442 16950 110 14 4411 16951 110 14 4440 16952 110 14 4413 16953 110 14 4411 16954 110 14 4442 16955 110 14 4444 16956 110 14 4413 16957 110 14 4442 16958 110 14 4415 16959 110 14 4413 16960 110 14 4444 16961 110 14 4415 16962 110 14 4444 16963 110 14 4446 16964 110 14 4417 16965 110 14 4415 16966 110 14 4446 16967 110 14 4417 16968 110 14 4446 16969 110 14 4448 16970 110 14 4419 16971 110 14 4417 16972 110 14 4448 16973 110 14 4419 16974 110 14 4448 16975 110 14 4450 16976 110 14 4421 16977 110 14 4419 16978 110 14 4450 16979 110 14 4421 16980 110 14 4450 16981 110 14 4452 16982 110 14 4421 16983 110 14 4452 16984 110 14 4423 16985 110 14 4423 16986 110 14 4452 16987 110 14 4454 16988 110 14 4423 16989 110 14 4454 16990 110 14 4425 16991 110 14 4454 16992 110 14 4456 16993 110 14 4425 16994 110 14 4425 16995 110 14 4456 16996 110 14 4427 16997 110 14 4456 16998 110 14 4458 16999 110 14 4427 17000 110 14 4427 17001 110 14 4458 17002 110 14 4429 17003 110 14 4458 17004 110 14 4460 17005 110 14 4429 17006 110 14 4429 17007 110 14 4460 17008 110 14 4431 17009 110 14 4460 17010 110 14 4462 17011 110 14 4431 17012 110 14 4462 17013 110 14 4433 17014 110 14 4431 17015 110 14 4462 17016 110 14 4464 17017 110 14 4433 17018 110 14 4464 17019 110 14 4435 17020 110 14 4433 17021 110 14 4464 17022 110 14 4466 17023 110 14 4435 17024 110 14 4466 17025 110 14 4406 17026 110 14 4435 17027 110 14 4466 17028 110 14 4437 17029 110 14 4406 17030 110 14 4439 17031 110 14 4438 17032 110 14 4469 17033 110 14 4439 17034 110 14 4469 17035 110 14 4468 17036 110 14 4441 17037 110 14 4439 17038 110 14 4468 17039 110 14 4441 17040 110 14 4468 17041 110 14 4472 17042 110 14 4443 17043 110 14 4441 17044 110 14 4472 17045 110 14 4443 17046 110 14 4472 17047 110 14 4474 17048 110 14 4445 17049 110 14 4443 17050 110 14 4474 17051 110 14 4445 17052 110 14 4474 17053 110 14 4476 17054 110 14 4447 17055 110 14 4445 17056 110 14 4476 17057 110 14 4478 17058 110 14 4447 17059 110 14 4476 17060 110 14 4449 17061 110 14 4447 17062 110 14 4478 17063 110 14 4480 17064 110 14 4449 17065 110 14 4478 17066 110 14 4451 17067 110 14 4449 17068 110 14 4480 17069 110 14 4482 17070 110 14 4451 17071 110 14 4480 17072 110 14 4482 17073 110 14 4453 17074 110 14 4451 17075 110 14 4484 17076 110 14 4453 17077 110 14 4482 17078 110 14 4484 17079 110 14 4455 17080 110 14 4453 17081 110 14 4484 17082 110 14 4486 17083 110 14 4455 17084 110 14 4486 17085 110 14 4457 17086 110 14 4455 17087 110 14 4486 17088 110 14 4488 17089 110 14 4457 17090 110 14 4488 17091 110 14 4459 17092 110 14 4457 17093 110 14 4488 17094 110 14 4490 17095 110 14 4459 17096 110 14 4490 17097 110 14 4461 17098 110 14 4459 17099 110 14 4490 17100 110 14 4492 17101 110 14 4461 17102 110 14 4461 17103 110 14 4492 17104 110 14 4463 17105 110 14 4492 17106 110 14 4494 17107 110 14 4463 17108 110 14 4463 17109 110 14 4494 17110 110 14 4465 17111 110 14 4494 17112 110 14 4496 17113 110 14 4465 17114 110 14 4465 17115 110 14 4496 17116 110 14 4467 17117 110 14 4496 17118 110 14 4498 17119 110 14 4467 17120 110 14 4467 17121 110 14 4498 17122 110 14 4438 17123 110 14 4438 17124 110 14 4498 17125 110 14 4469 17126 110 14 4516 17127 110 14 4471 17128 110 14 4470 17129 110 14 4517 17130 110 14 4471 17131 110 14 4516 17132 110 14 4517 17133 110 14 4473 17134 110 14 4471 17135 110 14 4518 17136 110 14 4473 17137 110 14 4517 17138 110 14 4475 17139 110 14 4473 17140 110 14 4518 17141 110 14 4519 17142 110 14 4475 17143 110 14 4518 17144 110 14 4477 17145 110 14 4475 17146 110 14 4519 17147 110 14 4477 17148 110 14 4519 17149 110 14 4520 17150 110 14 4479 17151 110 14 4477 17152 110 14 4520 17153 110 14 4479 17154 110 14 4520 17155 110 14 4521 17156 110 14 4481 17157 110 14 4479 17158 110 14 4521 17159 110 14 4481 17160 110 14 4521 17161 110 14 4522 17162 110 14 4483 17163 110 14 4481 17164 110 14 4522 17165 110 14 4483 17166 110 14 4522 17167 110 14 4523 17168 110 14 4485 17169 110 14 4483 17170 110 14 4523 17171 110 14 4485 17172 110 14 4523 17173 110 14 4524 17174 110 14 4485 17175 110 14 4524 17176 110 14 4487 17177 110 14 4487 17178 110 14 4524 17179 110 14 4525 17180 110 14 4487 17181 110 14 4525 17182 110 14 4489 17183 110 14 4489 17184 110 14 4525 17185 110 14 4526 17186 110 14 4489 17187 110 14 4526 17188 110 14 4491 17189 110 14 4526 17190 110 14 4527 17191 110 14 4491 17192 110 14 4491 17193 110 14 4527 17194 110 14 4493 17195 110 14 4527 17196 110 14 4528 17197 110 14 4493 17198 110 14 4493 17199 110 14 4528 17200 110 14 4495 17201 110 14 4528 17202 110 14 4529 17203 110 14 4495 17204 110 14 4529 17205 110 14 4497 17206 110 14 4495 17207 110 14 4529 17208 110 14 4530 17209 110 14 4497 17210 110 14 4530 17211 110 14 4499 17212 110 14 4497 17213 110 14 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5656 22209 110 14 5655 22210 110 14 5652 22211 110 14 5656 22212 110 14 5657 22213 110 14 5655 22214 110 14 5658 22215 110 14 5657 22216 110 14 5656 22217 110 14 5658 22218 110 14 5659 22219 110 14 5657 22220 110 14 5660 22221 110 14 5659 22222 110 14 5658 22223 110 14 5660 22224 110 14 5661 22225 110 14 5659 22226 110 14 5662 22227 110 14 5661 22228 110 14 5660 22229 110 14 5662 22230 110 14 5663 22231 110 14 5661 22232 110 14 5662 22233 110 14 5664 22234 110 14 5663 22235 110 14 5663 22236 110 14 5664 22237 110 14 5665 22238 110 14 5666 22239 110 14 5652 22240 110 14 5654 22241 110 14 5666 22242 110 14 5656 22243 110 14 5652 22244 110 14 5658 22245 110 14 5656 22246 110 14 5666 22247 110 14 5660 22248 110 14 5658 22249 110 14 5666 22250 110 14 5662 22251 110 14 5660 22252 110 14 5666 22253 110 14 5664 22254 110 14 5662 22255 110 14 5666 22256 110 14 5667 22257 110 14 5668 22258 110 14 5669 22259 110 14 5670 22260 110 14 5668 22261 110 14 5667 22262 110 14 5671 22263 110 14 5670 22264 110 14 5667 22265 110 14 5671 22266 110 14 5672 22267 110 14 5670 22268 110 14 5673 22269 110 14 5672 22270 110 14 5671 22271 110 14 5673 22272 110 14 5674 22273 110 14 5672 22274 110 14 5675 22275 110 14 5674 22276 110 14 5673 22277 110 14 5675 22278 110 14 5676 22279 110 14 5674 22280 110 14 5677 22281 110 14 5676 22282 110 14 5675 22283 110 14 5677 22284 110 14 5678 22285 110 14 5676 22286 110 14 5677 22287 110 14 5679 22288 110 14 5678 22289 110 14 5678 22290 110 14 5679 22291 110 14 5680 22292 110 14 5681 22293 110 14 5667 22294 110 14 5669 22295 110 14 5681 22296 110 14 5671 22297 110 14 5667 22298 110 14 5673 22299 110 14 5671 22300 110 14 5681 22301 110 14 5675 22302 110 14 5673 22303 110 14 5681 22304 110 14 5677 22305 110 14 5675 22306 110 14 5681 22307 110 14 5679 22308 110 14 5677 22309 110 14 5681 22310 110 14 5682 22311 110 14 5683 22312 110 14 5684 22313 110 14 5682 22314 110 14 5685 22315 110 14 5683 22316 110 14 5686 22317 110 14 5685 22318 110 14 5682 22319 110 14 5686 22320 110 14 5687 22321 110 14 5685 22322 110 14 5688 22323 110 14 5687 22324 110 14 5686 22325 110 14 5688 22326 110 14 5689 22327 110 14 5687 22328 110 14 5690 22329 110 14 5689 22330 110 14 5688 22331 110 14 5690 22332 110 14 5691 22333 110 14 5689 22334 110 14 5692 22335 110 14 5691 22336 110 14 5690 22337 110 14 5692 22338 110 14 5693 22339 110 14 5691 22340 110 14 5692 22341 110 14 5694 22342 110 14 5693 22343 110 14 5693 22344 110 14 5694 22345 110 14 5695 22346 110 14 5696 22347 110 14 5683 22348 110 14 5685 22349 110 14 5696 22350 110 14 5685 22351 110 14 5687 22352 110 14 5696 22353 110 14 5687 22354 110 14 5689 22355 110 14 5691 22356 110 14 5696 22357 110 14 5689 22358 110 14 5693 22359 110 14 5696 22360 110 14 5691 22361 110 14 5695 22362 110 14 5696 22363 110 14 5693 22364 110 14 5697 22365 110 14 5698 22366 110 14 5699 22367 110 14 5700 22368 110 14 5698 22369 110 14 5697 22370 110 14 5701 22371 110 14 5700 22372 110 14 5697 22373 110 14 5701 22374 110 14 5702 22375 110 14 5700 22376 110 14 5703 22377 110 14 5702 22378 110 14 5701 22379 110 14 5703 22380 110 14 5704 22381 110 14 5702 22382 110 14 5705 22383 110 14 5704 22384 110 14 5703 22385 110 14 5705 22386 110 14 5706 22387 110 14 5704 22388 110 14 5707 22389 110 14 5706 22390 110 14 5705 22391 110 14 5707 22392 110 14 5708 22393 110 14 5706 22394 110 14 5707 22395 110 14 5709 22396 110 14 5708 22397 110 14 5708 22398 110 14 5709 22399 110 14 5710 22400 110 14 5711 22401 110 14 5698 22402 110 14 5700 22403 110 14 5711 22404 110 14 5700 22405 110 14 5702 22406 110 14 5711 22407 110 14 5702 22408 110 14 5704 22409 110 14 5706 22410 110 14 5711 22411 110 14 5704 22412 110 14 5708 22413 110 14 5711 22414 110 14 5706 22415 110 14 5710 22416 110 14 5711 22417 110 14 5708 22418 110 14 5712 22419 110 14 5713 22420 110 14 5714 22421 110 14 5715 22422 110 14 5713 22423 110 14 5712 22424 110 14 5716 22425 110 14 5715 22426 110 14 5712 22427 110 14 5716 22428 110 14 5717 22429 110 14 5715 22430 110 14 5718 22431 110 14 5717 22432 110 14 5716 22433 110 14 5718 22434 110 14 5719 22435 110 14 5717 22436 110 14 5720 22437 110 14 5719 22438 110 14 5718 22439 110 14 5720 22440 110 14 5721 22441 110 14 5719 22442 110 14 5722 22443 110 14 5721 22444 110 14 5720 22445 110 14 5722 22446 110 14 5723 22447 110 14 5721 22448 110 14 5722 22449 110 14 5724 22450 110 14 5723 22451 110 14 5723 22452 110 14 5724 22453 110 14 5725 22454 110 14 5726 22455 110 14 5713 22456 110 14 5715 22457 110 14 5726 22458 110 14 5715 22459 110 14 5717 22460 110 14 5726 22461 110 14 5717 22462 110 14 5719 22463 110 14 5721 22464 110 14 5726 22465 110 14 5719 22466 110 14 5723 22467 110 14 5726 22468 110 14 5721 22469 110 14 5725 22470 110 14 5726 22471 110 14 5723 22472 110 14 5727 22473 110 14 5728 22474 110 14 5729 22475 110 14 5727 22476 110 14 5730 22477 110 14 5728 22478 110 14 5730 22479 110 14 5731 22480 110 14 5728 22481 110 14 5730 22482 110 14 5732 22483 110 14 5731 22484 110 14 5731 22485 110 14 5732 22486 110 14 5733 22487 110 14 5732 22488 110 14 5734 22489 110 14 5733 22490 110 14 5733 22491 110 14 5734 22492 110 14 5735 22493 110 14 5734 22494 110 14 5736 22495 110 14 5735 22496 110 14 5736 22497 110 14 5737 22498 110 14 5735 22499 110 14 5738 22500 110 14 5737 22501 110 14 5736 22502 110 14 5739 22503 110 14 5729 22504 110 14 5740 22505 110 14 5727 22506 110 14 5729 22507 110 14 5739 22508 110 14 5741 22509 110 14 5742 22510 110 14 5743 22511 110 14 5744 22512 110 14 5745 22513 110 14 5746 22514 110 14 5747 22515 110 14 5742 22516 110 14 5741 22517 110 14 5748 22518 110 14 5744 22519 110 14 5746 22520 110 14 5747 22521 110 14 5749 22522 110 14 5742 22523 110 14 5748 22524 110 14 5746 22525 110 14 5750 22526 110 14 5749 22527 110 14 5751 22528 110 14 5742 22529 110 14 5750 22530 110 14 5746 22531 110 14 5752 22532 110 14 5751 22533 110 14 5753 22534 110 14 5742 22535 110 14 5752 22536 110 14 5746 22537 110 14 5754 22538 110 14 5753 22539 110 14 5755 22540 110 14 5742 22541 110 14 5754 22542 110 14 5746 22543 110 14 5756 22544 110 14 5742 22545 110 14 5755 22546 110 14 5757 22547 110 14 5746 22548 110 14 5758 22549 110 14 5756 22550 110 14 5743 22551 110 14 5742 22552 110 14 5757 22553 110 14 5745 22554 110 14 5758 22555 110 14 5746 22556 110 14 5741 22557 110 14 5743 22558 110 14 5729 22559 110 14 5728 22560 110 14 5741 22561 110 14 5729 22562 110 14 5728 22563 110 14 5747 22564 110 14 5741 22565 110 14 5728 22566 110 14 5731 22567 110 14 5747 22568 110 14 5731 22569 110 14 5749 22570 110 14 5747 22571 110 14 5731 22572 110 14 5733 22573 110 14 5749 22574 110 14 5733 22575 110 14 5751 22576 110 14 5749 22577 110 14 5733 22578 110 14 5735 22579 110 14 5751 22580 110 14 5735 22581 110 14 5753 22582 110 14 5751 22583 110 14 5737 22584 110 14 5753 22585 110 14 5735 22586 110 14 5755 22587 110 14 5753 22588 110 14 5737 22589 110 14 5759 22590 110 14 5755 22591 110 14 5737 22592 110 14 5743 22593 110 14 5757 22594 110 14 5740 22595 110 14 5729 22596 110 14 5743 22597 110 14 5740 22598 110 14 5730 22599 110 14 5727 22600 110 14 5745 22601 110 14 5730 22602 110 14 5745 22603 110 14 5744 22604 110 14 5730 22605 110 14 5744 22606 110 14 5732 22607 110 14 5744 22608 110 14 5748 22609 110 14 5732 22610 110 14 5732 22611 110 14 5748 22612 110 14 5734 22613 110 14 5748 22614 110 14 5750 22615 110 14 5734 22616 110 14 5734 22617 110 14 5750 22618 110 14 5736 22619 110 14 5750 22620 110 14 5752 22621 110 14 5736 22622 110 14 5752 22623 110 14 5738 22624 110 14 5736 22625 110 14 5754 22626 110 14 5738 22627 110 14 5752 22628 110 14 5760 22629 110 14 5738 22630 110 14 5754 22631 110 14 5760 22632 110 14 5754 22633 110 14 5756 22634 110 14 5727 22635 110 14 5739 22636 110 14 5758 22637 110 14 5727 22638 110 14 5758 22639 110 14 5745 22640 110 14 5761 22641 110 14 5762 22642 110 14 5763 22643 110 14 5764 22644 110 14 5762 22645 110 14 5761 22646 110 14 5765 22647 110 14 5764 22648 110 14 5761 22649 110 14 5766 22650 110 14 5764 22651 110 14 5765 22652 110 14 5767 22653 110 14 5766 22654 110 14 5765 22655 110 14 5768 22656 110 14 5766 22657 110 14 5767 22658 110 14 5769 22659 110 14 5768 22660 110 14 5767 22661 110 14 5769 22662 110 14 5770 22663 110 14 5768 22664 110 14 5770 22665 110 14 5769 22666 110 14 5771 22667 110 14 5770 22668 110 14 5771 22669 110 14 5772 22670 110 14 5773 22671 110 14 5774 22672 110 14 5763 22673 110 14 5773 22674 110 14 5763 22675 110 14 5762 22676 110 14 5775 22677 110 14 5776 22678 110 14 5777 22679 110 14 5778 22680 110 14 5779 22681 110 14 5780 22682 110 14 5781 22683 110 14 5775 22684 110 14 5777 22685 110 14 5782 22686 110 14 5779 22687 110 14 5778 22688 110 14 5781 22689 110 14 5777 22690 110 14 5783 22691 110 14 5782 22692 110 14 5784 22693 110 14 5779 22694 110 14 5783 22695 110 14 5777 22696 110 14 5785 22697 110 14 5784 22698 110 14 5786 22699 110 14 5779 22700 110 14 5785 22701 110 14 5777 22702 110 14 5787 22703 110 14 5786 22704 110 14 5788 22705 110 14 5779 22706 110 14 5787 22707 110 14 5777 22708 110 14 5789 22709 110 14 5788 22710 110 14 5790 22711 110 14 5779 22712 110 14 5777 22713 110 14 5791 22714 110 14 5789 22715 110 14 5779 22716 110 14 5790 22717 110 14 5792 22718 110 14 5776 22719 110 14 5791 22720 110 14 5777 22721 110 14 5780 22722 110 14 5779 22723 110 14 5792 22724 110 14 5775 22725 110 14 5763 22726 110 14 5776 22727 110 14 5761 22728 110 14 5763 22729 110 14 5775 22730 110 14 5781 22731 110 14 5761 22732 110 14 5775 22733 110 14 5781 22734 110 14 5765 22735 110 14 5761 22736 110 14 5783 22737 110 14 5765 22738 110 14 5781 22739 110 14 5767 22740 110 14 5765 22741 110 14 5783 22742 110 14 5767 22743 110 14 5783 22744 110 14 5785 22745 110 14 5767 22746 110 14 5785 22747 110 14 5769 22748 110 14 5769 22749 110 14 5785 22750 110 14 5787 22751 110 14 5769 22752 110 14 5787 22753 110 14 5771 22754 110 14 5771 22755 110 14 5787 22756 110 14 5789 22757 110 14 5771 22758 110 14 5789 22759 110 14 5793 22760 110 14 5776 22761 110 14 5774 22762 110 14 5791 22763 110 14 5763 22764 110 14 5774 22765 110 14 5776 22766 110 14 5764 22767 110 14 5780 22768 110 14 5762 22769 110 14 5764 22770 110 14 5778 22771 110 14 5780 22772 110 14 5766 22773 110 14 5778 22774 110 14 5764 22775 110 14 5782 22776 110 14 5778 22777 110 14 5766 22778 110 14 5768 22779 110 14 5782 22780 110 14 5766 22781 110 14 5768 22782 110 14 5784 22783 110 14 5782 22784 110 14 5768 22785 110 14 5770 22786 110 14 5784 22787 110 14 5784 22788 110 14 5770 22789 110 14 5786 22790 110 14 5786 22791 110 14 5770 22792 110 14 5772 22793 110 14 5786 22794 110 14 5772 22795 110 14 5788 22796 110 14 5772 22797 110 14 5794 22798 110 14 5788 22799 110 14 5788 22800 110 14 5794 22801 110 14 5790 22802 110 14 5762 22803 110 14 5792 22804 110 14 5773 22805 110 14 5762 22806 110 14 5780 22807 110 14 5792 22808 110 14 5795 22809 110 14 5796 22810 110 14 5797 22811 110 14 5795 22812 110 14 5797 22813 110 14 5798 22814 110 14 5798 22815 110 14 5797 22816 110 14 5799 22817 110 14 5798 22818 110 14 5799 22819 110 14 5800 22820 110 14 5800 22821 110 14 5799 22822 110 14 5801 22823 110 14 5801 22824 110 14 5799 22825 110 14 5802 22826 110 14 5803 22827 110 14 5804 22828 110 14 5796 22829 110 14 5796 22830 110 14 5804 22831 110 14 5797 22832 110 14 5805 22833 110 14 5806 22834 110 14 5807 22835 110 14 5808 22836 110 14 5806 22837 110 14 5805 22838 110 14 5808 22839 110 14 5809 22840 110 14 5806 22841 110 14 5808 22842 110 14 5810 22843 110 14 5809 22844 110 14 5810 22845 110 14 5811 22846 110 14 5809 22847 110 14 5811 22848 110 14 5812 22849 110 14 5809 22850 110 14 5807 22851 110 14 5813 22852 110 14 5814 22853 110 14 5807 22854 110 14 5806 22855 110 14 5813 22856 110 14 5815 22857 110 14 5816 22858 110 14 5817 22859 110 14 5815 22860 110 14 5817 22861 110 14 5818 22862 110 14 5819 22863 110 14 5818 22864 110 14 5817 22865 110 14 5820 22866 110 14 5818 22867 110 14 5819 22868 110 14 5820 22869 110 14 5819 22870 110 14 5821 22871 110 14 5820 22872 110 14 5821 22873 110 14 5822 22874 110 14 5822 22875 110 14 5821 22876 110 14 5823 22877 110 14 5822 22878 110 14 5823 22879 110 14 5824 22880 110 14 5824 22881 110 14 5823 22882 110 14 5825 22883 110 14 5824 22884 110 14 5825 22885 110 14 5826 22886 110 14 5826 22887 110 14 5825 22888 110 14 5827 22889 110 14 5826 22890 110 14 5827 22891 110 14 5828 22892 110 14 5796 22893 110 14 5816 22894 110 14 5803 22895 110 14 5817 22896 110 14 5816 22897 110 14 5796 22898 110 14 5795 22899 110 14 5817 22900 110 14 5796 22901 110 14 5819 22902 110 14 5817 22903 110 14 5795 22904 110 14 5798 22905 110 14 5819 22906 110 14 5795 22907 110 14 5821 22908 110 14 5819 22909 110 14 5798 22910 110 14 5800 22911 110 14 5821 22912 110 14 5798 22913 110 14 5823 22914 110 14 5821 22915 110 14 5800 22916 110 14 5801 22917 110 14 5823 22918 110 14 5800 22919 110 14 5825 22920 110 14 5823 22921 110 14 5801 22922 110 14 5802 22923 110 14 5825 22924 110 14 5801 22925 110 14 5827 22926 110 14 5825 22927 110 14 5802 22928 110 14 5820 22929 110 14 5829 22930 110 14 5818 22931 110 14 5830 22932 110 14 5829 22933 110 14 5820 22934 110 14 5830 22935 110 14 5831 22936 110 14 5829 22937 110 14 5832 22938 110 14 5831 22939 110 14 5830 22940 110 14 5832 22941 110 14 5833 22942 110 14 5831 22943 110 14 5834 22944 110 14 5833 22945 110 14 5832 22946 110 14 5834 22947 110 14 5807 22948 110 14 5833 22949 110 14 5834 22950 110 14 5805 22951 110 14 5807 22952 110 14 5808 22953 110 14 5805 22954 110 14 5834 22955 110 14 5835 22956 110 14 5808 22957 110 14 5834 22958 110 14 5835 22959 110 14 5834 22960 110 14 5832 22961 110 14 5835 22962 110 14 5832 22963 110 14 5836 22964 110 14 5836 22965 110 14 5832 22966 110 14 5830 22967 110 14 5836 22968 110 14 5830 22969 110 14 5837 22970 110 14 5837 22971 110 14 5830 22972 110 14 5820 22973 110 14 5822 22974 110 14 5837 22975 110 14 5820 22976 110 14 5824 22977 110 14 5837 22978 110 14 5822 22979 110 14 5824 22980 110 14 5838 22981 110 14 5837 22982 110 14 5838 22983 110 14 5836 22984 110 14 5837 22985 110 14 5839 22986 110 14 5836 22987 110 14 5838 22988 110 14 5839 22989 110 14 5835 22990 110 14 5836 22991 110 14 5840 22992 110 14 5835 22993 110 14 5839 22994 110 14 5840 22995 110 14 5808 22996 110 14 5835 22997 110 14 5840 22998 110 14 5810 22999 110 14 5808 23000 110 14 5841 23001 110 14 5811 23002 110 14 5840 23003 110 14 5841 23004 110 14 5840 23005 110 14 5839 23006 110 14 5841 23007 110 14 5839 23008 110 14 5842 23009 110 14 5842 23010 110 14 5839 23011 110 14 5838 23012 110 14 5842 23013 110 14 5838 23014 110 14 5843 23015 110 14 5843 23016 110 14 5838 23017 110 14 5824 23018 110 14 5826 23019 110 14 5843 23020 110 14 5824 23021 110 14 5843 23022 110 14 5826 23023 110 14 5828 23024 110 14 5843 23025 110 14 5828 23026 110 14 5844 23027 110 14 5842 23028 110 14 5843 23029 110 14 5844 23030 110 14 5842 23031 110 14 5844 23032 110 14 5845 23033 110 14 5841 23034 110 14 5842 23035 110 14 5845 23036 110 14 5841 23037 110 14 5845 23038 110 14 5846 23039 110 14 5811 23040 110 14 5841 23041 110 14 5846 23042 110 14 5811 23043 110 14 5846 23044 110 14 5812 23045 110 14 5811 23046 110 14 5810 23047 110 14 5840 23048 110 14 5797 23049 110 14 5804 23050 110 14 5813 23051 110 14 5806 23052 110 14 5797 23053 110 14 5813 23054 110 14 5799 23055 110 14 5797 23056 110 14 5806 23057 110 14 5809 23058 110 14 5799 23059 110 14 5806 23060 110 14 5802 23061 110 14 5799 23062 110 14 5809 23063 110 14 5812 23064 110 14 5802 23065 110 14 5809 23066 110 14 5812 23067 110 14 5828 23068 110 14 5802 23069 110 14 5847 23070 110 14 5848 23071 110 14 5849 23072 110 14 5850 23073 110 14 5848 23074 110 14 5847 23075 110 14 5850 23076 110 14 5851 23077 110 14 5848 23078 110 14 5850 23079 110 14 5852 23080 110 14 5851 23081 110 14 5852 23082 110 14 5853 23083 110 14 5851 23084 110 14 5853 23085 110 14 5854 23086 110 14 5851 23087 110 14 5849 23088 110 14 5804 23089 110 14 5803 23090 110 14 5849 23091 110 14 5848 23092 110 14 5804 23093 110 14 5855 23094 110 14 5856 23095 110 14 5857 23096 110 14 5855 23097 110 14 5857 23098 110 14 5858 23099 110 14 5858 23100 110 14 5857 23101 110 14 5859 23102 110 14 5858 23103 110 14 5859 23104 110 14 5860 23105 110 14 5860 23106 110 14 5859 23107 110 14 5861 23108 110 14 5861 23109 110 14 5859 23110 110 14 5862 23111 110 14 5814 23112 110 14 5813 23113 110 14 5856 23114 110 14 5856 23115 110 14 5813 23116 110 14 5857 23117 110 14 5815 23118 110 14 5863 23119 110 14 5816 23120 110 14 5864 23121 110 14 5863 23122 110 14 5815 23123 110 14 5865 23124 110 14 5863 23125 110 14 5864 23126 110 14 5866 23127 110 14 5865 23128 110 14 5864 23129 110 14 5866 23130 110 14 5867 23131 110 14 5865 23132 110 14 5868 23133 110 14 5867 23134 110 14 5866 23135 110 14 5868 23136 110 14 5869 23137 110 14 5867 23138 110 14 5868 23139 110 14 5870 23140 110 14 5869 23141 110 14 5870 23142 110 14 5871 23143 110 14 5869 23144 110 14 5870 23145 110 14 5872 23146 110 14 5871 23147 110 14 5872 23148 110 14 5873 23149 110 14 5871 23150 110 14 5872 23151 110 14 5874 23152 110 14 5873 23153 110 14 5816 23154 110 14 5849 23155 110 14 5803 23156 110 14 5816 23157 110 14 5863 23158 110 14 5849 23159 110 14 5863 23160 110 14 5847 23161 110 14 5849 23162 110 14 5863 23163 110 14 5865 23164 110 14 5847 23165 110 14 5865 23166 110 14 5850 23167 110 14 5847 23168 110 14 5865 23169 110 14 5867 23170 110 14 5850 23171 110 14 5867 23172 110 14 5852 23173 110 14 5850 23174 110 14 5867 23175 110 14 5869 23176 110 14 5852 23177 110 14 5869 23178 110 14 5853 23179 110 14 5852 23180 110 14 5869 23181 110 14 5871 23182 110 14 5853 23183 110 14 5854 23184 110 14 5853 23185 110 14 5871 23186 110 14 5873 23187 110 14 5854 23188 110 14 5871 23189 110 14 5864 23190 110 14 5875 23191 110 14 5866 23192 110 14 5875 23193 110 14 5876 23194 110 14 5866 23195 110 14 5877 23196 110 14 5876 23197 110 14 5875 23198 110 14 5877 23199 110 14 5878 23200 110 14 5876 23201 110 14 5879 23202 110 14 5878 23203 110 14 5877 23204 110 14 5879 23205 110 14 5880 23206 110 14 5878 23207 110 14 5879 23208 110 14 5856 23209 110 14 5880 23210 110 14 5856 23211 110 14 5855 23212 110 14 5880 23213 110 14 5880 23214 110 14 5855 23215 110 14 5858 23216 110 14 5880 23217 110 14 5858 23218 110 14 5881 23219 110 14 5880 23220 110 14 5881 23221 110 14 5878 23222 110 14 5878 23223 110 14 5881 23224 110 14 5882 23225 110 14 5878 23226 110 14 5882 23227 110 14 5876 23228 110 14 5876 23229 110 14 5882 23230 110 14 5883 23231 110 14 5876 23232 110 14 5883 23233 110 14 5866 23234 110 14 5866 23235 110 14 5883 23236 110 14 5868 23237 110 14 5883 23238 110 14 5870 23239 110 14 5868 23240 110 14 5883 23241 110 14 5884 23242 110 14 5870 23243 110 14 5882 23244 110 14 5884 23245 110 14 5883 23246 110 14 5882 23247 110 14 5885 23248 110 14 5884 23249 110 14 5881 23250 110 14 5885 23251 110 14 5882 23252 110 14 5881 23253 110 14 5886 23254 110 14 5885 23255 110 14 5858 23256 110 14 5886 23257 110 14 5881 23258 110 14 5858 23259 110 14 5860 23260 110 14 5886 23261 110 14 5886 23262 110 14 5861 23263 110 14 5887 23264 110 14 5886 23265 110 14 5887 23266 110 14 5885 23267 110 14 5885 23268 110 14 5887 23269 110 14 5888 23270 110 14 5885 23271 110 14 5888 23272 110 14 5884 23273 110 14 5884 23274 110 14 5888 23275 110 14 5889 23276 110 14 5884 23277 110 14 5889 23278 110 14 5870 23279 110 14 5870 23280 110 14 5889 23281 110 14 5872 23282 110 14 5889 23283 110 14 5874 23284 110 14 5872 23285 110 14 5889 23286 110 14 5890 23287 110 14 5874 23288 110 14 5888 23289 110 14 5890 23290 110 14 5889 23291 110 14 5888 23292 110 14 5891 23293 110 14 5890 23294 110 14 5887 23295 110 14 5891 23296 110 14 5888 23297 110 14 5887 23298 110 14 5892 23299 110 14 5891 23300 110 14 5861 23301 110 14 5892 23302 110 14 5887 23303 110 14 5861 23304 110 14 5862 23305 110 14 5892 23306 110 14 5860 23307 110 14 5861 23308 110 14 5886 23309 110 14 5804 23310 110 14 5848 23311 110 14 5813 23312 110 14 5813 23313 110 14 5848 23314 110 14 5857 23315 110 14 5848 23316 110 14 5851 23317 110 14 5857 23318 110 14 5857 23319 110 14 5851 23320 110 14 5859 23321 110 14 5851 23322 110 14 5854 23323 110 14 5859 23324 110 14 5859 23325 110 14 5854 23326 110 14 5862 23327 110 14 5854 23328 110 14 5874 23329 110 14 5862 23330 110 14 5818 23331 110 14 5893 23332 110 14 5815 23333 110 14 5829 23334 110 14 5893 23335 110 14 5818 23336 110 14 5829 23337 110 14 5894 23338 110 14 5893 23339 110 14 5831 23340 110 14 5894 23341 110 14 5829 23342 110 14 5831 23343 110 14 5895 23344 110 14 5894 23345 110 14 5833 23346 110 14 5895 23347 110 14 5831 23348 110 14 5833 23349 110 14 5814 23350 110 14 5895 23351 110 14 5833 23352 110 14 5807 23353 110 14 5814 23354 110 14 5893 23355 110 14 5864 23356 110 14 5815 23357 110 14 5893 23358 110 14 5875 23359 110 14 5864 23360 110 14 5894 23361 110 14 5875 23362 110 14 5893 23363 110 14 5894 23364 110 14 5877 23365 110 14 5875 23366 110 14 5895 23367 110 14 5877 23368 110 14 5894 23369 110 14 5895 23370 110 14 5879 23371 110 14 5877 23372 110 14 5814 23373 110 14 5879 23374 110 14 5895 23375 110 14 5814 23376 110 14 5856 23377 110 14 5879 23378 110 14 5896 23379 110 14 5897 23380 110 14 5898 23381 110 14 5896 23382 110 14 5899 23383 110 14 5897 23384 110 14 5900 23385 110 14 5901 23386 110 14 5899 23387 110 14 5900 23388 110 14 5902 23389 110 14 5901 23390 110 14 5900 23391 110 14 5903 23392 110 14 5902 23393 110 14 5900 23394 110 14 5904 23395 110 14 5903 23396 110 14 5904 23397 110 14 5905 23398 110 14 5906 23399 110 14 5906 23400 110 14 5905 23401 110 14 5907 23402 110 14 5907 23403 110 14 5905 23404 110 14 5908 23405 110 14 5909 23406 110 14 5910 23407 110 14 5908 23408 110 14 5911 23409 110 14 5896 23410 110 14 5898 23411 110 14 5912 23412 110 14 5896 23413 110 14 5911 23414 110 14 5913 23415 110 14 5912 23416 110 14 5914 23417 110 14 5913 23418 110 14 5914 23419 110 14 5915 23420 110 14 5913 23421 110 14 5915 23422 110 14 5916 23423 110 14 5913 23424 110 14 5916 23425 110 14 5917 23426 110 14 5917 23427 110 14 5918 23428 110 14 5919 23429 110 14 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110 14 5990 23597 110 14 5989 23598 110 14 5990 23599 110 14 5991 23600 110 14 5992 23601 110 14 5989 23602 110 14 5991 23603 110 14 5992 23604 110 14 5991 23605 110 14 5993 23606 110 14 5994 23607 110 14 5995 23608 110 14 5996 23609 110 14 5994 23610 110 14 5996 23611 110 14 5997 23612 110 14 5998 23613 110 14 5994 23614 110 14 5997 23615 110 14 5997 23616 110 14 5996 23617 110 14 5999 23618 110 14 5997 23619 110 14 5999 23620 110 14 6000 23621 110 14 6000 23622 110 14 5999 23623 110 14 6001 23624 110 14 6000 23625 110 14 6001 23626 110 14 6002 23627 110 14 6003 23628 110 14 6000 23629 110 14 6002 23630 110 14 6003 23631 110 14 6002 23632 110 14 6004 23633 110 14 6005 23634 110 14 6006 23635 110 14 6007 23636 110 14 6007 23637 110 14 6006 23638 110 14 6008 23639 110 14 6007 23640 110 14 6008 23641 110 14 6009 23642 110 14 6006 23643 110 14 6010 23644 110 14 6008 23645 110 14 6008 23646 110 14 6010 23647 110 14 6011 23648 110 14 6010 23649 110 14 6012 23650 110 14 6011 23651 110 14 6011 23652 110 14 6012 23653 110 14 6013 23654 110 14 6011 23655 110 14 6013 23656 110 14 6014 23657 110 14 6014 23658 110 14 6013 23659 110 14 6015 23660 110 14 6016 23661 110 14 6017 23662 110 14 6018 23663 110 14 6018 23664 110 14 6017 23665 110 14 6019 23666 110 14 6018 23667 110 14 6019 23668 110 14 6020 23669 110 14 6017 23670 110 14 6021 23671 110 14 6019 23672 110 14 6021 23673 110 14 6022 23674 110 14 6019 23675 110 14 6021 23676 110 14 6023 23677 110 14 6022 23678 110 14 6023 23679 110 14 6024 23680 110 14 6022 23681 110 14 6022 23682 110 14 6024 23683 110 14 6025 23684 110 14 6024 23685 110 14 6026 23686 110 14 6025 23687 110 14 6027 23688 110 14 6028 23689 110 14 6029 23690 110 14 6028 23691 110 14 6030 23692 110 14 6029 23693 110 14 6030 23694 110 14 6031 23695 110 14 6029 23696 110 14 6032 23697 110 14 6030 23698 110 14 6028 23699 110 14 6032 23700 110 14 6033 23701 110 14 6030 23702 110 14 6034 23703 110 14 6033 23704 110 14 6032 23705 110 14 6034 23706 110 14 6035 23707 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6057 23763 110 14 6058 23764 110 14 6050 23765 110 14 6058 23766 110 14 6059 23767 110 14 6050 23768 110 14 6050 23769 110 14 6059 23770 110 14 6060 23771 110 14 6050 23772 110 14 6060 23773 110 14 6061 23774 110 14 6050 23775 110 14 6061 23776 110 14 6062 23777 110 14 6050 23778 110 14 6062 23779 110 14 6063 23780 110 14 6050 23781 110 14 6063 23782 110 14 6064 23783 110 14 6050 23784 110 14 6064 23785 110 14 6065 23786 110 14 6050 23787 110 14 6065 23788 110 14 6051 23789 110 14 6066 23790 110 14 6067 23791 110 14 6068 23792 110 14 6066 23793 110 14 6068 23794 110 14 6069 23795 110 14 6069 23796 110 14 6068 23797 110 14 6070 23798 110 14 6069 23799 110 14 6070 23800 110 14 6071 23801 110 14 6071 23802 110 14 6070 23803 110 14 6072 23804 110 14 6071 23805 110 14 6072 23806 110 14 6073 23807 110 14 6073 23808 110 14 6072 23809 110 14 6074 23810 110 14 6073 23811 110 14 6074 23812 110 14 6075 23813 110 14 6075 23814 110 14 6074 23815 110 14 6076 23816 110 14 6075 23817 110 14 6076 23818 110 14 6077 23819 110 14 6077 23820 110 14 6076 23821 110 14 6078 23822 110 14 6077 23823 110 14 6078 23824 110 14 6079 23825 110 14 6079 23826 110 14 6078 23827 110 14 6080 23828 110 14 6079 23829 110 14 6080 23830 110 14 6081 23831 110 14 6080 23832 110 14 6082 23833 110 14 6081 23834 110 14 6081 23835 110 14 6082 23836 110 14 6083 23837 110 14 6082 23838 110 14 6084 23839 110 14 6083 23840 110 14 6083 23841 110 14 6084 23842 110 14 6085 23843 110 14 6084 23844 110 14 6086 23845 110 14 6085 23846 110 14 6085 23847 110 14 6086 23848 110 14 6087 23849 110 14 6086 23850 110 14 6088 23851 110 14 6087 23852 110 14 6087 23853 110 14 6088 23854 110 14 6089 23855 110 14 6088 23856 110 14 6090 23857 110 14 6089 23858 110 14 6090 23859 110 14 6091 23860 110 14 6089 23861 110 14 6092 23862 110 14 6091 23863 110 14 6090 23864 110 14 6092 23865 110 14 6093 23866 110 14 6091 23867 110 14 6094 23868 110 14 6093 23869 110 14 6092 23870 110 14 6094 23871 110 14 6095 23872 110 14 6093 23873 110 14 6096 23874 110 14 6095 23875 110 14 6094 23876 110 14 6096 23877 110 14 6097 23878 110 14 6095 23879 110 14 6098 23880 110 14 6097 23881 110 14 6096 23882 110 14 6098 23883 110 14 6099 23884 110 14 6097 23885 110 14 6100 23886 110 14 6099 23887 110 14 6098 23888 110 14 6100 23889 110 14 6101 23890 110 14 6099 23891 110 14 6102 23892 110 14 6101 23893 110 14 6100 23894 110 14 6103 23895 110 14 6101 23896 110 14 6102 23897 110 14 6104 23898 110 14 6103 23899 110 14 6102 23900 110 14 6105 23901 110 14 6103 23902 110 14 6104 23903 110 14 6106 23904 110 14 6105 23905 110 14 6104 23906 110 14 6107 23907 110 14 6105 23908 110 14 6106 23909 110 14 6108 23910 110 14 6107 23911 110 14 6106 23912 110 14 6109 23913 110 14 6107 23914 110 14 6108 23915 110 14 6110 23916 110 14 6109 23917 110 14 6108 23918 110 14 6111 23919 110 14 6109 23920 110 14 6110 23921 110 14 6112 23922 110 14 6111 23923 110 14 6110 23924 110 14 6113 23925 110 14 6111 23926 110 14 6112 23927 110 14 6113 23928 110 14 6112 23929 110 14 6067 23930 110 14 6066 23931 110 14 6113 23932 110 14 6067 23933 110 14 6114 23934 110 14 6115 23935 110 14 6116 23936 110 14 6114 23937 110 14 6116 23938 110 14 6117 23939 110 14 6117 23940 110 14 6116 23941 110 14 6118 23942 110 14 6117 23943 110 14 6118 23944 110 14 6119 23945 110 14 6120 23946 110 14 6114 23947 110 14 6117 23948 110 14 6121 23949 110 14 6120 23950 110 14 6117 23951 110 14 6121 23952 110 14 6117 23953 110 14 6119 23954 110 14 6121 23955 110 14 6119 23956 110 14 6122 23957 110 14 6123 23958 110 14 6120 23959 110 14 6121 23960 110 14 6124 23961 110 14 6123 23962 110 14 6121 23963 110 14 6124 23964 110 14 6121 23965 110 14 6122 23966 110 14 6124 23967 110 14 6122 23968 110 14 6125 23969 110 14 6126 23970 110 14 6127 23971 110 14 6128 23972 110 14 6129 23973 110 14 6126 23974 110 14 6128 23975 110 14 6129 23976 110 14 6128 23977 110 14 6130 23978 110 14 6131 23979 110 14 6129 23980 110 14 6130 23981 110 14 6132 23982 110 14 6126 23983 110 14 6129 23984 110 14 6133 23985 110 14 6132 23986 110 14 6129 23987 110 14 6133 23988 110 14 6129 23989 110 14 6131 23990 110 14 6134 23991 110 14 6133 23992 110 14 6131 23993 110 14 6135 23994 110 14 6132 23995 110 14 6133 23996 110 14 6136 23997 110 14 6135 23998 110 14 6133 23999 110 14 6136 24000 110 14 6133 24001 110 14 6134 24002 110 14 6137 24003 110 14 6136 24004 110 14 6134 24005 110 14 6138 24006 110 14 6139 24007 110 14 6140 24008 110 14 6141 24009 110 14 6139 24010 110 14 6138 24011 110 14 6142 24012 110 14 6141 24013 110 14 6138 24014 110 14 6142 24015 110 14 6143 24016 110 14 6141 24017 110 14 6141 24018 110 14 6144 24019 110 14 6139 24020 110 14 6145 24021 110 14 6144 24022 110 14 6141 24023 110 14 6143 24024 110 14 6145 24025 110 14 6141 24026 110 14 6143 24027 110 14 6146 24028 110 14 6145 24029 110 14 6145 24030 110 14 6147 24031 110 14 6144 24032 110 14 6145 24033 110 14 6148 24034 110 14 6147 24035 110 14 6146 24036 110 14 6148 24037 110 14 6145 24038 110 14 6146 24039 110 14 6149 24040 110 14 6148 24041 110 14 6150 24042 110 14 6151 24043 110 14 6152 24044 110 14 6150 24045 110 14 6153 24046 110 14 6151 24047 110 14 6154 24048 110 14 6153 24049 110 14 6150 24050 110 14 6154 24051 110 14 6155 24052 110 14 6153 24053 110 14 6153 24054 110 14 6156 24055 110 14 6151 24056 110 14 6153 24057 110 14 6157 24058 110 14 6156 24059 110 14 6155 24060 110 14 6157 24061 110 14 6153 24062 110 14 6155 24063 110 14 6158 24064 110 14 6157 24065 110 14 6157 24066 110 14 6159 24067 110 14 6156 24068 110 14 6157 24069 110 14 6160 24070 110 14 6159 24071 110 14 6158 24072 110 14 6160 24073 110 14 6157 24074 110 14 6158 24075 110 14 6161 24076 110 14 6160 24077 110 14 6162 24078 110 14 6163 24079 110 14 6164 24080 110 14 6162 24081 110 14 6165 24082 110 14 6163 24083 110 14 6166 24084 110 14 6165 24085 110 14 6162 24086 110 14 6166 24087 110 14 6167 24088 110 14 6165 24089 110 14 6165 24090 110 14 6168 24091 110 14 6163 24092 110 14 6165 24093 110 14 6169 24094 110 14 6168 24095 110 14 6167 24096 110 14 6169 24097 110 14 6165 24098 110 14 6167 24099 110 14 6170 24100 110 14 6169 24101 110 14 6169 24102 110 14 6171 24103 110 14 6168 24104 110 14 6169 24105 110 14 6172 24106 110 14 6171 24107 110 14 6170 24108 110 14 6172 24109 110 14 6169 24110 110 14 6170 24111 110 14 6173 24112 110 14 6172 24113 110 14 6174 24114 110 14 6175 24115 110 14 6176 24116 110 14 6175 24117 110 14 6177 24118 110 14 6176 24119 110 14 6175 24120 110 14 6178 24121 110 14 6177 24122 110 14 6178 24123 110 14 6179 24124 110 14 6177 24125 110 14 6176 24126 110 14 6177 24127 110 14 6180 24128 110 14 6177 24129 110 14 6181 24130 110 14 6180 24131 110 14 6177 24132 110 14 6179 24133 110 14 6181 24134 110 14 6179 24135 110 14 6182 24136 110 14 6181 24137 110 14 6180 24138 110 14 6181 24139 110 14 6183 24140 110 14 6181 24141 110 14 6184 24142 110 14 6183 24143 110 14 6181 24144 110 14 6182 24145 110 14 6184 24146 110 14 6182 24147 110 14 6185 24148 110 14 6184 24149 110 14 6186 24150 110 14 6187 24151 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6234 24318 110 14 6230 24319 110 14 6232 24320 110 14 6235 24321 110 14 6233 24322 110 14 6231 24323 110 14 6234 24324 110 14 6232 24325 110 14 6224 24326 110 14 6222 24327 110 14 6233 24328 110 14 6235 24329 110 14 6236 24330 110 14 6237 24331 110 14 6238 24332 110 14 6239 24333 110 14 6237 24334 110 14 6236 24335 110 14 6239 24336 110 14 6240 24337 110 14 6237 24338 110 14 6241 24339 110 14 6240 24340 110 14 6239 24341 110 14 6242 24342 110 14 6240 24343 110 14 6241 24344 110 14 6242 24345 110 14 6241 24346 110 14 6243 24347 110 14 6243 24348 110 14 6244 24349 110 14 6242 24350 110 14 6245 24351 110 14 6244 24352 110 14 6243 24353 110 14 6245 24354 110 14 6246 24355 110 14 6244 24356 110 14 6247 24357 110 14 6246 24358 110 14 6245 24359 110 14 6247 24360 110 14 6238 24361 110 14 6246 24362 110 14 6247 24363 110 14 6236 24364 110 14 6238 24365 110 14 6238 24366 110 14 6237 24367 110 14 6248 24368 110 14 6236 24369 110 14 6249 24370 110 14 6239 24371 110 14 6237 24372 110 14 6240 24373 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6261 24429 110 14 6260 24430 110 14 6259 24431 110 14 6261 24432 110 14 6251 24433 110 14 6260 24434 110 14 6252 24435 110 14 6251 24436 110 14 6261 24437 110 14 6262 24438 110 14 6251 24439 110 14 6250 24440 110 14 6263 24441 110 14 6253 24442 110 14 6252 24443 110 14 6262 24444 110 14 6250 24445 110 14 6254 24446 110 14 6255 24447 110 14 6253 24448 110 14 6263 24449 110 14 6256 24450 110 14 6262 24451 110 14 6254 24452 110 14 6257 24453 110 14 6255 24454 110 14 6263 24455 110 14 6256 24456 110 14 6258 24457 110 14 6262 24458 110 14 6257 24459 110 14 6263 24460 110 14 6259 24461 110 14 6258 24462 110 14 6260 24463 110 14 6262 24464 110 14 6259 24465 110 14 6263 24466 110 14 6261 24467 110 14 6260 24468 110 14 6251 24469 110 14 6262 24470 110 14 6263 24471 110 14 6252 24472 110 14 6261 24473 110 14 5953 24474 110 14 6264 24475 110 14 5954 24476 110 14 5956 24477 110 14 6264 24478 110 14 5953 24479 110 14 5956 24480 110 14 5959 24481 110 14 6264 24482 110 14 6265 24483 110 14 5965 24484 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541 2464 2 2 540 2465 2 2 545 2466 2 2 541 2467 2 2 544 2468 2 2 546 2469 2 2 545 2470 2 2 544 2471 2 2 547 2472 2 2 545 2473 2 2 546 2474 2 2 548 2475 2 2 547 2476 2 2 546 2477 2 2 549 2478 2 2 547 2479 2 2 548 2480 2 2 550 2481 2 2 549 2482 2 2 548 2483 2 2 551 2484 2 2 549 2485 2 2 550 2486 2 2 552 2487 2 2 551 2488 2 2 550 2489 2 2 553 2490 2 2 551 2491 2 2 552 2492 2 2 554 2493 2 2 553 2494 2 2 552 2495 2 2 554 2496 2 2 555 2497 2 2 553 2498 2 2 556 2499 2 2 555 2500 2 2 554 2501 2 2 556 2502 2 2 557 2503 2 2 555 2504 2 2 514 2505 2 2 557 2506 2 2 556 2507 2 2 558 2508 2 2 514 2509 2 2 556 2510 2 2 558 2511 2 2 512 2512 2 2 514 2513 2 2 526 2514 2 2 559 2515 2 2 524 2516 2 2 526 2517 2 2 560 2518 2 2 559 2519 2 2 542 2520 2 2 560 2521 2 2 526 2522 2 2 561 2523 2 2 560 2524 2 2 542 2525 2 2 539 2526 2 2 561 2527 2 2 542 2528 2 2 539 2529 2 2 562 2530 2 2 561 2531 2 2 541 2532 2 2 562 2533 2 2 539 2534 2 2 563 2535 2 2 562 2536 2 2 541 2537 2 2 545 2538 2 2 563 2539 2 2 541 2540 2 2 564 2541 2 2 563 2542 2 2 545 2543 2 2 547 2544 2 2 564 2545 2 2 545 2546 2 2 565 2547 2 2 564 2548 2 2 547 2549 2 2 549 2550 2 2 565 2551 2 2 547 2552 2 2 566 2553 2 2 565 2554 2 2 549 2555 2 2 551 2556 2 2 566 2557 2 2 549 2558 2 2 567 2559 2 2 566 2560 2 2 551 2561 2 2 553 2562 2 2 567 2563 2 2 551 2564 2 2 568 2565 2 2 567 2566 2 2 553 2567 2 2 568 2568 2 2 553 2569 2 2 555 2570 2 2 569 2571 2 2 568 2572 2 2 555 2573 2 2 557 2574 2 2 569 2575 2 2 555 2576 2 2 570 2577 2 2 569 2578 2 2 557 2579 2 2 570 2580 2 2 557 2581 2 2 514 2582 2 2 571 2583 2 2 570 2584 2 2 514 2585 2 2 514 2586 2 2 515 2587 2 2 571 2588 2 2 571 2589 2 2 515 2590 2 2 572 2591 2 2 572 2592 2 2 515 2593 2 2 517 2594 2 2 572 2595 2 2 517 2596 2 2 573 2597 2 2 573 2598 2 2 517 2599 2 2 519 2600 2 2 573 2601 2 2 519 2602 2 2 574 2603 2 2 519 2604 2 2 522 2605 2 2 574 2606 2 2 574 2607 2 2 522 2608 2 2 575 2609 2 2 575 2610 2 2 522 2611 2 2 523 2612 2 2 576 2613 2 2 575 2614 2 2 523 2615 2 2 576 2616 2 2 523 2617 2 2 524 2618 2 2 559 2619 2 2 576 2620 2 2 524 2621 2 2 503 2622 2 2 500 2623 2 2 499 2624 2 2

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823 3703 3 3 822 3704 3 3 822 3705 3 3 607 3706 3 3 606 3707 3 3 822 3708 3 3 821 3709 3 3 607 3710 3 3 821 3711 3 3 608 3712 3 3 607 3713 3 3 821 3714 3 3 780 3715 3 3 608 3716 3 3 780 3717 3 3 609 3718 3 3 608 3719 3 3 780 3720 3 3 779 3721 3 3 609 3722 3 3 779 3723 3 3 610 3724 3 3 609 3725 3 3 779 3726 3 3 783 3727 3 3 610 3728 3 3 610 3729 3 3 783 3730 3 3 611 3731 3 3 611 3732 3 3 783 3733 3 3 786 3734 3 3 596 3735 3 3 786 3736 3 3 785 3737 3 3 611 3738 3 3 786 3739 3 3 596 3740 3 3 605 3741 3 3 603 3742 3 3 825 3743 3 3 605 3744 3 3 825 3745 3 3 823 3746 3 3 827 3747 3 3 828 3748 3 3 829 3749 3 3 830 3750 3 3 831 3751 3 3 832 3752 3 3 830 3753 3 3 833 3754 3 3 831 3755 3 3 834 3756 3 3 835 3757 3 3 836 3758 3 3 830 3759 3 3 832 3760 3 3 837 3761 3 3 838 3762 3 3 830 3763 3 3 837 3764 3 3 839 3765 3 3 840 3766 3 3 841 3767 3 3 842 3768 3 3 712 3769 3 3 843 3770 3 3 712 3771 3 3 844 3772 3 3 843 3773 3 3 843 3774 3 3 844 3775 3 3 845 3776 3 3 844 3777 3 3 717 3778 3 3 845 3779 3 3 845 3780 3 3 717 3781 3 3 846 3782 3 3 717 3783 3 3 719 3784 3 3 846 3785 3 3 846 3786 3 3 719 3787 3 3 847 3788 3 3 719 3789 3 3 721 3790 3 3 847 3791 3 3 847 3792 3 3 721 3793 3 3 848 3794 3 3 721 3795 3 3 849 3796 3 3 848 3797 3 3 850 3798 3 3 848 3799 3 3 849 3800 3 3 850 3801 3 3 849 3802 3 3 724 3803 3 3 851 3804 3 3 850 3805 3 3 724 3806 3 3 851 3807 3 3 724 3808 3 3 788 3809 3 3 852 3810 3 3 851 3811 3 3 788 3812 3 3 852 3813 3 3 788 3814 3 3 791 3815 3 3 853 3816 3 3 852 3817 3 3 791 3818 3 3 819 3819 3 3 853 3820 3 3 791 3821 3 3 854 3822 3 3 853 3823 3 3 819 3824 3 3 854 3825 3 3 819 3826 3 3 820 3827 3 3 855 3828 3 3 854 3829 3 3 820 3830 3 3 746 3831 3 3 855 3832 3 3 820 3833 3 3 746 3834 3 3 856 3835 3 3 855 3836 3 3 708 3837 3 3 857 3838 3 3 706 3839 3 3 857 3840 3 3 858 3841 3 3 706 3842 3 3 704 3843 3 3 706 3844 3 3 858 3845 3 3 704 3846 3 3 858 3847 3 3 859 3848 3 3 702 3849 3 3 704 3850 3 3 859 3851 3 3 702 3852 3 3 859 3853 3 3 860 3854 3 3 700 3855 3 3 702 3856 3 3 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4 1108 4797 4 4 1115 4798 4 4 1116 4799 4 4 1108 4800 4 4 1116 4801 4 4 1110 4802 4 4 1110 4803 4 4 1116 4804 4 4 1117 4805 4 4 1110 4806 4 4 1117 4807 4 4 1112 4808 4 4 1112 4809 4 4 1117 4810 4 4 1118 4811 4 4 1118 4812 4 4 1114 4813 4 4 1112 4814 4 4 1118 4815 4 4 1119 4816 4 4 1114 4817 4 4 1115 4818 4 4 1120 4819 4 4 1116 4820 4 4 1116 4821 4 4 1120 4822 4 4 1121 4823 4 4 1116 4824 4 4 1121 4825 4 4 1117 4826 4 4 1117 4827 4 4 1121 4828 4 4 1122 4829 4 4 1117 4830 4 4 1122 4831 4 4 1118 4832 4 4 1118 4833 4 4 1122 4834 4 4 1123 4835 4 4 1118 4836 4 4 1123 4837 4 4 1119 4838 4 4 1123 4839 4 4 1124 4840 4 4 1119 4841 4 4 1120 4842 4 4 1125 4843 4 4 1121 4844 4 4 1121 4845 4 4 1125 4846 4 4 1126 4847 4 4 1121 4848 4 4 1126 4849 4 4 1122 4850 4 4 1122 4851 4 4 1126 4852 4 4 1127 4853 4 4 1122 4854 4 4 1127 4855 4 4 1123 4856 4 4 1123 4857 4 4 1127 4858 4 4 1128 4859 4 4 1123 4860 4 4 1128 4861 4 4 1124 4862 4 4 1128 4863 4 4 1129 4864 4 4 1124 4865 4 4 1126 4866 4 4 1125 4867 4 4 1130 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4 1145 4940 4 4 1105 4941 4 4 1146 4942 4 4 1145 4943 4 4 1106 4944 4 4 1145 4945 4 4 1147 4946 4 4 1115 4947 4 4 1106 4948 4 4 1147 4949 4 4 1115 4950 4 4 1147 4951 4 4 1148 4952 4 4 1115 4953 4 4 1148 4954 4 4 1120 4955 4 4 1120 4956 4 4 1148 4957 4 4 1149 4958 4 4 1120 4959 4 4 1149 4960 4 4 1125 4961 4 4 1125 4962 4 4 1149 4963 4 4 1150 4964 4 4 1125 4965 4 4 1150 4966 4 4 1130 4967 4 4 1130 4968 4 4 1150 4969 4 4 1151 4970 4 4 1130 4971 4 4 1151 4972 4 4 1135 4973 4 4 1135 4974 4 4 1151 4975 4 4 1152 4976 4 4 1135 4977 4 4 1152 4978 4 4 1140 4979 4 4 1153 4980 4 4 1154 4981 4 4 1155 4982 4 4 1156 4983 4 4 1153 4984 4 4 1155 4985 4 4 1156 4986 4 4 1155 4987 4 4 1157 4988 4 4 1158 4989 4 4 1156 4990 4 4 1157 4991 4 4 1158 4992 4 4 1157 4993 4 4 1159 4994 4 4 1160 4995 4 4 1158 4996 4 4 1159 4997 4 4 1160 4998 4 4 1159 4999 4 4 1161 5000 4 4 1160 5001 4 4 1161 5002 4 4 1162 5003 4 4 1162 5004 4 4 1161 5005 4 4 1163 5006 4 4 1162 5007 4 4 1163 5008 4 4 1164 5009 4 4 1164 5010 4 4 1163 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2 1740 6708 2 2 1741 6709 2 2 1738 6710 2 2 1740 6711 2 2 1738 6712 2 2 1735 6713 2 2 1742 6714 2 2 1743 6715 2 2 1740 6716 2 2 1742 6717 2 2 1744 6718 2 2 1745 6719 2 2 1742 6720 2 2 1740 6721 2 2 1744 6722 2 2 1740 6723 2 2 1735 6724 2 2 1744 6725 2 2 1744 6726 2 2 1746 6727 2 2 1747 6728 2 2 1746 6729 2 2 1748 6730 2 2 1749 6731 2 2 1744 6732 2 2 1748 6733 2 2 1746 6734 2 2 1744 6735 2 2 1735 6736 2 2 1748 6737 2 2 1735 6738 2 2 1737 6739 2 2 1748 6740 2 2 1748 6741 2 2 1750 6742 2 2 1751 6743 2 2 1748 6744 2 2 1737 6745 2 2 1750 6746 2 2 1737 6747 2 2 1752 6748 2 2 1750 6749 2 2 1750 6750 2 2 1752 6751 2 2 1753 6752 2 2 1754 6753 2 2 1750 6754 2 2 1753 6755 2 2 1751 6756 2 2 1750 6757 2 2 1754 6758 2 2 1755 6759 2 2 1751 6760 2 2 1754 6761 2 2 1755 6762 2 2 1748 6763 2 2 1751 6764 2 2 1756 6765 2 2 1748 6766 2 2 1755 6767 2 2 1756 6768 2 2 1749 6769 2 2 1748 6770 2 2 1757 6771 2 2 1749 6772 2 2 1756 6773 2 2 1757 6774 2 2 1746 6775 2 2 1749 6776 2 2 1758 6777 2 2 1746 6778 2 2 1757 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2 1770 6851 2 2 1752 6852 2 2 1737 6853 2 2 1770 6854 2 2 1752 6855 2 2 1770 6856 2 2 1753 6857 2 2 1771 6858 2 2 1772 6859 2 2 1773 6860 2 2 1772 6861 2 2 1774 6862 2 2 1773 6863 2 2 1775 6864 2 2 1776 6865 2 2 1777 6866 2 2 1775 6867 2 2 1777 6868 2 2 1778 6869 2 2 1779 6870 2 2 1780 6871 2 2 1781 6872 2 2 1782 6873 2 2 1780 6874 2 2 1779 6875 2 2 1773 6876 2 2 1774 6877 2 2 1776 6878 2 2 1776 6879 2 2 1774 6880 2 2 1777 6881 2 2 1778 6882 2 2 1781 6883 2 2 1775 6884 2 2 1779 6885 2 2 1781 6886 2 2 1778 6887 2 2 1783 6888 2 2 1784 6889 2 2 1785 6890 2 2 1784 6891 2 2 1786 6892 2 2 1785 6893 2 2 1784 6894 2 2 1787 6895 2 2 1786 6896 2 2 1787 6897 2 2 1788 6898 2 2 1786 6899 2 2 1783 6900 2 2 1789 6901 2 2 1790 6902 2 2 1783 6903 2 2 1785 6904 2 2 1789 6905 2 2 1790 6906 2 2 1791 6907 2 2 1792 6908 2 2 1790 6909 2 2 1789 6910 2 2 1791 6911 2 2 1791 6912 2 2 1793 6913 2 2 1792 6914 2 2 1791 6915 2 2 1794 6916 2 2 1793 6917 2 2 1793 6918 2 2 1795 6919 2 2 1796 6920 2 2 1793 6921 2 2 1794 6922 2 2 1795 6923 2 2 1795 6924 2 2 1797 6925 2 2 1798 6926 2 2 1796 6927 2 2 1795 6928 2 2 1798 6929 2 2 1798 6930 2 2 1799 6931 2 2 1800 6932 2 2 1798 6933 2 2 1797 6934 2 2 1799 6935 2 2 1800 6936 2 2 1801 6937 2 2 1802 6938 2 2 1800 6939 2 2 1799 6940 2 2 1801 6941 2 2 1802 6942 2 2 1803 6943 2 2 1804 6944 2 2 1802 6945 2 2 1801 6946 2 2 1803 6947 2 2 1805 6948 2 2 1806 6949 2 2 1807 6950 2 2 1805 6951 2 2 1807 6952 2 2 1808 6953 2 2 1808 6954 2 2 1807 6955 2 2 1809 6956 2 2 1808 6957 2 2 1809 6958 2 2 1810 6959 2 2 1810 6960 2 2 1809 6961 2 2 1811 6962 2 2 1809 6963 2 2 1812 6964 2 2 1811 6965 2 2 1813 6966 2 2 1814 6967 2 2 1815 6968 2 2 1813 6969 2 2 1816 6970 2 2 1814 6971 2 2 1812 6972 2 2 1815 6973 2 2 1811 6974 2 2 1812 6975 2 2 1813 6976 2 2 1815 6977 2 2 1817 6978 2 2 1818 6979 2 2 1819 6980 2 2 1820 6981 2 2 1817 6982 2 2 1819 6983 2 2 1818 6984 2 2 1821 6985 2 2 1822 6986 2 2 1819 6987 2 2 1818 6988 2 2 1822 6989 2 2 1821 6990 2 2 1823 6991 2 2 1824 6992 2 2 1822 6993 2 2 1821 6994 2 2 1824 6995 2 2 1823 6996 2 2 1825 6997 2 2 1826 6998 2 2 1824 6999 2 2 1823 7000 2 2 1826 7001 2 2 1825 7002 2 2 1827 7003 2 2 1828 7004 2 2 1826 7005 2 2 1825 7006 2 2 1828 7007 2 2 1827 7008 2 2 1829 7009 2 2 1830 7010 2 2 1828 7011 2 2 1827 7012 2 2 1830 7013 2 2 1829 7014 2 2 1831 7015 2 2 1832 7016 2 2 1830 7017 2 2 1829 7018 2 2 1832 7019 2 2 1831 7020 2 2 1833 7021 2 2 1834 7022 2 2 1832 7023 2 2 1831 7024 2 2 1834 7025 2 2 1833 7026 2 2 1835 7027 2 2 1836 7028 2 2 1834 7029 2 2 1833 7030 2 2 1836 7031 2 2 1835 7032 2 2 1837 7033 2 2 1838 7034 2 2 1836 7035 2 2 1835 7036 2 2 1838 7037 2 2 1837 7038 2 2 1839 7039 2 2 1840 7040 2 2 1838 7041 2 2 1837 7042 2 2 1840 7043 2 2 1841 7044 2 2 1842 7045 2 2 1839 7046 2 2 1839 7047 2 2 1842 7048 2 2 1840 7049 2 2 1843 7050 2 2 1844 7051 2 2 1845 7052 2 2 1844 7053 2 2 1846 7054 2 2 1845 7055 2 2 1847 7056 2 2 1848 7057 2 2 1820 7058 2 2 1848 7059 2 2 1817 7060 2 2 1820 7061 2 2 1849 7062 2 2 1850 7063 2 2 1842 7064 2 2 1851 7065 2 2 1801 7066 2 2 1799 7067 2 2 1801 7068 2 2 1851 7069 2 2 1803 7070 2 2 1852 7071 2 2 1853 7072 2 2 1854 7073 2 2 1855 7074 2 2 1856 7075 2 2 1857 7076 2 2 1856 7077 2 2 1858 7078 2 2 1857 7079 2 2 1855 7080 2 2 1859 7081 2 2 1860 7082 2 2 1855 7083 2 2 1860 7084 2 2 1856 7085 2 2 1859 7086 2 2 1861 7087 2 2 1862 7088 2 2 1860 7089 2 2 1859 7090 2 2 1862 7091 2 2 1861 7092 2 2 1863 7093 2 2 1864 7094 2 2 1861 7095 2 2 1864 7096 2 2 1862 7097 2 2 1863 7098 2 2 1865 7099 2 2 1866 7100 2 2 1863 7101 2 2 1866 7102 2 2 1864 7103 2 2 1865 7104 2 2 1867 7105 2 2 1868 7106 2 2 1865 7107 2 2 1868 7108 2 2 1866 7109 2 2 1867 7110 2 2 1869 7111 2 2 1870 7112 2 2 1867 7113 2 2 1870 7114 2 2 1868 7115 2 2 1871 7116 2 2 1872 7117 2 2 1869 7118 2 2 1869 7119 2 2 1872 7120 2 2 1870 7121 2 2 1873 7122 2 2 1874 7123 2 2 1871 7124 2 2 1874 7125 2 2 1872 7126 2 2 1871 7127 2 2 1875 7128 2 2 1876 7129 2 2 1877 7130 2 2 1875 7131 2 2 1878 7132 2 2 1876 7133 2 2 1879 7134 2 2 1880 7135 2 2 1881 7136 2 2 1879 7137 2 2 1881 7138 2 2 1882 7139 2 2 1880 7140 2 2 1883 7141 2 2 1884 7142 2 2 1880 7143 2 2 1884 7144 2 2 1881 7145 2 2 1885 7146 2 2 1886 7147 2 2 1883 7148 2 2 1886 7149 2 2 1884 7150 2 2 1883 7151 2 2 1887 7152 2 2 1888 7153 2 2 1885 7154 2 2 1888 7155 2 2 1886 7156 2 2 1885 7157 2 2 1889 7158 2 2 1890 7159 2 2 1887 7160 2 2 1890 7161 2 2 1888 7162 2 2 1887 7163 2 2 1857 7164 2 2 1858 7165 2 2 1889 7166 2 2 1858 7167 2 2 1890 7168 2 2 1889 7169 2 2 1891 7170 2 2 1892 7171 2 2 1893 7172 2 2 1891 7173 2 2 1893 7174 2 2 1894 7175 2 2 1895 7176 2 2 1892 7177 2 2 1896 7178 2 2 1892 7179 2 2 1891 7180 2 2 1896 7181 2 2 1897 7182 2 2 1895 7183 2 2 1898 7184 2 2 1895 7185 2 2 1896 7186 2 2 1898 7187 2 2 1899 7188 2 2 1897 7189 2 2 1900 7190 2 2 1897 7191 2 2 1898 7192 2 2 1900 7193 2 2 1901 7194 2 2 1899 7195 2 2 1902 7196 2 2 1899 7197 2 2 1900 7198 2 2 1902 7199 2 2 1903 7200 2 2 1901 7201 2 2 1904 7202 2 2 1901 7203 2 2 1902 7204 2 2 1904 7205 2 2 1903 7206 2 2 1905 7207 2 2 1906 7208 2 2 1904 7209 2 2 1905 7210 2 2 1903 7211 2 2 1906 7212 2 2 1907 7213 2 2 1908 7214 2 2 1905 7215 2 2 1907 7216 2 2 1906 7217 2 2 1908 7218 2 2 1909 7219 2 2 1910 7220 2 2 1907 7221 2 2 1909 7222 2 2 1908 7223 2 2 1910 7224 2 2 1911 7225 2 2 1912 7226 2 2 1910 7227 2 2 1909 7228 2 2 1911 7229 2 2 1912 7230 2 2 1913 7231 2 2 1914 7232 2 2 1912 7233 2 2 1911 7234 2 2 1913 7235 2 2 1914 7236 2 2 1915 7237 2 2 1916 7238 2 2 1914 7239 2 2 1913 7240 2 2 1915 7241 2 2 1916 7242 2 2 1917 7243 2 2 1918 7244 2 2 1916 7245 2 2 1915 7246 2 2 1917 7247 2 2 1918 7248 2 2 1919 7249 2 2 1920 7250 2 2 1918 7251 2 2 1917 7252 2 2 1919 7253 2 2 1920 7254 2 2 1921 7255 2 2 1922 7256 2 2 1920 7257 2 2 1919 7258 2 2 1921 7259 2 2 1923 7260 2 2 1922 7261 2 2 1924 7262 2 2 1924 7263 2 2 1922 7264 2 2 1921 7265 2 2 1894 7266 2 2 1893 7267 2 2 1925 7268 2 2 1894 7269 2 2 1925 7270 2 2 1926 7271 2 2 1926 7272 2 2 1925 7273 2 2 1924 7274 2 2 1925 7275 2 2 1923 7276 2 2 1924 7277 2 2 1893 7278 2 2 1892 7279 2 2 1927 7280 2 2 1892 7281 2 2 1895 7282 2 2 1927 7283 2 2 1895 7284 2 2 1897 7285 2 2 1927 7286 2 2 1897 7287 2 2 1899 7288 2 2 1927 7289 2 2 1927 7290 2 2 1899 7291 2 2 1901 7292 2 2 1927 7293 2 2 1901 7294 2 2 1903 7295 2 2 1927 7296 2 2 1903 7297 2 2 1906 7298 2 2 1927 7299 2 2 1906 7300 2 2 1908 7301 2 2 1927 7302 2 2 1908 7303 2 2 1910 7304 2 2 1927 7305 2 2 1910 7306 2 2 1912 7307 2 2 1927 7308 2 2 1912 7309 2 2 1914 7310 2 2 1927 7311 2 2 1914 7312 2 2 1916 7313 2 2 1918 7314 2 2 1927 7315 2 2 1916 7316 2 2 1920 7317 2 2 1927 7318 2 2 1918 7319 2 2 1922 7320 2 2 1927 7321 2 2 1920 7322 2 2 1923 7323 2 2 1927 7324 2 2 1922 7325 2 2 1925 7326 2 2 1893 7327 2 2 1927 7328 2 2 1925 7329 2 2 1927 7330 2 2 1923 7331 2 2 1928 7332 2 2 1929 7333 2 2 1930 7334 2 2 1931 7335 2 2 1928 7336 2 2 1932 7337 2 2 1933 7338 2 2 1931 7339 2 2 1934 7340 2 2 1933 7341 2 2 1928 7342 2 2 1931 7343 2 2 1935 7344 2 2 1933 7345 2 2 1936 7346 2 2 1935 7347 2 2 1937 7348 2 2 1938 7349 2 2 1935 7350 2 2 1938 7351 2 2 1933 7352 2 2 1938 7353 2 2 1928 7354 2 2 1933 7355 2 2 1938 7356 2 2 1939 7357 2 2 1940 7358 2 2 1940 7359 2 2 1941 7360 2 2 1942 7361 2 2 1938 7362 2 2 1940 7363 2 2 1942 7364 2 2 1938 7365 2 2 1942 7366 2 2 1928 7367 2 2 1942 7368 2 2 1929 7369 2 2 1928 7370 2 2 1942 7371 2 2 1943 7372 2 2 1944 7373 2 2 1942 7374 2 2 1944 7375 2 2 1929 7376 2 2 1944 7377 2 2 1945 7378 2 2 1929 7379 2 2 1944 7380 2 2 1946 7381 2 2 1945 7382 2 2 1947 7383 2 2 1946 7384 2 2 1944 7385 2 2 1943 7386 2 2 1947 7387 2 2 1944 7388 2 2 1948 7389 2 2 1947 7390 2 2 1943 7391 2 2 1943 7392 2 2 1942 7393 2 2 1948 7394 2 2 1942 7395 2 2 1949 7396 2 2 1948 7397 2 2 1942 7398 2 2 1941 7399 2 2 1949 7400 2 2 1941 7401 2 2 1950 7402 2 2 1949 7403 2 2 1941 7404 2 2 1940 7405 2 2 1950 7406 2 2 1940 7407 2 2 1951 7408 2 2 1950 7409 2 2 1940 7410 2 2 1939 7411 2 2 1951 7412 2 2 1939 7413 2 2 1952 7414 2 2 1951 7415 2 2 1939 7416 2 2 1938 7417 2 2 1952 7418 2 2 1938 7419 2 2 1953 7420 2 2 1952 7421 2 2 1953 7422 2 2 1938 7423 2 2 1937 7424 2 2 1953 7425 2 2 1937 7426 2 2 1954 7427 2 2 1954 7428 2 2 1937 7429 2 2 1935 7430 2 2 1954 7431 2 2 1935 7432 2 2 1955 7433 2 2 1935 7434 2 2 1936 7435 2 2 1955 7436 2 2 1955 7437 2 2 1936 7438 2 2 1956 7439 2 2 1936 7440 2 2 1933 7441 2 2 1956 7442 2 2 1956 7443 2 2 1933 7444 2 2 1957 7445 2 2 1934 7446 2 2 1957 7447 2 2 1933 7448 2 2 1934 7449 2 2 1958 7450 2 2 1957 7451 2 2 1931 7452 2 2 1958 7453 2 2 1934 7454 2 2 1931 7455 2 2 1959 7456 2 2 1958 7457 2 2 1932 7458 2 2 1959 7459 2 2 1931 7460 2 2 1932 7461 2 2 1960 7462 2 2 1959 7463 2 2 1928 7464 2 2 1960 7465 2 2 1932 7466 2 2 1928 7467 2 2 1961 7468 2 2 1960 7469 2 2 1930 7470 2 2 1961 7471 2 2 1928 7472 2 2 1930 7473 2 2 1962 7474 2 2 1961 7475 2 2 1929 7476 2 2 1962 7477 2 2 1930 7478 2 2 1929 7479 2 2 1963 7480 2 2 1962 7481 2 2 1945 7482 2 2 1963 7483 2 2 1929 7484 2 2 1946 7485 2 2 1963 7486 2 2 1945 7487 2 2 1964 7488 2 2 1965 7489 2 2 1966 7490 2 2 1967 7491 2 2 1965 7492 2 2 1964 7493 2 2 1968 7494 2 2 1969 7495 2 2 1970 7496 2 2 1968 7497 2 2 1971 7498 2 2 1969 7499 2 2 1972 7500 2 2 1973 7501 2 2 1974 7502 2 2 1975 7503 2 2 1972 7504 2 2 1974 7505 2 2 1967 7506 2 2 1964 7507 2 2 1970 7508 2 2 1969 7509 2 2 1967 7510 2 2 1970 7511 2 2 1971 7512 2 2 1968 7513 2 2 1973 7514 2 2 1972 7515 2 2 1971 7516 2 2 1973 7517 2 2 1976 7518 2 2 1977 7519 2 2 1978 7520 2 2 1976 7521 2 2 1978 7522 2 2 1979 7523 2 2 1980 7524 2 2 1981 7525 2 2 1982 7526 2 2 1983 7527 2 2 1981 7528 2 2 1980 7529 2 2 1976 7530 2 2 1979 7531 2 2 1984 7532 2 2 1979 7533 2 2 1985 7534 2 2 1984 7535 2 2 1986 7536 2 2 1983 7537 2 2 1980 7538 2 2 1987 7539 2 2 1983 7540 2 2 1986 7541 2 2 1984 7542 2 2 1985 7543 2 2 1988 7544 2 2 1985 7545 2 2 1989 7546 2 2 1988 7547 2 2 1987 7548 2 2 1986 7549 2 2 1990 7550 2 2 1987 7551 2 2 1990 7552 2 2 1991 7553 2 2 1988 7554 2 2 1989 7555 2 2 1992 7556 2 2 1989 7557 2 2 1993 7558 2 2 1992 7559 2 2 1991 7560 2 2 1990 7561 2 2 1994 7562 2 2 1991 7563 2 2 1994 7564 2 2 1995 7565 2 2 1992 7566 2 2 1993 7567 2 2 1996 7568 2 2 1993 7569 2 2 1997 7570 2 2 1996 7571 2 2 1995 7572 2 2 1994 7573 2 2 1998 7574 2 2 1995 7575 2 2 1998 7576 2 2 1999 7577 2 2 1997 7578 2 2 2000 7579 2 2 1996 7580 2 2 1997 7581 2 2 2001 7582 2 2 2000 7583 2 2 1998 7584 2 2 2002 7585 2 2 1999 7586 2 2 1999 7587 2 2 2002 7588 2 2 2003 7589 2 2 2001 7590 2 2 2004 7591 2 2 2000 7592 2 2 2001 7593 2 2 2005 7594 2 2 2004 7595 2 2 2002 7596 2 2 2006 7597 2 2 2003 7598 2 2 2003 7599 2 2 2006 7600 2 2 2007 7601 2 2 2004 7602 2 2 2005 7603 2 2 2008 7604 2 2 2005 7605 2 2 2009 7606 2 2 2008 7607 2 2 2007 7608 2 2 2006 7609 2 2 2010 7610 2 2 2007 7611 2 2 2010 7612 2 2 2011 7613 2 2 1979 7614 2 2 1978 7615 2 2 2012 7616 2 2 1979 7617 2 2 2012 7618 2 2 2013 7619 2 2 1983 7620 2 2 2014 7621 2 2 1981 7622 2 2 2015 7623 2 2 2014 7624 2 2 1983 7625 2 2 1985 7626 2 2 1979 7627 2 2 2013 7628 2 2 1985 7629 2 2 2013 7630 2 2 2016 7631 2 2 1987 7632 2 2 2015 7633 2 2 1983 7634 2 2 2017 7635 2 2 2015 7636 2 2 1987 7637 2 2 1989 7638 2 2 1985 7639 2 2 2016 7640 2 2 1989 7641 2 2 2016 7642 2 2 2018 7643 2 2 1991 7644 2 2 2017 7645 2 2 1987 7646 2 2 2019 7647 2 2 2017 7648 2 2 1991 7649 2 2 2018 7650 2 2 1993 7651 2 2 1989 7652 2 2 2018 7653 2 2 2020 7654 2 2 1993 7655 2 2 2019 7656 2 2 1991 7657 2 2 1995 7658 2 2 2019 7659 2 2 1995 7660 2 2 2021 7661 2 2 2020 7662 2 2 1997 7663 2 2 1993 7664 2 2 2020 7665 2 2 2022 7666 2 2 1997 7667 2 2 2021 7668 2 2 1995 7669 2 2 1999 7670 2 2 2021 7671 2 2 1999 7672 2 2 2023 7673 2 2 2022 7674 2 2 2001 7675 2 2 1997 7676 2 2 2022 7677 2 2 2024 7678 2 2 2001 7679 2 2 2023 7680 2 2 1999 7681 2 2 2003 7682 2 2 2023 7683 2 2 2003 7684 2 2 2025 7685 2 2 2024 7686 2 2 2005 7687 2 2 2001 7688 2 2 2024 7689 2 2 2026 7690 2 2 2005 7691 2 2 2003 7692 2 2 2007 7693 2 2 2025 7694 2 2 2025 7695 2 2 2007 7696 2 2 2027 7697 2 2 2026 7698 2 2 2009 7699 2 2 2005 7700 2 2 2026 7701 2 2 2028 7702 2 2 2009 7703 2 2 2007 7704 2 2 2011 7705 2 2 2027 7706 2 2 2027 7707 2 2 2011 7708 2 2 2029 7709 2 2 1978 7710 2 2 1977 7711 2 2 2030 7712 2 2 1978 7713 2 2 2030 7714 2 2 2031 7715 2 2 1982 7716 2 2 1981 7717 2 2 2032 7718 2 2 1981 7719 2 2 2033 7720 2 2 2032 7721 2 2 2030 7722 2 2 2034 7723 2 2 2031 7724 2 2 2031 7725 2 2 2034 7726 2 2 2035 7727 2 2 2032 7728 2 2 2033 7729 2 2 2036 7730 2 2 2033 7731 2 2 2037 7732 2 2 2036 7733 2 2 2034 7734 2 2 2038 7735 2 2 2035 7736 2 2 2035 7737 2 2 2038 7738 2 2 2039 7739 2 2 2037 7740 2 2 2040 7741 2 2 2036 7742 2 2 2037 7743 2 2 2041 7744 2 2 2040 7745 2 2 2038 7746 2 2 2042 7747 2 2 2039 7748 2 2 2039 7749 2 2 2042 7750 2 2 2043 7751 2 2 2041 7752 2 2 2044 7753 2 2 2040 7754 2 2 2041 7755 2 2 2045 7756 2 2 2044 7757 2 2 2042 7758 2 2 2046 7759 2 2 2043 7760 2 2 2043 7761 2 2 2046 7762 2 2 2047 7763 2 2 2045 7764 2 2 2048 7765 2 2 2044 7766 2 2 2045 7767 2 2 2049 7768 2 2 2048 7769 2 2 2047 7770 2 2 2046 7771 2 2 2050 7772 2 2 2047 7773 2 2 2050 7774 2 2 2051 7775 2 2 2048 7776 2 2 2049 7777 2 2 2052 7778 2 2 2049 7779 2 2 2053 7780 2 2 2052 7781 2 2 2051 7782 2 2 2050 7783 2 2 2054 7784 2 2 2051 7785 2 2 2054 7786 2 2 2055 7787 2 2 2052 7788 2 2 2053 7789 2 2 2056 7790 2 2 2053 7791 2 2 2057 7792 2 2 2056 7793 2 2 2008 7794 2 2 2055 7795 2 2 2054 7796 2 2 2008 7797 2 2 2009 7798 2 2 2055 7799 2 2 2010 7800 2 2 2056 7801 2 2 2057 7802 2 2 2011 7803 2 2 2010 7804 2 2 2057 7805 2 2 1978 7806 2 2 2031 7807 2 2 2012 7808 2 2 2012 7809 2 2 2031 7810 2 2 2058 7811 2 2 2014 7812 2 2 2033 7813 2 2 1981 7814 2 2 2014 7815 2 2 2059 7816 2 2 2033 7817 2 2 2031 7818 2 2 2035 7819 2 2 2058 7820 2 2 2058 7821 2 2 2035 7822 2 2 2060 7823 2 2 2059 7824 2 2 2037 7825 2 2 2033 7826 2 2 2059 7827 2 2 2061 7828 2 2 2037 7829 2 2 2035 7830 2 2 2039 7831 2 2 2060 7832 2 2 2060 7833 2 2 2039 7834 2 2 2062 7835 2 2 2061 7836 2 2 2041 7837 2 2 2037 7838 2 2 2061 7839 2 2 2063 7840 2 2 2041 7841 2 2 2062 7842 2 2 2039 7843 2 2 2043 7844 2 2 2062 7845 2 2 2043 7846 2 2 2064 7847 2 2 2063 7848 2 2 2045 7849 2 2 2041 7850 2 2 2063 7851 2 2 2065 7852 2 2 2045 7853 2 2 2064 7854 2 2 2043 7855 2 2 2047 7856 2 2 2064 7857 2 2 2047 7858 2 2 2066 7859 2 2 2065 7860 2 2 2049 7861 2 2 2045 7862 2 2 2065 7863 2 2 2067 7864 2 2 2049 7865 2 2 2066 7866 2 2 2047 7867 2 2 2051 7868 2 2 2066 7869 2 2 2051 7870 2 2 2068 7871 2 2 2067 7872 2 2 2053 7873 2 2 2049 7874 2 2 2067 7875 2 2 2069 7876 2 2 2053 7877 2 2 2055 7878 2 2 2068 7879 2 2 2051 7880 2 2 2070 7881 2 2 2068 7882 2 2 2055 7883 2 2 2057 7884 2 2 2053 7885 2 2 2069 7886 2 2 2057 7887 2 2 2069 7888 2 2 2071 7889 2 2 2009 7890 2 2 2070 7891 2 2 2055 7892 2 2 2028 7893 2 2 2070 7894 2 2 2009 7895 2 2 2011 7896 2 2 2057 7897 2 2 2071 7898 2 2 2011 7899 2 2 2071 7900 2 2 2029 7901 2 2 2072 7902 2 2 2073 7903 2 2 2074 7904 2 2 2074 7905 2 2 2073 7906 2 2 2075 7907 2 2 2073 7908 2 2 2076 7909 2 2 2075 7910 2 2 2075 7911 2 2 2076 7912 2 2 2077 7913 2 2 2076 7914 2 2 2078 7915 2 2 2077 7916 2 2 2077 7917 2 2 2078 7918 2 2 2079 7919 2 2 2080 7920 2 2 2081 7921 2 2 2082 7922 2 2 2080 7923 2 2 2082 7924 2 2 2083 7925 2 2 2083 7926 2 2 2082 7927 2 2 2084 7928 2 2 2084 7929 2 2 2085 7930 2 2 2086 7931 2 2 2085 7932 2 2 2087 7933 2 2 2086 7934 2 2 2086 7935 2 2 2087 7936 2 2 2088 7937 2 2 2087 7938 2 2 2089 7939 2 2 2088 7940 2 2 2088 7941 2 2 2089 7942 2 2 2090 7943 2 2 2089 7944 2 2 2091 7945 2 2 2090 7946 2 2 2091 7947 2 2 2092 7948 2 2 2090 7949 2 2 2091 7950 2 2 2093 7951 2 2 2092 7952 2 2 2093 7953 2 2 2094 7954 2 2 2092 7955 2 2 2093 7956 2 2 2095 7957 2 2 2094 7958 2 2 2095 7959 2 2 2096 7960 2 2 2094 7961 2 2 2080 7962 2 2 2097 7963 2 2 2081 7964 2 2 2080 7965 2 2 2098 7966 2 2 2097 7967 2 2 2098 7968 2 2 2099 7969 2 2 2097 7970 2 2 2099 7971 2 2 2100 7972 2 2 2101 7973 2 2 2101 7974 2 2 2100 7975 2 2 2102 7976 2 2 2100 7977 2 2 2103 7978 2 2 2102 7979 2 2 2102 7980 2 2 2103 7981 2 2 2104 7982 2 2 2103 7983 2 2 2105 7984 2 2 2104 7985 2 2 2104 7986 2 2 2105 7987 2 2 2106 7988 2 2 2106 7989 2 2 2105 7990 2 2 2107 7991 2 2 2106 7992 2 2 2107 7993 2 2 2108 7994 2 2 2108 7995 2 2 2107 7996 2 2 2109 7997 2 2 2108 7998 2 2 2109 7999 2 2 2095 8000 2 2 2095 8001 2 2 2109 8002 2 2 2096 8003 2 2 2082 8004 2 2 2081 8005 2 2 1977 8006 2 2 2082 8007 2 2 1977 8008 2 2 1976 8009 2 2 1982 8010 2 2 2080 8011 2 2 2083 8012 2 2 1982 8013 2 2 2083 8014 2 2 1980 8015 2 2 2082 8016 2 2 1976 8017 2 2 2084 8018 2 2 2084 8019 2 2 1976 8020 2 2 1984 8021 2 2 1980 8022 2 2 2083 8023 2 2 2084 8024 2 2 1980 8025 2 2 2084 8026 2 2 1986 8027 2 2 2084 8028 2 2 1984 8029 2 2 2085 8030 2 2 1984 8031 2 2 1988 8032 2 2 2085 8033 2 2 1986 8034 2 2 2084 8035 2 2 2086 8036 2 2 1986 8037 2 2 2086 8038 2 2 1990 8039 2 2 2085 8040 2 2 1988 8041 2 2 2087 8042 2 2 1988 8043 2 2 1992 8044 2 2 2087 8045 2 2 1990 8046 2 2 2086 8047 2 2 2088 8048 2 2 1990 8049 2 2 2088 8050 2 2 1994 8051 2 2 2087 8052 2 2 1992 8053 2 2 2089 8054 2 2 1992 8055 2 2 1996 8056 2 2 2089 8057 2 2 1994 8058 2 2 2088 8059 2 2 2090 8060 2 2 1994 8061 2 2 2090 8062 2 2 1998 8063 2 2 1996 8064 2 2 2091 8065 2 2 2089 8066 2 2 1996 8067 2 2 2000 8068 2 2 2091 8069 2 2 2090 8070 2 2 2092 8071 2 2 1998 8072 2 2 1998 8073 2 2 2092 8074 2 2 2002 8075 2 2 2000 8076 2 2 2093 8077 2 2 2091 8078 2 2 2000 8079 2 2 2004 8080 2 2 2093 8081 2 2 2092 8082 2 2 2094 8083 2 2 2002 8084 2 2 2002 8085 2 2 2094 8086 2 2 2006 8087 2 2 2004 8088 2 2 2095 8089 2 2 2093 8090 2 2 2004 8091 2 2 2008 8092 2 2 2095 8093 2 2 2094 8094 2 2 2096 8095 2 2 2006 8096 2 2 2096 8097 2 2 2010 8098 2 2 2006 8099 2 2 2097 8100 2 2 1977 8101 2 2 2081 8102 2 2 2097 8103 2 2 2030 8104 2 2 1977 8105 2 2 1982 8106 2 2 2098 8107 2 2 2080 8108 2 2 1982 8109 2 2 2032 8110 2 2 2098 8111 2 2 2097 8112 2 2 2099 8113 2 2 2030 8114 2 2 2099 8115 2 2 2034 8116 2 2 2030 8117 2 2 2032 8118 2 2 2099 8119 2 2 2098 8120 2 2 2032 8121 2 2 2036 8122 2 2 2099 8123 2 2 2099 8124 2 2 2101 8125 2 2 2034 8126 2 2 2034 8127 2 2 2101 8128 2 2 2038 8129 2 2 2036 8130 2 2 2100 8131 2 2 2099 8132 2 2 2036 8133 2 2 2040 8134 2 2 2100 8135 2 2 2101 8136 2 2 2102 8137 2 2 2038 8138 2 2 2038 8139 2 2 2102 8140 2 2 2042 8141 2 2 2040 8142 2 2 2103 8143 2 2 2100 8144 2 2 2040 8145 2 2 2044 8146 2 2 2103 8147 2 2 2102 8148 2 2 2104 8149 2 2 2042 8150 2 2 2042 8151 2 2 2104 8152 2 2 2046 8153 2 2 2044 8154 2 2 2105 8155 2 2 2103 8156 2 2 2044 8157 2 2 2048 8158 2 2 2105 8159 2 2 2046 8160 2 2 2104 8161 2 2 2106 8162 2 2 2046 8163 2 2 2106 8164 2 2 2050 8165 2 2 2105 8166 2 2 2048 8167 2 2 2107 8168 2 2 2048 8169 2 2 2052 8170 2 2 2107 8171 2 2 2050 8172 2 2 2106 8173 2 2 2108 8174 2 2 2050 8175 2 2 2108 8176 2 2 2054 8177 2 2 2107 8178 2 2 2052 8179 2 2 2109 8180 2 2 2052 8181 2 2 2056 8182 2 2 2109 8183 2 2 2054 8184 2 2 2108 8185 2 2 2095 8186 2 2 2054 8187 2 2 2095 8188 2 2 2008 8189 2 2 2109 8190 2 2 2056 8191 2 2 2096 8192 2 2 2096 8193 2 2 2056 8194 2 2 2010 8195 2 2 2110 8196 2 2 2111 8197 2 2 2112 8198 2 2 2110 8199 2 2 2113 8200 2 2 2111 8201 2 2 2114 8202 2 2 2115 8203 2 2 2116 8204 2 2 2117 8205 2 2 2114 8206 2 2 2116 8207 2 2 2118 8208 2 2 2113 8209 2 2 2110 8210 2 2 2119 8211 2 2 2113 8212 2 2 2118 8213 2 2 2120 8214 2 2 2114 8215 2 2 2117 8216 2 2 2121 8217 2 2 2120 8218 2 2 2117 8219 2 2 2122 8220 2 2 2119 8221 2 2 2118 8222 2 2 2123 8223 2 2 2119 8224 2 2 2122 8225 2 2 2124 8226 2 2 2120 8227 2 2 2121 8228 2 2 2124 8229 2 2 2121 8230 2 2 2125 8231 2 2 2126 8232 2 2 2123 8233 2 2 2122 8234 2 2 2127 8235 2 2 2123 8236 2 2 2126 8237 2 2 2128 8238 2 2 2124 8239 2 2 2125 8240 2 2 2128 8241 2 2 2125 8242 2 2 2129 8243 2 2 2130 8244 2 2 2127 8245 2 2 2126 8246 2 2 2130 8247 2 2 2131 8248 2 2 2127 8249 2 2 2132 8250 2 2 2128 8251 2 2 2129 8252 2 2 2133 8253 2 2 2132 8254 2 2 2129 8255 2 2 2134 8256 2 2 2131 8257 2 2 2130 8258 2 2 2134 8259 2 2 2135 8260 2 2 2131 8261 2 2 2136 8262 2 2 2132 8263 2 2 2133 8264 2 2 2137 8265 2 2 2136 8266 2 2 2133 8267 2 2 2138 8268 2 2 2135 8269 2 2 2134 8270 2 2 2138 8271 2 2 2139 8272 2 2 2135 8273 2 2 2140 8274 2 2 2136 8275 2 2 2137 8276 2 2 2141 8277 2 2 2140 8278 2 2 2137 8279 2 2 2138 8280 2 2 2142 8281 2 2 2139 8282 2 2 2139 8283 2 2 2142 8284 2 2 2143 8285 2 2 2141 8286 2 2 2144 8287 2 2 2140 8288 2 2 2141 8289 2 2 2145 8290 2 2 2144 8291 2 2 2113 8292 2 2 2146 8293 2 2 2111 8294 2 2 2147 8295 2 2 2146 8296 2 2 2113 8297 2 2 2117 8298 2 2 2116 8299 2 2 2148 8300 2 2 2117 8301 2 2 2148 8302 2 2 2149 8303 2 2 2119 8304 2 2 2147 8305 2 2 2113 8306 2 2 2150 8307 2 2 2147 8308 2 2 2119 8309 2 2 2121 8310 2 2 2117 8311 2 2 2149 8312 2 2 2121 8313 2 2 2149 8314 2 2 2151 8315 2 2 2123 8316 2 2 2150 8317 2 2 2119 8318 2 2 2152 8319 2 2 2150 8320 2 2 2123 8321 2 2 2125 8322 2 2 2121 8323 2 2 2151 8324 2 2 2125 8325 2 2 2151 8326 2 2 2153 8327 2 2 2152 8328 2 2 2123 8329 2 2 2127 8330 2 2 2152 8331 2 2 2127 8332 2 2 2154 8333 2 2 2153 8334 2 2 2129 8335 2 2 2125 8336 2 2 2153 8337 2 2 2155 8338 2 2 2129 8339 2 2 2154 8340 2 2 2127 8341 2 2 2131 8342 2 2 2154 8343 2 2 2131 8344 2 2 2156 8345 2 2 2155 8346 2 2 2133 8347 2 2 2129 8348 2 2 2155 8349 2 2 2157 8350 2 2 2133 8351 2 2 2156 8352 2 2 2131 8353 2 2 2135 8354 2 2 2156 8355 2 2 2135 8356 2 2 2158 8357 2 2 2157 8358 2 2 2137 8359 2 2 2133 8360 2 2 2157 8361 2 2 2159 8362 2 2 2137 8363 2 2 2135 8364 2 2 2139 8365 2 2 2158 8366 2 2 2158 8367 2 2 2139 8368 2 2 2160 8369 2 2 2159 8370 2 2 2141 8371 2 2 2137 8372 2 2 2159 8373 2 2 2161 8374 2 2 2141 8375 2 2 2139 8376 2 2 2143 8377 2 2 2160 8378 2 2 2160 8379 2 2 2143 8380 2 2 2162 8381 2 2 2161 8382 2 2 2145 8383 2 2 2141 8384 2 2 2161 8385 2 2 2163 8386 2 2 2145 8387 2 2 2111 8388 2 2 2164 8389 2 2 2112 8390 2 2 2111 8391 2 2 2165 8392 2 2 2164 8393 2 2 2115 8394 2 2 2166 8395 2 2 2116 8396 2 2 2116 8397 2 2 2166 8398 2 2 2167 8399 2 2 2168 8400 2 2 2164 8401 2 2 2165 8402 2 2 2169 8403 2 2 2168 8404 2 2 2165 8405 2 2 2166 8406 2 2 2170 8407 2 2 2167 8408 2 2 2167 8409 2 2 2170 8410 2 2 2171 8411 2 2 2172 8412 2 2 2168 8413 2 2 2169 8414 2 2 2173 8415 2 2 2172 8416 2 2 2169 8417 2 2 2174 8418 2 2 2171 8419 2 2 2170 8420 2 2 2174 8421 2 2 2175 8422 2 2 2171 8423 2 2 2176 8424 2 2 2172 8425 2 2 2173 8426 2 2 2177 8427 2 2 2176 8428 2 2 2173 8429 2 2 2178 8430 2 2 2175 8431 2 2 2174 8432 2 2 2178 8433 2 2 2179 8434 2 2 2175 8435 2 2 2180 8436 2 2 2176 8437 2 2 2177 8438 2 2 2180 8439 2 2 2177 8440 2 2 2181 8441 2 2 2182 8442 2 2 2179 8443 2 2 2178 8444 2 2 2183 8445 2 2 2179 8446 2 2 2182 8447 2 2 2184 8448 2 2 2180 8449 2 2 2181 8450 2 2 2184 8451 2 2 2181 8452 2 2 2185 8453 2 2 2186 8454 2 2 2183 8455 2 2 2182 8456 2 2 2187 8457 2 2 2183 8458 2 2 2186 8459 2 2 2188 8460 2 2 2184 8461 2 2 2185 8462 2 2 2188 8463 2 2 2185 8464 2 2 2189 8465 2 2 2190 8466 2 2 2187 8467 2 2 2186 8468 2 2 2191 8469 2 2 2187 8470 2 2 2190 8471 2 2 2142 8472 2 2 2188 8473 2 2 2189 8474 2 2 2142 8475 2 2 2189 8476 2 2 2143 8477 2 2 2144 8478 2 2 2191 8479 2 2 2190 8480 2 2 2145 8481 2 2 2191 8482 2 2 2144 8483 2 2 2146 8484 2 2 2165 8485 2 2 2111 8486 2 2 2146 8487 2 2 2192 8488 2 2 2165 8489 2 2 2116 8490 2 2 2167 8491 2 2 2148 8492 2 2 2148 8493 2 2 2167 8494 2 2 2193 8495 2 2 2192 8496 2 2 2169 8497 2 2 2165 8498 2 2 2192 8499 2 2 2194 8500 2 2 2169 8501 2 2 2167 8502 2 2 2171 8503 2 2 2193 8504 2 2 2193 8505 2 2 2171 8506 2 2 2195 8507 2 2 2194 8508 2 2 2173 8509 2 2 2169 8510 2 2 2194 8511 2 2 2196 8512 2 2 2173 8513 2 2 2171 8514 2 2 2175 8515 2 2 2195 8516 2 2 2195 8517 2 2 2175 8518 2 2 2197 8519 2 2 2196 8520 2 2 2177 8521 2 2 2173 8522 2 2 2196 8523 2 2 2198 8524 2 2 2177 8525 2 2 2197 8526 2 2 2175 8527 2 2 2179 8528 2 2 2197 8529 2 2 2179 8530 2 2 2199 8531 2 2 2198 8532 2 2 2181 8533 2 2 2177 8534 2 2 2198 8535 2 2 2200 8536 2 2 2181 8537 2 2 2199 8538 2 2 2179 8539 2 2 2183 8540 2 2 2199 8541 2 2 2183 8542 2 2 2201 8543 2 2 2200 8544 2 2 2185 8545 2 2 2181 8546 2 2 2200 8547 2 2 2202 8548 2 2 2185 8549 2 2 2201 8550 2 2 2183 8551 2 2 2187 8552 2 2 2201 8553 2 2 2187 8554 2 2 2203 8555 2 2 2189 8556 2 2 2185 8557 2 2 2202 8558 2 2 2189 8559 2 2 2202 8560 2 2 2204 8561 2 2 2191 8562 2 2 2203 8563 2 2 2187 8564 2 2 2205 8565 2 2 2203 8566 2 2 2191 8567 2 2 2143 8568 2 2 2189 8569 2 2 2204 8570 2 2 2143 8571 2 2 2204 8572 2 2 2162 8573 2 2 2145 8574 2 2 2205 8575 2 2 2191 8576 2 2 2163 8577 2 2 2205 8578 2 2 2145 8579 2 2 2206 8580 2 2 2207 8581 2 2 2208 8582 2 2 2206 8583 2 2 2209 8584 2 2 2207 8585 2 2 2210 8586 2 2 2211 8587 2 2 2212 8588 2 2 2212 8589 2 2 2211 8590 2 2 2213 8591 2 2 2214 8592 2 2 2212 8593 2 2 2213 8594 2 2 2215 8595 2 2 2216 8596 2 2 2214 8597 2 2 2217 8598 2 2 2216 8599 2 2 2215 8600 2 2 2218 8601 2 2 2217 8602 2 2 2215 8603 2 2 2219 8604 2 2 2217 8605 2 2 2218 8606 2 2 2220 8607 2 2 2219 8608 2 2 2218 8609 2 2 2220 8610 2 2 2221 8611 2 2 2219 8612 2 2 2222 8613 2 2 2221 8614 2 2 2220 8615 2 2 2222 8616 2 2 2223 8617 2 2 2221 8618 2 2 2224 8619 2 2 2223 8620 2 2 2222 8621 2 2 2224 8622 2 2 2225 8623 2 2 2223 8624 2 2 2226 8625 2 2 2225 8626 2 2 2224 8627 2 2 2210 8628 2 2 2227 8629 2 2 2211 8630 2 2 2227 8631 2 2 2228 8632 2 2 2211 8633 2 2 2229 8634 2 2 2228 8635 2 2 2227 8636 2 2 2230 8637 2 2 2229 8638 2 2 2231 8639 2 2 2232 8640 2 2 2230 8641 2 2 2231 8642 2 2 2233 8643 2 2 2230 8644 2 2 2232 8645 2 2 2234 8646 2 2 2233 8647 2 2 2232 8648 2 2 2235 8649 2 2 2233 8650 2 2 2234 8651 2 2 2235 8652 2 2 2234 8653 2 2 2236 8654 2 2 2237 8655 2 2 2235 8656 2 2 2236 8657 2 2 2237 8658 2 2 2236 8659 2 2 2238 8660 2 2 2239 8661 2 2 2237 8662 2 2 2238 8663 2 2 2239 8664 2 2 2238 8665 2 2 2225 8666 2 2 2226 8667 2 2 2239 8668 2 2 2225 8669 2 2 2112 8670 2 2 2210 8671 2 2 2212 8672 2 2 2112 8673 2 2 2212 8674 2 2 2110 8675 2 2 2213 8676 2 2 2211 8677 2 2 2115 8678 2 2 2213 8679 2 2 2115 8680 2 2 2114 8681 2 2 2110 8682 2 2 2212 8683 2 2 2214 8684 2 2 2118 8685 2 2 2110 8686 2 2 2214 8687 2 2 2214 8688 2 2 2213 8689 2 2 2114 8690 2 2 2214 8691 2 2 2114 8692 2 2 2120 8693 2 2 2216 8694 2 2 2118 8695 2 2 2214 8696 2 2 2122 8697 2 2 2118 8698 2 2 2216 8699 2 2 2215 8700 2 2 2214 8701 2 2 2120 8702 2 2 2215 8703 2 2 2120 8704 2 2 2124 8705 2 2 2217 8706 2 2 2122 8707 2 2 2216 8708 2 2 2126 8709 2 2 2122 8710 2 2 2217 8711 2 2 2218 8712 2 2 2215 8713 2 2 2124 8714 2 2 2218 8715 2 2 2124 8716 2 2 2128 8717 2 2 2219 8718 2 2 2126 8719 2 2 2217 8720 2 2 2219 8721 2 2 2130 8722 2 2 2126 8723 2 2 2220 8724 2 2 2218 8725 2 2 2128 8726 2 2 2132 8727 2 2 2220 8728 2 2 2128 8729 2 2 2221 8730 2 2 2130 8731 2 2 2219 8732 2 2 2221 8733 2 2 2134 8734 2 2 2130 8735 2 2 2222 8736 2 2 2220 8737 2 2 2132 8738 2 2 2136 8739 2 2 2222 8740 2 2 2132 8741 2 2 2223 8742 2 2 2134 8743 2 2 2221 8744 2 2 2223 8745 2 2 2138 8746 2 2 2134 8747 2 2 2224 8748 2 2 2222 8749 2 2 2136 8750 2 2 2140 8751 2 2 2224 8752 2 2 2136 8753 2 2 2225 8754 2 2 2138 8755 2 2 2223 8756 2 2 2225 8757 2 2 2142 8758 2 2 2138 8759 2 2 2140 8760 2 2 2226 8761 2 2 2224 8762 2 2 2144 8763 2 2 2226 8764 2 2 2140 8765 2 2 2112 8766 2 2 2227 8767 2 2 2210 8768 2 2 2112 8769 2 2 2164 8770 2 2 2227 8771 2 2 2228 8772 2 2 2115 8773 2 2 2211 8774 2 2 2228 8775 2 2 2166 8776 2 2 2115 8777 2 2 2164 8778 2 2 2229 8779 2 2 2227 8780 2 2 2168 8781 2 2 2229 8782 2 2 2164 8783 2 2 2229 8784 2 2 2166 8785 2 2 2228 8786 2 2 2229 8787 2 2 2170 8788 2 2 2166 8789 2 2 2231 8790 2 2 2229 8791 2 2 2168 8792 2 2 2172 8793 2 2 2231 8794 2 2 2168 8795 2 2 2230 8796 2 2 2170 8797 2 2 2229 8798 2 2 2230 8799 2 2 2174 8800 2 2 2170 8801 2 2 2232 8802 2 2 2231 8803 2 2 2172 8804 2 2 2176 8805 2 2 2232 8806 2 2 2172 8807 2 2 2233 8808 2 2 2174 8809 2 2 2230 8810 2 2 2233 8811 2 2 2178 8812 2 2 2174 8813 2 2 2234 8814 2 2 2232 8815 2 2 2176 8816 2 2 2234 8817 2 2 2176 8818 2 2 2180 8819 2 2 2235 8820 2 2 2178 8821 2 2 2233 8822 2 2 2182 8823 2 2 2178 8824 2 2 2235 8825 2 2 2236 8826 2 2 2234 8827 2 2 2180 8828 2 2 2236 8829 2 2 2180 8830 2 2 2184 8831 2 2 2237 8832 2 2 2182 8833 2 2 2235 8834 2 2 2186 8835 2 2 2182 8836 2 2 2237 8837 2 2 2238 8838 2 2 2236 8839 2 2 2184 8840 2 2 2238 8841 2 2 2184 8842 2 2 2188 8843 2 2 2239 8844 2 2 2186 8845 2 2 2237 8846 2 2 2190 8847 2 2 2186 8848 2 2 2239 8849 2 2 2225 8850 2 2 2238 8851 2 2 2188 8852 2 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2497 10197 2 2 2499 10198 2 2 2498 10199 2 2 2500 10200 2 2 2501 10201 2 2 2502 10202 2 2 2500 10203 2 2 2503 10204 2 2 2501 10205 2 2 2504 10206 2 2 2505 10207 2 2 2506 10208 2 2 2504 10209 2 2 2507 10210 2 2 2505 10211 2 2 2507 10212 2 2 2508 10213 2 2 2505 10214 2 2 2507 10215 2 2 2509 10216 2 2 2508 10217 2 2 2509 10218 2 2 2510 10219 2 2 2508 10220 2 2 2509 10221 2 2 2511 10222 2 2 2510 10223 2 2 2512 10224 2 2 2510 10225 2 2 2511 10226 2 2 2512 10227 2 2 2511 10228 2 2 2513 10229 2 2 2500 10230 2 2 2512 10231 2 2 2513 10232 2 2 2500 10233 2 2 2513 10234 2 2 2503 10235 2 2 2514 10236 2 2 2515 10237 2 2 2516 10238 2 2 2517 10239 2 2 2518 10240 2 2 2519 10241 2 2 2520 10242 2 2 2518 10243 2 2 2517 10244 2 2 2520 10245 2 2 2521 10246 2 2 2518 10247 2 2 2520 10248 2 2 2522 10249 2 2 2521 10250 2 2 2522 10251 2 2 2523 10252 2 2 2521 10253 2 2 2522 10254 2 2 2524 10255 2 2 2523 10256 2 2 2524 10257 2 2 2525 10258 2 2 2523 10259 2 2 2524 10260 2 2 2526 10261 2 2 2525 10262 2 2 2526 10263 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13130 2 2 3252 13131 2 2 3253 13132 2 2 3233 13133 2 2

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3254 13134 3 3 3255 13135 3 3 3256 13136 3 3 3255 13137 3 3 3257 13138 3 3 3256 13139 3 3 3256 13140 3 3 3257 13141 3 3 3258 13142 3 3 3257 13143 3 3 3259 13144 3 3 3258 13145 3 3 3258 13146 3 3 3259 13147 3 3 3260 13148 3 3 3259 13149 3 3 3261 13150 3 3 3260 13151 3 3 3260 13152 3 3 3261 13153 3 3 3262 13154 3 3 3261 13155 3 3 3263 13156 3 3 3262 13157 3 3 3262 13158 3 3 3263 13159 3 3 3264 13160 3 3 3263 13161 3 3 3265 13162 3 3 3264 13163 3 3 3264 13164 3 3 3265 13165 3 3 3266 13166 3 3 3265 13167 3 3 3267 13168 3 3 3266 13169 3 3 3267 13170 3 3 3268 13171 3 3 3266 13172 3 3 3269 13173 3 3 3266 13174 3 3 3268 13175 3 3 3268 13176 3 3 3270 13177 3 3 3269 13178 3 3 3271 13179 3 3 3272 13180 3 3 3273 13181 3 3 3271 13182 3 3 3274 13183 3 3 3272 13184 3 3 3271 13185 3 3 3275 13186 3 3 3274 13187 3 3 3275 13188 3 3 3276 13189 3 3 3274 13190 3 3 3275 13191 3 3 3277 13192 3 3 3276 13193 3 3 3277 13194 3 3 3278 13195 3 3 3276 13196 3 3 3277 13197 3 3 3279 13198 3 3 3278 13199 3 3 3279 13200 3 3 3280 13201 3 3 3278 13202 3 3 3279 13203 3 3 3281 13204 3 3 3280 13205 3 3 3281 13206 3 3 3282 13207 3 3 3280 13208 3 3 3281 13209 3 3 3283 13210 3 3 3282 13211 3 3 3282 13212 3 3 3283 13213 3 3 3284 13214 3 3 3283 13215 3 3 3285 13216 3 3 3284 13217 3 3 3284 13218 3 3 3285 13219 3 3 3286 13220 3 3 3287 13221 3 3 3255 13222 3 3 3254 13223 3 3 3273 13224 3 3 3287 13225 3 3 3254 13226 3 3 3273 13227 3 3 3272 13228 3 3 3287 13229 3 3 3284 13230 3 3 3286 13231 3 3 3288 13232 3 3 3286 13233 3 3 3289 13234 3 3 3288 13235 3 3 3288 13236 3 3 3289 13237 3 3 3290 13238 3 3 3289 13239 3 3 3291 13240 3 3 3290 13241 3 3 3290 13242 3 3 3291 13243 3 3 3292 13244 3 3 3291 13245 3 3 3293 13246 3 3 3292 13247 3 3 3292 13248 3 3 3293 13249 3 3 3268 13250 3 3 3293 13251 3 3 3270 13252 3 3 3268 13253 3 3 3294 13254 3 3 3295 13255 3 3 3296 13256 3 3 3296 13257 3 3 3295 13258 3 3 3297 13259 3 3 3295 13260 3 3 3298 13261 3 3 3297 13262 3 3 3297 13263 3 3 3298 13264 3 3 3299 13265 3 3 3298 13266 3 3 3300 13267 3 3 3299 13268 3 3 3299 13269 3 3 3300 13270 3 3 3301 13271 3 3 3300 13272 3 3 3302 13273 3 3 3301 13274 3 3 3301 13275 3 3 3302 13276 3 3 3303 13277 3 3 3302 13278 3 3 3304 13279 3 3 3303 13280 3 3 3303 13281 3 3 3304 13282 3 3 3305 13283 3 3 3304 13284 3 3 3306 13285 3 3 3305 13286 3 3 3305 13287 3 3 3306 13288 3 3 3307 13289 3 3 3307 13290 3 3 3306 13291 3 3 3308 13292 3 3 3308 13293 3 3 3306 13294 3 3 3309 13295 3 3 3308 13296 3 3 3309 13297 3 3 3310 13298 3 3 3311 13299 3 3 3312 13300 3 3 3313 13301 3 3 3311 13302 3 3 3313 13303 3 3 3314 13304 3 3 3311 13305 3 3 3314 13306 3 3 3315 13307 3 3 3315 13308 3 3 3314 13309 3 3 3316 13310 3 3 3315 13311 3 3 3316 13312 3 3 3317 13313 3 3 3317 13314 3 3 3316 13315 3 3 3318 13316 3 3 3317 13317 3 3 3318 13318 3 3 3319 13319 3 3 3319 13320 3 3 3318 13321 3 3 3320 13322 3 3 3319 13323 3 3 3320 13324 3 3 3321 13325 3 3 3321 13326 3 3 3320 13327 3 3 3322 13328 3 3 3321 13329 3 3 3322 13330 3 3 3323 13331 3 3 3322 13332 3 3 3324 13333 3 3 3323 13334 3 3 3323 13335 3 3 3324 13336 3 3 3325 13337 3 3 3324 13338 3 3 3326 13339 3 3 3325 13340 3 3 3327 13341 3 3 3294 13342 3 3 3296 13343 3 3 3312 13344 3 3 3294 13345 3 3 3327 13346 3 3 3312 13347 3 3 3327 13348 3 3 3313 13349 3 3 3324 13350 3 3 3328 13351 3 3 3326 13352 3 3 3326 13353 3 3 3328 13354 3 3 3329 13355 3 3 3328 13356 3 3 3330 13357 3 3 3329 13358 3 3 3329 13359 3 3 3330 13360 3 3 3331 13361 3 3 3330 13362 3 3 3332 13363 3 3 3331 13364 3 3 3331 13365 3 3 3332 13366 3 3 3333 13367 3 3 3332 13368 3 3 3308 13369 3 3 3333 13370 3 3 3333 13371 3 3 3308 13372 3 3 3310 13373 3 3

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3334 13374 4 4 3335 13375 4 4 3336 13376 4 4 3337 13377 4 4 3334 13378 4 4 3336 13379 4 4 3337 13380 4 4 3336 13381 4 4 3338 13382 4 4 3339 13383 4 4 3337 13384 4 4 3338 13385 4 4 3335 13386 4 4 3340 13387 4 4 3336 13388 4 4 3336 13389 4 4 3340 13390 4 4 3341 13391 4 4 3341 13392 4 4 3340 13393 4 4 3342 13394 4 4 3341 13395 4 4 3342 13396 4 4 3343 13397 4 4 3343 13398 4 4 3342 13399 4 4 3344 13400 4 4 3343 13401 4 4 3344 13402 4 4 3345 13403 4 4 3344 13404 4 4 3346 13405 4 4 3345 13406 4 4 3345 13407 4 4 3346 13408 4 4 3347 13409 4 4 3347 13410 4 4 3346 13411 4 4 3348 13412 4 4 3347 13413 4 4 3348 13414 4 4 3349 13415 4 4 3349 13416 4 4 3348 13417 4 4 3350 13418 4 4 3341 13419 4 4 3343 13420 4 4 3351 13421 4 4 3351 13422 4 4 3343 13423 4 4 3352 13424 4 4 3337 13425 4 4 3339 13426 4 4 3353 13427 4 4 3337 13428 4 4 3353 13429 4 4 3354 13430 4 4 3334 13431 4 4 3337 13432 4 4 3354 13433 4 4 3334 13434 4 4 3354 13435 4 4 3355 13436 4 4 3335 13437 4 4 3334 13438 4 4 3355 13439 4 4 3335 13440 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+ + + + + tony-ws1 + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/global_fusion/src/Factors.h b/global_fusion/src/Factors.h new file mode 100644 index 0000000..786f07a --- /dev/null +++ b/global_fusion/src/Factors.h @@ -0,0 +1,114 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once +#include +#include + +template inline +void QuaternionInverse(const T q[4], T q_inverse[4]) +{ + q_inverse[0] = q[0]; + q_inverse[1] = -q[1]; + q_inverse[2] = -q[2]; + q_inverse[3] = -q[3]; +}; + + +struct TError +{ + TError(double t_x, double t_y, double t_z, double var) + :t_x(t_x), t_y(t_y), t_z(t_z), var(var){} + + template + bool operator()(const T* tj, T* residuals) const + { + residuals[0] = (tj[0] - T(t_x)) / T(var); + residuals[1] = (tj[1] - T(t_y)) / T(var); + residuals[2] = (tj[2] - T(t_z)) / T(var); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, const double var) + { + return (new ceres::AutoDiffCostFunction< + TError, 3, 3>( + new TError(t_x, t_y, t_z, var))); + } + + double t_x, t_y, t_z, var; + +}; + +struct RelativeRTError +{ + RelativeRTError(double t_x, double t_y, double t_z, + double q_w, double q_x, double q_y, double q_z, + double t_var, double q_var) + :t_x(t_x), t_y(t_y), t_z(t_z), + q_w(q_w), q_x(q_x), q_y(q_y), q_z(q_z), + t_var(t_var), q_var(q_var){} + + template + bool operator()(const T* const w_q_i, const T* ti, const T* w_q_j, const T* tj, T* residuals) const + { + T t_w_ij[3]; + t_w_ij[0] = tj[0] - ti[0]; + t_w_ij[1] = tj[1] - ti[1]; + t_w_ij[2] = tj[2] - ti[2]; + + T i_q_w[4]; + QuaternionInverse(w_q_i, i_q_w); + + T t_i_ij[3]; + ceres::QuaternionRotatePoint(i_q_w, t_w_ij, t_i_ij); + + residuals[0] = (t_i_ij[0] - T(t_x)) / T(t_var); + residuals[1] = (t_i_ij[1] - T(t_y)) / T(t_var); + residuals[2] = (t_i_ij[2] - T(t_z)) / T(t_var); + + T relative_q[4]; + relative_q[0] = T(q_w); + relative_q[1] = T(q_x); + relative_q[2] = T(q_y); + relative_q[3] = T(q_z); + + T q_i_j[4]; + ceres::QuaternionProduct(i_q_w, w_q_j, q_i_j); + + T relative_q_inv[4]; + QuaternionInverse(relative_q, relative_q_inv); + + T error_q[4]; + ceres::QuaternionProduct(relative_q_inv, q_i_j, error_q); + + residuals[3] = T(2) * error_q[1] / T(q_var); + residuals[4] = T(2) * error_q[2] / T(q_var); + residuals[5] = T(2) * error_q[3] / T(q_var); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, + const double q_w, const double q_x, const double q_y, const double q_z, + const double t_var, const double q_var) + { + return (new ceres::AutoDiffCostFunction< + RelativeRTError, 6, 4, 3, 4, 3>( + new RelativeRTError(t_x, t_y, t_z, q_w, q_x, q_y, q_z, t_var, q_var))); + } + + double t_x, t_y, t_z, t_norm; + double q_w, q_x, q_y, q_z; + double t_var, q_var; + +}; \ No newline at end of file diff --git a/global_fusion/src/globalOpt.cpp b/global_fusion/src/globalOpt.cpp new file mode 100644 index 0000000..84077bc --- /dev/null +++ b/global_fusion/src/globalOpt.cpp @@ -0,0 +1,269 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "globalOpt.h" +#include "Factors.h" + +GlobalOptimization::GlobalOptimization() +{ + initGPS = false; + newGPS = false; + WGPS_T_WVIO = Eigen::Matrix4d::Identity(); + threadOpt = std::thread(&GlobalOptimization::optimize, this); +} + +GlobalOptimization::~GlobalOptimization() +{ + threadOpt.detach(); +} + +void GlobalOptimization::GPS2XYZ(double latitude, double longitude, double altitude, double* xyz) +{ + if(!initGPS) + { + geoConverter.Reset(latitude, longitude, altitude); + initGPS = true; + } + geoConverter.Forward(latitude, longitude, altitude, xyz[0], xyz[1], xyz[2]); + //printf("la: %f lo: %f al: %f\n", latitude, longitude, altitude); + //printf("gps x: %f y: %f z: %f\n", xyz[0], xyz[1], xyz[2]); +} + +void GlobalOptimization::inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ) +{ + mPoseMap.lock(); + vector localPose{OdomP.x(), OdomP.y(), OdomP.z(), + OdomQ.w(), OdomQ.x(), OdomQ.y(), OdomQ.z()}; + localPoseMap[t] = localPose; + + + Eigen::Quaterniond globalQ; + globalQ = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomQ; + Eigen::Vector3d globalP = WGPS_T_WVIO.block<3, 3>(0, 0) * OdomP + WGPS_T_WVIO.block<3, 1>(0, 3); + vector globalPose{globalP.x(), globalP.y(), globalP.z(), + globalQ.w(), globalQ.x(), globalQ.y(), globalQ.z()}; + globalPoseMap[t] = globalPose; + lastP = globalP; + lastQ = globalQ; + + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(t); + pose_stamped.header.frame_id = "world"; + pose_stamped.pose.position.x = lastP.x(); + pose_stamped.pose.position.y = lastP.y(); + pose_stamped.pose.position.z = lastP.z(); + pose_stamped.pose.orientation.x = lastQ.x(); + pose_stamped.pose.orientation.y = lastQ.y(); + pose_stamped.pose.orientation.z = lastQ.z(); + pose_stamped.pose.orientation.w = lastQ.w(); + global_path.header = pose_stamped.header; + global_path.poses.push_back(pose_stamped); + + mPoseMap.unlock(); +} + +void GlobalOptimization::getGlobalOdom(Eigen::Vector3d &odomP, Eigen::Quaterniond &odomQ) +{ + odomP = lastP; + odomQ = lastQ; +} + +void GlobalOptimization::inputGPS(double t, double latitude, double longitude, double altitude, double posAccuracy) +{ + double xyz[3]; + GPS2XYZ(latitude, longitude, altitude, xyz); + vector tmp{xyz[0], xyz[1], xyz[2], posAccuracy}; + //printf("new gps: t: %f x: %f y: %f z:%f \n", t, tmp[0], tmp[1], tmp[2]); + GPSPositionMap[t] = tmp; + newGPS = true; + +} + +void GlobalOptimization::optimize() +{ + while(true) + { + if(newGPS) + { + newGPS = false; + printf("global optimization\n"); + TicToc globalOptimizationTime; + + ceres::Problem problem; + ceres::Solver::Options options; + options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; + //options.minimizer_progress_to_stdout = true; + //options.max_solver_time_in_seconds = SOLVER_TIME * 3; + options.max_num_iterations = 5; + ceres::Solver::Summary summary; + ceres::LossFunction *loss_function; + loss_function = new ceres::HuberLoss(1.0); + ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization(); + + //add param + mPoseMap.lock(); + int length = localPoseMap.size(); + // w^t_i w^q_i + double t_array[length][3]; + double q_array[length][4]; + map>::iterator iter; + iter = globalPoseMap.begin(); + for (int i = 0; i < length; i++, iter++) + { + t_array[i][0] = iter->second[0]; + t_array[i][1] = iter->second[1]; + t_array[i][2] = iter->second[2]; + q_array[i][0] = iter->second[3]; + q_array[i][1] = iter->second[4]; + q_array[i][2] = iter->second[5]; + q_array[i][3] = iter->second[6]; + problem.AddParameterBlock(q_array[i], 4, local_parameterization); + problem.AddParameterBlock(t_array[i], 3); + } + + map>::iterator iterVIO, iterVIONext, iterGPS; + int i = 0; + for (iterVIO = localPoseMap.begin(); iterVIO != localPoseMap.end(); iterVIO++, i++) + { + //vio factor + iterVIONext = iterVIO; + iterVIONext++; + if(iterVIONext != localPoseMap.end()) + { + Eigen::Matrix4d wTi = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d wTj = Eigen::Matrix4d::Identity(); + wTi.block<3, 3>(0, 0) = Eigen::Quaterniond(iterVIO->second[3], iterVIO->second[4], + iterVIO->second[5], iterVIO->second[6]).toRotationMatrix(); + wTi.block<3, 1>(0, 3) = Eigen::Vector3d(iterVIO->second[0], iterVIO->second[1], iterVIO->second[2]); + wTj.block<3, 3>(0, 0) = Eigen::Quaterniond(iterVIONext->second[3], iterVIONext->second[4], + iterVIONext->second[5], iterVIONext->second[6]).toRotationMatrix(); + wTj.block<3, 1>(0, 3) = Eigen::Vector3d(iterVIONext->second[0], iterVIONext->second[1], iterVIONext->second[2]); + Eigen::Matrix4d iTj = wTi.inverse() * wTj; + Eigen::Quaterniond iQj; + iQj = iTj.block<3, 3>(0, 0); + Eigen::Vector3d iPj = iTj.block<3, 1>(0, 3); + + ceres::CostFunction* vio_function = RelativeRTError::Create(iPj.x(), iPj.y(), iPj.z(), + iQj.w(), iQj.x(), iQj.y(), iQj.z(), + 0.1, 0.01); + problem.AddResidualBlock(vio_function, NULL, q_array[i], t_array[i], q_array[i+1], t_array[i+1]); + + /* + double **para = new double *[4]; + para[0] = q_array[i]; + para[1] = t_array[i]; + para[3] = q_array[i+1]; + para[4] = t_array[i+1]; + + double *tmp_r = new double[6]; + double **jaco = new double *[4]; + jaco[0] = new double[6 * 4]; + jaco[1] = new double[6 * 3]; + jaco[2] = new double[6 * 4]; + jaco[3] = new double[6 * 3]; + vio_function->Evaluate(para, tmp_r, jaco); + + std::cout << Eigen::Map>(tmp_r).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[3]) << std::endl + << std::endl; + */ + + } + //gps factor + double t = iterVIO->first; + iterGPS = GPSPositionMap.find(t); + if (iterGPS != GPSPositionMap.end()) + { + ceres::CostFunction* gps_function = TError::Create(iterGPS->second[0], iterGPS->second[1], + iterGPS->second[2], iterGPS->second[3]); + //printf("inverse weight %f \n", iterGPS->second[3]); + problem.AddResidualBlock(gps_function, loss_function, t_array[i]); + + /* + double **para = new double *[1]; + para[0] = t_array[i]; + + double *tmp_r = new double[3]; + double **jaco = new double *[1]; + jaco[0] = new double[3 * 3]; + gps_function->Evaluate(para, tmp_r, jaco); + + std::cout << Eigen::Map>(tmp_r).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + */ + } + + } + //mPoseMap.unlock(); + ceres::Solve(options, &problem, &summary); + //std::cout << summary.BriefReport() << "\n"; + + // update global pose + //mPoseMap.lock(); + iter = globalPoseMap.begin(); + for (int i = 0; i < length; i++, iter++) + { + vector globalPose{t_array[i][0], t_array[i][1], t_array[i][2], + q_array[i][0], q_array[i][1], q_array[i][2], q_array[i][3]}; + iter->second = globalPose; + if(i == length - 1) + { + Eigen::Matrix4d WVIO_T_body = Eigen::Matrix4d::Identity(); + Eigen::Matrix4d WGPS_T_body = Eigen::Matrix4d::Identity(); + double t = iter->first; + WVIO_T_body.block<3, 3>(0, 0) = Eigen::Quaterniond(localPoseMap[t][3], localPoseMap[t][4], + localPoseMap[t][5], localPoseMap[t][6]).toRotationMatrix(); + WVIO_T_body.block<3, 1>(0, 3) = Eigen::Vector3d(localPoseMap[t][0], localPoseMap[t][1], localPoseMap[t][2]); + WGPS_T_body.block<3, 3>(0, 0) = Eigen::Quaterniond(globalPose[3], globalPose[4], + globalPose[5], globalPose[6]).toRotationMatrix(); + WGPS_T_body.block<3, 1>(0, 3) = Eigen::Vector3d(globalPose[0], globalPose[1], globalPose[2]); + WGPS_T_WVIO = WGPS_T_body * WVIO_T_body.inverse(); + } + } + updateGlobalPath(); + //printf("global time %f \n", globalOptimizationTime.toc()); + mPoseMap.unlock(); + } + std::chrono::milliseconds dura(2000); + std::this_thread::sleep_for(dura); + } + return; +} + + +void GlobalOptimization::updateGlobalPath() +{ + global_path.poses.clear(); + map>::iterator iter; + for (iter = globalPoseMap.begin(); iter != globalPoseMap.end(); iter++) + { + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(iter->first); + pose_stamped.header.frame_id = "world"; + pose_stamped.pose.position.x = iter->second[0]; + pose_stamped.pose.position.y = iter->second[1]; + pose_stamped.pose.position.z = iter->second[2]; + pose_stamped.pose.orientation.w = iter->second[3]; + pose_stamped.pose.orientation.x = iter->second[4]; + pose_stamped.pose.orientation.y = iter->second[5]; + pose_stamped.pose.orientation.z = iter->second[6]; + global_path.poses.push_back(pose_stamped); + } +} \ No newline at end of file diff --git a/global_fusion/src/globalOpt.h b/global_fusion/src/globalOpt.h new file mode 100644 index 0000000..5396d51 --- /dev/null +++ b/global_fusion/src/globalOpt.h @@ -0,0 +1,56 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "LocalCartesian.hpp" +#include "tic_toc.h" + +using namespace std; + +class GlobalOptimization +{ +public: + GlobalOptimization(); + ~GlobalOptimization(); + void inputGPS(double t, double latitude, double longitude, double altitude, double posAccuracy); + void inputOdom(double t, Eigen::Vector3d OdomP, Eigen::Quaterniond OdomQ); + void getGlobalOdom(Eigen::Vector3d &odomP, Eigen::Quaterniond &odomQ); + nav_msgs::Path global_path; + +private: + void GPS2XYZ(double latitude, double longitude, double altitude, double* xyz); + void optimize(); + void updateGlobalPath(); + + // format t, tx,ty,tz,qw,qx,qy,qz + map> localPoseMap; + map> globalPoseMap; + map> GPSPositionMap; + bool initGPS; + bool newGPS; + GeographicLib::LocalCartesian geoConverter; + std::mutex mPoseMap; + Eigen::Matrix4d WGPS_T_WVIO; + Eigen::Vector3d lastP; + Eigen::Quaterniond lastQ; + std::thread threadOpt; + +}; \ No newline at end of file diff --git a/global_fusion/src/globalOptNode.cpp b/global_fusion/src/globalOptNode.cpp new file mode 100644 index 0000000..89a489d --- /dev/null +++ b/global_fusion/src/globalOptNode.cpp @@ -0,0 +1,175 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "ros/ros.h" +#include "globalOpt.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +GlobalOptimization globalEstimator; +ros::Publisher pub_global_odometry, pub_global_path, pub_car; +nav_msgs::Path *global_path; +double last_vio_t = -1; +std::queue gpsQueue; +std::mutex m_buf; + +void publish_car_model(double t, Eigen::Vector3d t_w_car, Eigen::Quaterniond q_w_car) +{ + visualization_msgs::MarkerArray markerArray_msg; + visualization_msgs::Marker car_mesh; + car_mesh.header.stamp = ros::Time(t); + car_mesh.header.frame_id = "world"; + car_mesh.type = visualization_msgs::Marker::MESH_RESOURCE; + car_mesh.action = visualization_msgs::Marker::ADD; + car_mesh.id = 0; + + car_mesh.mesh_resource = "package://global_fusion/models/car.dae"; + + Eigen::Matrix3d rot; + rot << 0, 0, -1, 0, -1, 0, -1, 0, 0; + + Eigen::Quaterniond Q; + Q = q_w_car * rot; + car_mesh.pose.position.x = t_w_car.x(); + car_mesh.pose.position.y = t_w_car.y(); + car_mesh.pose.position.z = t_w_car.z(); + car_mesh.pose.orientation.w = Q.w(); + car_mesh.pose.orientation.x = Q.x(); + car_mesh.pose.orientation.y = Q.y(); + car_mesh.pose.orientation.z = Q.z(); + + car_mesh.color.a = 1.0; + car_mesh.color.r = 1.0; + car_mesh.color.g = 0.0; + car_mesh.color.b = 0.0; + + float major_scale = 2.0; + + car_mesh.scale.x = major_scale; + car_mesh.scale.y = major_scale; + car_mesh.scale.z = major_scale; + markerArray_msg.markers.push_back(car_mesh); + pub_car.publish(markerArray_msg); +} + +void GPS_callback(const sensor_msgs::NavSatFixConstPtr &GPS_msg) +{ + //printf("gps_callback! \n"); + m_buf.lock(); + gpsQueue.push(GPS_msg); + m_buf.unlock(); +} + +void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) +{ + //printf("vio_callback! \n"); + double t = pose_msg->header.stamp.toSec(); + last_vio_t = t; + Eigen::Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); + Eigen::Quaterniond vio_q; + vio_q.w() = pose_msg->pose.pose.orientation.w; + vio_q.x() = pose_msg->pose.pose.orientation.x; + vio_q.y() = pose_msg->pose.pose.orientation.y; + vio_q.z() = pose_msg->pose.pose.orientation.z; + globalEstimator.inputOdom(t, vio_t, vio_q); + + + m_buf.lock(); + while(!gpsQueue.empty()) + { + sensor_msgs::NavSatFixConstPtr GPS_msg = gpsQueue.front(); + double gps_t = GPS_msg->header.stamp.toSec(); + printf("vio t: %f, gps t: %f \n", t, gps_t); + // 10ms sync tolerance + if(gps_t >= t - 0.01 && gps_t <= t + 0.01) + { + //printf("receive GPS with timestamp %f\n", GPS_msg->header.stamp.toSec()); + double latitude = GPS_msg->latitude; + double longitude = GPS_msg->longitude; + double altitude = GPS_msg->altitude; + //int numSats = GPS_msg->status.service; + double pos_accuracy = GPS_msg->position_covariance[0]; + if(pos_accuracy <= 0) + pos_accuracy = 1; + //printf("receive covariance %lf \n", pos_accuracy); + //if(GPS_msg->status.status > 8) + globalEstimator.inputGPS(t, latitude, longitude, altitude, pos_accuracy); + gpsQueue.pop(); + break; + } + else if(gps_t < t - 0.01) + gpsQueue.pop(); + else if(gps_t > t + 0.01) + break; + } + m_buf.unlock(); + + Eigen::Vector3d global_t; + Eigen:: Quaterniond global_q; + globalEstimator.getGlobalOdom(global_t, global_q); + + nav_msgs::Odometry odometry; + odometry.header = pose_msg->header; + odometry.header.frame_id = "world"; + odometry.child_frame_id = "world"; + odometry.pose.pose.position.x = global_t.x(); + odometry.pose.pose.position.y = global_t.y(); + odometry.pose.pose.position.z = global_t.z(); + odometry.pose.pose.orientation.x = global_q.x(); + odometry.pose.pose.orientation.y = global_q.y(); + odometry.pose.pose.orientation.z = global_q.z(); + odometry.pose.pose.orientation.w = global_q.w(); + pub_global_odometry.publish(odometry); + pub_global_path.publish(*global_path); + publish_car_model(t, global_t, global_q); + + + // write result to file + std::ofstream foutC("/home/tony-ws1/output/vio_global.csv", ios::app); + foutC.setf(ios::fixed, ios::floatfield); + foutC.precision(0); + foutC << pose_msg->header.stamp.toSec() * 1e9 << ","; + foutC.precision(5); + foutC << global_t.x() << "," + << global_t.y() << "," + << global_t.z() << "," + << global_q.w() << "," + << global_q.x() << "," + << global_q.y() << "," + << global_q.z() << endl; + foutC.close(); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "globalEstimator"); + ros::NodeHandle n("~"); + + global_path = &globalEstimator.global_path; + + ros::Subscriber sub_GPS = n.subscribe("/gps", 100, GPS_callback); + ros::Subscriber sub_vio = n.subscribe("/vins_estimator/odometry", 100, vio_callback); + pub_global_path = n.advertise("global_path", 100); + pub_global_odometry = n.advertise("global_odometry", 100); + pub_car = n.advertise("car_model", 1000); + ros::spin(); + return 0; +} diff --git a/global_fusion/src/tic_toc.h b/global_fusion/src/tic_toc.h new file mode 100644 index 0000000..aeeee01 --- /dev/null +++ b/global_fusion/src/tic_toc.h @@ -0,0 +1,38 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include + +class TicToc +{ + public: + TicToc() + { + tic(); + } + + void tic() + { + start = std::chrono::system_clock::now(); + } + + double toc() + { + end = std::chrono::system_clock::now(); + std::chrono::duration elapsed_seconds = end - start; + return elapsed_seconds.count() * 1000; + } + + private: + std::chrono::time_point start, end; +}; diff --git a/loop_fusion/CMakeLists.txt b/loop_fusion/CMakeLists.txt new file mode 100644 index 0000000..29568f0 --- /dev/null +++ b/loop_fusion/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8.3) +project(loop_fusion) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +#-DEIGEN_USE_MKL_ALL") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + nav_msgs + camera_models + cv_bridge + roslib + ) + +find_package(OpenCV) + + +find_package(Ceres REQUIRED) + +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) +find_package(Eigen3) + +include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR}) + +catkin_package() + +add_executable(loop_fusion_node + src/pose_graph_node.cpp + src/pose_graph.cpp + src/keyframe.cpp + src/utility/CameraPoseVisualization.cpp + src/ThirdParty/DBoW/BowVector.cpp + src/ThirdParty/DBoW/FBrief.cpp + src/ThirdParty/DBoW/FeatureVector.cpp + src/ThirdParty/DBoW/QueryResults.cpp + src/ThirdParty/DBoW/ScoringObject.cpp + src/ThirdParty/DUtils/Random.cpp + src/ThirdParty/DUtils/Timestamp.cpp + src/ThirdParty/DVision/BRIEF.cpp + src/ThirdParty/VocabularyBinary.cpp + ) + +target_link_libraries(loop_fusion_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) diff --git a/loop_fusion/cmake/FindEigen.cmake b/loop_fusion/cmake/FindEigen.cmake new file mode 100644 index 0000000..cdeb305 --- /dev/null +++ b/loop_fusion/cmake/FindEigen.cmake @@ -0,0 +1,172 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2015 Google Inc. All rights reserved. +# http://ceres-solver.org/ +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Google Inc. nor the names of its contributors may be +# used to endorse or promote products derived from this software without +# specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindEigen.cmake - Find Eigen library, version >= 3. +# +# This module defines the following variables: +# +# EIGEN_FOUND: TRUE iff Eigen is found. +# EIGEN_INCLUDE_DIRS: Include directories for Eigen. +# +# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h +# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 +# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 +# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 +# +# The following variables control the behaviour of this module: +# +# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for eigen includes, e.g: /timbuktu/eigen3. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the +# include directory of any dependencies. + +# Called if we failed to find Eigen or any of it's required dependencies, +# unsets all public (designed to be used externally) variables and reports +# error message at priority depending upon [REQUIRED/QUIET/] argument. +macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) + unset(EIGEN_FOUND) + unset(EIGEN_INCLUDE_DIRS) + # Make results of search visible in the CMake GUI if Eigen has not + # been found so that user does not have to toggle to advanced view. + mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) + # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + if (Eigen_FIND_QUIETLY) + message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + elseif (Eigen_FIND_REQUIRED) + message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + else() + # Neither QUIETLY nor REQUIRED, use no priority which emits a message + # but continues configuration and allows generation. + message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + endif () + return() +endmacro(EIGEN_REPORT_NOT_FOUND) + +# Protect against any alternative find_package scripts for this library having +# been called previously (in a client project) which set EIGEN_FOUND, but not +# the other variables we require / set here which could cause the search logic +# here to fail. +unset(EIGEN_FOUND) + +# Search user-installed locations first, so that we prefer user installs +# to system installs where both exist. +list(APPEND EIGEN_CHECK_INCLUDE_DIRS + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include + /usr/include) +# Additional suffixes to try appending to each search path. +list(APPEND EIGEN_CHECK_PATH_SUFFIXES + eigen3 # Default root directory for Eigen. + Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 + Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 + +# Search supplied hint directories first if supplied. +find_path(EIGEN_INCLUDE_DIR + NAMES Eigen/Core + PATHS ${EIGEN_INCLUDE_DIR_HINTS} + ${EIGEN_CHECK_INCLUDE_DIRS} + PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) + +if (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + eigen_report_not_found( + "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " + "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") +endif (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + +# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets +# if called. +set(EIGEN_FOUND TRUE) + +# Extract Eigen version from Eigen/src/Core/util/Macros.h +if (EIGEN_INCLUDE_DIR) + set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) + if (NOT EXISTS ${EIGEN_VERSION_FILE}) + eigen_report_not_found( + "Could not find file: ${EIGEN_VERSION_FILE} " + "containing version information in Eigen install located at: " + "${EIGEN_INCLUDE_DIR}.") + else (NOT EXISTS ${EIGEN_VERSION_FILE}) + file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) + + string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" + EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" + EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") + + string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" + EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" + EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") + + string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" + EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" + EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 3.;2.;0 nonsense. + set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") + endif (NOT EXISTS ${EIGEN_VERSION_FILE}) +endif (EIGEN_INCLUDE_DIR) + +# Set standard CMake FindPackage variables if found. +if (EIGEN_FOUND) + set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) +endif (EIGEN_FOUND) + +# Handle REQUIRED / QUIET optional arguments and version. +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen + REQUIRED_VARS EIGEN_INCLUDE_DIRS + VERSION_VAR EIGEN_VERSION) + +# Only mark internal variables as advanced if we found Eigen, otherwise +# leave it visible in the standard GUI for the user to set manually. +if (EIGEN_FOUND) + mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) +endif (EIGEN_FOUND) diff --git a/loop_fusion/package.xml b/loop_fusion/package.xml new file mode 100644 index 0000000..819eee3 --- /dev/null +++ b/loop_fusion/package.xml @@ -0,0 +1,53 @@ + + + loop_fusion + 0.0.0 + loop_fusion package + + + + + tony-ws + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + camera_models + camera_models + + + + + + + + + \ No newline at end of file diff --git a/loop_fusion/src/ThirdParty/DBoW/BowVector.cpp b/loop_fusion/src/ThirdParty/DBoW/BowVector.cpp new file mode 100644 index 0000000..1337fa3 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/BowVector.cpp @@ -0,0 +1,130 @@ +/** + * File: BowVector.cpp + * Date: March 2011 + * Author: Dorian Galvez-Lopez + * Description: bag of words vector + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include +#include +#include + +#include "BowVector.h" + +namespace DBoW2 { + +// -------------------------------------------------------------------------- + +BowVector::BowVector(void) +{ +} + +// -------------------------------------------------------------------------- + +BowVector::~BowVector(void) +{ +} + +// -------------------------------------------------------------------------- + +void BowVector::addWeight(WordId id, WordValue v) +{ + BowVector::iterator vit = this->lower_bound(id); + + if(vit != this->end() && !(this->key_comp()(id, vit->first))) + { + vit->second += v; + } + else + { + this->insert(vit, BowVector::value_type(id, v)); + } +} + +// -------------------------------------------------------------------------- + +void BowVector::addIfNotExist(WordId id, WordValue v) +{ + BowVector::iterator vit = this->lower_bound(id); + + if(vit == this->end() || (this->key_comp()(id, vit->first))) + { + this->insert(vit, BowVector::value_type(id, v)); + } +} + +// -------------------------------------------------------------------------- + +void BowVector::normalize(LNorm norm_type) +{ + double norm = 0.0; + BowVector::iterator it; + + if(norm_type == DBoW2::L1) + { + for(it = begin(); it != end(); ++it) + norm += fabs(it->second); + } + else + { + for(it = begin(); it != end(); ++it) + norm += it->second * it->second; + norm = sqrt(norm); + } + + if(norm > 0.0) + { + for(it = begin(); it != end(); ++it) + it->second /= norm; + } +} + +// -------------------------------------------------------------------------- + +std::ostream& operator<< (std::ostream &out, const BowVector &v) +{ + BowVector::const_iterator vit; + std::vector::const_iterator iit; + unsigned int i = 0; + const unsigned int N = v.size(); + for(vit = v.begin(); vit != v.end(); ++vit, ++i) + { + out << "<" << vit->first << ", " << vit->second << ">"; + + if(i < N-1) out << ", "; + } + return out; +} + +// -------------------------------------------------------------------------- + +void BowVector::saveM(const std::string &filename, size_t W) const +{ + std::fstream f(filename.c_str(), std::ios::out); + + WordId last = 0; + BowVector::const_iterator bit; + for(bit = this->begin(); bit != this->end(); ++bit) + { + for(; last < bit->first; ++last) + { + f << "0 "; + } + f << bit->second << " "; + + last = bit->first + 1; + } + for(; last < (WordId)W; ++last) + f << "0 "; + + f.close(); +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + diff --git a/loop_fusion/src/ThirdParty/DBoW/BowVector.h b/loop_fusion/src/ThirdParty/DBoW/BowVector.h new file mode 100644 index 0000000..670b635 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/BowVector.h @@ -0,0 +1,109 @@ +/** + * File: BowVector.h + * Date: March 2011 + * Author: Dorian Galvez-Lopez + * Description: bag of words vector + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_BOW_VECTOR__ +#define __D_T_BOW_VECTOR__ + +#include +#include +#include + +namespace DBoW2 { + +/// Id of words +typedef unsigned int WordId; + +/// Value of a word +typedef double WordValue; + +/// Id of nodes in the vocabulary treee +typedef unsigned int NodeId; + +/// L-norms for normalization +enum LNorm +{ + L1, + L2 +}; + +/// Weighting type +enum WeightingType +{ + TF_IDF, + TF, + IDF, + BINARY +}; + +/// Scoring type +enum ScoringType +{ + L1_NORM, + L2_NORM, + CHI_SQUARE, + KL, + BHATTACHARYYA, + DOT_PRODUCT +}; + +/// Vector of words to represent images +class BowVector: + public std::map +{ +public: + + /** + * Constructor + */ + BowVector(void); + + /** + * Destructor + */ + ~BowVector(void); + + /** + * Adds a value to a word value existing in the vector, or creates a new + * word with the given value + * @param id word id to look for + * @param v value to create the word with, or to add to existing word + */ + void addWeight(WordId id, WordValue v); + + /** + * Adds a word with a value to the vector only if this does not exist yet + * @param id word id to look for + * @param v value to give to the word if this does not exist + */ + void addIfNotExist(WordId id, WordValue v); + + /** + * L1-Normalizes the values in the vector + * @param norm_type norm used + */ + void normalize(LNorm norm_type); + + /** + * Prints the content of the bow vector + * @param out stream + * @param v + */ + friend std::ostream& operator<<(std::ostream &out, const BowVector &v); + + /** + * Saves the bow vector as a vector in a matlab file + * @param filename + * @param W number of words in the vocabulary + */ + void saveM(const std::string &filename, size_t W) const; +}; + +} // namespace DBoW2 + +#endif diff --git a/loop_fusion/src/ThirdParty/DBoW/DBoW2.h b/loop_fusion/src/ThirdParty/DBoW/DBoW2.h new file mode 100644 index 0000000..2402069 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/DBoW2.h @@ -0,0 +1,79 @@ +/* + * File: DBoW2.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: Generic include file for the DBoW2 classes and + * the specialized vocabularies and databases + * License: see the LICENSE.txt file + * + */ + +/*! \mainpage DBoW2 Library + * + * DBoW2 library for C++: + * Bag-of-word image database for image retrieval. + * + * Written by Dorian Galvez-Lopez, + * University of Zaragoza + * + * Check my website to obtain updates: http://doriangalvez.com + * + * \section requirements Requirements + * This library requires the DUtils, DUtilsCV, DVision and OpenCV libraries, + * as well as the boost::dynamic_bitset class. + * + * \section citation Citation + * If you use this software in academic works, please cite: + 
+   @@ARTICLE{GalvezTRO12,
+    author={Galvez-Lopez, Dorian and Tardos, J. D.}, 
+    journal={IEEE Transactions on Robotics},
+    title={Bags of Binary Words for Fast Place Recognition in Image Sequences},
+    year={2012},
+    month={October},
+    volume={28},
+    number={5},
+    pages={1188--1197},
+    doi={10.1109/TRO.2012.2197158},
+    ISSN={1552-3098}
+  }
+
+ * + * \section license License + * This file is licensed under a Creative Commons + * Attribution-NonCommercial-ShareAlike 3.0 license. + * This file can be freely used and users can use, download and edit this file + * provided that credit is attributed to the original author. No users are + * permitted to use this file for commercial purposes unless explicit permission + * is given by the original author. Derivative works must be licensed using the + * same or similar license. + * Check http://creativecommons.org/licenses/by-nc-sa/3.0/ to obtain further + * details. + * + */ + +#ifndef __D_T_DBOW2__ +#define __D_T_DBOW2__ + +/// Includes all the data structures to manage vocabularies and image databases +namespace DBoW2 +{ +} + +#include "TemplatedVocabulary.h" +#include "TemplatedDatabase.h" +#include "BowVector.h" +#include "FeatureVector.h" +#include "QueryResults.h" +#include "FBrief.h" + +/// BRIEF Vocabulary +typedef DBoW2::TemplatedVocabulary + BriefVocabulary; + +/// BRIEF Database +typedef DBoW2::TemplatedDatabase + BriefDatabase; + +#endif + diff --git a/loop_fusion/src/ThirdParty/DBoW/FBrief.cpp b/loop_fusion/src/ThirdParty/DBoW/FBrief.cpp new file mode 100644 index 0000000..c447772 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/FBrief.cpp @@ -0,0 +1,108 @@ +/** + * File: FBrief.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions for BRIEF descriptors + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include + +#include "FBrief.h" + +using namespace std; + +namespace DBoW2 { + +// -------------------------------------------------------------------------- + +void FBrief::meanValue(const std::vector &descriptors, + FBrief::TDescriptor &mean) +{ + mean.reset(); + + if(descriptors.empty()) return; + + const int N2 = descriptors.size() / 2; + const int L = descriptors[0]->size(); + + vector counters(L, 0); + + vector::const_iterator it; + for(it = descriptors.begin(); it != descriptors.end(); ++it) + { + const FBrief::TDescriptor &desc = **it; + for(int i = 0; i < L; ++i) + { + if(desc[i]) counters[i]++; + } + } + + for(int i = 0; i < L; ++i) + { + if(counters[i] > N2) mean.set(i); + } + +} + +// -------------------------------------------------------------------------- + +double FBrief::distance(const FBrief::TDescriptor &a, + const FBrief::TDescriptor &b) +{ + return (double)DVision::BRIEF::distance(a, b); +} + +// -------------------------------------------------------------------------- + +std::string FBrief::toString(const FBrief::TDescriptor &a) +{ + // from boost::bitset + string s; + to_string(a, s); // reversed + return s; +} + +// -------------------------------------------------------------------------- + +void FBrief::fromString(FBrief::TDescriptor &a, const std::string &s) +{ + // from boost::bitset + stringstream ss(s); + ss >> a; +} + +// -------------------------------------------------------------------------- + +void FBrief::toMat32F(const std::vector &descriptors, + cv::Mat &mat) +{ + if(descriptors.empty()) + { + mat.release(); + return; + } + + const int N = descriptors.size(); + const int L = descriptors[0].size(); + + mat.create(N, L, CV_32F); + + for(int i = 0; i < N; ++i) + { + const TDescriptor& desc = descriptors[i]; + float *p = mat.ptr(i); + for(int j = 0; j < L; ++j, ++p) + { + *p = (desc[j] ? 1 : 0); + } + } +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + diff --git a/loop_fusion/src/ThirdParty/DBoW/FBrief.h b/loop_fusion/src/ThirdParty/DBoW/FBrief.h new file mode 100644 index 0000000..d0bfa21 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/FBrief.h @@ -0,0 +1,73 @@ +/** + * File: FBrief.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions for BRIEF descriptors + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_F_BRIEF__ +#define __D_T_F_BRIEF__ + +#include +#include +#include + +#include "FClass.h" +#include "../DVision/DVision.h" + +namespace DBoW2 { + +/// Functions to manipulate BRIEF descriptors +class FBrief: protected FClass +{ +public: + + typedef DVision::BRIEF::bitset TDescriptor; + typedef const TDescriptor *pDescriptor; + + /** + * Calculates the mean value of a set of descriptors + * @param descriptors + * @param mean mean descriptor + */ + static void meanValue(const std::vector &descriptors, + TDescriptor &mean); + + /** + * Calculates the distance between two descriptors + * @param a + * @param b + * @return distance + */ + static double distance(const TDescriptor &a, const TDescriptor &b); + + /** + * Returns a string version of the descriptor + * @param a descriptor + * @return string version + */ + static std::string toString(const TDescriptor &a); + + /** + * Returns a descriptor from a string + * @param a descriptor + * @param s string version + */ + static void fromString(TDescriptor &a, const std::string &s); + + /** + * Returns a mat with the descriptors in float format + * @param descriptors + * @param mat (out) NxL 32F matrix + */ + static void toMat32F(const std::vector &descriptors, + cv::Mat &mat); + +}; + +} // namespace DBoW2 + +#endif + diff --git a/loop_fusion/src/ThirdParty/DBoW/FClass.h b/loop_fusion/src/ThirdParty/DBoW/FClass.h new file mode 100644 index 0000000..adb8586 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/FClass.h @@ -0,0 +1,71 @@ +/** + * File: FClass.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: generic FClass to instantiate templated classes + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_FCLASS__ +#define __D_T_FCLASS__ + +#include +#include +#include + +namespace DBoW2 { + +/// Generic class to encapsulate functions to manage descriptors. +/** + * This class must be inherited. Derived classes can be used as the + * parameter F when creating Templated structures + * (TemplatedVocabulary, TemplatedDatabase, ...) + */ +class FClass +{ + class TDescriptor; + typedef const TDescriptor *pDescriptor; + + /** + * Calculates the mean value of a set of descriptors + * @param descriptors + * @param mean mean descriptor + */ + virtual void meanValue(const std::vector &descriptors, + TDescriptor &mean) = 0; + + /** + * Calculates the distance between two descriptors + * @param a + * @param b + * @return distance + */ + static double distance(const TDescriptor &a, const TDescriptor &b); + + /** + * Returns a string version of the descriptor + * @param a descriptor + * @return string version + */ + static std::string toString(const TDescriptor &a); + + /** + * Returns a descriptor from a string + * @param a descriptor + * @param s string version + */ + static void fromString(TDescriptor &a, const std::string &s); + + /** + * Returns a mat with the descriptors in float format + * @param descriptors + * @param mat (out) NxL 32F matrix + */ + static void toMat32F(const std::vector &descriptors, + cv::Mat &mat); +}; + +} // namespace DBoW2 + +#endif diff --git a/loop_fusion/src/ThirdParty/DBoW/FeatureVector.cpp b/loop_fusion/src/ThirdParty/DBoW/FeatureVector.cpp new file mode 100644 index 0000000..c055a15 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/FeatureVector.cpp @@ -0,0 +1,85 @@ +/** + * File: FeatureVector.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: feature vector + * License: see the LICENSE.txt file + * + */ + +#include "FeatureVector.h" +#include +#include +#include + +namespace DBoW2 { + +// --------------------------------------------------------------------------- + +FeatureVector::FeatureVector(void) +{ +} + +// --------------------------------------------------------------------------- + +FeatureVector::~FeatureVector(void) +{ +} + +// --------------------------------------------------------------------------- + +void FeatureVector::addFeature(NodeId id, unsigned int i_feature) +{ + FeatureVector::iterator vit = this->lower_bound(id); + + if(vit != this->end() && vit->first == id) + { + vit->second.push_back(i_feature); + } + else + { + vit = this->insert(vit, FeatureVector::value_type(id, + std::vector() )); + vit->second.push_back(i_feature); + } +} + +// --------------------------------------------------------------------------- + +std::ostream& operator<<(std::ostream &out, + const FeatureVector &v) +{ + if(!v.empty()) + { + FeatureVector::const_iterator vit = v.begin(); + + const std::vector* f = &vit->second; + + out << "<" << vit->first << ": ["; + if(!f->empty()) out << (*f)[0]; + for(unsigned int i = 1; i < f->size(); ++i) + { + out << ", " << (*f)[i]; + } + out << "]>"; + + for(++vit; vit != v.end(); ++vit) + { + f = &vit->second; + + out << ", <" << vit->first << ": ["; + if(!f->empty()) out << (*f)[0]; + for(unsigned int i = 1; i < f->size(); ++i) + { + out << ", " << (*f)[i]; + } + out << "]>"; + } + } + + return out; +} + +// --------------------------------------------------------------------------- + +} // namespace DBoW2 diff --git a/loop_fusion/src/ThirdParty/DBoW/FeatureVector.h b/loop_fusion/src/ThirdParty/DBoW/FeatureVector.h new file mode 100644 index 0000000..08a91de --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/FeatureVector.h @@ -0,0 +1,56 @@ +/** + * File: FeatureVector.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: feature vector + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_FEATURE_VECTOR__ +#define __D_T_FEATURE_VECTOR__ + +#include "BowVector.h" +#include +#include +#include + +namespace DBoW2 { + +/// Vector of nodes with indexes of local features +class FeatureVector: + public std::map > +{ +public: + + /** + * Constructor + */ + FeatureVector(void); + + /** + * Destructor + */ + ~FeatureVector(void); + + /** + * Adds a feature to an existing node, or adds a new node with an initial + * feature + * @param id node id to add or to modify + * @param i_feature index of feature to add to the given node + */ + void addFeature(NodeId id, unsigned int i_feature); + + /** + * Sends a string versions of the feature vector through the stream + * @param out stream + * @param v feature vector + */ + friend std::ostream& operator<<(std::ostream &out, const FeatureVector &v); + +}; + +} // namespace DBoW2 + +#endif + diff --git a/loop_fusion/src/ThirdParty/DBoW/QueryResults.cpp b/loop_fusion/src/ThirdParty/DBoW/QueryResults.cpp new file mode 100644 index 0000000..01897ca --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/QueryResults.cpp @@ -0,0 +1,63 @@ +/** + * File: QueryResults.cpp + * Date: March, November 2011 + * Author: Dorian Galvez-Lopez + * Description: structure to store results of database queries + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include "QueryResults.h" + +using namespace std; + +namespace DBoW2 +{ + +// --------------------------------------------------------------------------- + +ostream & operator<<(ostream& os, const Result& ret ) +{ + os << ""; + return os; +} + +// --------------------------------------------------------------------------- + +ostream & operator<<(ostream& os, const QueryResults& ret ) +{ + if(ret.size() == 1) + os << "1 result:" << endl; + else + os << ret.size() << " results:" << endl; + + QueryResults::const_iterator rit; + for(rit = ret.begin(); rit != ret.end(); ++rit) + { + os << *rit; + if(rit + 1 != ret.end()) os << endl; + } + return os; +} + +// --------------------------------------------------------------------------- + +void QueryResults::saveM(const std::string &filename) const +{ + fstream f(filename.c_str(), ios::out); + + QueryResults::const_iterator qit; + for(qit = begin(); qit != end(); ++qit) + { + f << qit->Id << " " << qit->Score << endl; + } + + f.close(); +} + +// --------------------------------------------------------------------------- + +} // namespace DBoW2 + diff --git a/loop_fusion/src/ThirdParty/DBoW/QueryResults.h b/loop_fusion/src/ThirdParty/DBoW/QueryResults.h new file mode 100644 index 0000000..2490bce --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/QueryResults.h @@ -0,0 +1,205 @@ +/** + * File: QueryResults.h + * Date: March, November 2011 + * Author: Dorian Galvez-Lopez + * Description: structure to store results of database queries + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_QUERY_RESULTS__ +#define __D_T_QUERY_RESULTS__ + +#include + +namespace DBoW2 { + +/// Id of entries of the database +typedef unsigned int EntryId; + +/// Single result of a query +class Result +{ +public: + + /// Entry id + EntryId Id; + + /// Score obtained + double Score; + + /// debug + int nWords; // words in common + // !!! this is filled only by Bhatt score! + // (and for BCMatching, BCThresholding then) + + double bhatScore, chiScore; + /// debug + + // only done by ChiSq and BCThresholding + double sumCommonVi; + double sumCommonWi; + double expectedChiScore; + /// debug + + /** + * Empty constructors + */ + inline Result(){} + + /** + * Creates a result with the given data + * @param _id entry id + * @param _score score + */ + inline Result(EntryId _id, double _score): Id(_id), Score(_score){} + + /** + * Compares the scores of two results + * @return true iff this.score < r.score + */ + inline bool operator<(const Result &r) const + { + return this->Score < r.Score; + } + + /** + * Compares the scores of two results + * @return true iff this.score > r.score + */ + inline bool operator>(const Result &r) const + { + return this->Score > r.Score; + } + + /** + * Compares the entry id of the result + * @return true iff this.id == id + */ + inline bool operator==(EntryId id) const + { + return this->Id == id; + } + + /** + * Compares the score of this entry with a given one + * @param s score to compare with + * @return true iff this score < s + */ + inline bool operator<(double s) const + { + return this->Score < s; + } + + /** + * Compares the score of this entry with a given one + * @param s score to compare with + * @return true iff this score > s + */ + inline bool operator>(double s) const + { + return this->Score > s; + } + + /** + * Compares the score of two results + * @param a + * @param b + * @return true iff a.Score > b.Score + */ + static inline bool gt(const Result &a, const Result &b) + { + return a.Score > b.Score; + } + + /** + * Compares the scores of two results + * @return true iff a.Score > b.Score + */ + inline static bool ge(const Result &a, const Result &b) + { + return a.Score > b.Score; + } + + /** + * Returns true iff a.Score >= b.Score + * @param a + * @param b + * @return true iff a.Score >= b.Score + */ + static inline bool geq(const Result &a, const Result &b) + { + return a.Score >= b.Score; + } + + /** + * Returns true iff a.Score >= s + * @param a + * @param s + * @return true iff a.Score >= s + */ + static inline bool geqv(const Result &a, double s) + { + return a.Score >= s; + } + + + /** + * Returns true iff a.Id < b.Id + * @param a + * @param b + * @return true iff a.Id < b.Id + */ + static inline bool ltId(const Result &a, const Result &b) + { + return a.Id < b.Id; + } + + /** + * Prints a string version of the result + * @param os ostream + * @param ret Result to print + */ + friend std::ostream & operator<<(std::ostream& os, const Result& ret ); +}; + +/// Multiple results from a query +class QueryResults: public std::vector +{ +public: + + /** + * Multiplies all the scores in the vector by factor + * @param factor + */ + inline void scaleScores(double factor); + + /** + * Prints a string version of the results + * @param os ostream + * @param ret QueryResults to print + */ + friend std::ostream & operator<<(std::ostream& os, const QueryResults& ret ); + + /** + * Saves a matlab file with the results + * @param filename + */ + void saveM(const std::string &filename) const; + +}; + +// -------------------------------------------------------------------------- + +inline void QueryResults::scaleScores(double factor) +{ + for(QueryResults::iterator qit = begin(); qit != end(); ++qit) + qit->Score *= factor; +} + +// -------------------------------------------------------------------------- + +} // namespace TemplatedBoW + +#endif + diff --git a/loop_fusion/src/ThirdParty/DBoW/ScoringObject.cpp b/loop_fusion/src/ThirdParty/DBoW/ScoringObject.cpp new file mode 100644 index 0000000..063a96e --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/ScoringObject.cpp @@ -0,0 +1,315 @@ +/** + * File: ScoringObject.cpp + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions to compute bow scores + * License: see the LICENSE.txt file + * + */ + +#include +#include "TemplatedVocabulary.h" +#include "BowVector.h" + +using namespace DBoW2; + +// If you change the type of WordValue, make sure you change also the +// epsilon value (this is needed by the KL method) +const double GeneralScoring::LOG_EPS = log(DBL_EPSILON); // FLT_EPSILON + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double L1Scoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += fabs(vi - wi) - fabs(vi) - fabs(wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // ||v - w||_{L1} = 2 + Sum(|v_i - w_i| - |v_i| - |w_i|) + // for all i | v_i != 0 and w_i != 0 + // (Nister, 2006) + // scaled_||v - w||_{L1} = 1 - 0.5 * ||v - w||_{L1} + score = -score/2.0; + + return score; // [0..1] +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double L2Scoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += vi * wi; + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // ||v - w||_{L2} = sqrt( 2 - 2 * Sum(v_i * w_i) ) + // for all i | v_i != 0 and w_i != 0 ) + // (Nister, 2006) + if(score >= 1) // rounding errors + score = 1.0; + else + score = 1.0 - sqrt(1.0 - score); // [0..1] + + return score; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double ChiSquareScoring::score(const BowVector &v1, const BowVector &v2) + const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + // all the items are taken into account + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + // (v-w)^2/(v+w) - v - w = -4 vw/(v+w) + // we move the -4 out + if(vi + wi != 0.0) score += vi * wi / (vi + wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + } + } + + // this takes the -4 into account + score = 2. * score; // [0..1] + + return score; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double KLScoring::score(const BowVector &v1, const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + // all the items or v are taken into account + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + if(vi != 0 && wi != 0) score += vi * log(vi/wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + score += vi * (log(vi) - LOG_EPS); + ++v1_it; + } + else + { + // move v2_it forward, do not add any score + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + // sum rest of items of v + for(; v1_it != v1_end; ++v1_it) + if(v1_it->second != 0) + score += v1_it->second * (log(v1_it->second) - LOG_EPS); + + return score; // cannot be scaled +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double BhattacharyyaScoring::score(const BowVector &v1, + const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += sqrt(vi * wi); + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + return score; // already scaled +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +double DotProductScoring::score(const BowVector &v1, + const BowVector &v2) const +{ + BowVector::const_iterator v1_it, v2_it; + const BowVector::const_iterator v1_end = v1.end(); + const BowVector::const_iterator v2_end = v2.end(); + + v1_it = v1.begin(); + v2_it = v2.begin(); + + double score = 0; + + while(v1_it != v1_end && v2_it != v2_end) + { + const WordValue& vi = v1_it->second; + const WordValue& wi = v2_it->second; + + if(v1_it->first == v2_it->first) + { + score += vi * wi; + + // move v1 and v2 forward + ++v1_it; + ++v2_it; + } + else if(v1_it->first < v2_it->first) + { + // move v1 forward + v1_it = v1.lower_bound(v2_it->first); + // v1_it = (first element >= v2_it.id) + } + else + { + // move v2 forward + v2_it = v2.lower_bound(v1_it->first); + // v2_it = (first element >= v1_it.id) + } + } + + return score; // cannot scale +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + diff --git a/loop_fusion/src/ThirdParty/DBoW/ScoringObject.h b/loop_fusion/src/ThirdParty/DBoW/ScoringObject.h new file mode 100644 index 0000000..c57502d --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/ScoringObject.h @@ -0,0 +1,95 @@ +/** + * File: ScoringObject.h + * Date: November 2011 + * Author: Dorian Galvez-Lopez + * Description: functions to compute bow scores + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_SCORING_OBJECT__ +#define __D_T_SCORING_OBJECT__ + +#include "BowVector.h" + +namespace DBoW2 { + +/// Base class of scoring functions +class GeneralScoring +{ +public: + /** + * Computes the score between two vectors. Vectors must be sorted and + * normalized if necessary + * @param v (in/out) + * @param w (in/out) + * @return score + */ + virtual double score(const BowVector &v, const BowVector &w) const = 0; + + /** + * Returns whether a vector must be normalized before scoring according + * to the scoring scheme + * @param norm norm to use + * @return true iff must normalize + */ + virtual bool mustNormalize(LNorm &norm) const = 0; + + /// Log of epsilon + static const double LOG_EPS; + // If you change the type of WordValue, make sure you change also the + // epsilon value (this is needed by the KL method) + + virtual ~GeneralScoring() {} //!< Required for virtual base classes +}; + +/** + * Macro for defining Scoring classes + * @param NAME name of class + * @param MUSTNORMALIZE if vectors must be normalized to compute the score + * @param NORM type of norm to use when MUSTNORMALIZE + */ +#define __SCORING_CLASS(NAME, MUSTNORMALIZE, NORM) \ + NAME: public GeneralScoring \ + { public: \ + /** \ + * Computes score between two vectors \ + * @param v \ + * @param w \ + * @return score between v and w \ + */ \ + virtual double score(const BowVector &v, const BowVector &w) const; \ + \ + /** \ + * Says if a vector must be normalized according to the scoring function \ + * @param norm (out) if true, norm to use + * @return true iff vectors must be normalized \ + */ \ + virtual inline bool mustNormalize(LNorm &norm) const \ + { norm = NORM; return MUSTNORMALIZE; } \ + } + +/// L1 Scoring object +class __SCORING_CLASS(L1Scoring, true, L1); + +/// L2 Scoring object +class __SCORING_CLASS(L2Scoring, true, L2); + +/// Chi square Scoring object +class __SCORING_CLASS(ChiSquareScoring, true, L1); + +/// KL divergence Scoring object +class __SCORING_CLASS(KLScoring, true, L1); + +/// Bhattacharyya Scoring object +class __SCORING_CLASS(BhattacharyyaScoring, true, L1); + +/// Dot product Scoring object +class __SCORING_CLASS(DotProductScoring, false, L1); + +#undef __SCORING_CLASS + +} // namespace DBoW2 + +#endif + diff --git a/loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h b/loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h new file mode 100644 index 0000000..d65574f --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/TemplatedDatabase.h @@ -0,0 +1,1390 @@ +/** + * File: TemplatedDatabase.h + * Date: March 2011 + * Author: Dorian Galvez-Lopez + * Description: templated database of images + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_TEMPLATED_DATABASE__ +#define __D_T_TEMPLATED_DATABASE__ + +#include +#include +#include +#include +#include +#include + +#include "TemplatedVocabulary.h" +#include "QueryResults.h" +#include "ScoringObject.h" +#include "BowVector.h" +#include "FeatureVector.h" + +#include "../DUtils/DUtils.h" + +namespace DBoW2 { + +// For query functions +static int MIN_COMMON_WORDS = 5; + +/// @param TDescriptor class of descriptor +/// @param F class of descriptor functions +template +/// Generic Database +class TemplatedDatabase +{ +public: + + /** + * Creates an empty database without vocabulary + * @param use_di a direct index is used to store feature indexes + * @param di_levels levels to go up the vocabulary tree to select the + * node id to store in the direct index when adding images + */ + explicit TemplatedDatabase(bool use_di = true, int di_levels = 0); + + /** + * Creates a database with the given vocabulary + * @param T class inherited from TemplatedVocabulary + * @param voc vocabulary + * @param use_di a direct index is used to store feature indexes + * @param di_levels levels to go up the vocabulary tree to select the + * node id to store in the direct index when adding images + */ + template + explicit TemplatedDatabase(const T &voc, bool use_di = true, + int di_levels = 0); + + /** + * Copy constructor. Copies the vocabulary too + * @param db object to copy + */ + TemplatedDatabase(const TemplatedDatabase &db); + + /** + * Creates the database from a file + * @param filename + */ + TemplatedDatabase(const std::string &filename); + + /** + * Creates the database from a file + * @param filename + */ + TemplatedDatabase(const char *filename); + + /** + * Destructor + */ + virtual ~TemplatedDatabase(void); + + /** + * Copies the given database and its vocabulary + * @param db database to copy + */ + TemplatedDatabase& operator=( + const TemplatedDatabase &db); + + /** + * Sets the vocabulary to use and clears the content of the database. + * @param T class inherited from TemplatedVocabulary + * @param voc vocabulary to copy + */ + template + inline void setVocabulary(const T &voc); + + /** + * Sets the vocabulary to use and the direct index parameters, and clears + * the content of the database + * @param T class inherited from TemplatedVocabulary + * @param voc vocabulary to copy + * @param use_di a direct index is used to store feature indexes + * @param di_levels levels to go up the vocabulary tree to select the + * node id to store in the direct index when adding images + */ + template + void setVocabulary(const T& voc, bool use_di, int di_levels = 0); + + /** + * Returns a pointer to the vocabulary used + * @return vocabulary + */ + inline const TemplatedVocabulary* getVocabulary() const; + + /** + * Allocates some memory for the direct and inverted indexes + * @param nd number of expected image entries in the database + * @param ni number of expected words per image + * @note Use 0 to ignore a parameter + */ + void allocate(int nd = 0, int ni = 0); + + /** + * Adds an entry to the database and returns its index + * @param features features of the new entry + * @param bowvec if given, the bow vector of these features is returned + * @param fvec if given, the vector of nodes and feature indexes is returned + * @return id of new entry + */ + EntryId add(const std::vector &features, + BowVector *bowvec = NULL, FeatureVector *fvec = NULL); + + /** + * Adss an entry to the database and returns its index + * @param vec bow vector + * @param fec feature vector to add the entry. Only necessary if using the + * direct index + * @return id of new entry + */ + EntryId add(const BowVector &vec, + const FeatureVector &fec = FeatureVector() ); + + void delete_entry(const EntryId entry_id); + + /** + * Empties the database + */ + inline void clear(); + + /** + * Returns the number of entries in the database + * @return number of entries in the database + */ + inline unsigned int size() const; + + /** + * Checks if the direct index is being used + * @return true iff using direct index + */ + inline bool usingDirectIndex() const; + + /** + * Returns the di levels when using direct index + * @return di levels + */ + inline int getDirectIndexLevels() const; + + /** + * Queries the database with some features + * @param features query features + * @param ret (out) query results + * @param max_results number of results to return. <= 0 means all + * @param max_id only entries with id <= max_id are returned in ret. + * < 0 means all + */ + void query(const std::vector &features, QueryResults &ret, + int max_results = 1, int max_id = -1) const; + + /** + * Queries the database with a vector + * @param vec bow vector already normalized + * @param ret results + * @param max_results number of results to return. <= 0 means all + * @param max_id only entries with id <= max_id are returned in ret. + * < 0 means all + */ + void query(const BowVector &vec, QueryResults &ret, + int max_results = 1, int max_id = -1) const; + + /** + * Returns the a feature vector associated with a database entry + * @param id entry id (must be < size()) + * @return const reference to map of nodes and their associated features in + * the given entry + */ + const FeatureVector& retrieveFeatures(EntryId id) const; + + /** + * Stores the database in a file + * @param filename + */ + void save(const std::string &filename) const; + + /** + * Loads the database from a file + * @param filename + */ + void load(const std::string &filename); + + /** + * Stores the database in the given file storage structure + * @param fs + * @param name node name + */ + virtual void save(cv::FileStorage &fs, + const std::string &name = "database") const; + + /** + * Loads the database from the given file storage structure + * @param fs + * @param name node name + */ + virtual void load(const cv::FileStorage &fs, + const std::string &name = "database"); + +protected: + + /// Query with L1 scoring + void queryL1(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + + /// Query with L2 scoring + void queryL2(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + + /// Query with Chi square scoring + void queryChiSquare(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + + /// Query with Bhattacharyya scoring + void queryBhattacharyya(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + + /// Query with KL divergence scoring + void queryKL(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + + /// Query with dot product scoring + void queryDotProduct(const BowVector &vec, QueryResults &ret, + int max_results, int max_id) const; + +protected: + + /* Inverted file declaration */ + + /// Item of IFRow + struct IFPair + { + /// Entry id + EntryId entry_id; + + /// Word weight in this entry + WordValue word_weight; + + /** + * Creates an empty pair + */ + IFPair(){} + + /** + * Creates an inverted file pair + * @param eid entry id + * @param wv word weight + */ + IFPair(EntryId eid, WordValue wv): entry_id(eid), word_weight(wv) {} + + /** + * Compares the entry ids + * @param eid + * @return true iff this entry id is the same as eid + */ + inline bool operator==(EntryId eid) const { return entry_id == eid; } + }; + + /// Row of InvertedFile + typedef std::list IFRow; + // IFRows are sorted in ascending entry_id order + + /// Inverted index + typedef std::vector InvertedFile; + // InvertedFile[word_id] --> inverted file of that word + + /* Direct file declaration */ + + /// Direct index + typedef std::vector DirectFile; + // DirectFile[entry_id] --> [ directentry, ... ] + +protected: + + /// Associated vocabulary + TemplatedVocabulary *m_voc; + + /// Flag to use direct index + bool m_use_di; + + /// Levels to go up the vocabulary tree to select nodes to store + /// in the direct index + int m_dilevels; + + /// Inverted file (must have size() == |words|) + InvertedFile m_ifile; + + + /// Direct file (resized for allocation) + DirectFile m_dfile; + + std::vector m_dBowfile; + + /// Number of valid entries in m_dfile + int m_nentries; + +}; + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase::TemplatedDatabase + (bool use_di, int di_levels) + : m_voc(NULL), m_use_di(use_di), m_dilevels(di_levels), m_nentries(0) +{ +} + +// -------------------------------------------------------------------------- + +template +template +TemplatedDatabase::TemplatedDatabase + (const T &voc, bool use_di, int di_levels) + : m_voc(NULL), m_use_di(use_di), m_dilevels(di_levels) +{ + setVocabulary(voc); + clear(); +} + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase::TemplatedDatabase + (const TemplatedDatabase &db) + : m_voc(NULL) +{ + *this = db; +} + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase::TemplatedDatabase + (const std::string &filename) + : m_voc(NULL) +{ + load(filename); +} + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase::TemplatedDatabase + (const char *filename) + : m_voc(NULL) +{ + load(filename); +} + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase::~TemplatedDatabase(void) +{ + delete m_voc; +} + +// -------------------------------------------------------------------------- + +template +TemplatedDatabase& TemplatedDatabase::operator= + (const TemplatedDatabase &db) +{ + if(this != &db) + { + m_dfile = db.m_dfile; + m_dBowfile = db.m_dBowfile; + m_dilevels = db.m_dilevels; + m_ifile = db.m_ifile; + m_nentries = db.m_nentries; + m_use_di = db.m_use_di; + setVocabulary(*db.m_voc); + } + return *this; +} + +// -------------------------------------------------------------------------- + +template +EntryId TemplatedDatabase::add( + const std::vector &features, + BowVector *bowvec, FeatureVector *fvec) +{ + BowVector aux; + BowVector& v = (bowvec ? *bowvec : aux); + + if(m_use_di && fvec != NULL) + { + m_voc->transform(features, v, *fvec, m_dilevels); // with features + return add(v, *fvec); + } + else if(m_use_di) + { + FeatureVector fv; + m_voc->transform(features, v, fv, m_dilevels); // with features + return add(v, fv); + } + else if(fvec != NULL) + { + m_voc->transform(features, v, *fvec, m_dilevels); // with features + return add(v); + } + else + { + m_voc->transform(features, v); // with features + return add(v); + } +} + +// --------------------------------------------------------------------------- + +template +EntryId TemplatedDatabase::add(const BowVector &v, + const FeatureVector &fv) +{ + EntryId entry_id = m_nentries++; + + BowVector::const_iterator vit; + std::vector::const_iterator iit; + + if(m_use_di) + { + // update direct file + if(entry_id == m_dfile.size()) + { + m_dfile.push_back(fv); + m_dBowfile.push_back(v); + } + else + { + m_dfile[entry_id] = fv; + m_dBowfile[entry_id] = v; + } + } + + // update inverted file + for(vit = v.begin(); vit != v.end(); ++vit) + { + const WordId& word_id = vit->first; + const WordValue& word_weight = vit->second; + + IFRow& ifrow = m_ifile[word_id]; + ifrow.push_back(IFPair(entry_id, word_weight)); + } + + return entry_id; +} + +// --------------------------------------------------------------------------- + +template +void TemplatedDatabase::delete_entry(const EntryId entry_id) +{ + BowVector v = m_dBowfile[entry_id]; + + BowVector::const_iterator vit; + + for (vit = v.begin(); vit != v.end(); ++vit) + { + const WordId& word_id = vit->first; + IFRow& ifrow = m_ifile[word_id]; + typename IFRow::iterator rit; + for (rit = ifrow.begin(); rit != ifrow.end(); ++rit) + { + if (rit->entry_id == entry_id) + { + ifrow.erase(rit); + break; + } + } + } + m_dBowfile[entry_id].clear(); + m_dfile[entry_id].clear(); +} + + +// -------------------------------------------------------------------------- + +template +template +inline void TemplatedDatabase::setVocabulary + (const T& voc) +{ + delete m_voc; + m_voc = new T(voc); + clear(); +} + +// -------------------------------------------------------------------------- + +template +template +inline void TemplatedDatabase::setVocabulary + (const T& voc, bool use_di, int di_levels) +{ + m_use_di = use_di; + m_dilevels = di_levels; + delete m_voc; + m_voc = new T(voc); + clear(); +} + +// -------------------------------------------------------------------------- + +template +inline const TemplatedVocabulary* +TemplatedDatabase::getVocabulary() const +{ + return m_voc; +} + +// -------------------------------------------------------------------------- + +template +inline void TemplatedDatabase::clear() +{ + // resize vectors + m_ifile.resize(0); + m_ifile.resize(m_voc->size()); + m_dfile.resize(0); + m_dBowfile.resize(0); + m_nentries = 0; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::allocate(int nd, int ni) +{ + // m_ifile already contains |words| items + if(ni > 0) + { + typename std::vector::iterator rit; + for(rit = m_ifile.begin(); rit != m_ifile.end(); ++rit) + { + int n = (int)rit->size(); + if(ni > n) + { + rit->resize(ni); + rit->resize(n); + } + } + } + + if(m_use_di && (int)m_dfile.size() < nd) + { + m_dfile.resize(nd); + m_dBowfile.resize(nd); + } +} + +// -------------------------------------------------------------------------- + +template +inline unsigned int TemplatedDatabase::size() const +{ + return m_nentries; +} + +// -------------------------------------------------------------------------- + +template +inline bool TemplatedDatabase::usingDirectIndex() const +{ + return m_use_di; +} + +// -------------------------------------------------------------------------- + +template +inline int TemplatedDatabase::getDirectIndexLevels() const +{ + return m_dilevels; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::query( + const std::vector &features, + QueryResults &ret, int max_results, int max_id) const +{ + BowVector vec; + m_voc->transform(features, vec); + query(vec, ret, max_results, max_id); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::query( + const BowVector &vec, + QueryResults &ret, int max_results, int max_id) const +{ + ret.resize(0); + + switch(m_voc->getScoringType()) + { + case L1_NORM: + queryL1(vec, ret, max_results, max_id); + break; + + case L2_NORM: + queryL2(vec, ret, max_results, max_id); + break; + + case CHI_SQUARE: + queryChiSquare(vec, ret, max_results, max_id); + break; + + case KL: + queryKL(vec, ret, max_results, max_id); + break; + + case BHATTACHARYYA: + queryBhattacharyya(vec, ret, max_results, max_id); + break; + + case DOT_PRODUCT: + queryDotProduct(vec, ret, max_results, max_id); + break; + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryL1(const BowVector &vec, + QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + std::map pairs; + std::map::iterator pit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& qvalue = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& dvalue = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1 || (int)entry_id == m_nentries - 1) + { + double value = fabs(qvalue - dvalue) - fabs(qvalue) - fabs(dvalue); + + pit = pairs.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second += value; + } + else + { + pairs.insert(pit, + std::map::value_type(entry_id, value)); + } + } + + } // for each inverted row + } // for each query word + + // move to vector + ret.reserve(pairs.size()); + for(pit = pairs.begin(); pit != pairs.end(); ++pit) + { + ret.push_back(Result(pit->first, pit->second)); + } + + // resulting "scores" are now in [-2 best .. 0 worst] + + // sort vector in ascending order of score + std::sort(ret.begin(), ret.end()); + // (ret is inverted now --the lower the better--) + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + + // complete and scale score to [0 worst .. 1 best] + // ||v - w||_{L1} = 2 + Sum(|v_i - w_i| - |v_i| - |w_i|) + // for all i | v_i != 0 and w_i != 0 + // (Nister, 2006) + // scaled_||v - w||_{L1} = 1 - 0.5 * ||v - w||_{L1} + QueryResults::iterator qit; + for(qit = ret.begin(); qit != ret.end(); qit++) + qit->Score = -qit->Score/2.0; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryL2(const BowVector &vec, + QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + std::map pairs; + std::map::iterator pit; + + //map counters; + //map::iterator cit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& qvalue = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& dvalue = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1) + { + double value = - qvalue * dvalue; // minus sign for sorting trick + + pit = pairs.lower_bound(entry_id); + //cit = counters.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second += value; + //cit->second += 1; + } + else + { + pairs.insert(pit, + std::map::value_type(entry_id, value)); + + //counters.insert(cit, + // map::value_type(entry_id, 1)); + } + } + + } // for each inverted row + } // for each query word + + // move to vector + ret.reserve(pairs.size()); + //cit = counters.begin(); + for(pit = pairs.begin(); pit != pairs.end(); ++pit)//, ++cit) + { + ret.push_back(Result(pit->first, pit->second));// / cit->second)); + } + + // resulting "scores" are now in [-1 best .. 0 worst] + + // sort vector in ascending order of score + std::sort(ret.begin(), ret.end()); + // (ret is inverted now --the lower the better--) + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + + // complete and scale score to [0 worst .. 1 best] + // ||v - w||_{L2} = sqrt( 2 - 2 * Sum(v_i * w_i) + // for all i | v_i != 0 and w_i != 0 ) + // (Nister, 2006) + QueryResults::iterator qit; + for(qit = ret.begin(); qit != ret.end(); qit++) + { + if(qit->Score <= -1.0) // rounding error + qit->Score = 1.0; + else + qit->Score = 1.0 - sqrt(1.0 + qit->Score); // [0..1] + // the + sign is ok, it is due to - sign in + // value = - qvalue * dvalue + } + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryChiSquare(const BowVector &vec, + QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + std::map > pairs; + std::map >::iterator pit; + + std::map > sums; // < sum vi, sum wi > + std::map >::iterator sit; + + // In the current implementation, we suppose vec is not normalized + + //map expected; + //map::iterator eit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& qvalue = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& dvalue = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1) + { + // (v-w)^2/(v+w) - v - w = -4 vw/(v+w) + // we move the 4 out + double value = 0; + if(qvalue + dvalue != 0.0) // words may have weight zero + value = - qvalue * dvalue / (qvalue + dvalue); + + pit = pairs.lower_bound(entry_id); + sit = sums.lower_bound(entry_id); + //eit = expected.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second.first += value; + pit->second.second += 1; + //eit->second += dvalue; + sit->second.first += qvalue; + sit->second.second += dvalue; + } + else + { + pairs.insert(pit, + std::map >::value_type(entry_id, + std::make_pair(value, 1) )); + //expected.insert(eit, + // map::value_type(entry_id, dvalue)); + + sums.insert(sit, + std::map >::value_type(entry_id, + std::make_pair(qvalue, dvalue) )); + } + } + + } // for each inverted row + } // for each query word + + // move to vector + ret.reserve(pairs.size()); + sit = sums.begin(); + for(pit = pairs.begin(); pit != pairs.end(); ++pit, ++sit) + { + if(pit->second.second >= MIN_COMMON_WORDS) + { + ret.push_back(Result(pit->first, pit->second.first)); + ret.back().nWords = pit->second.second; + ret.back().sumCommonVi = sit->second.first; + ret.back().sumCommonWi = sit->second.second; + ret.back().expectedChiScore = + 2 * sit->second.second / (1 + sit->second.second); + } + + //ret.push_back(Result(pit->first, pit->second)); + } + + // resulting "scores" are now in [-2 best .. 0 worst] + // we have to add +2 to the scores to obtain the chi square score + + // sort vector in ascending order of score + std::sort(ret.begin(), ret.end()); + // (ret is inverted now --the lower the better--) + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + + // complete and scale score to [0 worst .. 1 best] + QueryResults::iterator qit; + for(qit = ret.begin(); qit != ret.end(); qit++) + { + // this takes the 4 into account + qit->Score = - 2. * qit->Score; // [0..1] + + qit->chiScore = qit->Score; + } + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryKL(const BowVector &vec, + QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + std::map pairs; + std::map::iterator pit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& vi = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& wi = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1) + { + double value = 0; + if(vi != 0 && wi != 0) value = vi * log(vi/wi); + + pit = pairs.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second += value; + } + else + { + pairs.insert(pit, + std::map::value_type(entry_id, value)); + } + } + + } // for each inverted row + } // for each query word + + // resulting "scores" are now in [-X worst .. 0 best .. X worst] + // but we cannot make sure which ones are better without calculating + // the complete score + + // complete scores and move to vector + ret.reserve(pairs.size()); + for(pit = pairs.begin(); pit != pairs.end(); ++pit) + { + EntryId eid = pit->first; + double value = 0.0; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordValue &vi = vit->second; + const IFRow& row = m_ifile[vit->first]; + + if(vi != 0) + { + if(row.end() == find(row.begin(), row.end(), eid )) + { + value += vi * (log(vi) - GeneralScoring::LOG_EPS); + } + } + } + + pit->second += value; + + // to vector + ret.push_back(Result(pit->first, pit->second)); + } + + // real scores are now in [0 best .. X worst] + + // sort vector in ascending order + // (scores are inverted now --the lower the better--) + std::sort(ret.begin(), ret.end()); + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + + // cannot scale scores + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryBhattacharyya( + const BowVector &vec, QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + //map pairs; + //map::iterator pit; + + std::map > pairs; // > + std::map >::iterator pit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& qvalue = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& dvalue = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1) + { + double value = sqrt(qvalue * dvalue); + + pit = pairs.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second.first += value; + pit->second.second += 1; + } + else + { + pairs.insert(pit, + std::map >::value_type(entry_id, + std::make_pair(value, 1))); + } + } + + } // for each inverted row + } // for each query word + + // move to vector + ret.reserve(pairs.size()); + for(pit = pairs.begin(); pit != pairs.end(); ++pit) + { + if(pit->second.second >= MIN_COMMON_WORDS) + { + ret.push_back(Result(pit->first, pit->second.first)); + ret.back().nWords = pit->second.second; + ret.back().bhatScore = pit->second.first; + } + } + + // scores are already in [0..1] + + // sort vector in descending order + std::sort(ret.begin(), ret.end(), Result::gt); + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + +} + +// --------------------------------------------------------------------------- + +template +void TemplatedDatabase::queryDotProduct( + const BowVector &vec, QueryResults &ret, int max_results, int max_id) const +{ + BowVector::const_iterator vit; + typename IFRow::const_iterator rit; + + std::map pairs; + std::map::iterator pit; + + for(vit = vec.begin(); vit != vec.end(); ++vit) + { + const WordId word_id = vit->first; + const WordValue& qvalue = vit->second; + + const IFRow& row = m_ifile[word_id]; + + // IFRows are sorted in ascending entry_id order + + for(rit = row.begin(); rit != row.end(); ++rit) + { + const EntryId entry_id = rit->entry_id; + const WordValue& dvalue = rit->word_weight; + + if((int)entry_id < max_id || max_id == -1) + { + double value; + if(this->m_voc->getWeightingType() == BINARY) + value = 1; + else + value = qvalue * dvalue; + + pit = pairs.lower_bound(entry_id); + if(pit != pairs.end() && !(pairs.key_comp()(entry_id, pit->first))) + { + pit->second += value; + } + else + { + pairs.insert(pit, + std::map::value_type(entry_id, value)); + } + } + + } // for each inverted row + } // for each query word + + // move to vector + ret.reserve(pairs.size()); + for(pit = pairs.begin(); pit != pairs.end(); ++pit) + { + ret.push_back(Result(pit->first, pit->second)); + } + + // scores are the greater the better + + // sort vector in descending order + std::sort(ret.begin(), ret.end(), Result::gt); + + // cut vector + if(max_results > 0 && (int)ret.size() > max_results) + ret.resize(max_results); + + // these scores cannot be scaled +} + +// --------------------------------------------------------------------------- + +template +const FeatureVector& TemplatedDatabase::retrieveFeatures + (EntryId id) const +{ + assert(id < size()); + return m_dfile[id]; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::save(const std::string &filename) const +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::WRITE); + if(!fs.isOpened()) throw std::string("Could not open file ") + filename; + + save(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::save(cv::FileStorage &fs, + const std::string &name) const +{ + // Format YAML: + // vocabulary { ... see TemplatedVocabulary::save } + // database + // { + // nEntries: + // usingDI: + // diLevels: + // invertedIndex + // [ + // [ + // { + // imageId: + // weight: + // } + // ] + // ] + // directIndex + // [ + // [ + // { + // nodeId: + // features: [ ] + // } + // ] + // ] + + // invertedIndex[i] is for the i-th word + // directIndex[i] is for the i-th entry + // directIndex may be empty if not using direct index + // + // imageId's and nodeId's must be stored in ascending order + // (according to the construction of the indexes) + + m_voc->save(fs); + + fs << name << "{"; + + fs << "nEntries" << m_nentries; + fs << "usingDI" << (m_use_di ? 1 : 0); + fs << "diLevels" << m_dilevels; + + fs << "invertedIndex" << "["; + + typename InvertedFile::const_iterator iit; + typename IFRow::const_iterator irit; + for(iit = m_ifile.begin(); iit != m_ifile.end(); ++iit) + { + fs << "["; // word of IF + for(irit = iit->begin(); irit != iit->end(); ++irit) + { + fs << "{:" + << "imageId" << (int)irit->entry_id + << "weight" << irit->word_weight + << "}"; + } + fs << "]"; // word of IF + } + + fs << "]"; // invertedIndex + + fs << "directIndex" << "["; + + typename DirectFile::const_iterator dit; + typename FeatureVector::const_iterator drit; + for(dit = m_dfile.begin(); dit != m_dfile.end(); ++dit) + { + fs << "["; // entry of DF + + for(drit = dit->begin(); drit != dit->end(); ++drit) + { + NodeId nid = drit->first; + const std::vector& features = drit->second; + + // save info of last_nid + fs << "{"; + fs << "nodeId" << (int)nid; + // msvc++ 2010 with opencv 2.3.1 does not allow FileStorage::operator<< + // with vectors of unsigned int + fs << "features" << "[" + << *(const std::vector*)(&features) << "]"; + fs << "}"; + } + + fs << "]"; // entry of DF + } + + fs << "]"; // directIndex + + fs << "}"; // database +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::load(const std::string &filename) +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::READ); + if(!fs.isOpened()) throw std::string("Could not open file ") + filename; + + load(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedDatabase::load(const cv::FileStorage &fs, + const std::string &name) +{ + // load voc first + // subclasses must instantiate m_voc before calling this ::load + if(!m_voc) m_voc = new TemplatedVocabulary; + + m_voc->load(fs); + + // load database now + clear(); // resizes inverted file + + cv::FileNode fdb = fs[name]; + + m_nentries = (int)fdb["nEntries"]; + m_use_di = (int)fdb["usingDI"] != 0; + m_dilevels = (int)fdb["diLevels"]; + + cv::FileNode fn = fdb["invertedIndex"]; + for(WordId wid = 0; wid < fn.size(); ++wid) + { + cv::FileNode fw = fn[wid]; + + for(unsigned int i = 0; i < fw.size(); ++i) + { + EntryId eid = (int)fw[i]["imageId"]; + WordValue v = fw[i]["weight"]; + + m_ifile[wid].push_back(IFPair(eid, v)); + } + } + + if(m_use_di) + { + fn = fdb["directIndex"]; + + m_dfile.resize(fn.size()); + m_dBowfile.resize(fn.size()); + assert(m_nentries == (int)fn.size()); + + FeatureVector::iterator dit; + for(EntryId eid = 0; eid < fn.size(); ++eid) + { + cv::FileNode fe = fn[eid]; + + m_dfile[eid].clear(); + m_dBowfile[eid].clear(); + for(unsigned int i = 0; i < fe.size(); ++i) + { + NodeId nid = (int)fe[i]["nodeId"]; + + dit = m_dfile[eid].insert(m_dfile[eid].end(), + make_pair(nid, std::vector() )); + + // this failed to compile with some opencv versions (2.3.1) + //fe[i]["features"] >> dit->second; + + // this was ok until OpenCV 2.4.1 + //std::vector aux; + //fe[i]["features"] >> aux; // OpenCV < 2.4.1 + //dit->second.resize(aux.size()); + //std::copy(aux.begin(), aux.end(), dit->second.begin()); + + cv::FileNode ff = fe[i]["features"][0]; + dit->second.reserve(ff.size()); + + cv::FileNodeIterator ffit; + for(ffit = ff.begin(); ffit != ff.end(); ++ffit) + { + dit->second.push_back((int)*ffit); + } + } + } // for each entry + } // if use_id + +} + +// -------------------------------------------------------------------------- + +/** + * Writes printable information of the database + * @param os stream to write to + * @param db + */ +template +std::ostream& operator<<(std::ostream &os, + const TemplatedDatabase &db) +{ + os << "Database: Entries = " << db.size() << ", " + "Using direct index = " << (db.usingDirectIndex() ? "yes" : "no"); + + if(db.usingDirectIndex()) + os << ", Direct index levels = " << db.getDirectIndexLevels(); + + os << ". " << *db.getVocabulary(); + return os; +} + +// -------------------------------------------------------------------------- + +} // namespace DBoW2 + +#endif diff --git a/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h b/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h new file mode 100644 index 0000000..1cd2e5b --- /dev/null +++ b/loop_fusion/src/ThirdParty/DBoW/TemplatedVocabulary.h @@ -0,0 +1,1606 @@ +/** + * File: TemplatedVocabulary.h + * Date: February 2011 + * Author: Dorian Galvez-Lopez + * Description: templated vocabulary + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_T_TEMPLATED_VOCABULARY__ +#define __D_T_TEMPLATED_VOCABULARY__ + +#include + +#include +#include +#include +#include +#include +#include + +#include "FeatureVector.h" +#include "BowVector.h" +#include "ScoringObject.h" + +#include "../DUtils/DUtils.h" + +// Added by VINS [[[ +#include "../VocabularyBinary.hpp" +#include +// Added by VINS ]]] + +namespace DBoW2 { + +/// @param TDescriptor class of descriptor +/// @param F class of descriptor functions +template +/// Generic Vocabulary +class TemplatedVocabulary +{ +public: + + /** + * Initiates an empty vocabulary + * @param k branching factor + * @param L depth levels + * @param weighting weighting type + * @param scoring scoring type + */ + TemplatedVocabulary(int k = 10, int L = 5, + WeightingType weighting = TF_IDF, ScoringType scoring = L1_NORM); + + /** + * Creates the vocabulary by loading a file + * @param filename + */ + TemplatedVocabulary(const std::string &filename); + + /** + * Creates the vocabulary by loading a file + * @param filename + */ + TemplatedVocabulary(const char *filename); + + /** + * Copy constructor + * @param voc + */ + TemplatedVocabulary(const TemplatedVocabulary &voc); + + /** + * Destructor + */ + virtual ~TemplatedVocabulary(); + + /** + * Assigns the given vocabulary to this by copying its data and removing + * all the data contained by this vocabulary before + * @param voc + * @return reference to this vocabulary + */ + TemplatedVocabulary& operator=( + const TemplatedVocabulary &voc); + + /** + * Creates a vocabulary from the training features with the already + * defined parameters + * @param training_features + */ + virtual void create + (const std::vector > &training_features); + + /** + * Creates a vocabulary from the training features, setting the branching + * factor and the depth levels of the tree + * @param training_features + * @param k branching factor + * @param L depth levels + */ + virtual void create + (const std::vector > &training_features, + int k, int L); + + /** + * Creates a vocabulary from the training features, setting the branching + * factor nad the depth levels of the tree, and the weighting and scoring + * schemes + */ + virtual void create + (const std::vector > &training_features, + int k, int L, WeightingType weighting, ScoringType scoring); + + /** + * Returns the number of words in the vocabulary + * @return number of words + */ + virtual inline unsigned int size() const; + + /** + * Returns whether the vocabulary is empty (i.e. it has not been trained) + * @return true iff the vocabulary is empty + */ + virtual inline bool empty() const; + + /** + * Transforms a set of descriptores into a bow vector + * @param features + * @param v (out) bow vector of weighted words + */ + virtual void transform(const std::vector& features, BowVector &v) + const; + + /** + * Transform a set of descriptors into a bow vector and a feature vector + * @param features + * @param v (out) bow vector + * @param fv (out) feature vector of nodes and feature indexes + * @param levelsup levels to go up the vocabulary tree to get the node index + */ + virtual void transform(const std::vector& features, + BowVector &v, FeatureVector &fv, int levelsup) const; + + /** + * Transforms a single feature into a word (without weight) + * @param feature + * @return word id + */ + virtual WordId transform(const TDescriptor& feature) const; + + /** + * Returns the score of two vectors + * @param a vector + * @param b vector + * @return score between vectors + * @note the vectors must be already sorted and normalized if necessary + */ + inline double score(const BowVector &a, const BowVector &b) const; + + /** + * Returns the id of the node that is "levelsup" levels from the word given + * @param wid word id + * @param levelsup 0..L + * @return node id. if levelsup is 0, returns the node id associated to the + * word id + */ + virtual NodeId getParentNode(WordId wid, int levelsup) const; + + /** + * Returns the ids of all the words that are under the given node id, + * by traversing any of the branches that goes down from the node + * @param nid starting node id + * @param words ids of words + */ + void getWordsFromNode(NodeId nid, std::vector &words) const; + + /** + * Returns the branching factor of the tree (k) + * @return k + */ + inline int getBranchingFactor() const { return m_k; } + + /** + * Returns the depth levels of the tree (L) + * @return L + */ + inline int getDepthLevels() const { return m_L; } + + /** + * Returns the real depth levels of the tree on average + * @return average of depth levels of leaves + */ + float getEffectiveLevels() const; + + /** + * Returns the descriptor of a word + * @param wid word id + * @return descriptor + */ + virtual inline TDescriptor getWord(WordId wid) const; + + /** + * Returns the weight of a word + * @param wid word id + * @return weight + */ + virtual inline WordValue getWordWeight(WordId wid) const; + + /** + * Returns the weighting method + * @return weighting method + */ + inline WeightingType getWeightingType() const { return m_weighting; } + + /** + * Returns the scoring method + * @return scoring method + */ + inline ScoringType getScoringType() const { return m_scoring; } + + /** + * Changes the weighting method + * @param type new weighting type + */ + inline void setWeightingType(WeightingType type); + + /** + * Changes the scoring method + * @param type new scoring type + */ + void setScoringType(ScoringType type); + + /** + * Saves the vocabulary into a file + * @param filename + */ + void save(const std::string &filename) const; + + /** + * Loads the vocabulary from a file + * @param filename + */ + void load(const std::string &filename); + + /** + * Saves the vocabulary to a file storage structure + * @param fn node in file storage + */ + virtual void save(cv::FileStorage &fs, + const std::string &name = "vocabulary") const; + + /** + * Loads the vocabulary from a file storage node + * @param fn first node + * @param subname name of the child node of fn where the tree is stored. + * If not given, the fn node is used instead + */ + virtual void load(const cv::FileStorage &fs, + const std::string &name = "vocabulary"); + + // Added by VINS [[[ + virtual void loadBin(const std::string &filename); + // Added by VINS ]]] + + /** + * Stops those words whose weight is below minWeight. + * Words are stopped by setting their weight to 0. There are not returned + * later when transforming image features into vectors. + * Note that when using IDF or TF_IDF, the weight is the idf part, which + * is equivalent to -log(f), where f is the frequency of the word + * (f = Ni/N, Ni: number of training images where the word is present, + * N: number of training images). + * Note that the old weight is forgotten, and subsequent calls to this + * function with a lower minWeight have no effect. + * @return number of words stopped now + */ + virtual int stopWords(double minWeight); + +protected: + + /// Pointer to descriptor + typedef const TDescriptor *pDescriptor; + + /// Tree node + struct Node + { + /// Node id + NodeId id; + /// Weight if the node is a word + WordValue weight; + /// Children + std::vector children; + /// Parent node (undefined in case of root) + NodeId parent; + /// Node descriptor + TDescriptor descriptor; + + /// Word id if the node is a word + WordId word_id; + + /** + * Empty constructor + */ + Node(): id(0), weight(0), parent(0), word_id(0){} + + /** + * Constructor + * @param _id node id + */ + Node(NodeId _id): id(_id), weight(0), parent(0), word_id(0){} + + /** + * Returns whether the node is a leaf node + * @return true iff the node is a leaf + */ + inline bool isLeaf() const { return children.empty(); } + }; + +protected: + + /** + * Creates an instance of the scoring object accoring to m_scoring + */ + void createScoringObject(); + + /** + * Returns a set of pointers to descriptores + * @param training_features all the features + * @param features (out) pointers to the training features + */ + void getFeatures( + const std::vector > &training_features, + std::vector &features) const; + + /** + * Returns the word id associated to a feature + * @param feature + * @param id (out) word id + * @param weight (out) word weight + * @param nid (out) if given, id of the node "levelsup" levels up + * @param levelsup + */ + virtual void transform(const TDescriptor &feature, + WordId &id, WordValue &weight, NodeId* nid = NULL, int levelsup = 0) const; + + /** + * Returns the word id associated to a feature + * @param feature + * @param id (out) word id + */ + virtual void transform(const TDescriptor &feature, WordId &id) const; + + /** + * Creates a level in the tree, under the parent, by running kmeans with + * a descriptor set, and recursively creates the subsequent levels too + * @param parent_id id of parent node + * @param descriptors descriptors to run the kmeans on + * @param current_level current level in the tree + */ + void HKmeansStep(NodeId parent_id, const std::vector &descriptors, + int current_level); + + /** + * Creates k clusters from the given descriptors with some seeding algorithm. + * @note In this class, kmeans++ is used, but this function should be + * overriden by inherited classes. + */ + virtual void initiateClusters(const std::vector &descriptors, + std::vector &clusters) const; + + /** + * Creates k clusters from the given descriptor sets by running the + * initial step of kmeans++ + * @param descriptors + * @param clusters resulting clusters + */ + void initiateClustersKMpp(const std::vector &descriptors, + std::vector &clusters) const; + + /** + * Create the words of the vocabulary once the tree has been built + */ + void createWords(); + + /** + * Sets the weights of the nodes of tree according to the given features. + * Before calling this function, the nodes and the words must be already + * created (by calling HKmeansStep and createWords) + * @param features + */ + void setNodeWeights(const std::vector > &features); + +protected: + + /// Branching factor + int m_k; + + /// Depth levels + int m_L; + + /// Weighting method + WeightingType m_weighting; + + /// Scoring method + ScoringType m_scoring; + + /// Object for computing scores + GeneralScoring* m_scoring_object; + + /// Tree nodes + std::vector m_nodes; + + /// Words of the vocabulary (tree leaves) + /// this condition holds: m_words[wid]->word_id == wid + std::vector m_words; + +}; + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (int k, int L, WeightingType weighting, ScoringType scoring) + : m_k(k), m_L(L), m_weighting(weighting), m_scoring(scoring), + m_scoring_object(NULL) +{ + //printf("loop start load bin\n"); + createScoringObject(); +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (const std::string &filename): m_scoring_object(NULL) +{ + //m_scoring = KL; + // Changed by VINS [[[ + //printf("loop start load bin\n"); + loadBin(filename); + // Changed by VINS ]]] +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary + (const char *filename): m_scoring_object(NULL) +{ + //m_scoring = KL; + // Changed by VINS [[[ + //printf("loop start load bin\n"); + loadBin(filename); + // Changed by VINS ]]] +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::createScoringObject() +{ + delete m_scoring_object; + m_scoring_object = NULL; + + switch(m_scoring) + { + case L1_NORM: + m_scoring_object = new L1Scoring; + break; + + case L2_NORM: + m_scoring_object = new L2Scoring; + break; + + case CHI_SQUARE: + m_scoring_object = new ChiSquareScoring; + break; + + case KL: + m_scoring_object = new KLScoring; + break; + + case BHATTACHARYYA: + m_scoring_object = new BhattacharyyaScoring; + break; + + case DOT_PRODUCT: + m_scoring_object = new DotProductScoring; + break; + + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setScoringType(ScoringType type) +{ + m_scoring = type; + createScoringObject(); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setWeightingType(WeightingType type) +{ + this->m_weighting = type; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::TemplatedVocabulary( + const TemplatedVocabulary &voc) + : m_scoring_object(NULL) +{ + printf("loop start load vocabulary\n"); + *this = voc; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary::~TemplatedVocabulary() +{ + delete m_scoring_object; +} + +// -------------------------------------------------------------------------- + +template +TemplatedVocabulary& +TemplatedVocabulary::operator= + (const TemplatedVocabulary &voc) +{ + this->m_k = voc.m_k; + this->m_L = voc.m_L; + this->m_scoring = voc.m_scoring; + this->m_weighting = voc.m_weighting; + + this->createScoringObject(); + + this->m_nodes.clear(); + this->m_words.clear(); + + this->m_nodes = voc.m_nodes; + this->createWords(); + + return *this; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features) +{ + m_nodes.clear(); + m_words.clear(); + + // expected_nodes = Sum_{i=0..L} ( k^i ) + int expected_nodes = + (int)((pow((double)m_k, (double)m_L + 1) - 1)/(m_k - 1)); + + m_nodes.reserve(expected_nodes); // avoid allocations when creating the tree + + + std::vector features; + getFeatures(training_features, features); + + + // create root + m_nodes.push_back(Node(0)); // root + + // create the tree + HKmeansStep(0, features, 1); + + // create the words + createWords(); + + // and set the weight of each node of the tree + setNodeWeights(training_features); + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features, + int k, int L) +{ + m_k = k; + m_L = L; + + create(training_features); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::create( + const std::vector > &training_features, + int k, int L, WeightingType weighting, ScoringType scoring) +{ + m_k = k; + m_L = L; + m_weighting = weighting; + m_scoring = scoring; + createScoringObject(); + + create(training_features); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::getFeatures( + const std::vector > &training_features, + std::vector &features) const +{ + features.resize(0); + + typename std::vector >::const_iterator vvit; + typename std::vector::const_iterator vit; + for(vvit = training_features.begin(); vvit != training_features.end(); ++vvit) + { + features.reserve(features.size() + vvit->size()); + for(vit = vvit->begin(); vit != vvit->end(); ++vit) + { + features.push_back(&(*vit)); + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::HKmeansStep(NodeId parent_id, + const std::vector &descriptors, int current_level) +{ + if(descriptors.empty()) return; + + // features associated to each cluster + std::vector clusters; + std::vector > groups; // groups[i] = [j1, j2, ...] + // j1, j2, ... indices of descriptors associated to cluster i + + clusters.reserve(m_k); + groups.reserve(m_k); + + //const int msizes[] = { m_k, descriptors.size() }; + //cv::SparseMat assoc(2, msizes, CV_8U); + //cv::SparseMat last_assoc(2, msizes, CV_8U); + //// assoc.row(cluster_idx).col(descriptor_idx) = 1 iif associated + + if((int)descriptors.size() <= m_k) + { + // trivial case: one cluster per feature + groups.resize(descriptors.size()); + + for(unsigned int i = 0; i < descriptors.size(); i++) + { + groups[i].push_back(i); + clusters.push_back(*descriptors[i]); + } + } + else + { + // select clusters and groups with kmeans + + bool first_time = true; + bool goon = true; + + // to check if clusters move after iterations + std::vector last_association, current_association; + + while(goon) + { + // 1. Calculate clusters + + if(first_time) + { + // random sample + initiateClusters(descriptors, clusters); + } + else + { + // calculate cluster centres + + for(unsigned int c = 0; c < clusters.size(); ++c) + { + std::vector cluster_descriptors; + cluster_descriptors.reserve(groups[c].size()); + + /* + for(unsigned int d = 0; d < descriptors.size(); ++d) + { + if( assoc.find(c, d) ) + { + cluster_descriptors.push_back(descriptors[d]); + } + } + */ + + std::vector::const_iterator vit; + for(vit = groups[c].begin(); vit != groups[c].end(); ++vit) + { + cluster_descriptors.push_back(descriptors[*vit]); + } + + + F::meanValue(cluster_descriptors, clusters[c]); + } + + } // if(!first_time) + + // 2. Associate features with clusters + + // calculate distances to cluster centers + groups.clear(); + groups.resize(clusters.size(), std::vector()); + current_association.resize(descriptors.size()); + + //assoc.clear(); + + typename std::vector::const_iterator fit; + //unsigned int d = 0; + for(fit = descriptors.begin(); fit != descriptors.end(); ++fit)//, ++d) + { + double best_dist = F::distance(*(*fit), clusters[0]); + unsigned int icluster = 0; + + for(unsigned int c = 1; c < clusters.size(); ++c) + { + double dist = F::distance(*(*fit), clusters[c]); + if(dist < best_dist) + { + best_dist = dist; + icluster = c; + } + } + + //assoc.ref(icluster, d) = 1; + + groups[icluster].push_back(fit - descriptors.begin()); + current_association[ fit - descriptors.begin() ] = icluster; + } + + // kmeans++ ensures all the clusters has any feature associated with them + + // 3. check convergence + if(first_time) + { + first_time = false; + } + else + { + //goon = !eqUChar(last_assoc, assoc); + + goon = false; + for(unsigned int i = 0; i < current_association.size(); i++) + { + if(current_association[i] != last_association[i]){ + goon = true; + break; + } + } + } + + if(goon) + { + // copy last feature-cluster association + last_association = current_association; + //last_assoc = assoc.clone(); + } + + } // while(goon) + + } // if must run kmeans + + // create nodes + for(unsigned int i = 0; i < clusters.size(); ++i) + { + NodeId id = m_nodes.size(); + m_nodes.push_back(Node(id)); + m_nodes.back().descriptor = clusters[i]; + m_nodes.back().parent = parent_id; + m_nodes[parent_id].children.push_back(id); + } + + // go on with the next level + if(current_level < m_L) + { + // iterate again with the resulting clusters + const std::vector &children_ids = m_nodes[parent_id].children; + for(unsigned int i = 0; i < clusters.size(); ++i) + { + NodeId id = children_ids[i]; + + std::vector child_features; + child_features.reserve(groups[i].size()); + + std::vector::const_iterator vit; + for(vit = groups[i].begin(); vit != groups[i].end(); ++vit) + { + child_features.push_back(descriptors[*vit]); + } + + if(child_features.size() > 1) + { + HKmeansStep(id, child_features, current_level + 1); + } + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::initiateClusters + (const std::vector &descriptors, + std::vector &clusters) const +{ + initiateClustersKMpp(descriptors, clusters); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::initiateClustersKMpp( + const std::vector &pfeatures, + std::vector &clusters) const +{ + // Implements kmeans++ seeding algorithm + // Algorithm: + // 1. Choose one center uniformly at random from among the data points. + // 2. For each data point x, compute D(x), the distance between x and the nearest + // center that has already been chosen. + // 3. Add one new data point as a center. Each point x is chosen with probability + // proportional to D(x)^2. + // 4. Repeat Steps 2 and 3 until k centers have been chosen. + // 5. Now that the initial centers have been chosen, proceed using standard k-means + // clustering. + + DUtils::Random::SeedRandOnce(); + + clusters.resize(0); + clusters.reserve(m_k); + std::vector min_dists(pfeatures.size(), std::numeric_limits::max()); + + // 1. + + int ifeature = DUtils::Random::RandomInt(0, pfeatures.size()-1); + + // create first cluster + clusters.push_back(*pfeatures[ifeature]); + + // compute the initial distances + typename std::vector::const_iterator fit; + std::vector::iterator dit; + dit = min_dists.begin(); + for(fit = pfeatures.begin(); fit != pfeatures.end(); ++fit, ++dit) + { + *dit = F::distance(*(*fit), clusters.back()); + } + + while((int)clusters.size() < m_k) + { + // 2. + dit = min_dists.begin(); + for(fit = pfeatures.begin(); fit != pfeatures.end(); ++fit, ++dit) + { + if(*dit > 0) + { + double dist = F::distance(*(*fit), clusters.back()); + if(dist < *dit) *dit = dist; + } + } + + // 3. + double dist_sum = std::accumulate(min_dists.begin(), min_dists.end(), 0.0); + + if(dist_sum > 0) + { + double cut_d; + do + { + cut_d = DUtils::Random::RandomValue(0, dist_sum); + } while(cut_d == 0.0); + + double d_up_now = 0; + for(dit = min_dists.begin(); dit != min_dists.end(); ++dit) + { + d_up_now += *dit; + if(d_up_now >= cut_d) break; + } + + if(dit == min_dists.end()) + ifeature = pfeatures.size()-1; + else + ifeature = dit - min_dists.begin(); + + clusters.push_back(*pfeatures[ifeature]); + + } // if dist_sum > 0 + else + break; + + } // while(used_clusters < m_k) + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::createWords() +{ + m_words.resize(0); + + if(!m_nodes.empty()) + { + m_words.reserve( (int)pow((double)m_k, (double)m_L) ); + + typename std::vector::iterator nit; + + nit = m_nodes.begin(); // ignore root + for(++nit; nit != m_nodes.end(); ++nit) + { + if(nit->isLeaf()) + { + nit->word_id = m_words.size(); + m_words.push_back( &(*nit) ); + } + } + } +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::setNodeWeights + (const std::vector > &training_features) +{ + const unsigned int NWords = m_words.size(); + const unsigned int NDocs = training_features.size(); + + if(m_weighting == TF || m_weighting == BINARY) + { + // idf part must be 1 always + for(unsigned int i = 0; i < NWords; i++) + m_words[i]->weight = 1; + } + else if(m_weighting == IDF || m_weighting == TF_IDF) + { + // IDF and TF-IDF: we calculte the idf path now + + // Note: this actually calculates the idf part of the tf-idf score. + // The complete tf-idf score is calculated in ::transform + + std::vector Ni(NWords, 0); + std::vector counted(NWords, false); + + typename std::vector >::const_iterator mit; + typename std::vector::const_iterator fit; + + for(mit = training_features.begin(); mit != training_features.end(); ++mit) + { + fill(counted.begin(), counted.end(), false); + + for(fit = mit->begin(); fit < mit->end(); ++fit) + { + WordId word_id; + transform(*fit, word_id); + + if(!counted[word_id]) + { + Ni[word_id]++; + counted[word_id] = true; + } + } + } + + // set ln(N/Ni) + for(unsigned int i = 0; i < NWords; i++) + { + if(Ni[i] > 0) + { + m_words[i]->weight = log((double)NDocs / (double)Ni[i]); + }// else // This cannot occur if using kmeans++ + } + + } + +} + +// -------------------------------------------------------------------------- + +template +inline unsigned int TemplatedVocabulary::size() const +{ + return m_words.size(); +} + +// -------------------------------------------------------------------------- + +template +inline bool TemplatedVocabulary::empty() const +{ + return m_words.empty(); +} + +// -------------------------------------------------------------------------- + +template +float TemplatedVocabulary::getEffectiveLevels() const +{ + long sum = 0; + typename std::vector::const_iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); ++wit) + { + const Node *p = *wit; + + for(; p->id != 0; sum++) p = &m_nodes[p->parent]; + } + + return (float)((double)sum / (double)m_words.size()); +} + +// -------------------------------------------------------------------------- + +template +TDescriptor TemplatedVocabulary::getWord(WordId wid) const +{ + return m_words[wid]->descriptor; +} + +// -------------------------------------------------------------------------- + +template +WordValue TemplatedVocabulary::getWordWeight(WordId wid) const +{ + return m_words[wid]->weight; +} + +// -------------------------------------------------------------------------- + +template +WordId TemplatedVocabulary::transform + (const TDescriptor& feature) const +{ + if(empty()) + { + return 0; + } + + WordId wid; + transform(feature, wid); + return wid; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform( + const std::vector& features, BowVector &v) const +{ + v.clear(); + + if(empty()) + { + return; + } + + // normalize + LNorm norm; + bool must = m_scoring_object->mustNormalize(norm); + + typename std::vector::const_iterator fit; + + if(m_weighting == TF || m_weighting == TF_IDF) + { + for(fit = features.begin(); fit < features.end(); ++fit) + { + WordId id; + WordValue w; + // w is the idf value if TF_IDF, 1 if TF + + transform(*fit, id, w); + + // not stopped + if(w > 0) v.addWeight(id, w); + } + + if(!v.empty() && !must) + { + // unnecessary when normalizing + const double nd = v.size(); + for(BowVector::iterator vit = v.begin(); vit != v.end(); vit++) + vit->second /= nd; + } + + } + else // IDF || BINARY + { + for(fit = features.begin(); fit < features.end(); ++fit) + { + WordId id; + WordValue w; + // w is idf if IDF, or 1 if BINARY + + transform(*fit, id, w); + + // not stopped + if(w > 0) v.addIfNotExist(id, w); + + } // if add_features + } // if m_weighting == ... + + if(must) v.normalize(norm); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform( + const std::vector& features, + BowVector &v, FeatureVector &fv, int levelsup) const +{ + v.clear(); + fv.clear(); + + if(empty()) // safe for subclasses + { + return; + } + + // normalize + LNorm norm; + bool must = m_scoring_object->mustNormalize(norm); + + typename std::vector::const_iterator fit; + + if(m_weighting == TF || m_weighting == TF_IDF) + { + unsigned int i_feature = 0; + for(fit = features.begin(); fit < features.end(); ++fit, ++i_feature) + { + WordId id; + NodeId nid; + WordValue w; + // w is the idf value if TF_IDF, 1 if TF + + transform(*fit, id, w, &nid, levelsup); + + if(w > 0) // not stopped + { + v.addWeight(id, w); + fv.addFeature(nid, i_feature); + } + } + + if(!v.empty() && !must) + { + // unnecessary when normalizing + const double nd = v.size(); + for(BowVector::iterator vit = v.begin(); vit != v.end(); vit++) + vit->second /= nd; + } + + } + else // IDF || BINARY + { + unsigned int i_feature = 0; + for(fit = features.begin(); fit < features.end(); ++fit, ++i_feature) + { + WordId id; + NodeId nid; + WordValue w; + // w is idf if IDF, or 1 if BINARY + + transform(*fit, id, w, &nid, levelsup); + + if(w > 0) // not stopped + { + v.addIfNotExist(id, w); + fv.addFeature(nid, i_feature); + } + } + } // if m_weighting == ... + + if(must) v.normalize(norm); +} + +// -------------------------------------------------------------------------- + +template +inline double TemplatedVocabulary::score + (const BowVector &v1, const BowVector &v2) const +{ + return m_scoring_object->score(v1, v2); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform + (const TDescriptor &feature, WordId &id) const +{ + WordValue weight; + transform(feature, id, weight); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::transform(const TDescriptor &feature, + WordId &word_id, WordValue &weight, NodeId *nid, int levelsup) const +{ + // propagate the feature down the tree + std::vector nodes; + typename std::vector::const_iterator nit; + + // level at which the node must be stored in nid, if given + const int nid_level = m_L - levelsup; + if(nid_level <= 0 && nid != NULL) *nid = 0; // root + + NodeId final_id = 0; // root + int current_level = 0; + + do + { + ++current_level; + nodes = m_nodes[final_id].children; + final_id = nodes[0]; + + double best_d = F::distance(feature, m_nodes[final_id].descriptor); + + for(nit = nodes.begin() + 1; nit != nodes.end(); ++nit) + { + NodeId id = *nit; + double d = F::distance(feature, m_nodes[id].descriptor); + if(d < best_d) + { + best_d = d; + final_id = id; + } + } + + if(nid != NULL && current_level == nid_level) + *nid = final_id; + + } while( !m_nodes[final_id].isLeaf() ); + + // turn node id into word id + word_id = m_nodes[final_id].word_id; + weight = m_nodes[final_id].weight; +} + +// -------------------------------------------------------------------------- + +template +NodeId TemplatedVocabulary::getParentNode + (WordId wid, int levelsup) const +{ + NodeId ret = m_words[wid]->id; // node id + while(levelsup > 0 && ret != 0) // ret == 0 --> root + { + --levelsup; + ret = m_nodes[ret].parent; + } + return ret; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::getWordsFromNode + (NodeId nid, std::vector &words) const +{ + words.clear(); + + if(m_nodes[nid].isLeaf()) + { + words.push_back(m_nodes[nid].word_id); + } + else + { + words.reserve(m_k); // ^1, ^2, ... + + std::vector parents; + parents.push_back(nid); + + while(!parents.empty()) + { + NodeId parentid = parents.back(); + parents.pop_back(); + + const std::vector &child_ids = m_nodes[parentid].children; + std::vector::const_iterator cit; + + for(cit = child_ids.begin(); cit != child_ids.end(); ++cit) + { + const Node &child_node = m_nodes[*cit]; + + if(child_node.isLeaf()) + words.push_back(child_node.word_id); + else + parents.push_back(*cit); + + } // for each child + } // while !parents.empty + } +} + +// -------------------------------------------------------------------------- + +template +int TemplatedVocabulary::stopWords(double minWeight) +{ + int c = 0; + typename std::vector::iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); ++wit) + { + if((*wit)->weight < minWeight) + { + ++c; + (*wit)->weight = 0; + } + } + return c; +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::save(const std::string &filename) const +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::WRITE); + if(!fs.isOpened()) throw std::string("Could not open file ") + filename; + + save(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::load(const std::string &filename) +{ + cv::FileStorage fs(filename.c_str(), cv::FileStorage::READ); + if(!fs.isOpened()) throw std::string("Could not open file ") + filename; + + this->load(fs); +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::save(cv::FileStorage &f, + const std::string &name) const +{ + // Format YAML: + // vocabulary + // { + // k: + // L: + // scoringType: + // weightingType: + // nodes + // [ + // { + // nodeId: + // parentId: + // weight: + // descriptor: + // } + // ] + // words + // [ + // { + // wordId: + // nodeId: + // } + // ] + // } + // + // The root node (index 0) is not included in the node vector + // + + f << name << "{"; + + f << "k" << m_k; + f << "L" << m_L; + f << "scoringType" << m_scoring; + f << "weightingType" << m_weighting; + + // tree + f << "nodes" << "["; + std::vector parents, children; + std::vector::const_iterator pit; + + parents.push_back(0); // root + + while(!parents.empty()) + { + NodeId pid = parents.back(); + parents.pop_back(); + + const Node& parent = m_nodes[pid]; + children = parent.children; + + for(pit = children.begin(); pit != children.end(); pit++) + { + const Node& child = m_nodes[*pit]; + + // save node data + f << "{:"; + f << "nodeId" << (int)child.id; + f << "parentId" << (int)pid; + f << "weight" << (double)child.weight; + f << "descriptor" << F::toString(child.descriptor); + f << "}"; + + // add to parent list + if(!child.isLeaf()) + { + parents.push_back(*pit); + } + } + } + + f << "]"; // nodes + + // words + f << "words" << "["; + + typename std::vector::const_iterator wit; + for(wit = m_words.begin(); wit != m_words.end(); wit++) + { + WordId id = wit - m_words.begin(); + f << "{:"; + f << "wordId" << (int)id; + f << "nodeId" << (int)(*wit)->id; + f << "}"; + } + + f << "]"; // words + + f << "}"; + +} + +// -------------------------------------------------------------------------- + +template +void TemplatedVocabulary::load(const cv::FileStorage &fs, + const std::string &name) +{ + m_words.clear(); + m_nodes.clear(); + + cv::FileNode fvoc = fs[name]; + + m_k = (int)fvoc["k"]; + m_L = (int)fvoc["L"]; + m_scoring = (ScoringType)((int)fvoc["scoringType"]); + m_weighting = (WeightingType)((int)fvoc["weightingType"]); + + createScoringObject(); + + // nodes + cv::FileNode fn = fvoc["nodes"]; + + m_nodes.resize(fn.size() + 1); // +1 to include root + m_nodes[0].id = 0; + + for(unsigned int i = 0; i < fn.size(); ++i) + { + NodeId nid = (int)fn[i]["nodeId"]; + NodeId pid = (int)fn[i]["parentId"]; + WordValue weight = (WordValue)fn[i]["weight"]; + std::string d = (std::string)fn[i]["descriptor"]; + + m_nodes[nid].id = nid; + m_nodes[nid].parent = pid; + m_nodes[nid].weight = weight; + m_nodes[pid].children.push_back(nid); + + F::fromString(m_nodes[nid].descriptor, d); + } + + // words + fn = fvoc["words"]; + + m_words.resize(fn.size()); + + for(unsigned int i = 0; i < fn.size(); ++i) + { + NodeId wid = (int)fn[i]["wordId"]; + NodeId nid = (int)fn[i]["nodeId"]; + + m_nodes[nid].word_id = wid; + m_words[wid] = &m_nodes[nid]; + } +} + +// Added by VINS [[[ +template +void TemplatedVocabulary::loadBin(const std::string &filename) { + + m_words.clear(); + m_nodes.clear(); + //printf("loop load bin\n"); + std::ifstream ifStream(filename); + VINSLoop::Vocabulary voc; + voc.deserialize(ifStream); + ifStream.close(); + + m_k = voc.k; + m_L = voc.L; + m_scoring = (ScoringType)voc.scoringType; + m_weighting = (WeightingType)voc.weightingType; + + createScoringObject(); + + m_nodes.resize(voc.nNodes + 1); // +1 to include root + m_nodes[0].id = 0; + + for(unsigned int i = 0; i < voc.nNodes; ++i) + { + NodeId nid = voc.nodes[i].nodeId; + NodeId pid = voc.nodes[i].parentId; + WordValue weight = voc.nodes[i].weight; + + m_nodes[nid].id = nid; + m_nodes[nid].parent = pid; + m_nodes[nid].weight = weight; + m_nodes[pid].children.push_back(nid); + + // Sorry to break template here + m_nodes[nid].descriptor = boost::dynamic_bitset<>(voc.nodes[i].descriptor, voc.nodes[i].descriptor + 4); + + if (i < 5) { + std::string test; + boost::to_string(m_nodes[nid].descriptor, test); + //cout << "descriptor[" << i << "] = " << test << endl; + } + } + + // words + m_words.resize(voc.nWords); + + for(unsigned int i = 0; i < voc.nWords; ++i) + { + NodeId wid = (int)voc.words[i].wordId; + NodeId nid = (int)voc.words[i].nodeId; + + m_nodes[nid].word_id = wid; + m_words[wid] = &m_nodes[nid]; + } +} + +// Added by VINS ]]] + +// -------------------------------------------------------------------------- + +/** + * Writes printable information of the vocabulary + * @param os stream to write to + * @param voc + */ +template +std::ostream& operator<<(std::ostream &os, + const TemplatedVocabulary &voc) +{ + os << "Vocabulary: k = " << voc.getBranchingFactor() + << ", L = " << voc.getDepthLevels() + << ", Weighting = "; + + switch(voc.getWeightingType()) + { + case TF_IDF: os << "tf-idf"; break; + case TF: os << "tf"; break; + case IDF: os << "idf"; break; + case BINARY: os << "binary"; break; + } + + os << ", Scoring = "; + switch(voc.getScoringType()) + { + case L1_NORM: os << "L1-norm"; break; + case L2_NORM: os << "L2-norm"; break; + case CHI_SQUARE: os << "Chi square distance"; break; + case KL: os << "KL-divergence"; break; + case BHATTACHARYYA: os << "Bhattacharyya coefficient"; break; + case DOT_PRODUCT: os << "Dot product"; break; + } + + os << ", Number of words = " << voc.size(); + + return os; +} + +} // namespace DBoW2 + +#endif diff --git a/loop_fusion/src/ThirdParty/DUtils/DException.h b/loop_fusion/src/ThirdParty/DUtils/DException.h new file mode 100644 index 0000000..c8e7450 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/DException.h @@ -0,0 +1,65 @@ +/* + * File: DException.h + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: October 6, 2009 + * Description: general exception of the library + * License: see the LICENSE.txt file + * + */ + +#pragma once + +#ifndef __D_EXCEPTION__ +#define __D_EXCEPTION__ + +#include +#include +using namespace std; + +namespace DUtils { + +/// General exception +class DException : + public exception +{ +public: + /** + * Creates an exception with a general error message + */ + DException(void) throw(): m_message("DUtils exception"){} + + /** + * Creates an exception with a custom error message + * @param msg: message + */ + DException(const char *msg) throw(): m_message(msg){} + + /** + * Creates an exception with a custom error message + * @param msg: message + */ + DException(const string &msg) throw(): m_message(msg){} + + /** + * Destructor + */ + virtual ~DException(void) throw(){} + + /** + * Returns the exception message + */ + virtual const char* what() const throw() + { + return m_message.c_str(); + } + +protected: + /// Error message + string m_message; +}; + +} + +#endif + diff --git a/loop_fusion/src/ThirdParty/DUtils/DUtils.h b/loop_fusion/src/ThirdParty/DUtils/DUtils.h new file mode 100644 index 0000000..7d1829c --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/DUtils.h @@ -0,0 +1,48 @@ +/* + * File: DUtils.h + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: October 6, 2009 + * Description: include file for including all the library functionalities + * License: see the LICENSE.txt file + * + */ + +/*! \mainpage DUtils Library + * + * DUtils library for C++: + * Collection of classes with general utilities for C++ applications. + * + * Written by Dorian Galvez-Lopez, + * University of Zaragoza + * + * Check my website to obtain updates: http://webdiis.unizar.es/~dorian + * + * \section license License + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License (LGPL) as + * published by the Free Software Foundation, either version 3 of the License, + * or any later version. + * + */ + + +#pragma once + +#ifndef __D_UTILS__ +#define __D_UTILS__ + +/// Several utilities for C++ programs +namespace DUtils +{ +} + +// Exception +#include "DException.h" + +#include "Timestamp.h" +// Random numbers +#include "Random.h" + + +#endif diff --git a/loop_fusion/src/ThirdParty/DUtils/Random.cpp b/loop_fusion/src/ThirdParty/DUtils/Random.cpp new file mode 100644 index 0000000..79df2a6 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/Random.cpp @@ -0,0 +1,129 @@ +/* + * File: Random.cpp + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: April 2010 + * Description: manages pseudo-random numbers + * License: see the LICENSE.txt file + * + */ + +#include "Random.h" +#include "Timestamp.h" +#include +using namespace std; + +bool DUtils::Random::m_already_seeded = false; + +void DUtils::Random::SeedRand(){ + Timestamp time; + time.setToCurrentTime(); + srand((unsigned)time.getFloatTime()); +} + +void DUtils::Random::SeedRandOnce() +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(); + m_already_seeded = true; + } +} + +void DUtils::Random::SeedRand(int seed) +{ + srand(seed); +} + +void DUtils::Random::SeedRandOnce(int seed) +{ + if(!m_already_seeded) + { + DUtils::Random::SeedRand(seed); + m_already_seeded = true; + } +} + +int DUtils::Random::RandomInt(int min, int max){ + int d = max - min + 1; + return int(((double)rand()/((double)RAND_MAX + 1.0)) * d) + min; +} + +// --------------------------------------------------------------------------- +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer(int min, int max) +{ + if(min <= max) + { + m_min = min; + m_max = max; + } + else + { + m_min = max; + m_max = min; + } + + createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer::UnrepeatedRandomizer + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + *this = rnd; +} + +// --------------------------------------------------------------------------- + +int DUtils::Random::UnrepeatedRandomizer::get() +{ + if(empty()) createValues(); + + DUtils::Random::SeedRandOnce(); + + int k = DUtils::Random::RandomInt(0, m_values.size()-1); + int ret = m_values[k]; + m_values[k] = m_values.back(); + m_values.pop_back(); + + return ret; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::createValues() +{ + int n = m_max - m_min + 1; + + m_values.resize(n); + for(int i = 0; i < n; ++i) m_values[i] = m_min + i; +} + +// --------------------------------------------------------------------------- + +void DUtils::Random::UnrepeatedRandomizer::reset() +{ + if((int)m_values.size() != m_max - m_min + 1) createValues(); +} + +// --------------------------------------------------------------------------- + +DUtils::Random::UnrepeatedRandomizer& +DUtils::Random::UnrepeatedRandomizer::operator= + (const DUtils::Random::UnrepeatedRandomizer& rnd) +{ + if(this != &rnd) + { + this->m_min = rnd.m_min; + this->m_max = rnd.m_max; + this->m_values = rnd.m_values; + } + return *this; +} + +// --------------------------------------------------------------------------- + + diff --git a/loop_fusion/src/ThirdParty/DUtils/Random.h b/loop_fusion/src/ThirdParty/DUtils/Random.h new file mode 100644 index 0000000..5115dc4 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/Random.h @@ -0,0 +1,184 @@ +/* + * File: Random.h + * Project: DUtils library + * Author: Dorian Galvez-Lopez + * Date: April 2010, November 2011 + * Description: manages pseudo-random numbers + * License: see the LICENSE.txt file + * + */ + +#pragma once +#ifndef __D_RANDOM__ +#define __D_RANDOM__ + +#include +#include + +namespace DUtils { + +/// Functions to generate pseudo-random numbers +class Random +{ +public: + class UnrepeatedRandomizer; + +public: + /** + * Sets the random number seed to the current time + */ + static void SeedRand(); + + /** + * Sets the random number seed to the current time only the first + * time this function is called + */ + static void SeedRandOnce(); + + /** + * Sets the given random number seed + * @param seed + */ + static void SeedRand(int seed); + + /** + * Sets the given random number seed only the first time this function + * is called + * @param seed + */ + static void SeedRandOnce(int seed); + + /** + * Returns a random number in the range [0..1] + * @return random T number in [0..1] + */ + template + static T RandomValue(){ + return (T)rand()/(T)RAND_MAX; + } + + /** + * Returns a random number in the range [min..max] + * @param min + * @param max + * @return random T number in [min..max] + */ + template + static T RandomValue(T min, T max){ + return Random::RandomValue() * (max - min) + min; + } + + /** + * Returns a random int in the range [min..max] + * @param min + * @param max + * @return random int in [min..max] + */ + static int RandomInt(int min, int max); + + /** + * Returns a random number from a gaussian distribution + * @param mean + * @param sigma standard deviation + */ + template + static T RandomGaussianValue(T mean, T sigma) + { + // Box-Muller transformation + T x1, x2, w, y1; + + do { + x1 = (T)2. * RandomValue() - (T)1.; + x2 = (T)2. * RandomValue() - (T)1.; + w = x1 * x1 + x2 * x2; + } while ( w >= (T)1. || w == (T)0. ); + + w = sqrt( ((T)-2.0 * log( w ) ) / w ); + y1 = x1 * w; + + return( mean + y1 * sigma ); + } + +private: + + /// If SeedRandOnce() or SeedRandOnce(int) have already been called + static bool m_already_seeded; + +}; + +// --------------------------------------------------------------------------- + +/// Provides pseudo-random numbers with no repetitions +class Random::UnrepeatedRandomizer +{ +public: + + /** + * Creates a randomizer that returns numbers in the range [min, max] + * @param min + * @param max + */ + UnrepeatedRandomizer(int min, int max); + ~UnrepeatedRandomizer(){} + + /** + * Copies a randomizer + * @param rnd + */ + UnrepeatedRandomizer(const UnrepeatedRandomizer& rnd); + + /** + * Copies a randomizer + * @param rnd + */ + UnrepeatedRandomizer& operator=(const UnrepeatedRandomizer& rnd); + + /** + * Returns a random number not given before. If all the possible values + * were already given, the process starts again + * @return unrepeated random number + */ + int get(); + + /** + * Returns whether all the possible values between min and max were + * already given. If get() is called when empty() is true, the behaviour + * is the same than after creating the randomizer + * @return true iff all the values were returned + */ + inline bool empty() const { return m_values.empty(); } + + /** + * Returns the number of values still to be returned + * @return amount of values to return + */ + inline unsigned int left() const { return m_values.size(); } + + /** + * Resets the randomizer as it were just created + */ + void reset(); + +protected: + + /** + * Creates the vector with available values + */ + void createValues(); + +protected: + + /// Min of range of values + int m_min; + /// Max of range of values + int m_max; + + /// Available values + std::vector m_values; + +}; + +} + +#endif + diff --git a/loop_fusion/src/ThirdParty/DUtils/Timestamp.cpp b/loop_fusion/src/ThirdParty/DUtils/Timestamp.cpp new file mode 100644 index 0000000..4551839 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/Timestamp.cpp @@ -0,0 +1,246 @@ +/* + * File: Timestamp.cpp + * Author: Dorian Galvez-Lopez + * Date: March 2009 + * Description: timestamping functions + * + * Note: in windows, this class has a 1ms resolution + * + * License: see the LICENSE.txt file + * + */ + +#include +#include +#include +#include +#include +#include + +#ifdef _WIN32 +#ifndef WIN32 +#define WIN32 +#endif +#endif + +#ifdef WIN32 +#include +#define sprintf sprintf_s +#else +#include +#endif + +#include "Timestamp.h" + +using namespace std; + +using namespace DUtils; + +Timestamp::Timestamp(Timestamp::tOptions option) +{ + if(option & CURRENT_TIME) + setToCurrentTime(); + else if(option & ZERO) + setTime(0.); +} + +Timestamp::~Timestamp(void) +{ +} + +bool Timestamp::empty() const +{ + return m_secs == 0 && m_usecs == 0; +} + +void Timestamp::setToCurrentTime(){ + +#ifdef WIN32 + struct __timeb32 timebuffer; + _ftime32_s( &timebuffer ); // C4996 + // Note: _ftime is deprecated; consider using _ftime_s instead + m_secs = timebuffer.time; + m_usecs = timebuffer.millitm * 1000; +#else + struct timeval now; + gettimeofday(&now, NULL); + m_secs = now.tv_sec; + m_usecs = now.tv_usec; +#endif + +} + +void Timestamp::setTime(const string &stime){ + string::size_type p = stime.find('.'); + if(p == string::npos){ + m_secs = atol(stime.c_str()); + m_usecs = 0; + }else{ + m_secs = atol(stime.substr(0, p).c_str()); + + string s_usecs = stime.substr(p+1, 6); + m_usecs = atol(stime.substr(p+1).c_str()); + m_usecs *= (unsigned long)pow(10.0, double(6 - s_usecs.length())); + } +} + +void Timestamp::setTime(double s) +{ + m_secs = (unsigned long)s; + m_usecs = (s - (double)m_secs) * 1e6; +} + +double Timestamp::getFloatTime() const { + return double(m_secs) + double(m_usecs)/1000000.0; +} + +string Timestamp::getStringTime() const { + char buf[32]; + sprintf(buf, "%.6lf", this->getFloatTime()); + return string(buf); +} + +double Timestamp::operator- (const Timestamp &t) const { + return this->getFloatTime() - t.getFloatTime(); +} + +Timestamp& Timestamp::operator+= (double s) +{ + *this = *this + s; + return *this; +} + +Timestamp& Timestamp::operator-= (double s) +{ + *this = *this - s; + return *this; +} + +Timestamp Timestamp::operator+ (double s) const +{ + unsigned long secs = (long)floor(s); + unsigned long usecs = (long)((s - (double)secs) * 1e6); + + return this->plus(secs, usecs); +} + +Timestamp Timestamp::plus(unsigned long secs, unsigned long usecs) const +{ + Timestamp t; + + const unsigned long max = 1000000ul; + + if(m_usecs + usecs >= max) + t.setTime(m_secs + secs + 1, m_usecs + usecs - max); + else + t.setTime(m_secs + secs, m_usecs + usecs); + + return t; +} + +Timestamp Timestamp::operator- (double s) const +{ + unsigned long secs = (long)floor(s); + unsigned long usecs = (long)((s - (double)secs) * 1e6); + + return this->minus(secs, usecs); +} + +Timestamp Timestamp::minus(unsigned long secs, unsigned long usecs) const +{ + Timestamp t; + + const unsigned long max = 1000000ul; + + if(m_usecs < usecs) + t.setTime(m_secs - secs - 1, max - (usecs - m_usecs)); + else + t.setTime(m_secs - secs, m_usecs - usecs); + + return t; +} + +bool Timestamp::operator> (const Timestamp &t) const +{ + if(m_secs > t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs > t.m_usecs; + else return false; +} + +bool Timestamp::operator>= (const Timestamp &t) const +{ + if(m_secs > t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs >= t.m_usecs; + else return false; +} + +bool Timestamp::operator< (const Timestamp &t) const +{ + if(m_secs < t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs < t.m_usecs; + else return false; +} + +bool Timestamp::operator<= (const Timestamp &t) const +{ + if(m_secs < t.m_secs) return true; + else if(m_secs == t.m_secs) return m_usecs <= t.m_usecs; + else return false; +} + +bool Timestamp::operator== (const Timestamp &t) const +{ + return(m_secs == t.m_secs && m_usecs == t.m_usecs); +} + + +string Timestamp::Format(bool machine_friendly) const +{ + struct tm tm_time; + + time_t t = (time_t)getFloatTime(); + +#ifdef WIN32 + localtime_s(&tm_time, &t); +#else + localtime_r(&t, &tm_time); +#endif + + char buffer[128]; + + if(machine_friendly) + { + strftime(buffer, 128, "%Y%m%d_%H%M%S", &tm_time); + } + else + { + strftime(buffer, 128, "%c", &tm_time); // Thu Aug 23 14:55:02 2001 + } + + return string(buffer); +} + +string Timestamp::Format(double s) { + int days = int(s / (24. * 3600.0)); + s -= days * (24. * 3600.0); + int hours = int(s / 3600.0); + s -= hours * 3600; + int minutes = int(s / 60.0); + s -= minutes * 60; + int seconds = int(s); + int ms = int((s - seconds)*1e6); + + stringstream ss; + ss.fill('0'); + bool b; + if((b = (days > 0))) ss << days << "d "; + if((b = (b || hours > 0))) ss << setw(2) << hours << ":"; + if((b = (b || minutes > 0))) ss << setw(2) << minutes << ":"; + if(b) ss << setw(2); + ss << seconds; + if(!b) ss << "." << setw(6) << ms; + + return ss.str(); +} + + diff --git a/loop_fusion/src/ThirdParty/DUtils/Timestamp.h b/loop_fusion/src/ThirdParty/DUtils/Timestamp.h new file mode 100644 index 0000000..b92f89f --- /dev/null +++ b/loop_fusion/src/ThirdParty/DUtils/Timestamp.h @@ -0,0 +1,204 @@ +/* + * File: Timestamp.h + * Author: Dorian Galvez-Lopez + * Date: March 2009 + * Description: timestamping functions + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_TIMESTAMP__ +#define __D_TIMESTAMP__ + +#include +using namespace std; + +namespace DUtils { + +/// Timestamp +class Timestamp +{ +public: + + /// Options to initiate a timestamp + enum tOptions + { + NONE = 0, + CURRENT_TIME = 0x1, + ZERO = 0x2 + }; + +public: + + /** + * Creates a timestamp + * @param option option to set the initial time stamp + */ + Timestamp(Timestamp::tOptions option = NONE); + + /** + * Destructor + */ + virtual ~Timestamp(void); + + /** + * Says if the timestamp is "empty": seconds and usecs are both 0, as + * when initiated with the ZERO flag + * @return true iif secs == usecs == 0 + */ + bool empty() const; + + /** + * Sets this instance to the current time + */ + void setToCurrentTime(); + + /** + * Sets the timestamp from seconds and microseconds + * @param secs: seconds + * @param usecs: microseconds + */ + inline void setTime(unsigned long secs, unsigned long usecs){ + m_secs = secs; + m_usecs = usecs; + } + + /** + * Returns the timestamp in seconds and microseconds + * @param secs seconds + * @param usecs microseconds + */ + inline void getTime(unsigned long &secs, unsigned long &usecs) const + { + secs = m_secs; + usecs = m_usecs; + } + + /** + * Sets the timestamp from a string with the time in seconds + * @param stime: string such as "1235603336.036609" + */ + void setTime(const string &stime); + + /** + * Sets the timestamp from a number of seconds from the epoch + * @param s seconds from the epoch + */ + void setTime(double s); + + /** + * Returns this timestamp as the number of seconds in (long) float format + */ + double getFloatTime() const; + + /** + * Returns this timestamp as the number of seconds in fixed length string format + */ + string getStringTime() const; + + /** + * Returns the difference in seconds between this timestamp (greater) and t (smaller) + * If the order is swapped, a negative number is returned + * @param t: timestamp to subtract from this timestamp + * @return difference in seconds + */ + double operator- (const Timestamp &t) const; + + /** + * Returns a copy of this timestamp + s seconds + us microseconds + * @param s seconds + * @param us microseconds + */ + Timestamp plus(unsigned long s, unsigned long us) const; + + /** + * Returns a copy of this timestamp - s seconds - us microseconds + * @param s seconds + * @param us microseconds + */ + Timestamp minus(unsigned long s, unsigned long us) const; + + /** + * Adds s seconds to this timestamp and returns a reference to itself + * @param s seconds + * @return reference to this timestamp + */ + Timestamp& operator+= (double s); + + /** + * Substracts s seconds to this timestamp and returns a reference to itself + * @param s seconds + * @return reference to this timestamp + */ + Timestamp& operator-= (double s); + + /** + * Returns a copy of this timestamp + s seconds + * @param s: seconds + */ + Timestamp operator+ (double s) const; + + /** + * Returns a copy of this timestamp - s seconds + * @param s: seconds + */ + Timestamp operator- (double s) const; + + /** + * Returns whether this timestamp is at the future of t + * @param t + */ + bool operator> (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the future of (or is the same as) t + * @param t + */ + bool operator>= (const Timestamp &t) const; + + /** + * Returns whether this timestamp and t represent the same instant + * @param t + */ + bool operator== (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the past of t + * @param t + */ + bool operator< (const Timestamp &t) const; + + /** + * Returns whether this timestamp is at the past of (or is the same as) t + * @param t + */ + bool operator<= (const Timestamp &t) const; + + /** + * Returns the timestamp in a human-readable string + * @param machine_friendly if true, the returned string is formatted + * to yyyymmdd_hhmmss, without weekday or spaces + * @note This has not been tested under Windows + * @note The timestamp is truncated to seconds + */ + string Format(bool machine_friendly = false) const; + + /** + * Returns a string version of the elapsed time in seconds, with the format + * xd hh:mm:ss, hh:mm:ss, mm:ss or s.us + * @param s: elapsed seconds (given by getFloatTime) to format + */ + static string Format(double s); + + +protected: + /// Seconds + unsigned long m_secs; // seconds + /// Microseconds + unsigned long m_usecs; // microseconds +}; + +} + +#endif + diff --git a/loop_fusion/src/ThirdParty/DVision/BRIEF.cpp b/loop_fusion/src/ThirdParty/DVision/BRIEF.cpp new file mode 100644 index 0000000..6af73c4 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DVision/BRIEF.cpp @@ -0,0 +1,174 @@ +/** + * File: BRIEF.cpp + * Author: Dorian Galvez + * Date: September 2010 + * Description: implementation of BRIEF (Binary Robust Independent + * Elementary Features) descriptor by + * Michael Calonder, Vincent Lepetitand Pascal Fua + * + close binary tests (by Dorian Galvez-Lopez) + * License: see the LICENSE.txt file + * + */ + +#include "BRIEF.h" +#include "../DUtils/DUtils.h" +#include +#include + +using namespace std; +using namespace DVision; + +// ---------------------------------------------------------------------------- + +BRIEF::BRIEF(int nbits, int patch_size, Type type): + m_bit_length(nbits), m_patch_size(patch_size), m_type(type) +{ + assert(patch_size > 1); + assert(nbits > 0); + generateTestPoints(); +} + +// ---------------------------------------------------------------------------- + +BRIEF::~BRIEF() +{ +} + +// --------------------------------------------------------------------------- + +void BRIEF::compute(const cv::Mat &image, + const std::vector &points, + vector &descriptors, + bool treat_image) const +{ + const float sigma = 2.f; + const cv::Size ksize(9, 9); + + cv::Mat im; + if(treat_image) + { + cv::Mat aux; + if(image.depth() == 3) + { + cv::cvtColor(image, aux, CV_RGB2GRAY); + } + else + { + aux = image; + } + + cv::GaussianBlur(aux, im, ksize, sigma, sigma); + + } + else + { + im = image; + } + + assert(im.type() == CV_8UC1); + assert(im.isContinuous()); + + // use im now + const int W = im.cols; + const int H = im.rows; + + descriptors.resize(points.size()); + std::vector::iterator dit; + + std::vector::const_iterator kit; + + int x1, y1, x2, y2; + + dit = descriptors.begin(); + for(kit = points.begin(); kit != points.end(); ++kit, ++dit) + { + dit->resize(m_bit_length); + dit->reset(); + + for(unsigned int i = 0; i < m_x1.size(); ++i) + { + x1 = (int)(kit->pt.x + m_x1[i]); + y1 = (int)(kit->pt.y + m_y1[i]); + x2 = (int)(kit->pt.x + m_x2[i]); + y2 = (int)(kit->pt.y + m_y2[i]); + + if(x1 >= 0 && x1 < W && y1 >= 0 && y1 < H + && x2 >= 0 && x2 < W && y2 >= 0 && y2 < H) + { + if( im.ptr(y1)[x1] < im.ptr(y2)[x2] ) + { + dit->set(i); + } + } // if (x,y)_1 and (x,y)_2 are in the image + + } // for each (x,y) + } // for each keypoint +} + +// --------------------------------------------------------------------------- + +void BRIEF::generateTestPoints() +{ + m_x1.resize(m_bit_length); + m_y1.resize(m_bit_length); + m_x2.resize(m_bit_length); + m_y2.resize(m_bit_length); + + const float g_mean = 0.f; + const float g_sigma = 0.2f * (float)m_patch_size; + const float c_sigma = 0.08f * (float)m_patch_size; + + float sigma2; + if(m_type == RANDOM) + sigma2 = g_sigma; + else + sigma2 = c_sigma; + + const int max_v = m_patch_size / 2; + + DUtils::Random::SeedRandOnce(); + + for(int i = 0; i < m_bit_length; ++i) + { + int x1, y1, x2, y2; + + do + { + x1 = DUtils::Random::RandomGaussianValue(g_mean, g_sigma); + } while( x1 > max_v || x1 < -max_v); + + do + { + y1 = DUtils::Random::RandomGaussianValue(g_mean, g_sigma); + } while( y1 > max_v || y1 < -max_v); + + float meanx, meany; + if(m_type == RANDOM) + meanx = meany = g_mean; + else + { + meanx = x1; + meany = y1; + } + + do + { + x2 = DUtils::Random::RandomGaussianValue(meanx, sigma2); + } while( x2 > max_v || x2 < -max_v); + + do + { + y2 = DUtils::Random::RandomGaussianValue(meany, sigma2); + } while( y2 > max_v || y2 < -max_v); + + m_x1[i] = x1; + m_y1[i] = y1; + m_x2[i] = x2; + m_y2[i] = y2; + } + +} + +// ---------------------------------------------------------------------------- + + diff --git a/loop_fusion/src/ThirdParty/DVision/BRIEF.h b/loop_fusion/src/ThirdParty/DVision/BRIEF.h new file mode 100644 index 0000000..78d9fbf --- /dev/null +++ b/loop_fusion/src/ThirdParty/DVision/BRIEF.h @@ -0,0 +1,196 @@ +/** + * File: BRIEF.h + * Author: Dorian Galvez-Lopez + * Date: March 2011 + * Description: implementation of BRIEF (Binary Robust Independent + * Elementary Features) descriptor by + * Michael Calonder, Vincent Lepetit and Pascal Fua + * + close binary tests (by Dorian Galvez-Lopez) + * + * If you use this code with the RANDOM_CLOSE descriptor version, please cite: + @INPROCEEDINGS{GalvezIROS11, + author={Galvez-Lopez, Dorian and Tardos, Juan D.}, + booktitle={Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on}, + title={Real-time loop detection with bags of binary words}, + year={2011}, + month={sept.}, + volume={}, + number={}, + pages={51 -58}, + keywords={}, + doi={10.1109/IROS.2011.6094885}, + ISSN={2153-0858} + } + * + * License: see the LICENSE.txt file + * + */ + +#ifndef __D_BRIEF__ +#define __D_BRIEF__ + +#include +#include +#include + +namespace DVision { + +/// BRIEF descriptor +class BRIEF +{ +public: + + /// Bitset type + typedef boost::dynamic_bitset<> bitset; + + /// Type of pairs + enum Type + { + RANDOM, // random pairs (Calonder's original version) + RANDOM_CLOSE, // random but close pairs (used in GalvezIROS11) + }; + +public: + + /** + * Creates the BRIEF a priori data for descriptors of nbits length + * @param nbits descriptor length in bits + * @param patch_size + * @param type type of pairs to generate + */ + BRIEF(int nbits = 256, int patch_size = 48, Type type = RANDOM_CLOSE); + virtual ~BRIEF(); + + /** + * Returns the descriptor length in bits + * @return descriptor length in bits + */ + inline int getDescriptorLengthInBits() const + { + return m_bit_length; + } + + /** + * Returns the type of classifier + */ + inline Type getType() const + { + return m_type; + } + + /** + * Returns the size of the patch + */ + inline int getPatchSize() const + { + return m_patch_size; + } + + /** + * Returns the BRIEF descriptors of the given keypoints in the given image + * @param image + * @param points + * @param descriptors + * @param treat_image (default: true) if true, the image is converted to + * grayscale if needed and smoothed. If not, it is assumed the image has + * been treated by the user + * @note this function is similar to BRIEF::compute + */ + inline void operator() (const cv::Mat &image, + const std::vector &points, + std::vector &descriptors, + bool treat_image = true) const + { + compute(image, points, descriptors, treat_image); + } + + /** + * Returns the BRIEF descriptors of the given keypoints in the given image + * @param image + * @param points + * @param descriptors + * @param treat_image (default: true) if true, the image is converted to + * grayscale if needed and smoothed. If not, it is assumed the image has + * been treated by the user + * @note this function is similar to BRIEF::operator() + */ + void compute(const cv::Mat &image, + const std::vector &points, + std::vector &descriptors, + bool treat_image = true) const; + + /** + * Exports the test pattern + * @param x1 x1 coordinates of pairs + * @param y1 y1 coordinates of pairs + * @param x2 x2 coordinates of pairs + * @param y2 y2 coordinates of pairs + */ + inline void exportPairs(std::vector &x1, std::vector &y1, + std::vector &x2, std::vector &y2) const + { + x1 = m_x1; + y1 = m_y1; + x2 = m_x2; + y2 = m_y2; + } + + /** + * Sets the test pattern + * @param x1 x1 coordinates of pairs + * @param y1 y1 coordinates of pairs + * @param x2 x2 coordinates of pairs + * @param y2 y2 coordinates of pairs + */ + inline void importPairs(const std::vector &x1, + const std::vector &y1, const std::vector &x2, + const std::vector &y2) + { + m_x1 = x1; + m_y1 = y1; + m_x2 = x2; + m_y2 = y2; + m_bit_length = x1.size(); + } + + /** + * Returns the Hamming distance between two descriptors + * @param a first descriptor vector + * @param b second descriptor vector + * @return hamming distance + */ + inline static int distance(const bitset &a, const bitset &b) + { + return (a^b).count(); + } + +protected: + + /** + * Generates random points in the patch coordinates, according to + * m_patch_size and m_bit_length + */ + void generateTestPoints(); + +protected: + + /// Descriptor length in bits + int m_bit_length; + + /// Patch size + int m_patch_size; + + /// Type of pairs + Type m_type; + + /// Coordinates of test points relative to the center of the patch + std::vector m_x1, m_x2; + std::vector m_y1, m_y2; + +}; + +} // namespace DVision + +#endif + + diff --git a/loop_fusion/src/ThirdParty/DVision/DVision.h b/loop_fusion/src/ThirdParty/DVision/DVision.h new file mode 100644 index 0000000..486d2b3 --- /dev/null +++ b/loop_fusion/src/ThirdParty/DVision/DVision.h @@ -0,0 +1,43 @@ +/* + * File: DVision.h + * Project: DVision library + * Author: Dorian Galvez-Lopez + * Date: October 4, 2010 + * Description: several functions for computer vision + * License: see the LICENSE.txt file + * + */ + +/*! \mainpage DVision Library + * + * DVision library for C++ and OpenCV: + * Collection of classes with computer vision functionality + * + * Written by Dorian Galvez-Lopez, + * University of Zaragoza + * + * Check my website to obtain updates: http://webdiis.unizar.es/~dorian + * + * \section requirements Requirements + * This library requires the DUtils and DUtilsCV libraries and the OpenCV library. + * + * \section license License + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License (LGPL) as + * published by the Free Software Foundation, either version 3 of the License, + * or any later version. + * + */ + +#ifndef __D_VISION__ +#define __D_VISION__ + + +/// Computer vision functions +namespace DVision +{ +} + +#include "BRIEF.h" + +#endif diff --git a/loop_fusion/src/ThirdParty/VocabularyBinary.cpp b/loop_fusion/src/ThirdParty/VocabularyBinary.cpp new file mode 100644 index 0000000..89b7d6c --- /dev/null +++ b/loop_fusion/src/ThirdParty/VocabularyBinary.cpp @@ -0,0 +1,35 @@ +#include "VocabularyBinary.hpp" +#include +using namespace std; + +VINSLoop::Vocabulary::Vocabulary() +: nNodes(0), nodes(nullptr), nWords(0), words(nullptr) { +} + +VINSLoop::Vocabulary::~Vocabulary() { + if (nodes != nullptr) { + delete [] nodes; + nodes = nullptr; + } + + if (words != nullptr) { + delete [] words; + words = nullptr; + } +} + +void VINSLoop::Vocabulary::serialize(ofstream& stream) { + stream.write((const char *)this, staticDataSize()); + stream.write((const char *)nodes, sizeof(Node) * nNodes); + stream.write((const char *)words, sizeof(Word) * nWords); +} + +void VINSLoop::Vocabulary::deserialize(ifstream& stream) { + stream.read((char *)this, staticDataSize()); + + nodes = new Node[nNodes]; + stream.read((char *)nodes, sizeof(Node) * nNodes); + + words = new Word[nWords]; + stream.read((char *)words, sizeof(Word) * nWords); +} diff --git a/loop_fusion/src/ThirdParty/VocabularyBinary.hpp b/loop_fusion/src/ThirdParty/VocabularyBinary.hpp new file mode 100644 index 0000000..912ba82 --- /dev/null +++ b/loop_fusion/src/ThirdParty/VocabularyBinary.hpp @@ -0,0 +1,47 @@ +#ifndef VocabularyBinary_hpp +#define VocabularyBinary_hpp + +#include +#include +#include + +namespace VINSLoop { + +struct Node { + int32_t nodeId; + int32_t parentId; + double weight; + uint64_t descriptor[4]; +}; + +struct Word { + int32_t nodeId; + int32_t wordId; +}; + +struct Vocabulary { + int32_t k; + int32_t L; + int32_t scoringType; + int32_t weightingType; + + int32_t nNodes; + int32_t nWords; + + Node* nodes; + Word* words; + + Vocabulary(); + ~Vocabulary(); + + void serialize(std::ofstream& stream); + void deserialize(std::ifstream& stream); + + inline static size_t staticDataSize() { + return sizeof(Vocabulary) - sizeof(Node*) - sizeof(Word*); + } +}; + +} + +#endif /* VocabularyBinary_hpp */ diff --git a/loop_fusion/src/keyframe.cpp b/loop_fusion/src/keyframe.cpp new file mode 100644 index 0000000..862b795 --- /dev/null +++ b/loop_fusion/src/keyframe.cpp @@ -0,0 +1,586 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "keyframe.h" + +template +static void reduceVector(vector &v, vector status) +{ + int j = 0; + for (int i = 0; i < int(v.size()); i++) + if (status[i]) + v[j++] = v[i]; + v.resize(j); +} + +// create keyframe online +KeyFrame::KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, cv::Mat &_image, + vector &_point_3d, vector &_point_2d_uv, vector &_point_2d_norm, + vector &_point_id, int _sequence) +{ + time_stamp = _time_stamp; + index = _index; + vio_T_w_i = _vio_T_w_i; + vio_R_w_i = _vio_R_w_i; + T_w_i = vio_T_w_i; + R_w_i = vio_R_w_i; + origin_vio_T = vio_T_w_i; + origin_vio_R = vio_R_w_i; + image = _image.clone(); + cv::resize(image, thumbnail, cv::Size(80, 60)); + point_3d = _point_3d; + point_2d_uv = _point_2d_uv; + point_2d_norm = _point_2d_norm; + point_id = _point_id; + has_loop = false; + loop_index = -1; + has_fast_point = false; + loop_info << 0, 0, 0, 0, 0, 0, 0, 0; + sequence = _sequence; + computeWindowBRIEFPoint(); + computeBRIEFPoint(); + if(!DEBUG_IMAGE) + image.release(); +} + +// load previous keyframe +KeyFrame::KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, Vector3d &_T_w_i, Matrix3d &_R_w_i, + cv::Mat &_image, int _loop_index, Eigen::Matrix &_loop_info, + vector &_keypoints, vector &_keypoints_norm, vector &_brief_descriptors) +{ + time_stamp = _time_stamp; + index = _index; + //vio_T_w_i = _vio_T_w_i; + //vio_R_w_i = _vio_R_w_i; + vio_T_w_i = _T_w_i; + vio_R_w_i = _R_w_i; + T_w_i = _T_w_i; + R_w_i = _R_w_i; + if (DEBUG_IMAGE) + { + image = _image.clone(); + cv::resize(image, thumbnail, cv::Size(80, 60)); + } + if (_loop_index != -1) + has_loop = true; + else + has_loop = false; + loop_index = _loop_index; + loop_info = _loop_info; + has_fast_point = false; + sequence = 0; + keypoints = _keypoints; + keypoints_norm = _keypoints_norm; + brief_descriptors = _brief_descriptors; +} + + +void KeyFrame::computeWindowBRIEFPoint() +{ + BriefExtractor extractor(BRIEF_PATTERN_FILE.c_str()); + for(int i = 0; i < (int)point_2d_uv.size(); i++) + { + cv::KeyPoint key; + key.pt = point_2d_uv[i]; + window_keypoints.push_back(key); + } + extractor(image, window_keypoints, window_brief_descriptors); +} + +void KeyFrame::computeBRIEFPoint() +{ + BriefExtractor extractor(BRIEF_PATTERN_FILE.c_str()); + const int fast_th = 20; // corner detector response threshold + if(1) + cv::FAST(image, keypoints, fast_th, true); + else + { + vector tmp_pts; + cv::goodFeaturesToTrack(image, tmp_pts, 500, 0.01, 10); + for(int i = 0; i < (int)tmp_pts.size(); i++) + { + cv::KeyPoint key; + key.pt = tmp_pts[i]; + keypoints.push_back(key); + } + } + extractor(image, keypoints, brief_descriptors); + for (int i = 0; i < (int)keypoints.size(); i++) + { + Eigen::Vector3d tmp_p; + m_camera->liftProjective(Eigen::Vector2d(keypoints[i].pt.x, keypoints[i].pt.y), tmp_p); + cv::KeyPoint tmp_norm; + tmp_norm.pt = cv::Point2f(tmp_p.x()/tmp_p.z(), tmp_p.y()/tmp_p.z()); + keypoints_norm.push_back(tmp_norm); + } +} + +void BriefExtractor::operator() (const cv::Mat &im, vector &keys, vector &descriptors) const +{ + m_brief.compute(im, keys, descriptors); +} + + +bool KeyFrame::searchInAera(const BRIEF::bitset window_descriptor, + const std::vector &descriptors_old, + const std::vector &keypoints_old, + const std::vector &keypoints_old_norm, + cv::Point2f &best_match, + cv::Point2f &best_match_norm) +{ + cv::Point2f best_pt; + int bestDist = 128; + int bestIndex = -1; + for(int i = 0; i < (int)descriptors_old.size(); i++) + { + + int dis = HammingDis(window_descriptor, descriptors_old[i]); + if(dis < bestDist) + { + bestDist = dis; + bestIndex = i; + } + } + //printf("best dist %d", bestDist); + if (bestIndex != -1 && bestDist < 80) + { + best_match = keypoints_old[bestIndex].pt; + best_match_norm = keypoints_old_norm[bestIndex].pt; + return true; + } + else + return false; +} + +void KeyFrame::searchByBRIEFDes(std::vector &matched_2d_old, + std::vector &matched_2d_old_norm, + std::vector &status, + const std::vector &descriptors_old, + const std::vector &keypoints_old, + const std::vector &keypoints_old_norm) +{ + for(int i = 0; i < (int)window_brief_descriptors.size(); i++) + { + cv::Point2f pt(0.f, 0.f); + cv::Point2f pt_norm(0.f, 0.f); + if (searchInAera(window_brief_descriptors[i], descriptors_old, keypoints_old, keypoints_old_norm, pt, pt_norm)) + status.push_back(1); + else + status.push_back(0); + matched_2d_old.push_back(pt); + matched_2d_old_norm.push_back(pt_norm); + } + +} + + +void KeyFrame::FundmantalMatrixRANSAC(const std::vector &matched_2d_cur_norm, + const std::vector &matched_2d_old_norm, + vector &status) +{ + int n = (int)matched_2d_cur_norm.size(); + for (int i = 0; i < n; i++) + status.push_back(0); + if (n >= 8) + { + vector tmp_cur(n), tmp_old(n); + for (int i = 0; i < (int)matched_2d_cur_norm.size(); i++) + { + double FOCAL_LENGTH = 460.0; + double tmp_x, tmp_y; + tmp_x = FOCAL_LENGTH * matched_2d_cur_norm[i].x + COL / 2.0; + tmp_y = FOCAL_LENGTH * matched_2d_cur_norm[i].y + ROW / 2.0; + tmp_cur[i] = cv::Point2f(tmp_x, tmp_y); + + tmp_x = FOCAL_LENGTH * matched_2d_old_norm[i].x + COL / 2.0; + tmp_y = FOCAL_LENGTH * matched_2d_old_norm[i].y + ROW / 2.0; + tmp_old[i] = cv::Point2f(tmp_x, tmp_y); + } + cv::findFundamentalMat(tmp_cur, tmp_old, cv::FM_RANSAC, 3.0, 0.9, status); + } +} + +void KeyFrame::PnPRANSAC(const vector &matched_2d_old_norm, + const std::vector &matched_3d, + std::vector &status, + Eigen::Vector3d &PnP_T_old, Eigen::Matrix3d &PnP_R_old) +{ + //for (int i = 0; i < matched_3d.size(); i++) + // printf("3d x: %f, y: %f, z: %f\n",matched_3d[i].x, matched_3d[i].y, matched_3d[i].z ); + //printf("match size %d \n", matched_3d.size()); + cv::Mat r, rvec, t, D, tmp_r; + cv::Mat K = (cv::Mat_(3, 3) << 1.0, 0, 0, 0, 1.0, 0, 0, 0, 1.0); + Matrix3d R_inital; + Vector3d P_inital; + Matrix3d R_w_c = origin_vio_R * qic; + Vector3d T_w_c = origin_vio_T + origin_vio_R * tic; + + R_inital = R_w_c.inverse(); + P_inital = -(R_inital * T_w_c); + + cv::eigen2cv(R_inital, tmp_r); + cv::Rodrigues(tmp_r, rvec); + cv::eigen2cv(P_inital, t); + + cv::Mat inliers; + TicToc t_pnp_ransac; + + if (CV_MAJOR_VERSION < 3) + solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, 10.0 / 460.0, 100, inliers); + else + { + if (CV_MINOR_VERSION < 2) + solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, sqrt(10.0 / 460.0), 0.99, inliers); + else + solvePnPRansac(matched_3d, matched_2d_old_norm, K, D, rvec, t, true, 100, 10.0 / 460.0, 0.99, inliers); + + } + + for (int i = 0; i < (int)matched_2d_old_norm.size(); i++) + status.push_back(0); + + for( int i = 0; i < inliers.rows; i++) + { + int n = inliers.at(i); + status[n] = 1; + } + + cv::Rodrigues(rvec, r); + Matrix3d R_pnp, R_w_c_old; + cv::cv2eigen(r, R_pnp); + R_w_c_old = R_pnp.transpose(); + Vector3d T_pnp, T_w_c_old; + cv::cv2eigen(t, T_pnp); + T_w_c_old = R_w_c_old * (-T_pnp); + + PnP_R_old = R_w_c_old * qic.transpose(); + PnP_T_old = T_w_c_old - PnP_R_old * tic; + +} + + +bool KeyFrame::findConnection(KeyFrame* old_kf) +{ + TicToc tmp_t; + //printf("find Connection\n"); + vector matched_2d_cur, matched_2d_old; + vector matched_2d_cur_norm, matched_2d_old_norm; + vector matched_3d; + vector matched_id; + vector status; + + matched_3d = point_3d; + matched_2d_cur = point_2d_uv; + matched_2d_cur_norm = point_2d_norm; + matched_id = point_id; + + TicToc t_match; + #if 0 + if (DEBUG_IMAGE) + { + cv::Mat gray_img, loop_match_img; + cv::Mat old_img = old_kf->image; + cv::hconcat(image, old_img, gray_img); + cvtColor(gray_img, loop_match_img, CV_GRAY2RGB); + for(int i = 0; i< (int)point_2d_uv.size(); i++) + { + cv::Point2f cur_pt = point_2d_uv[i]; + cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0)); + } + for(int i = 0; i< (int)old_kf->keypoints.size(); i++) + { + cv::Point2f old_pt = old_kf->keypoints[i].pt; + old_pt.x += COL; + cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0)); + } + ostringstream path; + path << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "0raw_point.jpg"; + cv::imwrite( path.str().c_str(), loop_match_img); + } + #endif + //printf("search by des\n"); + searchByBRIEFDes(matched_2d_old, matched_2d_old_norm, status, old_kf->brief_descriptors, old_kf->keypoints, old_kf->keypoints_norm); + reduceVector(matched_2d_cur, status); + reduceVector(matched_2d_old, status); + reduceVector(matched_2d_cur_norm, status); + reduceVector(matched_2d_old_norm, status); + reduceVector(matched_3d, status); + reduceVector(matched_id, status); + //printf("search by des finish\n"); + + #if 0 + if (DEBUG_IMAGE) + { + int gap = 10; + cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255)); + cv::Mat gray_img, loop_match_img; + cv::Mat old_img = old_kf->image; + cv::hconcat(image, gap_image, gap_image); + cv::hconcat(gap_image, old_img, gray_img); + cvtColor(gray_img, loop_match_img, CV_GRAY2RGB); + for(int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f cur_pt = matched_2d_cur[i]; + cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0)); + } + for(int i = 0; i< (int)matched_2d_old.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap); + cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0)); + } + for (int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap); + cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 1, 8, 0); + } + + ostringstream path, path1, path2; + path << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "1descriptor_match.jpg"; + cv::imwrite( path.str().c_str(), loop_match_img); + /* + path1 << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "1descriptor_match_1.jpg"; + cv::imwrite( path1.str().c_str(), image); + path2 << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "1descriptor_match_2.jpg"; + cv::imwrite( path2.str().c_str(), old_img); + */ + + } + #endif + status.clear(); + /* + FundmantalMatrixRANSAC(matched_2d_cur_norm, matched_2d_old_norm, status); + reduceVector(matched_2d_cur, status); + reduceVector(matched_2d_old, status); + reduceVector(matched_2d_cur_norm, status); + reduceVector(matched_2d_old_norm, status); + reduceVector(matched_3d, status); + reduceVector(matched_id, status); + */ + #if 0 + if (DEBUG_IMAGE) + { + int gap = 10; + cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255)); + cv::Mat gray_img, loop_match_img; + cv::Mat old_img = old_kf->image; + cv::hconcat(image, gap_image, gap_image); + cv::hconcat(gap_image, old_img, gray_img); + cvtColor(gray_img, loop_match_img, CV_GRAY2RGB); + for(int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f cur_pt = matched_2d_cur[i]; + cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0)); + } + for(int i = 0; i< (int)matched_2d_old.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap); + cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0)); + } + for (int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap) ; + cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 1, 8, 0); + } + + ostringstream path; + path << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "2fundamental_match.jpg"; + cv::imwrite( path.str().c_str(), loop_match_img); + } + #endif + Eigen::Vector3d PnP_T_old; + Eigen::Matrix3d PnP_R_old; + Eigen::Vector3d relative_t; + Quaterniond relative_q; + double relative_yaw; + if ((int)matched_2d_cur.size() > MIN_LOOP_NUM) + { + status.clear(); + PnPRANSAC(matched_2d_old_norm, matched_3d, status, PnP_T_old, PnP_R_old); + reduceVector(matched_2d_cur, status); + reduceVector(matched_2d_old, status); + reduceVector(matched_2d_cur_norm, status); + reduceVector(matched_2d_old_norm, status); + reduceVector(matched_3d, status); + reduceVector(matched_id, status); + #if 1 + if (DEBUG_IMAGE) + { + int gap = 10; + cv::Mat gap_image(ROW, gap, CV_8UC1, cv::Scalar(255, 255, 255)); + cv::Mat gray_img, loop_match_img; + cv::Mat old_img = old_kf->image; + cv::hconcat(image, gap_image, gap_image); + cv::hconcat(gap_image, old_img, gray_img); + cvtColor(gray_img, loop_match_img, CV_GRAY2RGB); + for(int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f cur_pt = matched_2d_cur[i]; + cv::circle(loop_match_img, cur_pt, 5, cv::Scalar(0, 255, 0)); + } + for(int i = 0; i< (int)matched_2d_old.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap); + cv::circle(loop_match_img, old_pt, 5, cv::Scalar(0, 255, 0)); + } + for (int i = 0; i< (int)matched_2d_cur.size(); i++) + { + cv::Point2f old_pt = matched_2d_old[i]; + old_pt.x += (COL + gap) ; + cv::line(loop_match_img, matched_2d_cur[i], old_pt, cv::Scalar(0, 255, 0), 2, 8, 0); + } + cv::Mat notation(50, COL + gap + COL, CV_8UC3, cv::Scalar(255, 255, 255)); + putText(notation, "current frame: " + to_string(index) + " sequence: " + to_string(sequence), cv::Point2f(20, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3); + + putText(notation, "previous frame: " + to_string(old_kf->index) + " sequence: " + to_string(old_kf->sequence), cv::Point2f(20 + COL + gap, 30), CV_FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255), 3); + cv::vconcat(notation, loop_match_img, loop_match_img); + + /* + ostringstream path; + path << "/home/tony-ws1/raw_data/loop_image/" + << index << "-" + << old_kf->index << "-" << "3pnp_match.jpg"; + cv::imwrite( path.str().c_str(), loop_match_img); + */ + if ((int)matched_2d_cur.size() > MIN_LOOP_NUM) + { + /* + cv::imshow("loop connection",loop_match_img); + cv::waitKey(10); + */ + cv::Mat thumbimage; + cv::resize(loop_match_img, thumbimage, cv::Size(loop_match_img.cols / 2, loop_match_img.rows / 2)); + sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", thumbimage).toImageMsg(); + msg->header.stamp = ros::Time(time_stamp); + pub_match_img.publish(msg); + } + } + #endif + } + + if ((int)matched_2d_cur.size() > MIN_LOOP_NUM) + { + relative_t = PnP_R_old.transpose() * (origin_vio_T - PnP_T_old); + relative_q = PnP_R_old.transpose() * origin_vio_R; + relative_yaw = Utility::normalizeAngle(Utility::R2ypr(origin_vio_R).x() - Utility::R2ypr(PnP_R_old).x()); + //printf("PNP relative\n"); + //cout << "pnp relative_t " << relative_t.transpose() << endl; + //cout << "pnp relative_yaw " << relative_yaw << endl; + if (abs(relative_yaw) < 30.0 && relative_t.norm() < 20.0) + { + + has_loop = true; + loop_index = old_kf->index; + loop_info << relative_t.x(), relative_t.y(), relative_t.z(), + relative_q.w(), relative_q.x(), relative_q.y(), relative_q.z(), + relative_yaw; + //cout << "pnp relative_t " << relative_t.transpose() << endl; + //cout << "pnp relative_q " << relative_q.w() << " " << relative_q.vec().transpose() << endl; + return true; + } + } + //printf("loop final use num %d %lf--------------- \n", (int)matched_2d_cur.size(), t_match.toc()); + return false; +} + + +int KeyFrame::HammingDis(const BRIEF::bitset &a, const BRIEF::bitset &b) +{ + BRIEF::bitset xor_of_bitset = a ^ b; + int dis = xor_of_bitset.count(); + return dis; +} + +void KeyFrame::getVioPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i) +{ + _T_w_i = vio_T_w_i; + _R_w_i = vio_R_w_i; +} + +void KeyFrame::getPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i) +{ + _T_w_i = T_w_i; + _R_w_i = R_w_i; +} + +void KeyFrame::updatePose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i) +{ + T_w_i = _T_w_i; + R_w_i = _R_w_i; +} + +void KeyFrame::updateVioPose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i) +{ + vio_T_w_i = _T_w_i; + vio_R_w_i = _R_w_i; + T_w_i = vio_T_w_i; + R_w_i = vio_R_w_i; +} + +Eigen::Vector3d KeyFrame::getLoopRelativeT() +{ + return Eigen::Vector3d(loop_info(0), loop_info(1), loop_info(2)); +} + +Eigen::Quaterniond KeyFrame::getLoopRelativeQ() +{ + return Eigen::Quaterniond(loop_info(3), loop_info(4), loop_info(5), loop_info(6)); +} + +double KeyFrame::getLoopRelativeYaw() +{ + return loop_info(7); +} + +void KeyFrame::updateLoop(Eigen::Matrix &_loop_info) +{ + if (abs(_loop_info(7)) < 30.0 && Vector3d(_loop_info(0), _loop_info(1), _loop_info(2)).norm() < 20.0) + { + //printf("update loop info\n"); + loop_info = _loop_info; + } +} + +BriefExtractor::BriefExtractor(const std::string &pattern_file) +{ + // The DVision::BRIEF extractor computes a random pattern by default when + // the object is created. + // We load the pattern that we used to build the vocabulary, to make + // the descriptors compatible with the predefined vocabulary + + // loads the pattern + cv::FileStorage fs(pattern_file.c_str(), cv::FileStorage::READ); + if(!fs.isOpened()) throw string("Could not open file ") + pattern_file; + + vector x1, y1, x2, y2; + fs["x1"] >> x1; + fs["x2"] >> x2; + fs["y1"] >> y1; + fs["y2"] >> y2; + + m_brief.importPairs(x1, y1, x2, y2); +} + + diff --git a/loop_fusion/src/keyframe.h b/loop_fusion/src/keyframe.h new file mode 100644 index 0000000..8ea2129 --- /dev/null +++ b/loop_fusion/src/keyframe.h @@ -0,0 +1,115 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" +#include "utility/tic_toc.h" +#include "utility/utility.h" +#include "parameters.h" +#include "ThirdParty/DBoW/DBoW2.h" +#include "ThirdParty/DVision/DVision.h" + +#define MIN_LOOP_NUM 25 + +using namespace Eigen; +using namespace std; +using namespace DVision; + + +class BriefExtractor +{ +public: + virtual void operator()(const cv::Mat &im, vector &keys, vector &descriptors) const; + BriefExtractor(const std::string &pattern_file); + + DVision::BRIEF m_brief; +}; + +class KeyFrame +{ +public: + KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, cv::Mat &_image, + vector &_point_3d, vector &_point_2d_uv, vector &_point_2d_normal, + vector &_point_id, int _sequence); + KeyFrame(double _time_stamp, int _index, Vector3d &_vio_T_w_i, Matrix3d &_vio_R_w_i, Vector3d &_T_w_i, Matrix3d &_R_w_i, + cv::Mat &_image, int _loop_index, Eigen::Matrix &_loop_info, + vector &_keypoints, vector &_keypoints_norm, vector &_brief_descriptors); + bool findConnection(KeyFrame* old_kf); + void computeWindowBRIEFPoint(); + void computeBRIEFPoint(); + //void extractBrief(); + int HammingDis(const BRIEF::bitset &a, const BRIEF::bitset &b); + bool searchInAera(const BRIEF::bitset window_descriptor, + const std::vector &descriptors_old, + const std::vector &keypoints_old, + const std::vector &keypoints_old_norm, + cv::Point2f &best_match, + cv::Point2f &best_match_norm); + void searchByBRIEFDes(std::vector &matched_2d_old, + std::vector &matched_2d_old_norm, + std::vector &status, + const std::vector &descriptors_old, + const std::vector &keypoints_old, + const std::vector &keypoints_old_norm); + void FundmantalMatrixRANSAC(const std::vector &matched_2d_cur_norm, + const std::vector &matched_2d_old_norm, + vector &status); + void PnPRANSAC(const vector &matched_2d_old_norm, + const std::vector &matched_3d, + std::vector &status, + Eigen::Vector3d &PnP_T_old, Eigen::Matrix3d &PnP_R_old); + void getVioPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i); + void getPose(Eigen::Vector3d &_T_w_i, Eigen::Matrix3d &_R_w_i); + void updatePose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i); + void updateVioPose(const Eigen::Vector3d &_T_w_i, const Eigen::Matrix3d &_R_w_i); + void updateLoop(Eigen::Matrix &_loop_info); + + Eigen::Vector3d getLoopRelativeT(); + double getLoopRelativeYaw(); + Eigen::Quaterniond getLoopRelativeQ(); + + + + double time_stamp; + int index; + int local_index; + Eigen::Vector3d vio_T_w_i; + Eigen::Matrix3d vio_R_w_i; + Eigen::Vector3d T_w_i; + Eigen::Matrix3d R_w_i; + Eigen::Vector3d origin_vio_T; + Eigen::Matrix3d origin_vio_R; + cv::Mat image; + cv::Mat thumbnail; + vector point_3d; + vector point_2d_uv; + vector point_2d_norm; + vector point_id; + vector keypoints; + vector keypoints_norm; + vector window_keypoints; + vector brief_descriptors; + vector window_brief_descriptors; + bool has_fast_point; + int sequence; + + bool has_loop; + int loop_index; + Eigen::Matrix loop_info; +}; + diff --git a/loop_fusion/src/parameters.h b/loop_fusion/src/parameters.h new file mode 100644 index 0000000..5e646fb --- /dev/null +++ b/loop_fusion/src/parameters.h @@ -0,0 +1,37 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" +#include +#include +#include +#include +#include +#include + +extern camodocal::CameraPtr m_camera; +extern Eigen::Vector3d tic; +extern Eigen::Matrix3d qic; +extern ros::Publisher pub_match_img; +extern int VISUALIZATION_SHIFT_X; +extern int VISUALIZATION_SHIFT_Y; +extern std::string BRIEF_PATTERN_FILE; +extern std::string POSE_GRAPH_SAVE_PATH; +extern int ROW; +extern int COL; +extern std::string VINS_RESULT_PATH; +extern int DEBUG_IMAGE; + + diff --git a/loop_fusion/src/pose_graph.cpp b/loop_fusion/src/pose_graph.cpp new file mode 100644 index 0000000..b5436fd --- /dev/null +++ b/loop_fusion/src/pose_graph.cpp @@ -0,0 +1,1087 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "pose_graph.h" + +PoseGraph::PoseGraph() +{ + posegraph_visualization = new CameraPoseVisualization(1.0, 0.0, 1.0, 1.0); + posegraph_visualization->setScale(0.1); + posegraph_visualization->setLineWidth(0.01); + earliest_loop_index = -1; + t_drift = Eigen::Vector3d(0, 0, 0); + yaw_drift = 0; + r_drift = Eigen::Matrix3d::Identity(); + w_t_vio = Eigen::Vector3d(0, 0, 0); + w_r_vio = Eigen::Matrix3d::Identity(); + global_index = 0; + sequence_cnt = 0; + sequence_loop.push_back(0); + base_sequence = 1; + use_imu = 0; +} + +PoseGraph::~PoseGraph() +{ + t_optimization.detach(); +} + +void PoseGraph::registerPub(ros::NodeHandle &n) +{ + pub_pg_path = n.advertise("pose_graph_path", 1000); + pub_base_path = n.advertise("base_path", 1000); + pub_pose_graph = n.advertise("pose_graph", 1000); + for (int i = 1; i < 10; i++) + pub_path[i] = n.advertise("path_" + to_string(i), 1000); +} + +void PoseGraph::setIMUFlag(bool _use_imu) +{ + use_imu = _use_imu; + if(use_imu) + { + printf("VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization\n"); + t_optimization = std::thread(&PoseGraph::optimize4DoF, this); + } + else + { + printf("VO input, perfrom 6 DoF pose graph optimization\n"); + t_optimization = std::thread(&PoseGraph::optimize6DoF, this); + } + +} + +void PoseGraph::loadVocabulary(std::string voc_path) +{ + voc = new BriefVocabulary(voc_path); + db.setVocabulary(*voc, false, 0); +} + +void PoseGraph::addKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop) +{ + //shift to base frame + Vector3d vio_P_cur; + Matrix3d vio_R_cur; + if (sequence_cnt != cur_kf->sequence) + { + sequence_cnt++; + sequence_loop.push_back(0); + w_t_vio = Eigen::Vector3d(0, 0, 0); + w_r_vio = Eigen::Matrix3d::Identity(); + m_drift.lock(); + t_drift = Eigen::Vector3d(0, 0, 0); + r_drift = Eigen::Matrix3d::Identity(); + m_drift.unlock(); + } + + cur_kf->getVioPose(vio_P_cur, vio_R_cur); + vio_P_cur = w_r_vio * vio_P_cur + w_t_vio; + vio_R_cur = w_r_vio * vio_R_cur; + cur_kf->updateVioPose(vio_P_cur, vio_R_cur); + cur_kf->index = global_index; + global_index++; + int loop_index = -1; + if (flag_detect_loop) + { + TicToc tmp_t; + loop_index = detectLoop(cur_kf, cur_kf->index); + } + else + { + addKeyFrameIntoVoc(cur_kf); + } + if (loop_index != -1) + { + //printf(" %d detect loop with %d \n", cur_kf->index, loop_index); + KeyFrame* old_kf = getKeyFrame(loop_index); + + if (cur_kf->findConnection(old_kf)) + { + if (earliest_loop_index > loop_index || earliest_loop_index == -1) + earliest_loop_index = loop_index; + + Vector3d w_P_old, w_P_cur, vio_P_cur; + Matrix3d w_R_old, w_R_cur, vio_R_cur; + old_kf->getVioPose(w_P_old, w_R_old); + cur_kf->getVioPose(vio_P_cur, vio_R_cur); + + Vector3d relative_t; + Quaterniond relative_q; + relative_t = cur_kf->getLoopRelativeT(); + relative_q = (cur_kf->getLoopRelativeQ()).toRotationMatrix(); + w_P_cur = w_R_old * relative_t + w_P_old; + w_R_cur = w_R_old * relative_q; + double shift_yaw; + Matrix3d shift_r; + Vector3d shift_t; + if(use_imu) + { + shift_yaw = Utility::R2ypr(w_R_cur).x() - Utility::R2ypr(vio_R_cur).x(); + shift_r = Utility::ypr2R(Vector3d(shift_yaw, 0, 0)); + } + else + shift_r = w_R_cur * vio_R_cur.transpose(); + shift_t = w_P_cur - w_R_cur * vio_R_cur.transpose() * vio_P_cur; + // shift vio pose of whole sequence to the world frame + if (old_kf->sequence != cur_kf->sequence && sequence_loop[cur_kf->sequence] == 0) + { + w_r_vio = shift_r; + w_t_vio = shift_t; + vio_P_cur = w_r_vio * vio_P_cur + w_t_vio; + vio_R_cur = w_r_vio * vio_R_cur; + cur_kf->updateVioPose(vio_P_cur, vio_R_cur); + list::iterator it = keyframelist.begin(); + for (; it != keyframelist.end(); it++) + { + if((*it)->sequence == cur_kf->sequence) + { + Vector3d vio_P_cur; + Matrix3d vio_R_cur; + (*it)->getVioPose(vio_P_cur, vio_R_cur); + vio_P_cur = w_r_vio * vio_P_cur + w_t_vio; + vio_R_cur = w_r_vio * vio_R_cur; + (*it)->updateVioPose(vio_P_cur, vio_R_cur); + } + } + sequence_loop[cur_kf->sequence] = 1; + } + m_optimize_buf.lock(); + optimize_buf.push(cur_kf->index); + m_optimize_buf.unlock(); + } + } + m_keyframelist.lock(); + Vector3d P; + Matrix3d R; + cur_kf->getVioPose(P, R); + P = r_drift * P + t_drift; + R = r_drift * R; + cur_kf->updatePose(P, R); + Quaterniond Q{R}; + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(cur_kf->time_stamp); + pose_stamped.header.frame_id = "world"; + pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; + pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; + pose_stamped.pose.position.z = P.z(); + pose_stamped.pose.orientation.x = Q.x(); + pose_stamped.pose.orientation.y = Q.y(); + pose_stamped.pose.orientation.z = Q.z(); + pose_stamped.pose.orientation.w = Q.w(); + path[sequence_cnt].poses.push_back(pose_stamped); + path[sequence_cnt].header = pose_stamped.header; + + if (SAVE_LOOP_PATH) + { + ofstream loop_path_file(VINS_RESULT_PATH, ios::app); + loop_path_file.setf(ios::fixed, ios::floatfield); + loop_path_file.precision(0); + loop_path_file << cur_kf->time_stamp * 1e9 << ","; + loop_path_file.precision(5); + loop_path_file << P.x() << "," + << P.y() << "," + << P.z() << "," + << Q.w() << "," + << Q.x() << "," + << Q.y() << "," + << Q.z() << "," + << endl; + loop_path_file.close(); + } + //draw local connection + if (SHOW_S_EDGE) + { + list::reverse_iterator rit = keyframelist.rbegin(); + for (int i = 0; i < 4; i++) + { + if (rit == keyframelist.rend()) + break; + Vector3d conncected_P; + Matrix3d connected_R; + if((*rit)->sequence == cur_kf->sequence) + { + (*rit)->getPose(conncected_P, connected_R); + posegraph_visualization->add_edge(P, conncected_P); + } + rit++; + } + } + if (SHOW_L_EDGE) + { + if (cur_kf->has_loop) + { + //printf("has loop \n"); + KeyFrame* connected_KF = getKeyFrame(cur_kf->loop_index); + Vector3d connected_P,P0; + Matrix3d connected_R,R0; + connected_KF->getPose(connected_P, connected_R); + //cur_kf->getVioPose(P0, R0); + cur_kf->getPose(P0, R0); + if(cur_kf->sequence > 0) + { + //printf("add loop into visual \n"); + posegraph_visualization->add_loopedge(P0, connected_P + Vector3d(VISUALIZATION_SHIFT_X, VISUALIZATION_SHIFT_Y, 0)); + } + + } + } + //posegraph_visualization->add_pose(P + Vector3d(VISUALIZATION_SHIFT_X, VISUALIZATION_SHIFT_Y, 0), Q); + + keyframelist.push_back(cur_kf); + publish(); + m_keyframelist.unlock(); +} + + +void PoseGraph::loadKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop) +{ + cur_kf->index = global_index; + global_index++; + int loop_index = -1; + if (flag_detect_loop) + loop_index = detectLoop(cur_kf, cur_kf->index); + else + { + addKeyFrameIntoVoc(cur_kf); + } + if (loop_index != -1) + { + printf(" %d detect loop with %d \n", cur_kf->index, loop_index); + KeyFrame* old_kf = getKeyFrame(loop_index); + if (cur_kf->findConnection(old_kf)) + { + if (earliest_loop_index > loop_index || earliest_loop_index == -1) + earliest_loop_index = loop_index; + m_optimize_buf.lock(); + optimize_buf.push(cur_kf->index); + m_optimize_buf.unlock(); + } + } + m_keyframelist.lock(); + Vector3d P; + Matrix3d R; + cur_kf->getPose(P, R); + Quaterniond Q{R}; + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time(cur_kf->time_stamp); + pose_stamped.header.frame_id = "world"; + pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; + pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; + pose_stamped.pose.position.z = P.z(); + pose_stamped.pose.orientation.x = Q.x(); + pose_stamped.pose.orientation.y = Q.y(); + pose_stamped.pose.orientation.z = Q.z(); + pose_stamped.pose.orientation.w = Q.w(); + base_path.poses.push_back(pose_stamped); + base_path.header = pose_stamped.header; + + //draw local connection + if (SHOW_S_EDGE) + { + list::reverse_iterator rit = keyframelist.rbegin(); + for (int i = 0; i < 1; i++) + { + if (rit == keyframelist.rend()) + break; + Vector3d conncected_P; + Matrix3d connected_R; + if((*rit)->sequence == cur_kf->sequence) + { + (*rit)->getPose(conncected_P, connected_R); + posegraph_visualization->add_edge(P, conncected_P); + } + rit++; + } + } + /* + if (cur_kf->has_loop) + { + KeyFrame* connected_KF = getKeyFrame(cur_kf->loop_index); + Vector3d connected_P; + Matrix3d connected_R; + connected_KF->getPose(connected_P, connected_R); + posegraph_visualization->add_loopedge(P, connected_P, SHIFT); + } + */ + + keyframelist.push_back(cur_kf); + //publish(); + m_keyframelist.unlock(); +} + +KeyFrame* PoseGraph::getKeyFrame(int index) +{ +// unique_lock lock(m_keyframelist); + list::iterator it = keyframelist.begin(); + for (; it != keyframelist.end(); it++) + { + if((*it)->index == index) + break; + } + if (it != keyframelist.end()) + return *it; + else + return NULL; +} + +int PoseGraph::detectLoop(KeyFrame* keyframe, int frame_index) +{ + // put image into image_pool; for visualization + cv::Mat compressed_image; + if (DEBUG_IMAGE) + { + int feature_num = keyframe->keypoints.size(); + cv::resize(keyframe->image, compressed_image, cv::Size(376, 240)); + putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255)); + image_pool[frame_index] = compressed_image; + } + TicToc tmp_t; + //first query; then add this frame into database! + QueryResults ret; + TicToc t_query; + db.query(keyframe->brief_descriptors, ret, 4, frame_index - 50); + //printf("query time: %f", t_query.toc()); + //cout << "Searching for Image " << frame_index << ". " << ret << endl; + + TicToc t_add; + db.add(keyframe->brief_descriptors); + //printf("add feature time: %f", t_add.toc()); + // ret[0] is the nearest neighbour's score. threshold change with neighour score + bool find_loop = false; + cv::Mat loop_result; + if (DEBUG_IMAGE) + { + loop_result = compressed_image.clone(); + if (ret.size() > 0) + putText(loop_result, "neighbour score:" + to_string(ret[0].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255)); + } + // visual loop result + if (DEBUG_IMAGE) + { + for (unsigned int i = 0; i < ret.size(); i++) + { + int tmp_index = ret[i].Id; + auto it = image_pool.find(tmp_index); + cv::Mat tmp_image = (it->second).clone(); + putText(tmp_image, "index: " + to_string(tmp_index) + "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255)); + cv::hconcat(loop_result, tmp_image, loop_result); + } + } + // a good match with its nerghbour + if (ret.size() >= 1 &&ret[0].Score > 0.05) + for (unsigned int i = 1; i < ret.size(); i++) + { + //if (ret[i].Score > ret[0].Score * 0.3) + if (ret[i].Score > 0.015) + { + find_loop = true; + int tmp_index = ret[i].Id; + if (DEBUG_IMAGE && 0) + { + auto it = image_pool.find(tmp_index); + cv::Mat tmp_image = (it->second).clone(); + putText(tmp_image, "loop score:" + to_string(ret[i].Score), cv::Point2f(10, 50), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255)); + cv::hconcat(loop_result, tmp_image, loop_result); + } + } + + } +/* + if (DEBUG_IMAGE) + { + cv::imshow("loop_result", loop_result); + cv::waitKey(20); + } +*/ + if (find_loop && frame_index > 50) + { + int min_index = -1; + for (unsigned int i = 0; i < ret.size(); i++) + { + if (min_index == -1 || (ret[i].Id < min_index && ret[i].Score > 0.015)) + min_index = ret[i].Id; + } + return min_index; + } + else + return -1; + +} + +void PoseGraph::addKeyFrameIntoVoc(KeyFrame* keyframe) +{ + // put image into image_pool; for visualization + cv::Mat compressed_image; + if (DEBUG_IMAGE) + { + int feature_num = keyframe->keypoints.size(); + cv::resize(keyframe->image, compressed_image, cv::Size(376, 240)); + putText(compressed_image, "feature_num:" + to_string(feature_num), cv::Point2f(10, 10), CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255)); + image_pool[keyframe->index] = compressed_image; + } + + db.add(keyframe->brief_descriptors); +} + +void PoseGraph::optimize4DoF() +{ + while(true) + { + int cur_index = -1; + int first_looped_index = -1; + m_optimize_buf.lock(); + while(!optimize_buf.empty()) + { + cur_index = optimize_buf.front(); + first_looped_index = earliest_loop_index; + optimize_buf.pop(); + } + m_optimize_buf.unlock(); + if (cur_index != -1) + { + printf("optimize pose graph \n"); + TicToc tmp_t; + m_keyframelist.lock(); + KeyFrame* cur_kf = getKeyFrame(cur_index); + + int max_length = cur_index + 1; + + // w^t_i w^q_i + double t_array[max_length][3]; + Quaterniond q_array[max_length]; + double euler_array[max_length][3]; + double sequence_array[max_length]; + + ceres::Problem problem; + ceres::Solver::Options options; + options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; + //options.minimizer_progress_to_stdout = true; + //options.max_solver_time_in_seconds = SOLVER_TIME * 3; + options.max_num_iterations = 5; + ceres::Solver::Summary summary; + ceres::LossFunction *loss_function; + loss_function = new ceres::HuberLoss(0.1); + //loss_function = new ceres::CauchyLoss(1.0); + ceres::LocalParameterization* angle_local_parameterization = + AngleLocalParameterization::Create(); + + list::iterator it; + + int i = 0; + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + if ((*it)->index < first_looped_index) + continue; + (*it)->local_index = i; + Quaterniond tmp_q; + Matrix3d tmp_r; + Vector3d tmp_t; + (*it)->getVioPose(tmp_t, tmp_r); + tmp_q = tmp_r; + t_array[i][0] = tmp_t(0); + t_array[i][1] = tmp_t(1); + t_array[i][2] = tmp_t(2); + q_array[i] = tmp_q; + + Vector3d euler_angle = Utility::R2ypr(tmp_q.toRotationMatrix()); + euler_array[i][0] = euler_angle.x(); + euler_array[i][1] = euler_angle.y(); + euler_array[i][2] = euler_angle.z(); + + sequence_array[i] = (*it)->sequence; + + problem.AddParameterBlock(euler_array[i], 1, angle_local_parameterization); + problem.AddParameterBlock(t_array[i], 3); + + if ((*it)->index == first_looped_index || (*it)->sequence == 0) + { + problem.SetParameterBlockConstant(euler_array[i]); + problem.SetParameterBlockConstant(t_array[i]); + } + + //add edge + for (int j = 1; j < 5; j++) + { + if (i - j >= 0 && sequence_array[i] == sequence_array[i-j]) + { + Vector3d euler_conncected = Utility::R2ypr(q_array[i-j].toRotationMatrix()); + Vector3d relative_t(t_array[i][0] - t_array[i-j][0], t_array[i][1] - t_array[i-j][1], t_array[i][2] - t_array[i-j][2]); + relative_t = q_array[i-j].inverse() * relative_t; + double relative_yaw = euler_array[i][0] - euler_array[i-j][0]; + ceres::CostFunction* cost_function = FourDOFError::Create( relative_t.x(), relative_t.y(), relative_t.z(), + relative_yaw, euler_conncected.y(), euler_conncected.z()); + problem.AddResidualBlock(cost_function, NULL, euler_array[i-j], + t_array[i-j], + euler_array[i], + t_array[i]); + } + } + + //add loop edge + + if((*it)->has_loop) + { + assert((*it)->loop_index >= first_looped_index); + int connected_index = getKeyFrame((*it)->loop_index)->local_index; + Vector3d euler_conncected = Utility::R2ypr(q_array[connected_index].toRotationMatrix()); + Vector3d relative_t; + relative_t = (*it)->getLoopRelativeT(); + double relative_yaw = (*it)->getLoopRelativeYaw(); + ceres::CostFunction* cost_function = FourDOFWeightError::Create( relative_t.x(), relative_t.y(), relative_t.z(), + relative_yaw, euler_conncected.y(), euler_conncected.z()); + problem.AddResidualBlock(cost_function, loss_function, euler_array[connected_index], + t_array[connected_index], + euler_array[i], + t_array[i]); + + } + + if ((*it)->index == cur_index) + break; + i++; + } + m_keyframelist.unlock(); + + ceres::Solve(options, &problem, &summary); + //std::cout << summary.BriefReport() << "\n"; + + //printf("pose optimization time: %f \n", tmp_t.toc()); + /* + for (int j = 0 ; j < i; j++) + { + printf("optimize i: %d p: %f, %f, %f\n", j, t_array[j][0], t_array[j][1], t_array[j][2] ); + } + */ + m_keyframelist.lock(); + i = 0; + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + if ((*it)->index < first_looped_index) + continue; + Quaterniond tmp_q; + tmp_q = Utility::ypr2R(Vector3d(euler_array[i][0], euler_array[i][1], euler_array[i][2])); + Vector3d tmp_t = Vector3d(t_array[i][0], t_array[i][1], t_array[i][2]); + Matrix3d tmp_r = tmp_q.toRotationMatrix(); + (*it)-> updatePose(tmp_t, tmp_r); + + if ((*it)->index == cur_index) + break; + i++; + } + + Vector3d cur_t, vio_t; + Matrix3d cur_r, vio_r; + cur_kf->getPose(cur_t, cur_r); + cur_kf->getVioPose(vio_t, vio_r); + m_drift.lock(); + yaw_drift = Utility::R2ypr(cur_r).x() - Utility::R2ypr(vio_r).x(); + r_drift = Utility::ypr2R(Vector3d(yaw_drift, 0, 0)); + t_drift = cur_t - r_drift * vio_t; + m_drift.unlock(); + //cout << "t_drift " << t_drift.transpose() << endl; + //cout << "r_drift " << Utility::R2ypr(r_drift).transpose() << endl; + //cout << "yaw drift " << yaw_drift << endl; + + it++; + for (; it != keyframelist.end(); it++) + { + Vector3d P; + Matrix3d R; + (*it)->getVioPose(P, R); + P = r_drift * P + t_drift; + R = r_drift * R; + (*it)->updatePose(P, R); + } + m_keyframelist.unlock(); + updatePath(); + } + + std::chrono::milliseconds dura(2000); + std::this_thread::sleep_for(dura); + } + return; +} + + +void PoseGraph::optimize6DoF() +{ + while(true) + { + int cur_index = -1; + int first_looped_index = -1; + m_optimize_buf.lock(); + while(!optimize_buf.empty()) + { + cur_index = optimize_buf.front(); + first_looped_index = earliest_loop_index; + optimize_buf.pop(); + } + m_optimize_buf.unlock(); + if (cur_index != -1) + { + printf("optimize pose graph \n"); + TicToc tmp_t; + m_keyframelist.lock(); + KeyFrame* cur_kf = getKeyFrame(cur_index); + + int max_length = cur_index + 1; + + // w^t_i w^q_i + double t_array[max_length][3]; + double q_array[max_length][4]; + double sequence_array[max_length]; + + ceres::Problem problem; + ceres::Solver::Options options; + options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; + //ptions.minimizer_progress_to_stdout = true; + //options.max_solver_time_in_seconds = SOLVER_TIME * 3; + options.max_num_iterations = 5; + ceres::Solver::Summary summary; + ceres::LossFunction *loss_function; + loss_function = new ceres::HuberLoss(0.1); + //loss_function = new ceres::CauchyLoss(1.0); + ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization(); + + list::iterator it; + + int i = 0; + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + if ((*it)->index < first_looped_index) + continue; + (*it)->local_index = i; + Quaterniond tmp_q; + Matrix3d tmp_r; + Vector3d tmp_t; + (*it)->getVioPose(tmp_t, tmp_r); + tmp_q = tmp_r; + t_array[i][0] = tmp_t(0); + t_array[i][1] = tmp_t(1); + t_array[i][2] = tmp_t(2); + q_array[i][0] = tmp_q.w(); + q_array[i][1] = tmp_q.x(); + q_array[i][2] = tmp_q.y(); + q_array[i][3] = tmp_q.z(); + + sequence_array[i] = (*it)->sequence; + + problem.AddParameterBlock(q_array[i], 4, local_parameterization); + problem.AddParameterBlock(t_array[i], 3); + + if ((*it)->index == first_looped_index || (*it)->sequence == 0) + { + problem.SetParameterBlockConstant(q_array[i]); + problem.SetParameterBlockConstant(t_array[i]); + } + + //add edge + for (int j = 1; j < 5; j++) + { + if (i - j >= 0 && sequence_array[i] == sequence_array[i-j]) + { + Vector3d relative_t(t_array[i][0] - t_array[i-j][0], t_array[i][1] - t_array[i-j][1], t_array[i][2] - t_array[i-j][2]); + Quaterniond q_i_j = Quaterniond(q_array[i-j][0], q_array[i-j][1], q_array[i-j][2], q_array[i-j][3]); + Quaterniond q_i = Quaterniond(q_array[i][0], q_array[i][1], q_array[i][2], q_array[i][3]); + relative_t = q_i_j.inverse() * relative_t; + Quaterniond relative_q = q_i_j.inverse() * q_i; + ceres::CostFunction* vo_function = RelativeRTError::Create(relative_t.x(), relative_t.y(), relative_t.z(), + relative_q.w(), relative_q.x(), relative_q.y(), relative_q.z(), + 0.1, 0.01); + problem.AddResidualBlock(vo_function, NULL, q_array[i-j], t_array[i-j], q_array[i], t_array[i]); + } + } + + //add loop edge + + if((*it)->has_loop) + { + assert((*it)->loop_index >= first_looped_index); + int connected_index = getKeyFrame((*it)->loop_index)->local_index; + Vector3d relative_t; + relative_t = (*it)->getLoopRelativeT(); + Quaterniond relative_q; + relative_q = (*it)->getLoopRelativeQ(); + ceres::CostFunction* loop_function = RelativeRTError::Create(relative_t.x(), relative_t.y(), relative_t.z(), + relative_q.w(), relative_q.x(), relative_q.y(), relative_q.z(), + 0.1, 0.01); + problem.AddResidualBlock(loop_function, loss_function, q_array[connected_index], t_array[connected_index], q_array[i], t_array[i]); + } + + if ((*it)->index == cur_index) + break; + i++; + } + m_keyframelist.unlock(); + + ceres::Solve(options, &problem, &summary); + //std::cout << summary.BriefReport() << "\n"; + + //printf("pose optimization time: %f \n", tmp_t.toc()); + /* + for (int j = 0 ; j < i; j++) + { + printf("optimize i: %d p: %f, %f, %f\n", j, t_array[j][0], t_array[j][1], t_array[j][2] ); + } + */ + m_keyframelist.lock(); + i = 0; + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + if ((*it)->index < first_looped_index) + continue; + Quaterniond tmp_q(q_array[i][0], q_array[i][1], q_array[i][2], q_array[i][3]); + Vector3d tmp_t = Vector3d(t_array[i][0], t_array[i][1], t_array[i][2]); + Matrix3d tmp_r = tmp_q.toRotationMatrix(); + (*it)-> updatePose(tmp_t, tmp_r); + + if ((*it)->index == cur_index) + break; + i++; + } + + Vector3d cur_t, vio_t; + Matrix3d cur_r, vio_r; + cur_kf->getPose(cur_t, cur_r); + cur_kf->getVioPose(vio_t, vio_r); + m_drift.lock(); + r_drift = cur_r * vio_r.transpose(); + t_drift = cur_t - r_drift * vio_t; + m_drift.unlock(); + //cout << "t_drift " << t_drift.transpose() << endl; + //cout << "r_drift " << Utility::R2ypr(r_drift).transpose() << endl; + + it++; + for (; it != keyframelist.end(); it++) + { + Vector3d P; + Matrix3d R; + (*it)->getVioPose(P, R); + P = r_drift * P + t_drift; + R = r_drift * R; + (*it)->updatePose(P, R); + } + m_keyframelist.unlock(); + updatePath(); + } + + std::chrono::milliseconds dura(2000); + std::this_thread::sleep_for(dura); + } + return; +} + +void PoseGraph::updatePath() +{ + m_keyframelist.lock(); + list::iterator it; + for (int i = 1; i <= sequence_cnt; i++) + { + path[i].poses.clear(); + } + base_path.poses.clear(); + posegraph_visualization->reset(); + + if (SAVE_LOOP_PATH) + { + ofstream loop_path_file_tmp(VINS_RESULT_PATH, ios::out); + loop_path_file_tmp.close(); + } + + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + Vector3d P; + Matrix3d R; + (*it)->getPose(P, R); + Quaterniond Q; + Q = R; +// printf("path p: %f, %f, %f\n", P.x(), P.z(), P.y() ); + + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header.stamp = ros::Time((*it)->time_stamp); + pose_stamped.header.frame_id = "world"; + pose_stamped.pose.position.x = P.x() + VISUALIZATION_SHIFT_X; + pose_stamped.pose.position.y = P.y() + VISUALIZATION_SHIFT_Y; + pose_stamped.pose.position.z = P.z(); + pose_stamped.pose.orientation.x = Q.x(); + pose_stamped.pose.orientation.y = Q.y(); + pose_stamped.pose.orientation.z = Q.z(); + pose_stamped.pose.orientation.w = Q.w(); + if((*it)->sequence == 0) + { + base_path.poses.push_back(pose_stamped); + base_path.header = pose_stamped.header; + } + else + { + path[(*it)->sequence].poses.push_back(pose_stamped); + path[(*it)->sequence].header = pose_stamped.header; + } + + if (SAVE_LOOP_PATH) + { + ofstream loop_path_file(VINS_RESULT_PATH, ios::app); + loop_path_file.setf(ios::fixed, ios::floatfield); + loop_path_file.precision(0); + loop_path_file << (*it)->time_stamp * 1e9 << ","; + loop_path_file.precision(5); + loop_path_file << P.x() << "," + << P.y() << "," + << P.z() << "," + << Q.w() << "," + << Q.x() << "," + << Q.y() << "," + << Q.z() << "," + << endl; + loop_path_file.close(); + } + //draw local connection + if (SHOW_S_EDGE) + { + list::reverse_iterator rit = keyframelist.rbegin(); + list::reverse_iterator lrit; + for (; rit != keyframelist.rend(); rit++) + { + if ((*rit)->index == (*it)->index) + { + lrit = rit; + lrit++; + for (int i = 0; i < 4; i++) + { + if (lrit == keyframelist.rend()) + break; + if((*lrit)->sequence == (*it)->sequence) + { + Vector3d conncected_P; + Matrix3d connected_R; + (*lrit)->getPose(conncected_P, connected_R); + posegraph_visualization->add_edge(P, conncected_P); + } + lrit++; + } + break; + } + } + } + if (SHOW_L_EDGE) + { + if ((*it)->has_loop && (*it)->sequence == sequence_cnt) + { + + KeyFrame* connected_KF = getKeyFrame((*it)->loop_index); + Vector3d connected_P; + Matrix3d connected_R; + connected_KF->getPose(connected_P, connected_R); + //(*it)->getVioPose(P, R); + (*it)->getPose(P, R); + if((*it)->sequence > 0) + { + posegraph_visualization->add_loopedge(P, connected_P + Vector3d(VISUALIZATION_SHIFT_X, VISUALIZATION_SHIFT_Y, 0)); + } + } + } + + } + publish(); + m_keyframelist.unlock(); +} + + +void PoseGraph::savePoseGraph() +{ + m_keyframelist.lock(); + TicToc tmp_t; + FILE *pFile; + printf("pose graph path: %s\n",POSE_GRAPH_SAVE_PATH.c_str()); + printf("pose graph saving... \n"); + string file_path = POSE_GRAPH_SAVE_PATH + "pose_graph.txt"; + pFile = fopen (file_path.c_str(),"w"); + //fprintf(pFile, "index time_stamp Tx Ty Tz Qw Qx Qy Qz loop_index loop_info\n"); + list::iterator it; + for (it = keyframelist.begin(); it != keyframelist.end(); it++) + { + std::string image_path, descriptor_path, brief_path, keypoints_path; + if (DEBUG_IMAGE) + { + image_path = POSE_GRAPH_SAVE_PATH + to_string((*it)->index) + "_image.png"; + imwrite(image_path.c_str(), (*it)->image); + } + Quaterniond VIO_tmp_Q{(*it)->vio_R_w_i}; + Quaterniond PG_tmp_Q{(*it)->R_w_i}; + Vector3d VIO_tmp_T = (*it)->vio_T_w_i; + Vector3d PG_tmp_T = (*it)->T_w_i; + + fprintf (pFile, " %d %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %d %f %f %f %f %f %f %f %f %d\n",(*it)->index, (*it)->time_stamp, + VIO_tmp_T.x(), VIO_tmp_T.y(), VIO_tmp_T.z(), + PG_tmp_T.x(), PG_tmp_T.y(), PG_tmp_T.z(), + VIO_tmp_Q.w(), VIO_tmp_Q.x(), VIO_tmp_Q.y(), VIO_tmp_Q.z(), + PG_tmp_Q.w(), PG_tmp_Q.x(), PG_tmp_Q.y(), PG_tmp_Q.z(), + (*it)->loop_index, + (*it)->loop_info(0), (*it)->loop_info(1), (*it)->loop_info(2), (*it)->loop_info(3), + (*it)->loop_info(4), (*it)->loop_info(5), (*it)->loop_info(6), (*it)->loop_info(7), + (int)(*it)->keypoints.size()); + + // write keypoints, brief_descriptors vector keypoints vector brief_descriptors; + assert((*it)->keypoints.size() == (*it)->brief_descriptors.size()); + brief_path = POSE_GRAPH_SAVE_PATH + to_string((*it)->index) + "_briefdes.dat"; + std::ofstream brief_file(brief_path, std::ios::binary); + keypoints_path = POSE_GRAPH_SAVE_PATH + to_string((*it)->index) + "_keypoints.txt"; + FILE *keypoints_file; + keypoints_file = fopen(keypoints_path.c_str(), "w"); + for (int i = 0; i < (int)(*it)->keypoints.size(); i++) + { + brief_file << (*it)->brief_descriptors[i] << endl; + fprintf(keypoints_file, "%f %f %f %f\n", (*it)->keypoints[i].pt.x, (*it)->keypoints[i].pt.y, + (*it)->keypoints_norm[i].pt.x, (*it)->keypoints_norm[i].pt.y); + } + brief_file.close(); + fclose(keypoints_file); + } + fclose(pFile); + + printf("save pose graph time: %f s\n", tmp_t.toc() / 1000); + m_keyframelist.unlock(); +} +void PoseGraph::loadPoseGraph() +{ + TicToc tmp_t; + FILE * pFile; + string file_path = POSE_GRAPH_SAVE_PATH + "pose_graph.txt"; + printf("lode pose graph from: %s \n", file_path.c_str()); + printf("pose graph loading...\n"); + pFile = fopen (file_path.c_str(),"r"); + if (pFile == NULL) + { + printf("lode previous pose graph error: wrong previous pose graph path or no previous pose graph \n the system will start with new pose graph \n"); + return; + } + int index; + double time_stamp; + double VIO_Tx, VIO_Ty, VIO_Tz; + double PG_Tx, PG_Ty, PG_Tz; + double VIO_Qw, VIO_Qx, VIO_Qy, VIO_Qz; + double PG_Qw, PG_Qx, PG_Qy, PG_Qz; + double loop_info_0, loop_info_1, loop_info_2, loop_info_3; + double loop_info_4, loop_info_5, loop_info_6, loop_info_7; + int loop_index; + int keypoints_num; + Eigen::Matrix loop_info; + int cnt = 0; + while (fscanf(pFile,"%d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %d %lf %lf %lf %lf %lf %lf %lf %lf %d", &index, &time_stamp, + &VIO_Tx, &VIO_Ty, &VIO_Tz, + &PG_Tx, &PG_Ty, &PG_Tz, + &VIO_Qw, &VIO_Qx, &VIO_Qy, &VIO_Qz, + &PG_Qw, &PG_Qx, &PG_Qy, &PG_Qz, + &loop_index, + &loop_info_0, &loop_info_1, &loop_info_2, &loop_info_3, + &loop_info_4, &loop_info_5, &loop_info_6, &loop_info_7, + &keypoints_num) != EOF) + { + /* + printf("I read: %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %d %lf %lf %lf %lf %lf %lf %lf %lf %d\n", index, time_stamp, + VIO_Tx, VIO_Ty, VIO_Tz, + PG_Tx, PG_Ty, PG_Tz, + VIO_Qw, VIO_Qx, VIO_Qy, VIO_Qz, + PG_Qw, PG_Qx, PG_Qy, PG_Qz, + loop_index, + loop_info_0, loop_info_1, loop_info_2, loop_info_3, + loop_info_4, loop_info_5, loop_info_6, loop_info_7, + keypoints_num); + */ + cv::Mat image; + std::string image_path, descriptor_path; + if (DEBUG_IMAGE) + { + image_path = POSE_GRAPH_SAVE_PATH + to_string(index) + "_image.png"; + image = cv::imread(image_path.c_str(), 0); + } + + Vector3d VIO_T(VIO_Tx, VIO_Ty, VIO_Tz); + Vector3d PG_T(PG_Tx, PG_Ty, PG_Tz); + Quaterniond VIO_Q; + VIO_Q.w() = VIO_Qw; + VIO_Q.x() = VIO_Qx; + VIO_Q.y() = VIO_Qy; + VIO_Q.z() = VIO_Qz; + Quaterniond PG_Q; + PG_Q.w() = PG_Qw; + PG_Q.x() = PG_Qx; + PG_Q.y() = PG_Qy; + PG_Q.z() = PG_Qz; + Matrix3d VIO_R, PG_R; + VIO_R = VIO_Q.toRotationMatrix(); + PG_R = PG_Q.toRotationMatrix(); + Eigen::Matrix loop_info; + loop_info << loop_info_0, loop_info_1, loop_info_2, loop_info_3, loop_info_4, loop_info_5, loop_info_6, loop_info_7; + + if (loop_index != -1) + if (earliest_loop_index > loop_index || earliest_loop_index == -1) + { + earliest_loop_index = loop_index; + } + + // load keypoints, brief_descriptors + string brief_path = POSE_GRAPH_SAVE_PATH + to_string(index) + "_briefdes.dat"; + std::ifstream brief_file(brief_path, std::ios::binary); + string keypoints_path = POSE_GRAPH_SAVE_PATH + to_string(index) + "_keypoints.txt"; + FILE *keypoints_file; + keypoints_file = fopen(keypoints_path.c_str(), "r"); + vector keypoints; + vector keypoints_norm; + vector brief_descriptors; + for (int i = 0; i < keypoints_num; i++) + { + BRIEF::bitset tmp_des; + brief_file >> tmp_des; + brief_descriptors.push_back(tmp_des); + cv::KeyPoint tmp_keypoint; + cv::KeyPoint tmp_keypoint_norm; + double p_x, p_y, p_x_norm, p_y_norm; + if(!fscanf(keypoints_file,"%lf %lf %lf %lf", &p_x, &p_y, &p_x_norm, &p_y_norm)) + printf(" fail to load pose graph \n"); + tmp_keypoint.pt.x = p_x; + tmp_keypoint.pt.y = p_y; + tmp_keypoint_norm.pt.x = p_x_norm; + tmp_keypoint_norm.pt.y = p_y_norm; + keypoints.push_back(tmp_keypoint); + keypoints_norm.push_back(tmp_keypoint_norm); + } + brief_file.close(); + fclose(keypoints_file); + + KeyFrame* keyframe = new KeyFrame(time_stamp, index, VIO_T, VIO_R, PG_T, PG_R, image, loop_index, loop_info, keypoints, keypoints_norm, brief_descriptors); + loadKeyFrame(keyframe, 0); + if (cnt % 20 == 0) + { + publish(); + } + cnt++; + } + fclose (pFile); + printf("load pose graph time: %f s\n", tmp_t.toc()/1000); + base_sequence = 0; +} + +void PoseGraph::publish() +{ + for (int i = 1; i <= sequence_cnt; i++) + { + //if (sequence_loop[i] == true || i == base_sequence) + if (1 || i == base_sequence) + { + pub_pg_path.publish(path[i]); + pub_path[i].publish(path[i]); + posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header); + } + } + pub_base_path.publish(base_path); + //posegraph_visualization->publish_by(pub_pose_graph, path[sequence_cnt].header); +} diff --git a/loop_fusion/src/pose_graph.h b/loop_fusion/src/pose_graph.h new file mode 100644 index 0000000..ba73a11 --- /dev/null +++ b/loop_fusion/src/pose_graph.h @@ -0,0 +1,334 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "keyframe.h" +#include "utility/tic_toc.h" +#include "utility/utility.h" +#include "utility/CameraPoseVisualization.h" +#include "utility/tic_toc.h" +#include "ThirdParty/DBoW/DBoW2.h" +#include "ThirdParty/DVision/DVision.h" +#include "ThirdParty/DBoW/TemplatedDatabase.h" +#include "ThirdParty/DBoW/TemplatedVocabulary.h" + + +#define SHOW_S_EDGE false +#define SHOW_L_EDGE true +#define SAVE_LOOP_PATH true + +using namespace DVision; +using namespace DBoW2; + +class PoseGraph +{ +public: + PoseGraph(); + ~PoseGraph(); + void registerPub(ros::NodeHandle &n); + void addKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop); + void loadKeyFrame(KeyFrame* cur_kf, bool flag_detect_loop); + void loadVocabulary(std::string voc_path); + void setIMUFlag(bool _use_imu); + KeyFrame* getKeyFrame(int index); + nav_msgs::Path path[10]; + nav_msgs::Path base_path; + CameraPoseVisualization* posegraph_visualization; + void savePoseGraph(); + void loadPoseGraph(); + void publish(); + Vector3d t_drift; + double yaw_drift; + Matrix3d r_drift; + // world frame( base sequence or first sequence)<----> cur sequence frame + Vector3d w_t_vio; + Matrix3d w_r_vio; + + +private: + int detectLoop(KeyFrame* keyframe, int frame_index); + void addKeyFrameIntoVoc(KeyFrame* keyframe); + void optimize4DoF(); + void optimize6DoF(); + void updatePath(); + list keyframelist; + std::mutex m_keyframelist; + std::mutex m_optimize_buf; + std::mutex m_path; + std::mutex m_drift; + std::thread t_optimization; + std::queue optimize_buf; + + int global_index; + int sequence_cnt; + vector sequence_loop; + map image_pool; + int earliest_loop_index; + int base_sequence; + bool use_imu; + + BriefDatabase db; + BriefVocabulary* voc; + + ros::Publisher pub_pg_path; + ros::Publisher pub_base_path; + ros::Publisher pub_pose_graph; + ros::Publisher pub_path[10]; +}; + +template inline +void QuaternionInverse(const T q[4], T q_inverse[4]) +{ + q_inverse[0] = q[0]; + q_inverse[1] = -q[1]; + q_inverse[2] = -q[2]; + q_inverse[3] = -q[3]; +}; + +template +T NormalizeAngle(const T& angle_degrees) { + if (angle_degrees > T(180.0)) + return angle_degrees - T(360.0); + else if (angle_degrees < T(-180.0)) + return angle_degrees + T(360.0); + else + return angle_degrees; +}; + +class AngleLocalParameterization { + public: + + template + bool operator()(const T* theta_radians, const T* delta_theta_radians, + T* theta_radians_plus_delta) const { + *theta_radians_plus_delta = + NormalizeAngle(*theta_radians + *delta_theta_radians); + + return true; + } + + static ceres::LocalParameterization* Create() { + return (new ceres::AutoDiffLocalParameterization); + } +}; + +template +void YawPitchRollToRotationMatrix(const T yaw, const T pitch, const T roll, T R[9]) +{ + + T y = yaw / T(180.0) * T(M_PI); + T p = pitch / T(180.0) * T(M_PI); + T r = roll / T(180.0) * T(M_PI); + + + R[0] = cos(y) * cos(p); + R[1] = -sin(y) * cos(r) + cos(y) * sin(p) * sin(r); + R[2] = sin(y) * sin(r) + cos(y) * sin(p) * cos(r); + R[3] = sin(y) * cos(p); + R[4] = cos(y) * cos(r) + sin(y) * sin(p) * sin(r); + R[5] = -cos(y) * sin(r) + sin(y) * sin(p) * cos(r); + R[6] = -sin(p); + R[7] = cos(p) * sin(r); + R[8] = cos(p) * cos(r); +}; + +template +void RotationMatrixTranspose(const T R[9], T inv_R[9]) +{ + inv_R[0] = R[0]; + inv_R[1] = R[3]; + inv_R[2] = R[6]; + inv_R[3] = R[1]; + inv_R[4] = R[4]; + inv_R[5] = R[7]; + inv_R[6] = R[2]; + inv_R[7] = R[5]; + inv_R[8] = R[8]; +}; + +template +void RotationMatrixRotatePoint(const T R[9], const T t[3], T r_t[3]) +{ + r_t[0] = R[0] * t[0] + R[1] * t[1] + R[2] * t[2]; + r_t[1] = R[3] * t[0] + R[4] * t[1] + R[5] * t[2]; + r_t[2] = R[6] * t[0] + R[7] * t[1] + R[8] * t[2]; +}; + +struct FourDOFError +{ + FourDOFError(double t_x, double t_y, double t_z, double relative_yaw, double pitch_i, double roll_i) + :t_x(t_x), t_y(t_y), t_z(t_z), relative_yaw(relative_yaw), pitch_i(pitch_i), roll_i(roll_i){} + + template + bool operator()(const T* const yaw_i, const T* ti, const T* yaw_j, const T* tj, T* residuals) const + { + T t_w_ij[3]; + t_w_ij[0] = tj[0] - ti[0]; + t_w_ij[1] = tj[1] - ti[1]; + t_w_ij[2] = tj[2] - ti[2]; + + // euler to rotation + T w_R_i[9]; + YawPitchRollToRotationMatrix(yaw_i[0], T(pitch_i), T(roll_i), w_R_i); + // rotation transpose + T i_R_w[9]; + RotationMatrixTranspose(w_R_i, i_R_w); + // rotation matrix rotate point + T t_i_ij[3]; + RotationMatrixRotatePoint(i_R_w, t_w_ij, t_i_ij); + + residuals[0] = (t_i_ij[0] - T(t_x)); + residuals[1] = (t_i_ij[1] - T(t_y)); + residuals[2] = (t_i_ij[2] - T(t_z)); + residuals[3] = NormalizeAngle(yaw_j[0] - yaw_i[0] - T(relative_yaw)); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, + const double relative_yaw, const double pitch_i, const double roll_i) + { + return (new ceres::AutoDiffCostFunction< + FourDOFError, 4, 1, 3, 1, 3>( + new FourDOFError(t_x, t_y, t_z, relative_yaw, pitch_i, roll_i))); + } + + double t_x, t_y, t_z; + double relative_yaw, pitch_i, roll_i; + +}; + +struct FourDOFWeightError +{ + FourDOFWeightError(double t_x, double t_y, double t_z, double relative_yaw, double pitch_i, double roll_i) + :t_x(t_x), t_y(t_y), t_z(t_z), relative_yaw(relative_yaw), pitch_i(pitch_i), roll_i(roll_i){ + weight = 1; + } + + template + bool operator()(const T* const yaw_i, const T* ti, const T* yaw_j, const T* tj, T* residuals) const + { + T t_w_ij[3]; + t_w_ij[0] = tj[0] - ti[0]; + t_w_ij[1] = tj[1] - ti[1]; + t_w_ij[2] = tj[2] - ti[2]; + + // euler to rotation + T w_R_i[9]; + YawPitchRollToRotationMatrix(yaw_i[0], T(pitch_i), T(roll_i), w_R_i); + // rotation transpose + T i_R_w[9]; + RotationMatrixTranspose(w_R_i, i_R_w); + // rotation matrix rotate point + T t_i_ij[3]; + RotationMatrixRotatePoint(i_R_w, t_w_ij, t_i_ij); + + residuals[0] = (t_i_ij[0] - T(t_x)) * T(weight); + residuals[1] = (t_i_ij[1] - T(t_y)) * T(weight); + residuals[2] = (t_i_ij[2] - T(t_z)) * T(weight); + residuals[3] = NormalizeAngle((yaw_j[0] - yaw_i[0] - T(relative_yaw))) * T(weight) / T(10.0); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, + const double relative_yaw, const double pitch_i, const double roll_i) + { + return (new ceres::AutoDiffCostFunction< + FourDOFWeightError, 4, 1, 3, 1, 3>( + new FourDOFWeightError(t_x, t_y, t_z, relative_yaw, pitch_i, roll_i))); + } + + double t_x, t_y, t_z; + double relative_yaw, pitch_i, roll_i; + double weight; + +}; + +struct RelativeRTError +{ + RelativeRTError(double t_x, double t_y, double t_z, + double q_w, double q_x, double q_y, double q_z, + double t_var, double q_var) + :t_x(t_x), t_y(t_y), t_z(t_z), + q_w(q_w), q_x(q_x), q_y(q_y), q_z(q_z), + t_var(t_var), q_var(q_var){} + + template + bool operator()(const T* const w_q_i, const T* ti, const T* w_q_j, const T* tj, T* residuals) const + { + T t_w_ij[3]; + t_w_ij[0] = tj[0] - ti[0]; + t_w_ij[1] = tj[1] - ti[1]; + t_w_ij[2] = tj[2] - ti[2]; + + T i_q_w[4]; + QuaternionInverse(w_q_i, i_q_w); + + T t_i_ij[3]; + ceres::QuaternionRotatePoint(i_q_w, t_w_ij, t_i_ij); + + residuals[0] = (t_i_ij[0] - T(t_x)) / T(t_var); + residuals[1] = (t_i_ij[1] - T(t_y)) / T(t_var); + residuals[2] = (t_i_ij[2] - T(t_z)) / T(t_var); + + T relative_q[4]; + relative_q[0] = T(q_w); + relative_q[1] = T(q_x); + relative_q[2] = T(q_y); + relative_q[3] = T(q_z); + + T q_i_j[4]; + ceres::QuaternionProduct(i_q_w, w_q_j, q_i_j); + + T relative_q_inv[4]; + QuaternionInverse(relative_q, relative_q_inv); + + T error_q[4]; + ceres::QuaternionProduct(relative_q_inv, q_i_j, error_q); + + residuals[3] = T(2) * error_q[1] / T(q_var); + residuals[4] = T(2) * error_q[2] / T(q_var); + residuals[5] = T(2) * error_q[3] / T(q_var); + + return true; + } + + static ceres::CostFunction* Create(const double t_x, const double t_y, const double t_z, + const double q_w, const double q_x, const double q_y, const double q_z, + const double t_var, const double q_var) + { + return (new ceres::AutoDiffCostFunction< + RelativeRTError, 6, 4, 3, 4, 3>( + new RelativeRTError(t_x, t_y, t_z, q_w, q_x, q_y, q_z, t_var, q_var))); + } + + double t_x, t_y, t_z, t_norm; + double q_w, q_x, q_y, q_z; + double t_var, q_var; + +}; \ No newline at end of file diff --git a/loop_fusion/src/pose_graph_node.cpp b/loop_fusion/src/pose_graph_node.cpp new file mode 100644 index 0000000..bc583e2 --- /dev/null +++ b/loop_fusion/src/pose_graph_node.cpp @@ -0,0 +1,503 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "keyframe.h" +#include "utility/tic_toc.h" +#include "pose_graph.h" +#include "utility/CameraPoseVisualization.h" +#include "parameters.h" +#define SKIP_FIRST_CNT 10 +using namespace std; + +queue image_buf; +queue point_buf; +queue pose_buf; +queue odometry_buf; +std::mutex m_buf; +std::mutex m_process; +int frame_index = 0; +int sequence = 1; +PoseGraph posegraph; +int skip_first_cnt = 0; +int SKIP_CNT; +int skip_cnt = 0; +bool load_flag = 0; +bool start_flag = 0; +double SKIP_DIS = 0; + +int VISUALIZATION_SHIFT_X; +int VISUALIZATION_SHIFT_Y; +int ROW; +int COL; +int DEBUG_IMAGE; + +camodocal::CameraPtr m_camera; +Eigen::Vector3d tic; +Eigen::Matrix3d qic; +ros::Publisher pub_match_img; +ros::Publisher pub_camera_pose_visual; +ros::Publisher pub_odometry_rect; + +std::string BRIEF_PATTERN_FILE; +std::string POSE_GRAPH_SAVE_PATH; +std::string VINS_RESULT_PATH; +CameraPoseVisualization cameraposevisual(1, 0, 0, 1); +Eigen::Vector3d last_t(-100, -100, -100); +double last_image_time = -1; + +ros::Publisher pub_point_cloud, pub_margin_cloud; + +void new_sequence() +{ + printf("new sequence\n"); + sequence++; + printf("sequence cnt %d \n", sequence); + if (sequence > 5) + { + ROS_WARN("only support 5 sequences since it's boring to copy code for more sequences."); + ROS_BREAK(); + } + posegraph.posegraph_visualization->reset(); + posegraph.publish(); + m_buf.lock(); + while(!image_buf.empty()) + image_buf.pop(); + while(!point_buf.empty()) + point_buf.pop(); + while(!pose_buf.empty()) + pose_buf.pop(); + while(!odometry_buf.empty()) + odometry_buf.pop(); + m_buf.unlock(); +} + +void image_callback(const sensor_msgs::ImageConstPtr &image_msg) +{ + //ROS_INFO("image_callback!"); + m_buf.lock(); + image_buf.push(image_msg); + m_buf.unlock(); + //printf(" image time %f \n", image_msg->header.stamp.toSec()); + + // detect unstable camera stream + if (last_image_time == -1) + last_image_time = image_msg->header.stamp.toSec(); + else if (image_msg->header.stamp.toSec() - last_image_time > 1.0 || image_msg->header.stamp.toSec() < last_image_time) + { + ROS_WARN("image discontinue! detect a new sequence!"); + new_sequence(); + } + last_image_time = image_msg->header.stamp.toSec(); +} + +void point_callback(const sensor_msgs::PointCloudConstPtr &point_msg) +{ + //ROS_INFO("point_callback!"); + m_buf.lock(); + point_buf.push(point_msg); + m_buf.unlock(); + /* + for (unsigned int i = 0; i < point_msg->points.size(); i++) + { + printf("%d, 3D point: %f, %f, %f 2D point %f, %f \n",i , point_msg->points[i].x, + point_msg->points[i].y, + point_msg->points[i].z, + point_msg->channels[i].values[0], + point_msg->channels[i].values[1]); + } + */ + // for visualization + sensor_msgs::PointCloud point_cloud; + point_cloud.header = point_msg->header; + for (unsigned int i = 0; i < point_msg->points.size(); i++) + { + cv::Point3f p_3d; + p_3d.x = point_msg->points[i].x; + p_3d.y = point_msg->points[i].y; + p_3d.z = point_msg->points[i].z; + Eigen::Vector3d tmp = posegraph.r_drift * Eigen::Vector3d(p_3d.x, p_3d.y, p_3d.z) + posegraph.t_drift; + geometry_msgs::Point32 p; + p.x = tmp(0); + p.y = tmp(1); + p.z = tmp(2); + point_cloud.points.push_back(p); + } + pub_point_cloud.publish(point_cloud); +} + +// only for visualization +void margin_point_callback(const sensor_msgs::PointCloudConstPtr &point_msg) +{ + sensor_msgs::PointCloud point_cloud; + point_cloud.header = point_msg->header; + for (unsigned int i = 0; i < point_msg->points.size(); i++) + { + cv::Point3f p_3d; + p_3d.x = point_msg->points[i].x; + p_3d.y = point_msg->points[i].y; + p_3d.z = point_msg->points[i].z; + Eigen::Vector3d tmp = posegraph.r_drift * Eigen::Vector3d(p_3d.x, p_3d.y, p_3d.z) + posegraph.t_drift; + geometry_msgs::Point32 p; + p.x = tmp(0); + p.y = tmp(1); + p.z = tmp(2); + point_cloud.points.push_back(p); + } + pub_margin_cloud.publish(point_cloud); +} + +void pose_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) +{ + //ROS_INFO("pose_callback!"); + m_buf.lock(); + pose_buf.push(pose_msg); + m_buf.unlock(); + /* + printf("pose t: %f, %f, %f q: %f, %f, %f %f \n", pose_msg->pose.pose.position.x, + pose_msg->pose.pose.position.y, + pose_msg->pose.pose.position.z, + pose_msg->pose.pose.orientation.w, + pose_msg->pose.pose.orientation.x, + pose_msg->pose.pose.orientation.y, + pose_msg->pose.pose.orientation.z); + */ +} + +void vio_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) +{ + //ROS_INFO("vio_callback!"); + Vector3d vio_t(pose_msg->pose.pose.position.x, pose_msg->pose.pose.position.y, pose_msg->pose.pose.position.z); + Quaterniond vio_q; + vio_q.w() = pose_msg->pose.pose.orientation.w; + vio_q.x() = pose_msg->pose.pose.orientation.x; + vio_q.y() = pose_msg->pose.pose.orientation.y; + vio_q.z() = pose_msg->pose.pose.orientation.z; + + vio_t = posegraph.w_r_vio * vio_t + posegraph.w_t_vio; + vio_q = posegraph.w_r_vio * vio_q; + + vio_t = posegraph.r_drift * vio_t + posegraph.t_drift; + vio_q = posegraph.r_drift * vio_q; + + nav_msgs::Odometry odometry; + odometry.header = pose_msg->header; + odometry.header.frame_id = "world"; + odometry.pose.pose.position.x = vio_t.x(); + odometry.pose.pose.position.y = vio_t.y(); + odometry.pose.pose.position.z = vio_t.z(); + odometry.pose.pose.orientation.x = vio_q.x(); + odometry.pose.pose.orientation.y = vio_q.y(); + odometry.pose.pose.orientation.z = vio_q.z(); + odometry.pose.pose.orientation.w = vio_q.w(); + pub_odometry_rect.publish(odometry); + + Vector3d vio_t_cam; + Quaterniond vio_q_cam; + vio_t_cam = vio_t + vio_q * tic; + vio_q_cam = vio_q * qic; + + cameraposevisual.reset(); + cameraposevisual.add_pose(vio_t_cam, vio_q_cam); + cameraposevisual.publish_by(pub_camera_pose_visual, pose_msg->header); + + +} + +void extrinsic_callback(const nav_msgs::Odometry::ConstPtr &pose_msg) +{ + m_process.lock(); + tic = Vector3d(pose_msg->pose.pose.position.x, + pose_msg->pose.pose.position.y, + pose_msg->pose.pose.position.z); + qic = Quaterniond(pose_msg->pose.pose.orientation.w, + pose_msg->pose.pose.orientation.x, + pose_msg->pose.pose.orientation.y, + pose_msg->pose.pose.orientation.z).toRotationMatrix(); + m_process.unlock(); +} + +void process() +{ + while (true) + { + sensor_msgs::ImageConstPtr image_msg = NULL; + sensor_msgs::PointCloudConstPtr point_msg = NULL; + nav_msgs::Odometry::ConstPtr pose_msg = NULL; + + // find out the messages with same time stamp + m_buf.lock(); + if(!image_buf.empty() && !point_buf.empty() && !pose_buf.empty()) + { + if (image_buf.front()->header.stamp.toSec() > pose_buf.front()->header.stamp.toSec()) + { + pose_buf.pop(); + printf("throw pose at beginning\n"); + } + else if (image_buf.front()->header.stamp.toSec() > point_buf.front()->header.stamp.toSec()) + { + point_buf.pop(); + printf("throw point at beginning\n"); + } + else if (image_buf.back()->header.stamp.toSec() >= pose_buf.front()->header.stamp.toSec() + && point_buf.back()->header.stamp.toSec() >= pose_buf.front()->header.stamp.toSec()) + { + pose_msg = pose_buf.front(); + pose_buf.pop(); + while (!pose_buf.empty()) + pose_buf.pop(); + while (image_buf.front()->header.stamp.toSec() < pose_msg->header.stamp.toSec()) + image_buf.pop(); + image_msg = image_buf.front(); + image_buf.pop(); + + while (point_buf.front()->header.stamp.toSec() < pose_msg->header.stamp.toSec()) + point_buf.pop(); + point_msg = point_buf.front(); + point_buf.pop(); + } + } + m_buf.unlock(); + + if (pose_msg != NULL) + { + //printf(" pose time %f \n", pose_msg->header.stamp.toSec()); + //printf(" point time %f \n", point_msg->header.stamp.toSec()); + //printf(" image time %f \n", image_msg->header.stamp.toSec()); + // skip fisrt few + if (skip_first_cnt < SKIP_FIRST_CNT) + { + skip_first_cnt++; + continue; + } + + if (skip_cnt < SKIP_CNT) + { + skip_cnt++; + continue; + } + else + { + skip_cnt = 0; + } + + cv_bridge::CvImageConstPtr ptr; + if (image_msg->encoding == "8UC1") + { + sensor_msgs::Image img; + img.header = image_msg->header; + img.height = image_msg->height; + img.width = image_msg->width; + img.is_bigendian = image_msg->is_bigendian; + img.step = image_msg->step; + img.data = image_msg->data; + img.encoding = "mono8"; + ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); + } + else + ptr = cv_bridge::toCvCopy(image_msg, sensor_msgs::image_encodings::MONO8); + + cv::Mat image = ptr->image; + // build keyframe + Vector3d T = Vector3d(pose_msg->pose.pose.position.x, + pose_msg->pose.pose.position.y, + pose_msg->pose.pose.position.z); + Matrix3d R = Quaterniond(pose_msg->pose.pose.orientation.w, + pose_msg->pose.pose.orientation.x, + pose_msg->pose.pose.orientation.y, + pose_msg->pose.pose.orientation.z).toRotationMatrix(); + if((T - last_t).norm() > SKIP_DIS) + { + vector point_3d; + vector point_2d_uv; + vector point_2d_normal; + vector point_id; + + for (unsigned int i = 0; i < point_msg->points.size(); i++) + { + cv::Point3f p_3d; + p_3d.x = point_msg->points[i].x; + p_3d.y = point_msg->points[i].y; + p_3d.z = point_msg->points[i].z; + point_3d.push_back(p_3d); + + cv::Point2f p_2d_uv, p_2d_normal; + double p_id; + p_2d_normal.x = point_msg->channels[i].values[0]; + p_2d_normal.y = point_msg->channels[i].values[1]; + p_2d_uv.x = point_msg->channels[i].values[2]; + p_2d_uv.y = point_msg->channels[i].values[3]; + p_id = point_msg->channels[i].values[4]; + point_2d_normal.push_back(p_2d_normal); + point_2d_uv.push_back(p_2d_uv); + point_id.push_back(p_id); + + //printf("u %f, v %f \n", p_2d_uv.x, p_2d_uv.y); + } + + KeyFrame* keyframe = new KeyFrame(pose_msg->header.stamp.toSec(), frame_index, T, R, image, + point_3d, point_2d_uv, point_2d_normal, point_id, sequence); + m_process.lock(); + start_flag = 1; + posegraph.addKeyFrame(keyframe, 1); + m_process.unlock(); + frame_index++; + last_t = T; + } + } + std::chrono::milliseconds dura(5); + std::this_thread::sleep_for(dura); + } +} + +void command() +{ + while(1) + { + char c = getchar(); + if (c == 's') + { + m_process.lock(); + posegraph.savePoseGraph(); + m_process.unlock(); + printf("save pose graph finish\nyou can set 'load_previous_pose_graph' to 1 in the config file to reuse it next time\n"); + printf("program shutting down...\n"); + ros::shutdown(); + } + if (c == 'n') + new_sequence(); + + std::chrono::milliseconds dura(5); + std::this_thread::sleep_for(dura); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "loop_fusion"); + ros::NodeHandle n("~"); + posegraph.registerPub(n); + + VISUALIZATION_SHIFT_X = 0; + VISUALIZATION_SHIFT_Y = 0; + SKIP_CNT = 0; + SKIP_DIS = 0; + + if(argc != 2) + { + printf("please intput: rosrun loop_fusion loop_fusion_node [config file] \n" + "for example: rosrun loop_fusion loop_fusion_node " + "/home/tony-ws1/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml \n"); + return 0; + } + + string config_file = argv[1]; + printf("config_file: %s\n", argv[1]); + + cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); + if(!fsSettings.isOpened()) + { + std::cerr << "ERROR: Wrong path to settings" << std::endl; + } + + cameraposevisual.setScale(0.1); + cameraposevisual.setLineWidth(0.01); + + std::string IMAGE_TOPIC; + int LOAD_PREVIOUS_POSE_GRAPH; + + ROW = fsSettings["image_height"]; + COL = fsSettings["image_width"]; + std::string pkg_path = ros::package::getPath("loop_fusion"); + string vocabulary_file = pkg_path + "/../support_files/brief_k10L6.bin"; + cout << "vocabulary_file" << vocabulary_file << endl; + posegraph.loadVocabulary(vocabulary_file); + + BRIEF_PATTERN_FILE = pkg_path + "/../support_files/brief_pattern.yml"; + cout << "BRIEF_PATTERN_FILE" << BRIEF_PATTERN_FILE << endl; + + int pn = config_file.find_last_of('/'); + std::string configPath = config_file.substr(0, pn); + std::string cam0Calib; + fsSettings["cam0_calib"] >> cam0Calib; + std::string cam0Path = configPath + "/" + cam0Calib; + printf("cam calib path: %s\n", cam0Path.c_str()); + m_camera = camodocal::CameraFactory::instance()->generateCameraFromYamlFile(cam0Path.c_str()); + + fsSettings["image0_topic"] >> IMAGE_TOPIC; + fsSettings["pose_graph_save_path"] >> POSE_GRAPH_SAVE_PATH; + fsSettings["output_path"] >> VINS_RESULT_PATH; + fsSettings["save_image"] >> DEBUG_IMAGE; + + LOAD_PREVIOUS_POSE_GRAPH = fsSettings["load_previous_pose_graph"]; + VINS_RESULT_PATH = VINS_RESULT_PATH + "/vio_loop.csv"; + std::ofstream fout(VINS_RESULT_PATH, std::ios::out); + fout.close(); + + int USE_IMU = fsSettings["imu"]; + posegraph.setIMUFlag(USE_IMU); + fsSettings.release(); + + if (LOAD_PREVIOUS_POSE_GRAPH) + { + printf("load pose graph\n"); + m_process.lock(); + posegraph.loadPoseGraph(); + m_process.unlock(); + printf("load pose graph finish\n"); + load_flag = 1; + } + else + { + printf("no previous pose graph\n"); + load_flag = 1; + } + + ros::Subscriber sub_vio = n.subscribe("/vins_estimator/odometry", 2000, vio_callback); + ros::Subscriber sub_image = n.subscribe(IMAGE_TOPIC, 2000, image_callback); + ros::Subscriber sub_pose = n.subscribe("/vins_estimator/keyframe_pose", 2000, pose_callback); + ros::Subscriber sub_extrinsic = n.subscribe("/vins_estimator/extrinsic", 2000, extrinsic_callback); + ros::Subscriber sub_point = n.subscribe("/vins_estimator/keyframe_point", 2000, point_callback); + ros::Subscriber sub_margin_point = n.subscribe("/vins_estimator/margin_cloud", 2000, margin_point_callback); + + pub_match_img = n.advertise("match_image", 1000); + pub_camera_pose_visual = n.advertise("camera_pose_visual", 1000); + pub_point_cloud = n.advertise("point_cloud_loop_rect", 1000); + pub_margin_cloud = n.advertise("margin_cloud_loop_rect", 1000); + pub_odometry_rect = n.advertise("odometry_rect", 1000); + + std::thread measurement_process; + std::thread keyboard_command_process; + + measurement_process = std::thread(process); + keyboard_command_process = std::thread(command); + + ros::spin(); + + return 0; +} diff --git a/loop_fusion/src/utility/CameraPoseVisualization.cpp b/loop_fusion/src/utility/CameraPoseVisualization.cpp new file mode 100644 index 0000000..36a1f26 --- /dev/null +++ b/loop_fusion/src/utility/CameraPoseVisualization.cpp @@ -0,0 +1,327 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "CameraPoseVisualization.h" + +const Eigen::Vector3d CameraPoseVisualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imlb = Eigen::Vector3d(-1.0, 0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imrb = Eigen::Vector3d( 1.0, 0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt0 = Eigen::Vector3d(-0.7, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt1 = Eigen::Vector3d(-0.7, -0.2, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt2 = Eigen::Vector3d(-1.0, -0.2, 1.0); +const Eigen::Vector3d CameraPoseVisualization::oc = Eigen::Vector3d(0.0, 0.0, 0.0); + +void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::Point& p) { + p.x = v.x(); + p.y = v.y(); + p.z = v.z(); +} + +CameraPoseVisualization::CameraPoseVisualization(float r, float g, float b, float a) + : m_marker_ns("CameraPoseVisualization"), m_scale(0.2), m_line_width(0.01) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; + LOOP_EDGE_NUM = 20; + tmp_loop_edge_num = 1; +} + +void CameraPoseVisualization::setImageBoundaryColor(float r, float g, float b, float a) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; +} + +void CameraPoseVisualization::setOpticalCenterConnectorColor(float r, float g, float b, float a) { + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; +} + +void CameraPoseVisualization::setScale(double s) { + m_scale = s; +} +void CameraPoseVisualization::setLineWidth(double width) { + m_line_width = width; +} +void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + marker.scale.x = 0.01; + + marker.color.b = 1.0f; + marker.color.a = 1.0; + + geometry_msgs::Point point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + +void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ + //m_markers.clear(); + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; + //tmp_loop_edge_num++; + //if(tmp_loop_edge_num >= LOOP_EDGE_NUM) + // tmp_loop_edge_num = 1; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.lifetime = ros::Duration(); + //marker.scale.x = 0.4; + marker.scale.x = 0.02; + marker.color.r = 1.0f; + //marker.color.g = 1.0f; + //marker.color.b = 1.0f; + marker.color.a = 1.0; + + geometry_msgs::Point point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + + +void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = 0; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.scale.x = m_line_width; + + marker.pose.position.x = 0.0; + marker.pose.position.y = 0.0; + marker.pose.position.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + + + geometry_msgs::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; + + Eigen2Point(q * (m_scale *imlt) + p, pt_lt); + Eigen2Point(q * (m_scale *imlb) + p, pt_lb); + Eigen2Point(q * (m_scale *imrt) + p, pt_rt); + Eigen2Point(q * (m_scale *imrb) + p, pt_rb); + Eigen2Point(q * (m_scale *lt0 ) + p, pt_lt0); + Eigen2Point(q * (m_scale *lt1 ) + p, pt_lt1); + Eigen2Point(q * (m_scale *lt2 ) + p, pt_lt2); + Eigen2Point(q * (m_scale *oc ) + p, pt_oc); + + // image boundaries + marker.points.push_back(pt_lt); + marker.points.push_back(pt_lb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_rb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_rt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_lt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // top-left indicator + marker.points.push_back(pt_lt0); + marker.points.push_back(pt_lt1); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lt1); + marker.points.push_back(pt_lt2); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // optical center connector + marker.points.push_back(pt_lt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + m_markers.push_back(marker); +} + +void CameraPoseVisualization::reset() { + m_markers.clear(); + //image.points.clear(); + //image.colors.clear(); +} + +void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::Header &header ) { + visualization_msgs::MarkerArray markerArray_msg; + //int k = (int)m_markers.size(); + /* + for (int i = 0; i < 5 && k > 0; i++) + { + k--; + m_markers[k].header = header; + markerArray_msg.markers.push_back(m_markers[k]); + } + */ + + + for(auto& marker : m_markers) { + marker.header = header; + markerArray_msg.markers.push_back(marker); + } + + pub.publish(markerArray_msg); +} + +void CameraPoseVisualization::publish_image_by( ros::Publisher &pub, const std_msgs::Header &header ) { + image.header = header; + + pub.publish(image); +} +/* +void CameraPoseVisualization::add_image(const Eigen::Vector3d& T, const Eigen::Matrix3d& R, const cv::Mat &src) +{ + //image.points.clear(); + //image.colors.clear(); + + image.ns = "image"; + image.id = 0; + image.action = visualization_msgs::Marker::ADD; + image.type = visualization_msgs::Marker::TRIANGLE_LIST; + image.scale.x = 1; + image.scale.y = 1; + image.scale.z = 1; + + geometry_msgs::Point p; + std_msgs::ColorRGBA crgb; + + double center_x = src.rows / 2.0; + double center_y = src.cols / 2.0; + + //double scale = 0.01; + double scale = IMAGE_VISUAL_SCALE; + + for(int r = 0; r < src.cols; ++r) { + for(int c = 0; c < src.rows; ++c) { + float intensity = (float)( src.at(c, r)); + crgb.r = (float)intensity / 255.0; + crgb.g = (float)intensity / 255.0; + crgb.b = (float)intensity / 255.0; + crgb.a = 1.0; + + Eigen::Vector3d p_cam, p_w; + p_cam.z() = 0; + p_cam.x() = (r - center_x) * scale; + p_cam.y() = (c - center_y) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + + p_cam.z() = 0; + p_cam.x() = (r - center_x + 1) * scale; + p_cam.y() = (c - center_y) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + + p_cam.z() = 0; + p_cam.x() = (r - center_x) * scale; + p_cam.y() = (c - center_y + 1) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + + p_cam.z() = 0; + p_cam.x() = (r - center_x + 1) * scale; + p_cam.y() = (c - center_y) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + + p_cam.z() = 0; + p_cam.x() = (r - center_x + 1) * scale; + p_cam.y() = (c - center_y + 1) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + + p_cam.z() = 0; + p_cam.x() = (r - center_x) * scale; + p_cam.y() = (c - center_y + 1) * scale; + p_w = R * p_cam + T; + p.x = p_w(0); + p.y = p_w(1); + p.z = p_w(2); + image.points.push_back(p); + image.colors.push_back(crgb); + } + } +} +*/ diff --git a/loop_fusion/src/utility/CameraPoseVisualization.h b/loop_fusion/src/utility/CameraPoseVisualization.h new file mode 100644 index 0000000..6e21d03 --- /dev/null +++ b/loop_fusion/src/utility/CameraPoseVisualization.h @@ -0,0 +1,58 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include "../parameters.h" + +class CameraPoseVisualization { +public: + std::string m_marker_ns; + + CameraPoseVisualization(float r, float g, float b, float a); + + void setImageBoundaryColor(float r, float g, float b, float a=1.0); + void setOpticalCenterConnectorColor(float r, float g, float b, float a=1.0); + void setScale(double s); + void setLineWidth(double width); + + void add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q); + void reset(); + + void publish_by(ros::Publisher& pub, const std_msgs::Header& header); + void add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); + void add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); + //void add_image(const Eigen::Vector3d& T, const Eigen::Matrix3d& R, const cv::Mat &src); + void publish_image_by( ros::Publisher &pub, const std_msgs::Header &header); +private: + std::vector m_markers; + std_msgs::ColorRGBA m_image_boundary_color; + std_msgs::ColorRGBA m_optical_center_connector_color; + double m_scale; + double m_line_width; + visualization_msgs::Marker image; + int LOOP_EDGE_NUM; + int tmp_loop_edge_num; + + static const Eigen::Vector3d imlt; + static const Eigen::Vector3d imlb; + static const Eigen::Vector3d imrt; + static const Eigen::Vector3d imrb; + static const Eigen::Vector3d oc ; + static const Eigen::Vector3d lt0 ; + static const Eigen::Vector3d lt1 ; + static const Eigen::Vector3d lt2 ; +}; diff --git a/loop_fusion/src/utility/tic_toc.h b/loop_fusion/src/utility/tic_toc.h new file mode 100644 index 0000000..aeeee01 --- /dev/null +++ b/loop_fusion/src/utility/tic_toc.h @@ -0,0 +1,38 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include + +class TicToc +{ + public: + TicToc() + { + tic(); + } + + void tic() + { + start = std::chrono::system_clock::now(); + } + + double toc() + { + end = std::chrono::system_clock::now(); + std::chrono::duration elapsed_seconds = end - start; + return elapsed_seconds.count() * 1000; + } + + private: + std::chrono::time_point start, end; +}; diff --git a/loop_fusion/src/utility/utility.cpp b/loop_fusion/src/utility/utility.cpp new file mode 100644 index 0000000..d9f9b82 --- /dev/null +++ b/loop_fusion/src/utility/utility.cpp @@ -0,0 +1,22 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "utility.h" + +Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) +{ + Eigen::Matrix3d R0; + Eigen::Vector3d ng1 = g.normalized(); + Eigen::Vector3d ng2{0, 0, 1.0}; + R0 = Eigen::Quaterniond::FromTwoVectors(ng1, ng2).toRotationMatrix(); + double yaw = Utility::R2ypr(R0).x(); + R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; + // R0 = Utility::ypr2R(Eigen::Vector3d{-90, 0, 0}) * R0; + return R0; +} diff --git a/loop_fusion/src/utility/utility.h b/loop_fusion/src/utility/utility.h new file mode 100644 index 0000000..6872696 --- /dev/null +++ b/loop_fusion/src/utility/utility.h @@ -0,0 +1,149 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include + +class Utility +{ + public: + template + static Eigen::Quaternion deltaQ(const Eigen::MatrixBase &theta) + { + typedef typename Derived::Scalar Scalar_t; + + Eigen::Quaternion dq; + Eigen::Matrix half_theta = theta; + half_theta /= static_cast(2.0); + dq.w() = static_cast(1.0); + dq.x() = half_theta.x(); + dq.y() = half_theta.y(); + dq.z() = half_theta.z(); + return dq; + } + + template + static Eigen::Matrix skewSymmetric(const Eigen::MatrixBase &q) + { + Eigen::Matrix ans; + ans << typename Derived::Scalar(0), -q(2), q(1), + q(2), typename Derived::Scalar(0), -q(0), + -q(1), q(0), typename Derived::Scalar(0); + return ans; + } + + template + static Eigen::Quaternion positify(const Eigen::QuaternionBase &q) + { + //printf("a: %f %f %f %f", q.w(), q.x(), q.y(), q.z()); + //Eigen::Quaternion p(-q.w(), -q.x(), -q.y(), -q.z()); + //printf("b: %f %f %f %f", p.w(), p.x(), p.y(), p.z()); + //return q.template w() >= (typename Derived::Scalar)(0.0) ? q : Eigen::Quaternion(-q.w(), -q.x(), -q.y(), -q.z()); + return q; + } + + template + static Eigen::Matrix Qleft(const Eigen::QuaternionBase &q) + { + Eigen::Quaternion qq = positify(q); + Eigen::Matrix ans; + ans(0, 0) = qq.w(), ans.template block<1, 3>(0, 1) = -qq.vec().transpose(); + ans.template block<3, 1>(1, 0) = qq.vec(), ans.template block<3, 3>(1, 1) = qq.w() * Eigen::Matrix::Identity() + skewSymmetric(qq.vec()); + return ans; + } + + template + static Eigen::Matrix Qright(const Eigen::QuaternionBase &p) + { + Eigen::Quaternion pp = positify(p); + Eigen::Matrix ans; + ans(0, 0) = pp.w(), ans.template block<1, 3>(0, 1) = -pp.vec().transpose(); + ans.template block<3, 1>(1, 0) = pp.vec(), ans.template block<3, 3>(1, 1) = pp.w() * Eigen::Matrix::Identity() - skewSymmetric(pp.vec()); + return ans; + } + + static Eigen::Vector3d R2ypr(const Eigen::Matrix3d &R) + { + Eigen::Vector3d n = R.col(0); + Eigen::Vector3d o = R.col(1); + Eigen::Vector3d a = R.col(2); + + Eigen::Vector3d ypr(3); + double y = atan2(n(1), n(0)); + double p = atan2(-n(2), n(0) * cos(y) + n(1) * sin(y)); + double r = atan2(a(0) * sin(y) - a(1) * cos(y), -o(0) * sin(y) + o(1) * cos(y)); + ypr(0) = y; + ypr(1) = p; + ypr(2) = r; + + return ypr / M_PI * 180.0; + } + + template + static Eigen::Matrix ypr2R(const Eigen::MatrixBase &ypr) + { + typedef typename Derived::Scalar Scalar_t; + + Scalar_t y = ypr(0) / 180.0 * M_PI; + Scalar_t p = ypr(1) / 180.0 * M_PI; + Scalar_t r = ypr(2) / 180.0 * M_PI; + + Eigen::Matrix Rz; + Rz << cos(y), -sin(y), 0, + sin(y), cos(y), 0, + 0, 0, 1; + + Eigen::Matrix Ry; + Ry << cos(p), 0., sin(p), + 0., 1., 0., + -sin(p), 0., cos(p); + + Eigen::Matrix Rx; + Rx << 1., 0., 0., + 0., cos(r), -sin(r), + 0., sin(r), cos(r); + + return Rz * Ry * Rx; + } + + static Eigen::Matrix3d g2R(const Eigen::Vector3d &g); + + template + struct uint_ + { + }; + + template + void unroller(const Lambda &f, const IterT &iter, uint_) + { + unroller(f, iter, uint_()); + f(iter + N); + } + + template + void unroller(const Lambda &f, const IterT &iter, uint_<0>) + { + f(iter); + } + + template + static T normalizeAngle(const T& angle_degrees) { + T two_pi(2.0 * 180); + if (angle_degrees > 0) + return angle_degrees - + two_pi * std::floor((angle_degrees + T(180)) / two_pi); + else + return angle_degrees + + two_pi * std::floor((-angle_degrees + T(180)) / two_pi); + }; +}; diff --git a/support_files/brief_k10L6.bin b/support_files/brief_k10L6.bin new file mode 100644 index 0000000..3cba0b1 Binary files /dev/null and b/support_files/brief_k10L6.bin differ diff --git a/support_files/brief_pattern.yml b/support_files/brief_pattern.yml new file mode 100644 index 0000000..7e67fed --- /dev/null +++ b/support_files/brief_pattern.yml @@ -0,0 +1,1029 @@ +%YAML:1.0 +x1: + - 0 + - 4 + - 11 + - -4 + - 24 + - -3 + - -4 + - -7 + - -5 + - -2 + - 8 + - 1 + - -2 + - -5 + - -5 + - -8 + - 2 + - -8 + - 6 + - 4 + - -1 + - -14 + - 12 + - -12 + - -20 + - -11 + - 7 + - -11 + - 18 + - -10 + - 10 + - -20 + - 7 + - -2 + - 3 + - 7 + - -20 + - -3 + - -4 + - -6 + - -4 + - 14 + - 1 + - 2 + - -9 + - 15 + - 13 + - 14 + - -21 + - -6 + - 3 + - 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b/support_files/image/vins_black.png new file mode 100644 index 0000000..404d710 Binary files /dev/null and b/support_files/image/vins_black.png differ diff --git a/support_files/image/vins_logo.png b/support_files/image/vins_logo.png new file mode 100644 index 0000000..1d76a9d Binary files /dev/null and b/support_files/image/vins_logo.png differ diff --git a/support_files/paper_bib.txt b/support_files/paper_bib.txt new file mode 100644 index 0000000..4018604 --- /dev/null +++ b/support_files/paper_bib.txt @@ -0,0 +1,32 @@ +@misc{qin2019a, + Author = {Tong Qin and Jie Pan and Shaozu Cao and Shaojie Shen}, + Title = {A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors}, + Year = {2019}, + Eprint = {arXiv:1901.03638} +} + +@misc{qin2019b, + Author = {Tong Qin and Shaozu Cao and Jie Pan and Shaojie Shen}, + Title = {A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors}, + Year = {2019}, + Eprint = {arXiv:1901.03642} +} + +@inproceedings{qin2018online, + title={Online Temporal Calibration for Monocular Visual-Inertial Systems}, + author={Qin, Tong and Shen, Shaojie}, + booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + pages={3662--3669}, + year={2018}, + organization={IEEE} +} + +@article{qin2017vins, + title={VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator}, + author={Qin, Tong and Li, Peiliang and Shen, Shaojie}, + journal={IEEE Transactions on Robotics}, + year={2018}, + volume={34}, + number={4}, + pages={1004-1020} +} diff --git a/vins_estimator/.vscode/settings.json b/vins_estimator/.vscode/settings.json new file mode 100644 index 0000000..50bc090 --- /dev/null +++ b/vins_estimator/.vscode/settings.json @@ -0,0 +1,11 @@ +{ + "files.associations": { + "*.cmake": "makefile", + "*.ipp": "cpp", + "array": "cpp", + "bitset": "cpp", + "string_view": "cpp", + "initializer_list": "cpp", + "utility": "cpp" + } +} \ No newline at end of file diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt new file mode 100644 index 0000000..5daf0ee --- /dev/null +++ b/vins_estimator/CMakeLists.txt @@ -0,0 +1,64 @@ +cmake_minimum_required(VERSION 2.8.3) +project(vins) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +#-DEIGEN_USE_MKL_ALL") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + geometry_msgs + nav_msgs + tf + cv_bridge + camera_models + image_transport) + +find_package(OpenCV REQUIRED) + +# message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}") + +find_package(Ceres REQUIRED) + +include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}) + +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) +find_package(Eigen3) +include_directories( + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +catkin_package() + +add_library(vins_lib + src/estimator/parameters.cpp + src/estimator/estimator.cpp + src/estimator/feature_manager.cpp + src/factor/pose_local_parameterization.cpp + src/factor/projectionTwoFrameOneCamFactor.cpp + src/factor/projectionTwoFrameTwoCamFactor.cpp + src/factor/projectionOneFrameTwoCamFactor.cpp + src/factor/marginalization_factor.cpp + src/utility/utility.cpp + src/utility/visualization.cpp + src/utility/CameraPoseVisualization.cpp + src/initial/solve_5pts.cpp + src/initial/initial_aligment.cpp + src/initial/initial_sfm.cpp + src/initial/initial_ex_rotation.cpp + src/featureTracker/feature_tracker.cpp) +target_link_libraries(vins_lib ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES}) + + +add_executable(vins_node src/rosNodeTest.cpp) +target_link_libraries(vins_node vins_lib) + +add_executable(kitti_odom_test src/KITTIOdomTest.cpp) +target_link_libraries(kitti_odom_test vins_lib) + +add_executable(kitti_gps_test src/KITTIGPSTest.cpp) +target_link_libraries(kitti_gps_test vins_lib) + diff --git a/vins_estimator/cmake/FindEigen.cmake b/vins_estimator/cmake/FindEigen.cmake new file mode 100644 index 0000000..cdeb305 --- /dev/null +++ b/vins_estimator/cmake/FindEigen.cmake @@ -0,0 +1,172 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2015 Google Inc. All rights reserved. +# http://ceres-solver.org/ +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# * Neither the name of Google Inc. nor the names of its contributors may be +# used to endorse or promote products derived from this software without +# specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindEigen.cmake - Find Eigen library, version >= 3. +# +# This module defines the following variables: +# +# EIGEN_FOUND: TRUE iff Eigen is found. +# EIGEN_INCLUDE_DIRS: Include directories for Eigen. +# +# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h +# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 +# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 +# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 +# +# The following variables control the behaviour of this module: +# +# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for eigen includes, e.g: /timbuktu/eigen3. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the +# include directory of any dependencies. + +# Called if we failed to find Eigen or any of it's required dependencies, +# unsets all public (designed to be used externally) variables and reports +# error message at priority depending upon [REQUIRED/QUIET/] argument. +macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) + unset(EIGEN_FOUND) + unset(EIGEN_INCLUDE_DIRS) + # Make results of search visible in the CMake GUI if Eigen has not + # been found so that user does not have to toggle to advanced view. + mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) + # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + if (Eigen_FIND_QUIETLY) + message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + elseif (Eigen_FIND_REQUIRED) + message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + else() + # Neither QUIETLY nor REQUIRED, use no priority which emits a message + # but continues configuration and allows generation. + message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + endif () + return() +endmacro(EIGEN_REPORT_NOT_FOUND) + +# Protect against any alternative find_package scripts for this library having +# been called previously (in a client project) which set EIGEN_FOUND, but not +# the other variables we require / set here which could cause the search logic +# here to fail. +unset(EIGEN_FOUND) + +# Search user-installed locations first, so that we prefer user installs +# to system installs where both exist. +list(APPEND EIGEN_CHECK_INCLUDE_DIRS + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include + /usr/include) +# Additional suffixes to try appending to each search path. +list(APPEND EIGEN_CHECK_PATH_SUFFIXES + eigen3 # Default root directory for Eigen. + Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 + Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 + +# Search supplied hint directories first if supplied. +find_path(EIGEN_INCLUDE_DIR + NAMES Eigen/Core + PATHS ${EIGEN_INCLUDE_DIR_HINTS} + ${EIGEN_CHECK_INCLUDE_DIRS} + PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) + +if (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + eigen_report_not_found( + "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " + "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") +endif (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + +# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets +# if called. +set(EIGEN_FOUND TRUE) + +# Extract Eigen version from Eigen/src/Core/util/Macros.h +if (EIGEN_INCLUDE_DIR) + set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) + if (NOT EXISTS ${EIGEN_VERSION_FILE}) + eigen_report_not_found( + "Could not find file: ${EIGEN_VERSION_FILE} " + "containing version information in Eigen install located at: " + "${EIGEN_INCLUDE_DIR}.") + else (NOT EXISTS ${EIGEN_VERSION_FILE}) + file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) + + string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" + EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" + EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") + + string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" + EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" + EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") + + string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" + EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" + EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 3.;2.;0 nonsense. + set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") + endif (NOT EXISTS ${EIGEN_VERSION_FILE}) +endif (EIGEN_INCLUDE_DIR) + +# Set standard CMake FindPackage variables if found. +if (EIGEN_FOUND) + set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) +endif (EIGEN_FOUND) + +# Handle REQUIRED / QUIET optional arguments and version. +include(FindPackageHandleStandardArgs) +find_package_handle_standard_args(Eigen + REQUIRED_VARS EIGEN_INCLUDE_DIRS + VERSION_VAR EIGEN_VERSION) + +# Only mark internal variables as advanced if we found Eigen, otherwise +# leave it visible in the standard GUI for the user to set manually. +if (EIGEN_FOUND) + mark_as_advanced(FORCE EIGEN_INCLUDE_DIR) +endif (EIGEN_FOUND) diff --git a/vins_estimator/launch/vins_rviz.launch b/vins_estimator/launch/vins_rviz.launch new file mode 100644 index 0000000..988b4ca --- /dev/null +++ b/vins_estimator/launch/vins_rviz.launch @@ -0,0 +1,3 @@ + + + diff --git a/vins_estimator/package.xml b/vins_estimator/package.xml new file mode 100644 index 0000000..93df9c2 --- /dev/null +++ b/vins_estimator/package.xml @@ -0,0 +1,60 @@ + + + vins + 0.0.0 + The vins package + + + + + qintong + + + + + + GPLv3 + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + image_transport + camera_models + + roscpp + image_transport + camera_models + + + + + + + + + + + diff --git a/vins_estimator/src/KITTIGPSTest.cpp b/vins_estimator/src/KITTIGPSTest.cpp new file mode 100644 index 0000000..8c75576 --- /dev/null +++ b/vins_estimator/src/KITTIGPSTest.cpp @@ -0,0 +1,190 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "estimator/estimator.h" +#include "utility/visualization.h" + +using namespace std; +using namespace Eigen; + +Estimator estimator; +ros::Publisher pubGPS; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "vins_estimator"); + ros::NodeHandle n("~"); + ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); + + pubGPS = n.advertise("/gps", 1000); + + if(argc != 3) + { + printf("please intput: rosrun vins kitti_gps_test [config file] [data folder] \n" + "for example: rosrun vins kitti_gps_test " + "~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml " + "/media/tony-ws1/disk_D/kitti/2011_10_03/2011_10_03_drive_0027_sync/ \n"); + return 1; + } + + string config_file = argv[1]; + printf("config_file: %s\n", argv[1]); + string sequence = argv[2]; + printf("read sequence: %s\n", argv[2]); + string dataPath = sequence + "/"; + + // load image list + FILE* file; + file = std::fopen((dataPath + "image_00/timestamps.txt").c_str() , "r"); + if(file == NULL){ + printf("cannot find file: %simage_00/timestamps.txt \n", dataPath.c_str()); + ROS_BREAK(); + return 0; + } + vector imageTimeList; + int year, month, day; + int hour, minute; + double second; + while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF) + { + //printf("%lf\n", second); + imageTimeList.push_back(hour * 60 * 60 + minute * 60 + second); + } + std::fclose(file); + + // load gps list + vector GPSTimeList; + { + FILE* file; + file = std::fopen((dataPath + "oxts/timestamps.txt").c_str() , "r"); + if(file == NULL){ + printf("cannot find file: %soxts/timestamps.txt \n", dataPath.c_str()); + ROS_BREAK(); + return 0; + } + int year, month, day; + int hour, minute; + double second; + while (fscanf(file, "%d-%d-%d %d:%d:%lf", &year, &month, &day, &hour, &minute, &second) != EOF) + { + //printf("%lf\n", second); + GPSTimeList.push_back(hour * 60 * 60 + minute * 60 + second); + } + std::fclose(file); + } + + readParameters(config_file); + estimator.setParameter(); + registerPub(n); + + FILE* outFile; + outFile = fopen((OUTPUT_FOLDER + "/vio.txt").c_str(),"w"); + if(outFile == NULL) + printf("Output path dosen't exist: %s\n", OUTPUT_FOLDER.c_str()); + string leftImagePath, rightImagePath; + cv::Mat imLeft, imRight; + double baseTime; + + for (size_t i = 0; i < imageTimeList.size(); i++) + { + if(ros::ok()) + { + if(imageTimeList[0] < GPSTimeList[0]) + baseTime = imageTimeList[0]; + else + baseTime = GPSTimeList[0]; + + //printf("base time is %f\n", baseTime); + printf("process image %d\n", (int)i); + stringstream ss; + ss << setfill('0') << setw(10) << i; + leftImagePath = dataPath + "image_00/data/" + ss.str() + ".png"; + rightImagePath = dataPath + "image_01/data/" + ss.str() + ".png"; + printf("%s\n", leftImagePath.c_str() ); + printf("%s\n", rightImagePath.c_str() ); + + imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE ); + imRight = cv::imread(rightImagePath, CV_LOAD_IMAGE_GRAYSCALE ); + + double imgTime = imageTimeList[i] - baseTime; + + // load gps + FILE* GPSFile; + string GPSFilePath = dataPath + "oxts/data/" + ss.str() + ".txt"; + GPSFile = std::fopen(GPSFilePath.c_str() , "r"); + if(GPSFile == NULL){ + printf("cannot find file: %s\n", GPSFilePath.c_str()); + ROS_BREAK(); + return 0; + } + double lat, lon, alt, roll, pitch, yaw; + double vn, ve, vf, vl, vu; + double ax, ay, az, af, al, au; + double wx, wy, wz, wf, wl, wu; + double pos_accuracy, vel_accuracy; + double navstat, numsats; + double velmode, orimode; + + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &lat, &lon, &alt, &roll, &pitch, &yaw); + //printf("lat:%lf lon:%lf alt:%lf roll:%lf pitch:%lf yaw:%lf \n", lat, lon, alt, roll, pitch, yaw); + fscanf(GPSFile, "%lf %lf %lf %lf %lf ", &vn, &ve, &vf, &vl, &vu); + //printf("vn:%lf ve:%lf vf:%lf vl:%lf vu:%lf \n", vn, ve, vf, vl, vu); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &ax, &ay, &az, &af, &al, &au); + //printf("ax:%lf ay:%lf az:%lf af:%lf al:%lf au:%lf\n", ax, ay, az, af, al, au); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &wx, &wy, &wz, &wf, &wl, &wu); + //printf("wx:%lf wy:%lf wz:%lf wf:%lf wl:%lf wu:%lf\n", wx, wy, wz, wf, wl, wu); + fscanf(GPSFile, "%lf %lf %lf %lf %lf %lf ", &pos_accuracy, &vel_accuracy, &navstat, &numsats, &velmode, &orimode); + //printf("pos_accuracy:%lf vel_accuracy:%lf navstat:%lf numsats:%lf velmode:%lf orimode:%lf\n", + // pos_accuracy, vel_accuracy, navstat, numsats, velmode, orimode); + + std::fclose(GPSFile); + + sensor_msgs::NavSatFix gps_position; + gps_position.header.frame_id = "NED"; + gps_position.header.stamp = ros::Time(imgTime); + gps_position.status.status = navstat; + gps_position.status.service = numsats; + gps_position.latitude = lat; + gps_position.longitude = lon; + gps_position.altitude = alt; + gps_position.position_covariance[0] = pos_accuracy; + //printf("pos_accuracy %f \n", pos_accuracy); + pubGPS.publish(gps_position); + + estimator.inputImage(imgTime, imLeft, imRight); + + Eigen::Matrix pose; + estimator.getPoseInWorldFrame(pose); + if(outFile != NULL) + fprintf (outFile, "%f %f %f %f %f %f %f %f %f %f %f %f \n",pose(0,0), pose(0,1), pose(0,2),pose(0,3), + pose(1,0), pose(1,1), pose(1,2),pose(1,3), + pose(2,0), pose(2,1), pose(2,2),pose(2,3)); + + // cv::imshow("leftImage", imLeft); + // cv::imshow("rightImage", imRight); + // cv::waitKey(2); + } + else + break; + } + if(outFile != NULL) + fclose (outFile); + return 0; +} + diff --git a/vins_estimator/src/KITTIOdomTest.cpp b/vins_estimator/src/KITTIOdomTest.cpp new file mode 100644 index 0000000..df4c338 --- /dev/null +++ b/vins_estimator/src/KITTIOdomTest.cpp @@ -0,0 +1,125 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "estimator/estimator.h" +#include "utility/visualization.h" + +using namespace std; +using namespace Eigen; + +Estimator estimator; + +Eigen::Matrix3d c1Rc0, c0Rc1; +Eigen::Vector3d c1Tc0, c0Tc1; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "vins_estimator"); + ros::NodeHandle n("~"); + ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); + + ros::Publisher pubLeftImage = n.advertise("/leftImage",1000); + ros::Publisher pubRightImage = n.advertise("/rightImage",1000); + + if(argc != 3) + { + printf("please intput: rosrun vins kitti_odom_test [config file] [data folder] \n" + "for example: rosrun vins kitti_odom_test " + "~/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml " + "/media/tony-ws1/disk_D/kitti/odometry/sequences/00/ \n"); + return 1; + } + + string config_file = argv[1]; + printf("config_file: %s\n", argv[1]); + string sequence = argv[2]; + printf("read sequence: %s\n", argv[2]); + string dataPath = sequence + "/"; + + readParameters(config_file); + estimator.setParameter(); + registerPub(n); + + // load image list + FILE* file; + file = std::fopen((dataPath + "times.txt").c_str() , "r"); + if(file == NULL){ + printf("cannot find file: %stimes.txt\n", dataPath.c_str()); + ROS_BREAK(); + return 0; + } + double imageTime; + vector imageTimeList; + while ( fscanf(file, "%lf", &imageTime) != EOF) + { + imageTimeList.push_back(imageTime); + } + std::fclose(file); + + string leftImagePath, rightImagePath; + cv::Mat imLeft, imRight; + FILE* outFile; + outFile = fopen((OUTPUT_FOLDER + "/vio.txt").c_str(),"w"); + if(outFile == NULL) + printf("Output path dosen't exist: %s\n", OUTPUT_FOLDER.c_str()); + + for (size_t i = 0; i < imageTimeList.size(); i++) + { + if(ros::ok()) + { + printf("\nprocess image %d\n", (int)i); + stringstream ss; + ss << setfill('0') << setw(6) << i; + leftImagePath = dataPath + "image_0/" + ss.str() + ".png"; + rightImagePath = dataPath + "image_1/" + ss.str() + ".png"; + //printf("%lu %f \n", i, imageTimeList[i]); + //printf("%s\n", leftImagePath.c_str() ); + //printf("%s\n", rightImagePath.c_str() ); + + imLeft = cv::imread(leftImagePath, CV_LOAD_IMAGE_GRAYSCALE ); + sensor_msgs::ImagePtr imLeftMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imLeft).toImageMsg(); + imLeftMsg->header.stamp = ros::Time(imageTimeList[i]); + pubLeftImage.publish(imLeftMsg); + + imRight = cv::imread(rightImagePath, CV_LOAD_IMAGE_GRAYSCALE ); + sensor_msgs::ImagePtr imRightMsg = cv_bridge::CvImage(std_msgs::Header(), "mono8", imRight).toImageMsg(); + imRightMsg->header.stamp = ros::Time(imageTimeList[i]); + pubRightImage.publish(imRightMsg); + + + estimator.inputImage(imageTimeList[i], imLeft, imRight); + + Eigen::Matrix pose; + estimator.getPoseInWorldFrame(pose); + if(outFile != NULL) + fprintf (outFile, "%f %f %f %f %f %f %f %f %f %f %f %f \n",pose(0,0), pose(0,1), pose(0,2),pose(0,3), + pose(1,0), pose(1,1), pose(1,2),pose(1,3), + pose(2,0), pose(2,1), pose(2,2),pose(2,3)); + + //cv::imshow("leftImage", imLeft); + //cv::imshow("rightImage", imRight); + //cv::waitKey(2); + } + else + break; + } + if(outFile != NULL) + fclose (outFile); + return 0; +} diff --git a/vins_estimator/src/estimator/estimator.cpp b/vins_estimator/src/estimator/estimator.cpp new file mode 100644 index 0000000..d5c9bf5 --- /dev/null +++ b/vins_estimator/src/estimator/estimator.cpp @@ -0,0 +1,1615 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "estimator.h" +#include "../utility/visualization.h" + +Estimator::Estimator(): f_manager{Rs} +{ + ROS_INFO("init begins"); + initThreadFlag = false; + clearState(); +} + +Estimator::~Estimator() +{ + if (MULTIPLE_THREAD) + { + processThread.join(); + printf("join thread \n"); + } +} + +void Estimator::clearState() +{ + mProcess.lock(); + while(!accBuf.empty()) + accBuf.pop(); + while(!gyrBuf.empty()) + gyrBuf.pop(); + while(!featureBuf.empty()) + featureBuf.pop(); + + prevTime = -1; + curTime = 0; + openExEstimation = 0; + initP = Eigen::Vector3d(0, 0, 0); + initR = Eigen::Matrix3d::Identity(); + inputImageCnt = 0; + initFirstPoseFlag = false; + + for (int i = 0; i < WINDOW_SIZE + 1; i++) + { + Rs[i].setIdentity(); + Ps[i].setZero(); + Vs[i].setZero(); + Bas[i].setZero(); + Bgs[i].setZero(); + dt_buf[i].clear(); + linear_acceleration_buf[i].clear(); + angular_velocity_buf[i].clear(); + + if (pre_integrations[i] != nullptr) + { + delete pre_integrations[i]; + } + pre_integrations[i] = nullptr; + } + + for (int i = 0; i < NUM_OF_CAM; i++) + { + tic[i] = Vector3d::Zero(); + ric[i] = Matrix3d::Identity(); + } + + first_imu = false, + sum_of_back = 0; + sum_of_front = 0; + frame_count = 0; + solver_flag = INITIAL; + initial_timestamp = 0; + all_image_frame.clear(); + + if (tmp_pre_integration != nullptr) + delete tmp_pre_integration; + if (last_marginalization_info != nullptr) + delete last_marginalization_info; + + tmp_pre_integration = nullptr; + last_marginalization_info = nullptr; + last_marginalization_parameter_blocks.clear(); + + f_manager.clearState(); + + failure_occur = 0; + + mProcess.unlock(); +} + +void Estimator::setParameter() +{ + mProcess.lock(); + for (int i = 0; i < NUM_OF_CAM; i++) + { + tic[i] = TIC[i]; + ric[i] = RIC[i]; + cout << " exitrinsic cam " << i << endl << ric[i] << endl << tic[i].transpose() << endl; + } + f_manager.setRic(ric); + ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity(); + ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity(); + ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity(); + td = TD; + g = G; + cout << "set g " << g.transpose() << endl; + featureTracker.readIntrinsicParameter(CAM_NAMES); + + std::cout << "MULTIPLE_THREAD is " << MULTIPLE_THREAD << '\n'; + if (MULTIPLE_THREAD && !initThreadFlag) + { + initThreadFlag = true; + processThread = std::thread(&Estimator::processMeasurements, this); + } + mProcess.unlock(); +} + +void Estimator::changeSensorType(int use_imu, int use_stereo) +{ + bool restart = false; + mProcess.lock(); + if(!use_imu && !use_stereo) + printf("at least use two sensors! \n"); + else + { + if(USE_IMU != use_imu) + { + USE_IMU = use_imu; + if(USE_IMU) + { + // reuse imu; restart system + restart = true; + } + else + { + if (last_marginalization_info != nullptr) + delete last_marginalization_info; + + tmp_pre_integration = nullptr; + last_marginalization_info = nullptr; + last_marginalization_parameter_blocks.clear(); + } + } + + STEREO = use_stereo; + printf("use imu %d use stereo %d\n", USE_IMU, STEREO); + } + mProcess.unlock(); + if(restart) + { + clearState(); + setParameter(); + } +} + +void Estimator::inputImage(double t, const cv::Mat &_img, const cv::Mat &_img1) +{ + inputImageCnt++; + map>>> featureFrame; // feature_id camera_id x, y, z, p_u, p_v, velocity_x, velocity_y; + TicToc featureTrackerTime; + + if(_img1.empty()) //只有左相机图像 + featureFrame = featureTracker.trackImage(t, _img); + else + featureFrame = featureTracker.trackImage(t, _img, _img1); + //printf("featureTracker time: %f\n", featureTrackerTime.toc()); + + if (SHOW_TRACK) + { + cv::Mat imgTrack = featureTracker.getTrackImage(); + pubTrackImage(imgTrack, t); + } + + if(MULTIPLE_THREAD) + { + if(inputImageCnt % 2 == 0) //多线程的时候，仅使用偶数计数的图像特征？ tzhang + { + mBuf.lock(); + featureBuf.push(make_pair(t, featureFrame)); + mBuf.unlock(); + } + } + else + { + mBuf.lock(); + featureBuf.push(make_pair(t, featureFrame)); + mBuf.unlock(); + TicToc processTime; + processMeasurements(); + printf("process time: %f\n", processTime.toc()); + } + +} + +void Estimator::inputIMU(double t, const Vector3d &linearAcceleration, const Vector3d &angularVelocity) +{ + mBuf.lock(); + accBuf.push(make_pair(t, linearAcceleration)); + gyrBuf.push(make_pair(t, angularVelocity)); + //printf("input imu with time %f \n", t); + mBuf.unlock(); + + if (solver_flag == NON_LINEAR) + { + mPropagate.lock(); + fastPredictIMU(t, linearAcceleration, angularVelocity); + pubLatestOdometry(latest_P, latest_Q, latest_V, t); + mPropagate.unlock(); + } +} + +void Estimator::inputFeature(double t, const map>>> &featureFrame) +{ + mBuf.lock(); + featureBuf.push(make_pair(t, featureFrame)); + mBuf.unlock(); + + if(!MULTIPLE_THREAD) + processMeasurements(); +} + + +bool Estimator::getIMUInterval(double t0, double t1, vector> &accVector, + vector> &gyrVector) +{ + if(accBuf.empty()) + { + printf("not receive imu\n"); + return false; + } + //printf("get imu from %f %f\n", t0, t1); + //printf("imu fornt time %f imu end time %f\n", accBuf.front().first, accBuf.back().first); + if(t1 <= accBuf.back().first) + { + while (accBuf.front().first <= t0) + { + accBuf.pop(); + gyrBuf.pop(); + } + while (accBuf.front().first < t1) + { + accVector.push_back(accBuf.front()); + accBuf.pop(); + gyrVector.push_back(gyrBuf.front()); + gyrBuf.pop(); + } + accVector.push_back(accBuf.front()); + gyrVector.push_back(gyrBuf.front()); + } + else + { + printf("wait for imu\n"); + return false; + } + return true; +} + +bool Estimator::IMUAvailable(double t) +{ + if(!accBuf.empty() && t <= accBuf.back().first) + return true; + else + return false; +} + +void Estimator::processMeasurements() +{ + while (1) + { + //printf("process measurments\n"); + pair > > > > feature; + vector> accVector, gyrVector; + if(!featureBuf.empty()) + { + feature = featureBuf.front(); + curTime = feature.first + td; + while(1) + { + if ((!USE_IMU || IMUAvailable(feature.first + td))) + break; + else + { + printf("wait for imu ... \n"); + if (! MULTIPLE_THREAD) + return; + std::chrono::milliseconds dura(5); + std::this_thread::sleep_for(dura); + } + } + mBuf.lock(); + if(USE_IMU) + getIMUInterval(prevTime, curTime, accVector, gyrVector); + + featureBuf.pop(); + mBuf.unlock(); + + if(USE_IMU) + { + if(!initFirstPoseFlag) + initFirstIMUPose(accVector); //基于重力，对准第一帧 + for(size_t i = 0; i < accVector.size(); i++) + { + double dt; + if(i == 0) + dt = accVector[i].first - prevTime; + else if (i == accVector.size() - 1) + dt = curTime - accVector[i - 1].first; + else + dt = accVector[i].first - accVector[i - 1].first; + processIMU(accVector[i].first, dt, accVector[i].second, gyrVector[i].second); + } + } + mProcess.lock(); + processImage(feature.second, feature.first); + prevTime = curTime; + + printStatistics(*this, 0); + + std_msgs::Header header; + header.frame_id = "world"; + header.stamp = ros::Time(feature.first); + + pubOdometry(*this, header); + pubKeyPoses(*this, header); + pubCameraPose(*this, header); + pubPointCloud(*this, header); + pubKeyframe(*this); + pubTF(*this, header); + mProcess.unlock(); + } + + if (! MULTIPLE_THREAD) + break; + + std::chrono::milliseconds dura(2); + std::this_thread::sleep_for(dura); + } +} + + +void Estimator::initFirstIMUPose(vector> &accVector) //利用重力信息，初始化初始的旋转矩阵 +{ + printf("init first imu pose\n"); + initFirstPoseFlag = true; + //return; + Eigen::Vector3d averAcc(0, 0, 0); + int n = (int)accVector.size(); + for(size_t i = 0; i < accVector.size(); i++) + { + averAcc = averAcc + accVector[i].second; + } + averAcc = averAcc / n; + printf("averge acc %f %f %f\n", averAcc.x(), averAcc.y(), averAcc.z()); + Matrix3d R0 = Utility::g2R(averAcc); // 主要利用基于重力方向，得到的roll pitch信息，由于yaw信息通过重力方向，并不能恢复出来，因此减去yaw + double yaw = Utility::R2ypr(R0).x(); + R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; + Rs[0] = R0; + cout << "init R0 " << endl << Rs[0] << endl; + //Vs[0] = Vector3d(5, 0, 0); +} + +void Estimator::initFirstPose(Eigen::Vector3d p, Eigen::Matrix3d r) +{ + Ps[0] = p; + Rs[0] = r; + initP = p; + initR = r; +} + + +void Estimator::processIMU(double t, double dt, const Vector3d &linear_acceleration, const Vector3d &angular_velocity) +{ + if (!first_imu) // 图像帧间的第一个imu数据 + { + first_imu = true; + acc_0 = linear_acceleration; + gyr_0 = angular_velocity; + } + + if (!pre_integrations[frame_count]) // 滑窗中之前不存在该预积分，然后新建； pre_integrations为存储指针的数组 + { + pre_integrations[frame_count] = new IntegrationBase{acc_0, gyr_0, Bas[frame_count], Bgs[frame_count]}; + } + if (frame_count != 0) + { + pre_integrations[frame_count]->push_back(dt, linear_acceleration, angular_velocity); + //if(solver_flag != NON_LINEAR) + tmp_pre_integration->push_back(dt, linear_acceleration, angular_velocity); + + dt_buf[frame_count].push_back(dt); //将图像帧之间的imu数据存储至 元素为vector的数组 tzhang + linear_acceleration_buf[frame_count].push_back(linear_acceleration); + angular_velocity_buf[frame_count].push_back(angular_velocity); + + int j = frame_count; //中值积分，此处与预积分中的中值积分基本相似；但此处的中值积分是以世界坐标系为基准，即更新的Rs、Ps、Vs在世界坐标系下表达 tzhang + Vector3d un_acc_0 = Rs[j] * (acc_0 - Bas[j]) - g; + Vector3d un_gyr = 0.5 * (gyr_0 + angular_velocity) - Bgs[j]; + Rs[j] *= Utility::deltaQ(un_gyr * dt).toRotationMatrix(); //等式右侧对应dq，利用0.5*theta得到；左侧Rs[j]乘以dq更新旋转 tzhang + Vector3d un_acc_1 = Rs[j] * (linear_acceleration - Bas[j]) - g; + Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1); + Ps[j] += dt * Vs[j] + 0.5 * dt * dt * un_acc; + Vs[j] += dt * un_acc; + } //此处的acc_0和gyr_0定义在estimator.h中,注意与integration_base.h中的区别 tzhang + acc_0 = linear_acceleration; + gyr_0 = angular_velocity; +} + +void Estimator::processImage(const map>>> &image, const double header) +{ + ROS_DEBUG("new image coming ------------------------------------------"); + ROS_DEBUG("Adding feature points %lu", image.size()); + if (f_manager.addFeatureCheckParallax(frame_count, image, td)) //判定当前帧（frame_count）是否为关键帧 tzhang + { + marginalization_flag = MARGIN_OLD; //当前帧为关键帧，则边缘化窗口中最老的图像帧 + //printf("keyframe\n"); + } + else + { + marginalization_flag = MARGIN_SECOND_NEW; //当前帧为非关键帧，则边缘化当前帧 （PS：称frame_count为当前帧，可能不是很妥当） tzhang + //printf("non-keyframe\n"); + } + + ROS_DEBUG("%s", marginalization_flag ? "Non-keyframe" : "Keyframe"); + ROS_DEBUG("Solving %d", frame_count); + ROS_DEBUG("number of feature: %d", f_manager.getFeatureCount()); + Headers[frame_count] = header; + + ImageFrame imageframe(image, header); //特征点信息，图像帧时间戳构成当前图像帧信息 tzhang + imageframe.pre_integration = tmp_pre_integration; + all_image_frame.insert(make_pair(header, imageframe)); + tmp_pre_integration = new IntegrationBase{acc_0, gyr_0, Bas[frame_count], Bgs[frame_count]}; //tmp预积分重新新建初始化 tzhang + + if(ESTIMATE_EXTRINSIC == 2) + { + ROS_INFO("calibrating extrinsic param, rotation movement is needed"); + if (frame_count != 0) + { + //获取frame_count - 1 与 frame_count两个图像帧匹配的特征点，特征点在归一化相机坐标系 tzhang + vector> corres = f_manager.getCorresponding(frame_count - 1, frame_count); + Matrix3d calib_ric; + if (initial_ex_rotation.CalibrationExRotation(corres, pre_integrations[frame_count]->delta_q, calib_ric)) + { + //对应第7讲初始化 公式（7~9），具体利用两图像帧及图像帧之间陀螺仪关联的旋转信息 tzhang + ROS_WARN("initial extrinsic rotation calib success"); + ROS_WARN_STREAM("initial extrinsic rotation: " << endl << calib_ric); + ric[0] = calib_ric; + RIC[0] = calib_ric; + ESTIMATE_EXTRINSIC = 1; + } + } + } + + if (solver_flag == INITIAL) //进入初始化步骤 tzhang + { + // monocular + IMU initilization + if (!STEREO && USE_IMU) + { + if (frame_count == WINDOW_SIZE) //滑窗满后才开始初始化 tzhang + { + bool result = false; + if(ESTIMATE_EXTRINSIC != 2 && (header - initial_timestamp) > 0.1) + { + result = initialStructure(); + initial_timestamp = header; //更新计算过初始化的时间戳 + } + if(result) //初始化成功 + { + optimization(); + updateLatestStates(); + solver_flag = NON_LINEAR; + slideWindow(); + ROS_INFO("Initialization finish!"); + } + else + slideWindow(); + } + } + + // stereo + IMU initilization + if(STEREO && USE_IMU) + { + f_manager.initFramePoseByPnP(frame_count, Ps, Rs, tic, ric); + f_manager.triangulate(frame_count, Ps, Rs, tic, ric); + if (frame_count == WINDOW_SIZE) + { + map::iterator frame_it; + int i = 0; + for (frame_it = all_image_frame.begin(); frame_it != all_image_frame.end(); frame_it++) + { + frame_it->second.R = Rs[i]; + frame_it->second.T = Ps[i]; + i++; + } + solveGyroscopeBias(all_image_frame, Bgs); + for (int i = 0; i <= WINDOW_SIZE; i++) + { + pre_integrations[i]->repropagate(Vector3d::Zero(), Bgs[i]); //Why：solveGyroscopeBias函数中全部是基于Bgs[0]进行的预积分 tzhang + } + optimization(); + updateLatestStates(); + solver_flag = NON_LINEAR; + slideWindow(); + ROS_INFO("Initialization finish!"); + } + } + + // stereo only initilization + if(STEREO && !USE_IMU) + { + f_manager.initFramePoseByPnP(frame_count, Ps, Rs, tic, ric); + f_manager.triangulate(frame_count, Ps, Rs, tic, ric); + optimization(); + + if(frame_count == WINDOW_SIZE) + { + optimization(); + updateLatestStates(); + solver_flag = NON_LINEAR; + slideWindow(); + ROS_INFO("Initialization finish!"); + } + } + + if(frame_count < WINDOW_SIZE) + { + frame_count++; + int prev_frame = frame_count - 1; + Ps[frame_count] = Ps[prev_frame]; + Vs[frame_count] = Vs[prev_frame]; + Rs[frame_count] = Rs[prev_frame]; + Bas[frame_count] = Bas[prev_frame]; + Bgs[frame_count] = Bgs[prev_frame]; + } + + } + else //初始化成功，优化环节 tzhang + { + TicToc t_solve; + if(!USE_IMU) //当不存在imu时，使用pnp方法进行位姿预测;存在imu时使用imu积分进行预测 + f_manager.initFramePoseByPnP(frame_count, Ps, Rs, tic, ric); + f_manager.triangulate(frame_count, Ps, Rs, tic, ric); // 利用三角化方法，对未初始化的路标点进行初始化;其中，双目配置时使用双目图像进行三角化; 单目配置时，使用前后帧图像进行三角化 + optimization(); + set removeIndex; + outliersRejection(removeIndex); //基于重投影误差，检测外点 + f_manager.removeOutlier(removeIndex); + if (! MULTIPLE_THREAD) + { + featureTracker.removeOutliers(removeIndex); //若路标点为外点，则对前端图像跟踪部分的信息进行剔除更新;主要包括prev_pts, ids， track_cnt + predictPtsInNextFrame(); //预测路标点在下一时刻左图中的坐标，基于恒速模型 + } + + ROS_DEBUG("solver costs: %fms", t_solve.toc()); + + if (failureDetection()) //默认直接返回false，具体判定失败的条件可根据具体场景修正 + { + ROS_WARN("failure detection!"); + failure_occur = 1; + clearState(); //清除状态、重新设置参数，相当于重新开启vio + setParameter(); + ROS_WARN("system reboot!"); + return; + } + + slideWindow(); + f_manager.removeFailures(); + // prepare output of VINS + key_poses.clear(); + for (int i = 0; i <= WINDOW_SIZE; i++) + key_poses.push_back(Ps[i]); + + last_R = Rs[WINDOW_SIZE]; + last_P = Ps[WINDOW_SIZE]; + last_R0 = Rs[0]; + last_P0 = Ps[0]; + updateLatestStates(); //基于中值积分，计算位姿 + } +} + +bool Estimator::initialStructure() +{ + TicToc t_sfm; + //check imu observibility + { + map::iterator frame_it; + Vector3d sum_g; + for (frame_it = all_image_frame.begin(), frame_it++; frame_it != all_image_frame.end(); frame_it++) + { + double dt = frame_it->second.pre_integration->sum_dt; + Vector3d tmp_g = frame_it->second.pre_integration->delta_v / dt; + sum_g += tmp_g; + } + Vector3d aver_g; + aver_g = sum_g * 1.0 / ((int)all_image_frame.size() - 1); + double var = 0; + for (frame_it = all_image_frame.begin(), frame_it++; frame_it != all_image_frame.end(); frame_it++) + { + double dt = frame_it->second.pre_integration->sum_dt; + Vector3d tmp_g = frame_it->second.pre_integration->delta_v / dt; + var += (tmp_g - aver_g).transpose() * (tmp_g - aver_g); + //cout << "frame g " << tmp_g.transpose() << endl; + } + var = sqrt(var / ((int)all_image_frame.size() - 1)); + //ROS_WARN("IMU variation %f!", var); + if(var < 0.25) + { + ROS_INFO("IMU excitation not enouth!"); + //return false; + } + } + // global sfm + Quaterniond Q[frame_count + 1]; + Vector3d T[frame_count + 1]; + map sfm_tracked_points; + vector sfm_f; + for (auto &it_per_id : f_manager.feature) + { + int imu_j = it_per_id.start_frame - 1; + SFMFeature tmp_feature; + tmp_feature.state = false; + tmp_feature.id = it_per_id.feature_id; + for (auto &it_per_frame : it_per_id.feature_per_frame) + { + imu_j++; + Vector3d pts_j = it_per_frame.point; + tmp_feature.observation.push_back(make_pair(imu_j, Eigen::Vector2d{pts_j.x(), pts_j.y()})); + } + sfm_f.push_back(tmp_feature); + } + Matrix3d relative_R; + Vector3d relative_T; + int l; + if (!relativePose(relative_R, relative_T, l)) + { + ROS_INFO("Not enough features or parallax; Move device around"); + return false; + } + GlobalSFM sfm; + if(!sfm.construct(frame_count + 1, Q, T, l, + relative_R, relative_T, + sfm_f, sfm_tracked_points)) + { + ROS_DEBUG("global SFM failed!"); + marginalization_flag = MARGIN_OLD; + return false; + } + + //solve pnp for all frame + map::iterator frame_it; + map::iterator it; + frame_it = all_image_frame.begin( ); + for (int i = 0; frame_it != all_image_frame.end( ); frame_it++) + { + // provide initial guess + cv::Mat r, rvec, t, D, tmp_r; + if((frame_it->first) == Headers[i]) + { + frame_it->second.is_key_frame = true; + frame_it->second.R = Q[i].toRotationMatrix() * RIC[0].transpose(); + frame_it->second.T = T[i]; + i++; + continue; + } + if((frame_it->first) > Headers[i]) + { + i++; + } + Matrix3d R_inital = (Q[i].inverse()).toRotationMatrix(); + Vector3d P_inital = - R_inital * T[i]; + cv::eigen2cv(R_inital, tmp_r); + cv::Rodrigues(tmp_r, rvec); + cv::eigen2cv(P_inital, t); + + frame_it->second.is_key_frame = false; + vector pts_3_vector; + vector pts_2_vector; + for (auto &id_pts : frame_it->second.points) + { + int feature_id = id_pts.first; + for (auto &i_p : id_pts.second) + { + it = sfm_tracked_points.find(feature_id); + if(it != sfm_tracked_points.end()) + { + Vector3d world_pts = it->second; + cv::Point3f pts_3(world_pts(0), world_pts(1), world_pts(2)); + pts_3_vector.push_back(pts_3); + Vector2d img_pts = i_p.second.head<2>(); + cv::Point2f pts_2(img_pts(0), img_pts(1)); + pts_2_vector.push_back(pts_2); + } + } + } + cv::Mat K = (cv::Mat_(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1); + if(pts_3_vector.size() < 6) + { + cout << "pts_3_vector size " << pts_3_vector.size() << endl; + ROS_DEBUG("Not enough points for solve pnp !"); + return false; + } + if (! cv::solvePnP(pts_3_vector, pts_2_vector, K, D, rvec, t, 1)) + { + ROS_DEBUG("solve pnp fail!"); + return false; + } + cv::Rodrigues(rvec, r); + MatrixXd R_pnp,tmp_R_pnp; + cv::cv2eigen(r, tmp_R_pnp); + R_pnp = tmp_R_pnp.transpose(); + MatrixXd T_pnp; + cv::cv2eigen(t, T_pnp); + T_pnp = R_pnp * (-T_pnp); + frame_it->second.R = R_pnp * RIC[0].transpose(); + frame_it->second.T = T_pnp; + } + if (visualInitialAlign()) + return true; + else + { + ROS_INFO("misalign visual structure with IMU"); + return false; + } + +} + +bool Estimator::visualInitialAlign() +{ + TicToc t_g; + VectorXd x; + //solve scale + bool result = VisualIMUAlignment(all_image_frame, Bgs, g, x); + if(!result) + { + ROS_DEBUG("solve g failed!"); + return false; + } + + // change state + for (int i = 0; i <= frame_count; i++) + { + Matrix3d Ri = all_image_frame[Headers[i]].R; + Vector3d Pi = all_image_frame[Headers[i]].T; + Ps[i] = Pi; + Rs[i] = Ri; + all_image_frame[Headers[i]].is_key_frame = true; + } + + double s = (x.tail<1>())(0); + for (int i = 0; i <= WINDOW_SIZE; i++) + { + pre_integrations[i]->repropagate(Vector3d::Zero(), Bgs[i]); + } + for (int i = frame_count; i >= 0; i--) + Ps[i] = s * Ps[i] - Rs[i] * TIC[0] - (s * Ps[0] - Rs[0] * TIC[0]); + int kv = -1; + map::iterator frame_i; + for (frame_i = all_image_frame.begin(); frame_i != all_image_frame.end(); frame_i++) + { + if(frame_i->second.is_key_frame) + { + kv++; + Vs[kv] = frame_i->second.R * x.segment<3>(kv * 3); + } + } + + Matrix3d R0 = Utility::g2R(g); + double yaw = Utility::R2ypr(R0 * Rs[0]).x(); + R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; + g = R0 * g; + //Matrix3d rot_diff = R0 * Rs[0].transpose(); + Matrix3d rot_diff = R0; + for (int i = 0; i <= frame_count; i++) + { + Ps[i] = rot_diff * Ps[i]; + Rs[i] = rot_diff * Rs[i]; + Vs[i] = rot_diff * Vs[i]; + } + ROS_DEBUG_STREAM("g0 " << g.transpose()); + ROS_DEBUG_STREAM("my R0 " << Utility::R2ypr(Rs[0]).transpose()); + + f_manager.clearDepth(); + f_manager.triangulate(frame_count, Ps, Rs, tic, ric); + + return true; +} + +bool Estimator::relativePose(Matrix3d &relative_R, Vector3d &relative_T, int &l) +{ + // find previous frame which contians enough correspondance and parallex with newest frame + for (int i = 0; i < WINDOW_SIZE; i++) + { + vector> corres; + corres = f_manager.getCorresponding(i, WINDOW_SIZE); + if (corres.size() > 20) + { + double sum_parallax = 0; + double average_parallax; + for (int j = 0; j < int(corres.size()); j++) + { + Vector2d pts_0(corres[j].first(0), corres[j].first(1)); + Vector2d pts_1(corres[j].second(0), corres[j].second(1)); + double parallax = (pts_0 - pts_1).norm(); + sum_parallax = sum_parallax + parallax; + + } + average_parallax = 1.0 * sum_parallax / int(corres.size()); + if(average_parallax * 460 > 30 && m_estimator.solveRelativeRT(corres, relative_R, relative_T)) + { + l = i; + ROS_DEBUG("average_parallax %f choose l %d and newest frame to triangulate the whole structure", average_parallax * 460, l); + return true; + } + } + } + return false; +} + +void Estimator::vector2double() +{ + for (int i = 0; i <= WINDOW_SIZE; i++) + { + para_Pose[i][0] = Ps[i].x(); + para_Pose[i][1] = Ps[i].y(); + para_Pose[i][2] = Ps[i].z(); + Quaterniond q{Rs[i]}; + para_Pose[i][3] = q.x(); + para_Pose[i][4] = q.y(); + para_Pose[i][5] = q.z(); + para_Pose[i][6] = q.w(); + + if(USE_IMU) + { + para_SpeedBias[i][0] = Vs[i].x(); + para_SpeedBias[i][1] = Vs[i].y(); + para_SpeedBias[i][2] = Vs[i].z(); + + para_SpeedBias[i][3] = Bas[i].x(); + para_SpeedBias[i][4] = Bas[i].y(); + para_SpeedBias[i][5] = Bas[i].z(); + + para_SpeedBias[i][6] = Bgs[i].x(); + para_SpeedBias[i][7] = Bgs[i].y(); + para_SpeedBias[i][8] = Bgs[i].z(); + } + } + + for (int i = 0; i < NUM_OF_CAM; i++) + { + para_Ex_Pose[i][0] = tic[i].x(); + para_Ex_Pose[i][1] = tic[i].y(); + para_Ex_Pose[i][2] = tic[i].z(); + Quaterniond q{ric[i]}; + para_Ex_Pose[i][3] = q.x(); + para_Ex_Pose[i][4] = q.y(); + para_Ex_Pose[i][5] = q.z(); + para_Ex_Pose[i][6] = q.w(); + } + + + VectorXd dep = f_manager.getDepthVector(); + for (int i = 0; i < f_manager.getFeatureCount(); i++) + para_Feature[i][0] = dep(i); + + para_Td[0][0] = td; +} + +void Estimator::double2vector() +{ + Vector3d origin_R0 = Utility::R2ypr(Rs[0]); + Vector3d origin_P0 = Ps[0]; + + if (failure_occur) + { + origin_R0 = Utility::R2ypr(last_R0); + origin_P0 = last_P0; + failure_occur = 0; + } + + if(USE_IMU) + { + Vector3d origin_R00 = Utility::R2ypr(Quaterniond(para_Pose[0][6], + para_Pose[0][3], + para_Pose[0][4], + para_Pose[0][5]).toRotationMatrix()); + double y_diff = origin_R0.x() - origin_R00.x(); + //TODO + Matrix3d rot_diff = Utility::ypr2R(Vector3d(y_diff, 0, 0)); + if (abs(abs(origin_R0.y()) - 90) < 1.0 || abs(abs(origin_R00.y()) - 90) < 1.0) + { + ROS_DEBUG("euler singular point!"); + rot_diff = Rs[0] * Quaterniond(para_Pose[0][6], + para_Pose[0][3], + para_Pose[0][4], + para_Pose[0][5]).toRotationMatrix().transpose(); + } + + for (int i = 0; i <= WINDOW_SIZE; i++) + { + + Rs[i] = rot_diff * Quaterniond(para_Pose[i][6], para_Pose[i][3], para_Pose[i][4], para_Pose[i][5]).normalized().toRotationMatrix(); + + Ps[i] = rot_diff * Vector3d(para_Pose[i][0] - para_Pose[0][0], + para_Pose[i][1] - para_Pose[0][1], + para_Pose[i][2] - para_Pose[0][2]) + origin_P0; + + + Vs[i] = rot_diff * Vector3d(para_SpeedBias[i][0], + para_SpeedBias[i][1], + para_SpeedBias[i][2]); + + Bas[i] = Vector3d(para_SpeedBias[i][3], + para_SpeedBias[i][4], + para_SpeedBias[i][5]); + + Bgs[i] = Vector3d(para_SpeedBias[i][6], + para_SpeedBias[i][7], + para_SpeedBias[i][8]); + + } + } + else + { + for (int i = 0; i <= WINDOW_SIZE; i++) + { + Rs[i] = Quaterniond(para_Pose[i][6], para_Pose[i][3], para_Pose[i][4], para_Pose[i][5]).normalized().toRotationMatrix(); + + Ps[i] = Vector3d(para_Pose[i][0], para_Pose[i][1], para_Pose[i][2]); + } + } + + if(USE_IMU) + { + for (int i = 0; i < NUM_OF_CAM; i++) + { + tic[i] = Vector3d(para_Ex_Pose[i][0], + para_Ex_Pose[i][1], + para_Ex_Pose[i][2]); + ric[i] = Quaterniond(para_Ex_Pose[i][6], + para_Ex_Pose[i][3], + para_Ex_Pose[i][4], + para_Ex_Pose[i][5]).normalized().toRotationMatrix(); + } + } + + VectorXd dep = f_manager.getDepthVector(); + for (int i = 0; i < f_manager.getFeatureCount(); i++) + dep(i) = para_Feature[i][0]; + f_manager.setDepth(dep); + + if(USE_IMU) + td = para_Td[0][0]; + +} + +bool Estimator::failureDetection() +{ + return false; //TODO(tzhang):失败检测策略还可自己探索 + if (f_manager.last_track_num < 2) + { + ROS_INFO(" little feature %d", f_manager.last_track_num); + //return true; + } + if (Bas[WINDOW_SIZE].norm() > 2.5) + { + ROS_INFO(" big IMU acc bias estimation %f", Bas[WINDOW_SIZE].norm()); + return true; + } + if (Bgs[WINDOW_SIZE].norm() > 1.0) + { + ROS_INFO(" big IMU gyr bias estimation %f", Bgs[WINDOW_SIZE].norm()); + return true; + } + /* + if (tic(0) > 1) + { + ROS_INFO(" big extri param estimation %d", tic(0) > 1); + return true; + } + */ + Vector3d tmp_P = Ps[WINDOW_SIZE]; + if ((tmp_P - last_P).norm() > 5) + { + //ROS_INFO(" big translation"); + //return true; + } + if (abs(tmp_P.z() - last_P.z()) > 1) + { + //ROS_INFO(" big z translation"); + //return true; + } + Matrix3d tmp_R = Rs[WINDOW_SIZE]; + Matrix3d delta_R = tmp_R.transpose() * last_R; + Quaterniond delta_Q(delta_R); + double delta_angle; + delta_angle = acos(delta_Q.w()) * 2.0 / 3.14 * 180.0; + if (delta_angle > 50) + { + ROS_INFO(" big delta_angle "); + //return true; + } + return false; +} + +void Estimator::optimization() +{ + TicToc t_whole, t_prepare; + vector2double(); + + ceres::Problem problem; + ceres::LossFunction *loss_function; + //loss_function = NULL; + loss_function = new ceres::HuberLoss(1.0); + //loss_function = new ceres::CauchyLoss(1.0 / FOCAL_LENGTH); + //ceres::LossFunction* loss_function = new ceres::HuberLoss(1.0); + for (int i = 0; i < frame_count + 1; i++) //IMU场景，frame_count等于WINDOW_SIZE才会调用optimization() tzhang + { + ceres::LocalParameterization *local_parameterization = new PoseLocalParameterization(); + problem.AddParameterBlock(para_Pose[i], SIZE_POSE, local_parameterization); + if(USE_IMU) + problem.AddParameterBlock(para_SpeedBias[i], SIZE_SPEEDBIAS); + } + if(!USE_IMU) + problem.SetParameterBlockConstant(para_Pose[0]); + + for (int i = 0; i < NUM_OF_CAM; i++) + { + ceres::LocalParameterization *local_parameterization = new PoseLocalParameterization(); + problem.AddParameterBlock(para_Ex_Pose[i], SIZE_POSE, local_parameterization); + if ((ESTIMATE_EXTRINSIC && frame_count == WINDOW_SIZE && Vs[0].norm() > 0.2) || openExEstimation) + { + //ROS_INFO("estimate extinsic param"); + openExEstimation = 1; + } + else + { + //ROS_INFO("fix extinsic param"); + problem.SetParameterBlockConstant(para_Ex_Pose[i]); + } + } + problem.AddParameterBlock(para_Td[0], 1); + + if (!ESTIMATE_TD || Vs[0].norm() < 0.2) + problem.SetParameterBlockConstant(para_Td[0]); + + if (last_marginalization_info && last_marginalization_info->valid) //边缘化残差，last_marginalization_parameter_blocks怎么得到的？ why tzhang + { + // construct new marginlization_factor 会调用marginalization_factor——>Evaluate计算边缘化后的残差与雅克比 + MarginalizationFactor *marginalization_factor = new MarginalizationFactor(last_marginalization_info); + problem.AddResidualBlock(marginalization_factor, NULL, + last_marginalization_parameter_blocks); + } + if(USE_IMU) + { + for (int i = 0; i < frame_count; i++) //预积分残差，总数目为frame_count + { + int j = i + 1; + if (pre_integrations[j]->sum_dt > 10.0) //两图像帧之间时间过长，不使用中间的预积分 tzhang + continue; + IMUFactor* imu_factor = new IMUFactor(pre_integrations[j]); + problem.AddResidualBlock(imu_factor, NULL, para_Pose[i], para_SpeedBias[i], para_Pose[j], para_SpeedBias[j]); + } + } + + int f_m_cnt = 0; + int feature_index = -1; + for (auto &it_per_id : f_manager.feature) //对每个路标点进行轮询 + { + it_per_id.used_num = it_per_id.feature_per_frame.size(); + if (it_per_id.used_num < 4) + continue; + + ++feature_index; + + int imu_i = it_per_id.start_frame, imu_j = imu_i - 1; + + Vector3d pts_i = it_per_id.feature_per_frame[0].point; + + for (auto &it_per_frame : it_per_id.feature_per_frame) //对每个路标点在各个图像上的特征点进行轮询 + { + imu_j++; + if (imu_i != imu_j) + { + Vector3d pts_j = it_per_frame.point; + ProjectionTwoFrameOneCamFactor *f_td = new ProjectionTwoFrameOneCamFactor(pts_i, pts_j, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocity, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + problem.AddResidualBlock(f_td, loss_function, para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Feature[feature_index], para_Td[0]); + } + + if(STEREO && it_per_frame.is_stereo) + { + Vector3d pts_j_right = it_per_frame.pointRight; + if(imu_i != imu_j) + { + ProjectionTwoFrameTwoCamFactor *f = new ProjectionTwoFrameTwoCamFactor(pts_i, pts_j_right, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocityRight, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + problem.AddResidualBlock(f, loss_function, para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Ex_Pose[1], para_Feature[feature_index], para_Td[0]); + } + else + { + ProjectionOneFrameTwoCamFactor *f = new ProjectionOneFrameTwoCamFactor(pts_i, pts_j_right, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocityRight, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + problem.AddResidualBlock(f, loss_function, para_Ex_Pose[0], para_Ex_Pose[1], para_Feature[feature_index], para_Td[0]); + } + + } + f_m_cnt++; + } + } + + ROS_DEBUG("visual measurement count: %d", f_m_cnt); + //printf("prepare for ceres: %f \n", t_prepare.toc()); + + ceres::Solver::Options options; + + options.linear_solver_type = ceres::DENSE_SCHUR; + //options.num_threads = 2; + options.trust_region_strategy_type = ceres::DOGLEG; + options.max_num_iterations = NUM_ITERATIONS; + //options.use_explicit_schur_complement = true; + //options.minimizer_progress_to_stdout = true; + //options.use_nonmonotonic_steps = true; + if (marginalization_flag == MARGIN_OLD) + options.max_solver_time_in_seconds = SOLVER_TIME * 4.0 / 5.0; + else + options.max_solver_time_in_seconds = SOLVER_TIME; + TicToc t_solver; + ceres::Solver::Summary summary; + ceres::Solve(options, &problem, &summary); + //cout << summary.BriefReport() << endl; + ROS_DEBUG("Iterations : %d", static_cast(summary.iterations.size())); + //printf("solver costs: %f \n", t_solver.toc()); + + double2vector(); + //printf("frame_count: %d \n", frame_count); + + if(frame_count < WINDOW_SIZE) //滑窗未满 + return; + + TicToc t_whole_marginalization; //滑窗满了，进行边缘化处理 + if (marginalization_flag == MARGIN_OLD) + { + MarginalizationInfo *marginalization_info = new MarginalizationInfo(); + vector2double(); + + // 先验部分 + if (last_marginalization_info && last_marginalization_info->valid) + { + vector drop_set; + for (int i = 0; i < static_cast(last_marginalization_parameter_blocks.size()); i++) + { + if (last_marginalization_parameter_blocks[i] == para_Pose[0] || //将最老的图像帧数据边缘化； tzhang + last_marginalization_parameter_blocks[i] == para_SpeedBias[0]) + drop_set.push_back(i); + } + // construct new marginlization_factor + MarginalizationFactor *marginalization_factor = new MarginalizationFactor(last_marginalization_info); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(marginalization_factor, NULL, + last_marginalization_parameter_blocks, + drop_set); + marginalization_info->addResidualBlockInfo(residual_block_info); + } + + //imu 预积分部分 + if(USE_IMU) + { + if (pre_integrations[1]->sum_dt < 10.0) + { + IMUFactor* imu_factor = new IMUFactor(pre_integrations[1]); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(imu_factor, NULL, + vector{para_Pose[0], para_SpeedBias[0], para_Pose[1], para_SpeedBias[1]}, + vector{0, 1}); //边缘化 para_Pose[0], para_SpeedBias[0] + marginalization_info->addResidualBlockInfo(residual_block_info); + } + } + + //图像部分 + { + int feature_index = -1; + for (auto &it_per_id : f_manager.feature) + { + it_per_id.used_num = it_per_id.feature_per_frame.size(); + if (it_per_id.used_num < 4) + continue; + + ++feature_index; + + int imu_i = it_per_id.start_frame, imu_j = imu_i - 1; + if (imu_i != 0) + continue; + + Vector3d pts_i = it_per_id.feature_per_frame[0].point; + + for (auto &it_per_frame : it_per_id.feature_per_frame) + { + imu_j++; + if(imu_i != imu_j) + { + Vector3d pts_j = it_per_frame.point; + ProjectionTwoFrameOneCamFactor *f_td = new ProjectionTwoFrameOneCamFactor(pts_i, pts_j, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocity, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f_td, loss_function, + vector{para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Feature[feature_index], para_Td[0]}, + vector{0, 3}); //边缘化para_Pose[imu_i]与para_Feature[feature_index] + marginalization_info->addResidualBlockInfo(residual_block_info); + } + if(STEREO && it_per_frame.is_stereo) + { + Vector3d pts_j_right = it_per_frame.pointRight; + if(imu_i != imu_j) + { + ProjectionTwoFrameTwoCamFactor *f = new ProjectionTwoFrameTwoCamFactor(pts_i, pts_j_right, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocityRight, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f, loss_function, + vector{para_Pose[imu_i], para_Pose[imu_j], para_Ex_Pose[0], para_Ex_Pose[1], para_Feature[feature_index], para_Td[0]}, + vector{0, 4}); //边缘化para_Pose[imu_i]与para_Feature[feature_index] + marginalization_info->addResidualBlockInfo(residual_block_info); + } + else + { + ProjectionOneFrameTwoCamFactor *f = new ProjectionOneFrameTwoCamFactor(pts_i, pts_j_right, it_per_id.feature_per_frame[0].velocity, it_per_frame.velocityRight, + it_per_id.feature_per_frame[0].cur_td, it_per_frame.cur_td); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f, loss_function, + vector{para_Ex_Pose[0], para_Ex_Pose[1], para_Feature[feature_index], para_Td[0]}, + vector{2}); //边缘化para_Feature[feature_index] + marginalization_info->addResidualBlockInfo(residual_block_info); + } + } + } + } + } + + TicToc t_pre_margin; + marginalization_info->preMarginalize(); + ROS_DEBUG("pre marginalization %f ms", t_pre_margin.toc()); + + TicToc t_margin; + marginalization_info->marginalize(); + ROS_DEBUG("marginalization %f ms", t_margin.toc()); + + std::unordered_map addr_shift; //仅仅改变滑窗double部分地址映射，具体值的更改在optimization开始处vector2double函数完成；记住边缘化仅仅改变A和b，不改变状态向量 + for (int i = 1; i <= WINDOW_SIZE; i++) + { + addr_shift[reinterpret_cast(para_Pose[i])] = para_Pose[i - 1]; + if(USE_IMU) + addr_shift[reinterpret_cast(para_SpeedBias[i])] = para_SpeedBias[i - 1]; + } + for (int i = 0; i < NUM_OF_CAM; i++) + addr_shift[reinterpret_cast(para_Ex_Pose[i])] = para_Ex_Pose[i]; + + addr_shift[reinterpret_cast(para_Td[0])] = para_Td[0]; + + vector parameter_blocks = marginalization_info->getParameterBlocks(addr_shift); + + if (last_marginalization_info) + delete last_marginalization_info; + last_marginalization_info = marginalization_info; + last_marginalization_parameter_blocks = parameter_blocks; + } + else + { + if (last_marginalization_info && + std::count(std::begin(last_marginalization_parameter_blocks), std::end(last_marginalization_parameter_blocks), para_Pose[WINDOW_SIZE - 1])) + { + + MarginalizationInfo *marginalization_info = new MarginalizationInfo(); + vector2double(); + if (last_marginalization_info && last_marginalization_info->valid) + { + vector drop_set; + for (int i = 0; i < static_cast(last_marginalization_parameter_blocks.size()); i++) + { + ROS_ASSERT(last_marginalization_parameter_blocks[i] != para_SpeedBias[WINDOW_SIZE - 1]); + if (last_marginalization_parameter_blocks[i] == para_Pose[WINDOW_SIZE - 1]) + drop_set.push_back(i); + } + // construct new marginlization_factor + MarginalizationFactor *marginalization_factor = new MarginalizationFactor(last_marginalization_info); + ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(marginalization_factor, NULL, + last_marginalization_parameter_blocks, + drop_set); //仅仅只根据先验信息边缘化WINDOW_SIZE - 1变量？特征点、图像数据未进行处理？ why tzhang + + marginalization_info->addResidualBlockInfo(residual_block_info); + } + + TicToc t_pre_margin; + ROS_DEBUG("begin marginalization"); + marginalization_info->preMarginalize(); + ROS_DEBUG("end pre marginalization, %f ms", t_pre_margin.toc()); + + TicToc t_margin; + ROS_DEBUG("begin marginalization"); + marginalization_info->marginalize(); + ROS_DEBUG("end marginalization, %f ms", t_margin.toc()); + + std::unordered_map addr_shift; + for (int i = 0; i <= WINDOW_SIZE; i++) + { + if (i == WINDOW_SIZE - 1) + continue; + else if (i == WINDOW_SIZE) + { + addr_shift[reinterpret_cast(para_Pose[i])] = para_Pose[i - 1]; + if(USE_IMU) + addr_shift[reinterpret_cast(para_SpeedBias[i])] = para_SpeedBias[i - 1]; + } + else + { + addr_shift[reinterpret_cast(para_Pose[i])] = para_Pose[i]; + if(USE_IMU) + addr_shift[reinterpret_cast(para_SpeedBias[i])] = para_SpeedBias[i]; + } + } + for (int i = 0; i < NUM_OF_CAM; i++) + addr_shift[reinterpret_cast(para_Ex_Pose[i])] = para_Ex_Pose[i]; + + addr_shift[reinterpret_cast(para_Td[0])] = para_Td[0]; + + + vector parameter_blocks = marginalization_info->getParameterBlocks(addr_shift); + if (last_marginalization_info) + delete last_marginalization_info; + last_marginalization_info = marginalization_info; + last_marginalization_parameter_blocks = parameter_blocks; + + } + } + //printf("whole marginalization costs: %f \n", t_whole_marginalization.toc()); + //printf("whole time for ceres: %f \n", t_whole.toc()); +} + +void Estimator::slideWindow() +{ + TicToc t_margin; + if (marginalization_flag == MARGIN_OLD) // 边缘化最好的图像帧，即次新的图像帧为关键帧 + { + double t_0 = Headers[0]; + back_R0 = Rs[0]; + back_P0 = Ps[0]; + if (frame_count == WINDOW_SIZE) + { + for (int i = 0; i < WINDOW_SIZE; i++) + { + Headers[i] = Headers[i + 1]; + Rs[i].swap(Rs[i + 1]); + Ps[i].swap(Ps[i + 1]); + if(USE_IMU) + { + std::swap(pre_integrations[i], pre_integrations[i + 1]); + + dt_buf[i].swap(dt_buf[i + 1]); + linear_acceleration_buf[i].swap(linear_acceleration_buf[i + 1]); + angular_velocity_buf[i].swap(angular_velocity_buf[i + 1]); + + Vs[i].swap(Vs[i + 1]); + Bas[i].swap(Bas[i + 1]); + Bgs[i].swap(Bgs[i + 1]); + } + } + Headers[WINDOW_SIZE] = Headers[WINDOW_SIZE - 1]; + Ps[WINDOW_SIZE] = Ps[WINDOW_SIZE - 1]; + Rs[WINDOW_SIZE] = Rs[WINDOW_SIZE - 1]; + + if(USE_IMU) + { + Vs[WINDOW_SIZE] = Vs[WINDOW_SIZE - 1]; + Bas[WINDOW_SIZE] = Bas[WINDOW_SIZE - 1]; + Bgs[WINDOW_SIZE] = Bgs[WINDOW_SIZE - 1]; + + delete pre_integrations[WINDOW_SIZE]; + pre_integrations[WINDOW_SIZE] = new IntegrationBase{acc_0, gyr_0, Bas[WINDOW_SIZE], Bgs[WINDOW_SIZE]}; + + dt_buf[WINDOW_SIZE].clear(); + linear_acceleration_buf[WINDOW_SIZE].clear(); + angular_velocity_buf[WINDOW_SIZE].clear(); + } + + if (true || solver_flag == INITIAL) + { + map::iterator it_0; + it_0 = all_image_frame.find(t_0); + delete it_0->second.pre_integration; + all_image_frame.erase(all_image_frame.begin(), it_0); + } + slideWindowOld(); + } + } + else //边缘化次新的图像帧，主要完成的工作是数据衔接 tzhang + { + if (frame_count == WINDOW_SIZE) + { + Headers[frame_count - 1] = Headers[frame_count]; + Ps[frame_count - 1] = Ps[frame_count]; + Rs[frame_count - 1] = Rs[frame_count]; + + if(USE_IMU) + { + for (unsigned int i = 0; i < dt_buf[frame_count].size(); i++) + { + double tmp_dt = dt_buf[frame_count][i]; + Vector3d tmp_linear_acceleration = linear_acceleration_buf[frame_count][i]; + Vector3d tmp_angular_velocity = angular_velocity_buf[frame_count][i]; + + pre_integrations[frame_count - 1]->push_back(tmp_dt, tmp_linear_acceleration, tmp_angular_velocity); + + dt_buf[frame_count - 1].push_back(tmp_dt); //TODO： tzhang 数据保存有冗余，integration_base中也保存了同样的数据 + linear_acceleration_buf[frame_count - 1].push_back(tmp_linear_acceleration); + angular_velocity_buf[frame_count - 1].push_back(tmp_angular_velocity); + } + + Vs[frame_count - 1] = Vs[frame_count]; + Bas[frame_count - 1] = Bas[frame_count]; + Bgs[frame_count - 1] = Bgs[frame_count]; + + delete pre_integrations[WINDOW_SIZE]; + pre_integrations[WINDOW_SIZE] = new IntegrationBase{acc_0, gyr_0, Bas[WINDOW_SIZE], Bgs[WINDOW_SIZE]}; + + dt_buf[WINDOW_SIZE].clear(); + linear_acceleration_buf[WINDOW_SIZE].clear(); + angular_velocity_buf[WINDOW_SIZE].clear(); + } + slideWindowNew(); + } + } +} + +void Estimator::slideWindowNew() +{ + sum_of_front++; + f_manager.removeFront(frame_count); +} + +void Estimator::slideWindowOld() +{ + sum_of_back++; + + bool shift_depth = solver_flag == NON_LINEAR ? true : false; + if (shift_depth) + { + Matrix3d R0, R1; //R0、P0表示被边缘化的图像帧，即老的第0帧的位姿； R1、P1表示边缘化后的图像帧中，即新的第0帧的位姿 tzhang + Vector3d P0, P1; + R0 = back_R0 * ric[0]; + R1 = Rs[0] * ric[0]; + P0 = back_P0 + back_R0 * tic[0]; + P1 = Ps[0] + Rs[0] * tic[0]; + f_manager.removeBackShiftDepth(R0, P0, R1, P1); + } + else + f_manager.removeBack(); //还未初始化，只是单纯的移除最老的图像帧，更新第一次观察到路标点的图像帧的索引 tzhang +} + + +void Estimator::getPoseInWorldFrame(Eigen::Matrix4d &T) +{ + T = Eigen::Matrix4d::Identity(); + T.block<3, 3>(0, 0) = Rs[frame_count]; + T.block<3, 1>(0, 3) = Ps[frame_count]; +} + +void Estimator::getPoseInWorldFrame(int index, Eigen::Matrix4d &T) +{ + T = Eigen::Matrix4d::Identity(); + T.block<3, 3>(0, 0) = Rs[index]; + T.block<3, 1>(0, 3) = Ps[index]; +} + +void Estimator::predictPtsInNextFrame() +{ + //printf("predict pts in next frame\n"); + if(frame_count < 2) + return; + // predict next pose. Assume constant velocity motion + Eigen::Matrix4d curT, prevT, nextT; //T_w_c, from left camera to world frame，分别为当前时刻、前一时刻、下一时刻 + getPoseInWorldFrame(curT); // 通过Rs、Ps获取位姿 + getPoseInWorldFrame(frame_count - 1, prevT); + nextT = curT * (prevT.inverse() * curT); //基于恒速模型，预测下一时刻位姿 + map predictPts; + + for (auto &it_per_id : f_manager.feature) + { + if(it_per_id.estimated_depth > 0) //仅对已经初始化的路标点进行预测 + { + int firstIndex = it_per_id.start_frame; //第一次观测到该路标点的图像帧的index + int lastIndex = it_per_id.start_frame + it_per_id.feature_per_frame.size() - 1; //最后观测到该路标点的图像帧的index + //printf("cur frame index %d last frame index %d\n", frame_count, lastIndex); + if((int)it_per_id.feature_per_frame.size() >= 2 && lastIndex == frame_count) //仅对观测次数不小于两次、且在最新图像帧中观测到的路标点进行预测 + { + double depth = it_per_id.estimated_depth; //逆深度，在start_frame图像帧中表示 + Vector3d pts_j = ric[0] * (depth * it_per_id.feature_per_frame[0].point) + tic[0]; //路标点在start_frame图像帧时刻，相机坐标系下的坐标 + Vector3d pts_w = Rs[firstIndex] * pts_j + Ps[firstIndex]; //路标点在世界坐标系下的坐标 + Vector3d pts_local = nextT.block<3, 3>(0, 0).transpose() * (pts_w - nextT.block<3, 1>(0, 3)); //路标在在下一时刻（预测的）体坐标系下坐标 + Vector3d pts_cam = ric[0].transpose() * (pts_local - tic[0]); ////路标在在下一时刻（预测的）相机坐标系下坐标 + int ptsIndex = it_per_id.feature_id; + predictPts[ptsIndex] = pts_cam; // 根据路标点编号，存储预测的坐标 + } + } + } + featureTracker.setPrediction(predictPts); + //printf("estimator output %d predict pts\n",(int)predictPts.size()); +} + +double Estimator::reprojectionError(Matrix3d &Ri, Vector3d &Pi, Matrix3d &rici, Vector3d &tici, + Matrix3d &Rj, Vector3d &Pj, Matrix3d &ricj, Vector3d &ticj, + double depth, Vector3d &uvi, Vector3d &uvj) +{ + Vector3d pts_w = Ri * (rici * (depth * uvi) + tici) + Pi; //路标点在世界坐标系下的坐标 + Vector3d pts_cj = ricj.transpose() * (Rj.transpose() * (pts_w - Pj) - ticj); //路标点在j时刻左或右相机坐标系下的坐标 + Vector2d residual = (pts_cj / pts_cj.z()).head<2>() - uvj.head<2>(); //归一化相机坐标系下的重投影误差 + double rx = residual.x(); + double ry = residual.y(); + return sqrt(rx * rx + ry * ry); //返回重投影误差均方根 +} + +void Estimator::outliersRejection(set &removeIndex) +{ + //return; + int feature_index = -1; + for (auto &it_per_id : f_manager.feature) // 遍历所有路标点 + { + double err = 0; + int errCnt = 0; + it_per_id.used_num = it_per_id.feature_per_frame.size(); //也即观察到该路标点的图像帧数目 tzhang + if (it_per_id.used_num < 4) // 对观测少于4次的路标点，不进行外点判断 + continue; + feature_index ++; + int imu_i = it_per_id.start_frame, imu_j = imu_i - 1; + Vector3d pts_i = it_per_id.feature_per_frame[0].point; + double depth = it_per_id.estimated_depth; + for (auto &it_per_frame : it_per_id.feature_per_frame) + { + imu_j++; + if (imu_i != imu_j) //不同时刻，左相机在不同帧之间的重投影误差计算 + { + Vector3d pts_j = it_per_frame.point; + double tmp_error = reprojectionError(Rs[imu_i], Ps[imu_i], ric[0], tic[0], + Rs[imu_j], Ps[imu_j], ric[0], tic[0], + depth, pts_i, pts_j); + err += tmp_error; + errCnt++; + //printf("tmp_error %f\n", FOCAL_LENGTH / 1.5 * tmp_error); + } + // need to rewrite projecton factor......... + if(STEREO && it_per_frame.is_stereo) // 双目情形 + { + + Vector3d pts_j_right = it_per_frame.pointRight; + if(imu_i != imu_j) //不同时刻，左右图像帧之间的重投影误差 + { + double tmp_error = reprojectionError(Rs[imu_i], Ps[imu_i], ric[0], tic[0], + Rs[imu_j], Ps[imu_j], ric[1], tic[1], + depth, pts_i, pts_j_right); + err += tmp_error; + errCnt++; + //printf("tmp_error %f\n", FOCAL_LENGTH / 1.5 * tmp_error); + } + else //相同时刻，左右图像帧之间的重投影误差 TODO(tzhang)：此处不同时刻判断没啥用，代码冗余 + { + double tmp_error = reprojectionError(Rs[imu_i], Ps[imu_i], ric[0], tic[0], // + Rs[imu_j], Ps[imu_j], ric[1], tic[1], + depth, pts_i, pts_j_right); + err += tmp_error; + errCnt++; + //printf("tmp_error %f\n", FOCAL_LENGTH / 1.5 * tmp_error); + } + } + } + double ave_err = err / errCnt; + if(ave_err * FOCAL_LENGTH > 3) // 若平均的重投影均方根过大，则判定该路标点为外点; 添加该路标点编号至removeIndex中 + removeIndex.insert(it_per_id.feature_id); + + } +} + +void Estimator::fastPredictIMU(double t, Eigen::Vector3d linear_acceleration, Eigen::Vector3d angular_velocity) //IMU中值积分，计算位姿与速度，注意此时的中值积分在世界坐标系下进行 +{ + double dt = t - latest_time; + latest_time = t; + Eigen::Vector3d un_acc_0 = latest_Q * (latest_acc_0 - latest_Ba) - g; + Eigen::Vector3d un_gyr = 0.5 * (latest_gyr_0 + angular_velocity) - latest_Bg; + latest_Q = latest_Q * Utility::deltaQ(un_gyr * dt); + Eigen::Vector3d un_acc_1 = latest_Q * (linear_acceleration - latest_Ba) - g; + Eigen::Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1); + latest_P = latest_P + dt * latest_V + 0.5 * dt * dt * un_acc; + latest_V = latest_V + dt * un_acc; + latest_acc_0 = linear_acceleration; + latest_gyr_0 = angular_velocity; +} + +void Estimator::updateLatestStates() +{ + mPropagate.lock(); + latest_time = Headers[frame_count] + td; + latest_P = Ps[frame_count]; + latest_Q = Rs[frame_count]; + latest_V = Vs[frame_count]; + latest_Ba = Bas[frame_count]; + latest_Bg = Bgs[frame_count]; + latest_acc_0 = acc_0; + latest_gyr_0 = gyr_0; + mBuf.lock(); + queue> tmp_accBuf = accBuf; + queue> tmp_gyrBuf = gyrBuf; + mBuf.unlock(); + while(!tmp_accBuf.empty()) + { + double t = tmp_accBuf.front().first; + Eigen::Vector3d acc = tmp_accBuf.front().second; + Eigen::Vector3d gyr = tmp_gyrBuf.front().second; + fastPredictIMU(t, acc, gyr); + tmp_accBuf.pop(); + tmp_gyrBuf.pop(); + } + mPropagate.unlock(); +} diff --git a/vins_estimator/src/estimator/estimator.h b/vins_estimator/src/estimator/estimator.h new file mode 100644 index 0000000..b150d81 --- /dev/null +++ b/vins_estimator/src/estimator/estimator.h @@ -0,0 +1,177 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "parameters.h" +#include "feature_manager.h" +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../initial/solve_5pts.h" +#include "../initial/initial_sfm.h" +#include "../initial/initial_alignment.h" +#include "../initial/initial_ex_rotation.h" +#include "../factor/imu_factor.h" +#include "../factor/pose_local_parameterization.h" +#include "../factor/marginalization_factor.h" +#include "../factor/projectionTwoFrameOneCamFactor.h" +#include "../factor/projectionTwoFrameTwoCamFactor.h" +#include "../factor/projectionOneFrameTwoCamFactor.h" +#include "../featureTracker/feature_tracker.h" + + +class Estimator +{ + public: + Estimator(); + ~Estimator(); + void setParameter(); + + // interface + void initFirstPose(Eigen::Vector3d p, Eigen::Matrix3d r); + void inputIMU(double t, const Vector3d &linearAcceleration, const Vector3d &angularVelocity); + void inputFeature(double t, const map>>> &featureFrame); + void inputImage(double t, const cv::Mat &_img, const cv::Mat &_img1 = cv::Mat()); + void processIMU(double t, double dt, const Vector3d &linear_acceleration, const Vector3d &angular_velocity); + void processImage(const map>>> &image, const double header); + void processMeasurements(); + void changeSensorType(int use_imu, int use_stereo); + + // internal + void clearState(); + bool initialStructure(); + bool visualInitialAlign(); + bool relativePose(Matrix3d &relative_R, Vector3d &relative_T, int &l); + void slideWindow(); + void slideWindowNew(); + void slideWindowOld(); + void optimization(); + void vector2double(); + void double2vector(); + bool failureDetection(); + bool getIMUInterval(double t0, double t1, vector> &accVector, + vector> &gyrVector); + void getPoseInWorldFrame(Eigen::Matrix4d &T); + void getPoseInWorldFrame(int index, Eigen::Matrix4d &T); + void predictPtsInNextFrame(); + void outliersRejection(set &removeIndex); + double reprojectionError(Matrix3d &Ri, Vector3d &Pi, Matrix3d &rici, Vector3d &tici, + Matrix3d &Rj, Vector3d &Pj, Matrix3d &ricj, Vector3d &ticj, + double depth, Vector3d &uvi, Vector3d &uvj); + void updateLatestStates(); + void fastPredictIMU(double t, Eigen::Vector3d linear_acceleration, Eigen::Vector3d angular_velocity); + bool IMUAvailable(double t); + void initFirstIMUPose(vector> &accVector); + + enum SolverFlag + { + INITIAL, + NON_LINEAR + }; + + enum MarginalizationFlag + { + MARGIN_OLD = 0, + MARGIN_SECOND_NEW = 1 + }; + + std::mutex mProcess; + std::mutex mBuf; + std::mutex mPropagate; + queue> accBuf; + queue> gyrBuf; + queue > > > > > featureBuf; + double prevTime, curTime; + bool openExEstimation; + + std::thread trackThread; + std::thread processThread; + + FeatureTracker featureTracker; + + SolverFlag solver_flag; + MarginalizationFlag marginalization_flag; + Vector3d g; + + Matrix3d ric[2]; //存储双目与imu之间的外参 tzhang ric[0] = R_i_cl; ric[1] = R_i_cr; + Vector3d tic[2]; //tic[0] = t_i_cl; tic[1] = t_i_cr; + + Vector3d Ps[(WINDOW_SIZE + 1)]; + Vector3d Vs[(WINDOW_SIZE + 1)]; + Matrix3d Rs[(WINDOW_SIZE + 1)]; + Vector3d Bas[(WINDOW_SIZE + 1)]; + Vector3d Bgs[(WINDOW_SIZE + 1)]; + double td; + + Matrix3d back_R0, last_R, last_R0; + Vector3d back_P0, last_P, last_P0; + double Headers[(WINDOW_SIZE + 1)]; + + IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)]; + Vector3d acc_0, gyr_0; + + vector dt_buf[(WINDOW_SIZE + 1)]; + vector linear_acceleration_buf[(WINDOW_SIZE + 1)]; + vector angular_velocity_buf[(WINDOW_SIZE + 1)]; + + int frame_count; + int sum_of_outlier, sum_of_back, sum_of_front, sum_of_invalid; + int inputImageCnt; + + FeatureManager f_manager; + MotionEstimator m_estimator; + InitialEXRotation initial_ex_rotation; + + bool first_imu; + bool is_valid, is_key; + bool failure_occur; + + vector point_cloud; + vector margin_cloud; + vector key_poses; + double initial_timestamp; + + + double para_Pose[WINDOW_SIZE + 1][SIZE_POSE]; + double para_SpeedBias[WINDOW_SIZE + 1][SIZE_SPEEDBIAS]; + double para_Feature[NUM_OF_F][SIZE_FEATURE]; + double para_Ex_Pose[2][SIZE_POSE]; + double para_Retrive_Pose[SIZE_POSE]; + double para_Td[1][1]; + double para_Tr[1][1]; + + int loop_window_index; + + MarginalizationInfo *last_marginalization_info; + + vector last_marginalization_parameter_blocks; //保存上一次边缘化后，保留的状态向量 + map all_image_frame; + IntegrationBase *tmp_pre_integration; + + Eigen::Vector3d initP; + Eigen::Matrix3d initR; + + double latest_time; + Eigen::Vector3d latest_P, latest_V, latest_Ba, latest_Bg, latest_acc_0, latest_gyr_0; + Eigen::Quaterniond latest_Q; + + bool initFirstPoseFlag; //标记是否是第一帧 tzhang + bool initThreadFlag; +}; diff --git a/vins_estimator/src/estimator/feature_manager.cpp b/vins_estimator/src/estimator/feature_manager.cpp new file mode 100644 index 0000000..a994e01 --- /dev/null +++ b/vins_estimator/src/estimator/feature_manager.cpp @@ -0,0 +1,568 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "feature_manager.h" + +int FeaturePerId::endFrame() +{ + return start_frame + feature_per_frame.size() - 1; +} + +FeatureManager::FeatureManager(Matrix3d _Rs[]) + : Rs(_Rs) +{ + for (int i = 0; i < NUM_OF_CAM; i++) + ric[i].setIdentity(); +} + +void FeatureManager::setRic(Matrix3d _ric[]) +{ + for (int i = 0; i < NUM_OF_CAM; i++) + { + ric[i] = _ric[i]; + } +} + +void FeatureManager::clearState() +{ + feature.clear(); +} + +int FeatureManager::getFeatureCount() +{ + int cnt = 0; + for (auto &it : feature) + { + it.used_num = it.feature_per_frame.size(); + if (it.used_num >= 4) + { + cnt++; + } + } + return cnt; +} + + +bool FeatureManager::addFeatureCheckParallax(int frame_count, const map>>> &image, double td) +{ + ROS_DEBUG("input feature: %d", (int)image.size()); + ROS_DEBUG("num of feature: %d", getFeatureCount()); + double parallax_sum = 0; + int parallax_num = 0; + last_track_num = 0; + last_average_parallax = 0; + new_feature_num = 0; + long_track_num = 0; + for (auto &id_pts : image) + { + FeaturePerFrame f_per_fra(id_pts.second[0].second, td); //基于左图特征，创建FeaturePerFrame + assert(id_pts.second[0].first == 0); // 该特征点在左图上 + if(id_pts.second.size() == 2) //存在右图，基于右图特征点，更新FeaturePerFrame信息 + { + f_per_fra.rightObservation(id_pts.second[1].second); + assert(id_pts.second[1].first == 1); + } + + int feature_id = id_pts.first; //特征点的ID + auto it = find_if(feature.begin(), feature.end(), [feature_id](const FeaturePerId &it) + { + return it.feature_id == feature_id; + }); + + if (it == feature.end()) //该路标点之前还未被观测 + { + feature.push_back(FeaturePerId(feature_id, frame_count)); + feature.back().feature_per_frame.push_back(f_per_fra); //添加观测到该路标点的图像帧信息 + new_feature_num++; + } + else if (it->feature_id == feature_id) + { + it->feature_per_frame.push_back(f_per_fra); //添加观测到该路标点的图像帧信息 + last_track_num++; + if( it-> feature_per_frame.size() >= 4) //该路标点被至少四个图像帧观测到 + long_track_num++; + } + } + + //if (frame_count < 2 || last_track_num < 20) + //if (frame_count < 2 || last_track_num < 20 || new_feature_num > 0.5 * last_track_num) + if (frame_count < 2 || last_track_num < 20 || long_track_num < 40 || new_feature_num > 0.5 * last_track_num) + return true; + + for (auto &it_per_id : feature) + { + if (it_per_id.start_frame <= frame_count - 2 && + it_per_id.start_frame + int(it_per_id.feature_per_frame.size()) - 1 >= frame_count - 1) + { + parallax_sum += compensatedParallax2(it_per_id, frame_count); + parallax_num++; + } + } + + if (parallax_num == 0) + { + return true; + } + else + { + ROS_DEBUG("parallax_sum: %lf, parallax_num: %d", parallax_sum, parallax_num); + ROS_DEBUG("current parallax: %lf", parallax_sum / parallax_num * FOCAL_LENGTH); + last_average_parallax = parallax_sum / parallax_num * FOCAL_LENGTH; + return parallax_sum / parallax_num >= MIN_PARALLAX; + } +} + +vector> FeatureManager::getCorresponding(int frame_count_l, int frame_count_r) +{ + vector> corres; + for (auto &it : feature) + { + if (it.start_frame <= frame_count_l && it.endFrame() >= frame_count_r) + { + Vector3d a = Vector3d::Zero(), b = Vector3d::Zero(); + int idx_l = frame_count_l - it.start_frame; + int idx_r = frame_count_r - it.start_frame; + + a = it.feature_per_frame[idx_l].point; + + b = it.feature_per_frame[idx_r].point; + + corres.push_back(make_pair(a, b)); + } + } + return corres; +} + +void FeatureManager::setDepth(const VectorXd &x) +{ + int feature_index = -1; + for (auto &it_per_id : feature) + { + it_per_id.used_num = it_per_id.feature_per_frame.size(); + if (it_per_id.used_num < 4) + continue; + + it_per_id.estimated_depth = 1.0 / x(++feature_index); + //ROS_INFO("feature id %d , start_frame %d, depth %f ", it_per_id->feature_id, it_per_id-> start_frame, it_per_id->estimated_depth); + if (it_per_id.estimated_depth < 0) + { + it_per_id.solve_flag = 2; + } + else + it_per_id.solve_flag = 1; + } +} + +void FeatureManager::removeFailures() +{ + for (auto it = feature.begin(), it_next = feature.begin(); + it != feature.end(); it = it_next) + { + it_next++; + if (it->solve_flag == 2) + feature.erase(it); + } +} + +void FeatureManager::clearDepth() +{ + for (auto &it_per_id : feature) + it_per_id.estimated_depth = -1; +} + +VectorXd FeatureManager::getDepthVector() +{ + VectorXd dep_vec(getFeatureCount()); + int feature_index = -1; + for (auto &it_per_id : feature) + { + it_per_id.used_num = it_per_id.feature_per_frame.size(); + if (it_per_id.used_num < 4) + continue; +#if 1 + dep_vec(++feature_index) = 1. / it_per_id.estimated_depth; +#else + dep_vec(++feature_index) = it_per_id->estimated_depth; +#endif + } + return dep_vec; +} + + +void FeatureManager::triangulatePoint(Eigen::Matrix &Pose0, Eigen::Matrix &Pose1, + Eigen::Vector2d &point0, Eigen::Vector2d &point1, Eigen::Vector3d &point_3d) +{ //使用SVD来三角化路标点 tzhang + Eigen::Matrix4d design_matrix = Eigen::Matrix4d::Zero(); + design_matrix.row(0) = point0[0] * Pose0.row(2) - Pose0.row(0); + design_matrix.row(1) = point0[1] * Pose0.row(2) - Pose0.row(1); + design_matrix.row(2) = point1[0] * Pose1.row(2) - Pose1.row(0); + design_matrix.row(3) = point1[1] * Pose1.row(2) - Pose1.row(1); + Eigen::Vector4d triangulated_point; + triangulated_point = + design_matrix.jacobiSvd(Eigen::ComputeFullV).matrixV().rightCols<1>(); + point_3d(0) = triangulated_point(0) / triangulated_point(3); + point_3d(1) = triangulated_point(1) / triangulated_point(3); + point_3d(2) = triangulated_point(2) / triangulated_point(3); +} + + +bool FeatureManager::solvePoseByPnP(Eigen::Matrix3d &R, Eigen::Vector3d &P, + vector &pts2D, vector &pts3D) +{ + Eigen::Matrix3d R_initial; + Eigen::Vector3d P_initial; + + // w_T_cam ---> cam_T_w + R_initial = R.inverse(); //R_c_w from world to cam tzhang + P_initial = -(R_initial * P); //P_c_w + + //printf("pnp size %d \n",(int)pts2D.size() ); + if (int(pts2D.size()) < 4) + { + printf("feature tracking not enough, please slowly move you device! \n"); + return false; + } + cv::Mat r, rvec, t, D, tmp_r; + cv::eigen2cv(R_initial, tmp_r); + cv::Rodrigues(tmp_r, rvec); //旋转矩阵到旋转向量 tzhang + cv::eigen2cv(P_initial, t); + cv::Mat K = (cv::Mat_(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1); + bool pnp_succ; + pnp_succ = cv::solvePnP(pts3D, pts2D, K, D, rvec, t, 1); + //pnp_succ = solvePnPRansac(pts3D, pts2D, K, D, rvec, t, true, 100, 8.0 / focalLength, 0.99, inliers); + + if(!pnp_succ) + { + printf("pnp failed ! \n"); + return false; + } + cv::Rodrigues(rvec, r); //旋转向量到旋转矩阵 tzhang + //cout << "r " << endl << r << endl; + Eigen::MatrixXd R_pnp; + cv::cv2eigen(r, R_pnp); + Eigen::MatrixXd T_pnp; + cv::cv2eigen(t, T_pnp); + + // cam_T_w ---> w_T_cam + R = R_pnp.transpose(); //R_w_c + P = R * (-T_pnp); + + return true; +} + +void FeatureManager::initFramePoseByPnP(int frameCnt, Vector3d Ps[], Matrix3d Rs[], Vector3d tic[], Matrix3d ric[]) +{ + + if(frameCnt > 0) //对第一帧图像不做处理 tzhang + { + vector pts2D; + vector pts3D; + for (auto &it_per_id : feature) //遍历每个路标点 tzhang + { + if (it_per_id.estimated_depth > 0) //该路标点完成了初始化，使用初始化完成的路标点，获取3D-2D点对 tzhang + { + int index = frameCnt - it_per_id.start_frame; + if((int)it_per_id.feature_per_frame.size() >= index + 1) //Why 该判断的缘由还未明白？ tzhang 该路标点从start_frame图像帧到frameCnt对应的图像帧都能被观测到 + { + //路标点在IMU坐标系坐标，第一次看到该路标点的图像帧时刻 tzhang // 前面描述错误，此时不存在imu，应该是在start_frame图像帧左相机坐标系的坐标 + Vector3d ptsInCam = ric[0] * (it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth) + tic[0]; + // 路标点在世界坐标系下的坐标 + Vector3d ptsInWorld = Rs[it_per_id.start_frame] * ptsInCam + Ps[it_per_id.start_frame]; + + cv::Point3f point3d(ptsInWorld.x(), ptsInWorld.y(), ptsInWorld.z()); //世界坐标系下三维坐标 tzhang + cv::Point2f point2d(it_per_id.feature_per_frame[index].point.x(), it_per_id.feature_per_frame[index].point.y()); + pts3D.push_back(point3d); + pts2D.push_back(point2d); + } + } + } + Eigen::Matrix3d RCam; + Eigen::Vector3d PCam; + // trans to w_T_cam 以上一帧图像与世界坐标系之间的位姿变换作为后续PnP求解的初值 tzhang + RCam = Rs[frameCnt - 1] * ric[0]; //R_w_c + PCam = Rs[frameCnt - 1] * tic[0] + Ps[frameCnt - 1]; + + if(solvePoseByPnP(RCam, PCam, pts2D, pts3D)) + { + // trans to w_T_imu + Rs[frameCnt] = RCam * ric[0].transpose(); //R_w_i = R_w_c*R_c_i + Ps[frameCnt] = -RCam * ric[0].transpose() * tic[0] + PCam; + + Eigen::Quaterniond Q(Rs[frameCnt]); //TODO（tzhang）:这个四元数并未使用 + //cout << "frameCnt: " << frameCnt << " pnp Q " << Q.w() << " " << Q.vec().transpose() << endl; + //cout << "frameCnt: " << frameCnt << " pnp P " << Ps[frameCnt].transpose() << endl; + } + } +} + +void FeatureManager::triangulate(int frameCnt, Vector3d Ps[], Matrix3d Rs[], Vector3d tic[], Matrix3d ric[]) +{ + for (auto &it_per_id : feature) + { + if (it_per_id.estimated_depth > 0) + continue; + + if(STEREO && it_per_id.feature_per_frame[0].is_stereo) + { + int imu_i = it_per_id.start_frame; + Eigen::Matrix leftPose; //第一帧，左相机到世界坐标系的位姿 tzhang + Eigen::Vector3d t0 = Ps[imu_i] + Rs[imu_i] * tic[0]; + Eigen::Matrix3d R0 = Rs[imu_i] * ric[0]; //R_w_c tzhang + leftPose.leftCols<3>() = R0.transpose(); //R_c_w + leftPose.rightCols<1>() = -R0.transpose() * t0; + //cout << "left pose " << leftPose << endl; + + Eigen::Matrix rightPose; //第一帧，右相机到世界坐标系的位姿 tzhang + Eigen::Vector3d t1 = Ps[imu_i] + Rs[imu_i] * tic[1]; + Eigen::Matrix3d R1 = Rs[imu_i] * ric[1]; + rightPose.leftCols<3>() = R1.transpose(); + rightPose.rightCols<1>() = -R1.transpose() * t1; + //cout << "right pose " << rightPose << endl; + + Eigen::Vector2d point0, point1; + Eigen::Vector3d point3d; //路标点在世界坐标系的坐标 tzhang + point0 = it_per_id.feature_per_frame[0].point.head(2); + point1 = it_per_id.feature_per_frame[0].pointRight.head(2); + //cout << "point0 " << point0.transpose() << endl; + //cout << "point1 " << point1.transpose() << endl; + + triangulatePoint(leftPose, rightPose, point0, point1, point3d); //基于SVD的路标点三角化 tzhang + Eigen::Vector3d localPoint; + localPoint = leftPose.leftCols<3>() * point3d + leftPose.rightCols<1>(); //计算该路标点在左相机的坐标 tzhang + //TODO(tzhang)：还可以添加右相机的约束，来判别路标点深度初始化是否成功 tzhang + double depth = localPoint.z(); + if (depth > 0) + it_per_id.estimated_depth = depth; + else + it_per_id.estimated_depth = INIT_DEPTH; + /* + Vector3d ptsGt = pts_gt[it_per_id.feature_id]; + printf("stereo %d pts: %f %f %f gt: %f %f %f \n",it_per_id.feature_id, point3d.x(), point3d.y(), point3d.z(), + ptsGt.x(), ptsGt.y(), ptsGt.z()); + */ + continue; + } + else if(it_per_id.feature_per_frame.size() > 1) + { + int imu_i = it_per_id.start_frame; + Eigen::Matrix leftPose; + Eigen::Vector3d t0 = Ps[imu_i] + Rs[imu_i] * tic[0]; + Eigen::Matrix3d R0 = Rs[imu_i] * ric[0]; + leftPose.leftCols<3>() = R0.transpose(); + leftPose.rightCols<1>() = -R0.transpose() * t0; + + imu_i++; //以下一帧图像的位姿作为约束，进行三角化 tzhang + Eigen::Matrix rightPose; + Eigen::Vector3d t1 = Ps[imu_i] + Rs[imu_i] * tic[0]; + Eigen::Matrix3d R1 = Rs[imu_i] * ric[0]; + rightPose.leftCols<3>() = R1.transpose(); + rightPose.rightCols<1>() = -R1.transpose() * t1; + + //TODO(tzhang):代码冗余，单目情形下，仅仅构建rightPose的方式与双目不同，后续处理均一致；代码可优化 + Eigen::Vector2d point0, point1; + Eigen::Vector3d point3d; + point0 = it_per_id.feature_per_frame[0].point.head(2); + point1 = it_per_id.feature_per_frame[1].point.head(2); + triangulatePoint(leftPose, rightPose, point0, point1, point3d); + Eigen::Vector3d localPoint; + localPoint = leftPose.leftCols<3>() * point3d + leftPose.rightCols<1>(); + double depth = localPoint.z(); + if (depth > 0) + it_per_id.estimated_depth = depth; + else + it_per_id.estimated_depth = INIT_DEPTH; + /* + Vector3d ptsGt = pts_gt[it_per_id.feature_id]; + printf("motion %d pts: %f %f %f gt: %f %f %f \n",it_per_id.feature_id, point3d.x(), point3d.y(), point3d.z(), + ptsGt.x(), ptsGt.y(), ptsGt.z()); + */ + continue; + } + it_per_id.used_num = it_per_id.feature_per_frame.size(); + if (it_per_id.used_num < 4) + continue; + + //TODO(tzhang):感觉从此处到函数结束处的代码均不会被条件触发，即后续代码均不会被执行； 可调试并优化 + int imu_i = it_per_id.start_frame, imu_j = imu_i - 1; + + Eigen::MatrixXd svd_A(2 * it_per_id.feature_per_frame.size(), 4); + int svd_idx = 0; + + Eigen::Matrix P0; + Eigen::Vector3d t0 = Ps[imu_i] + Rs[imu_i] * tic[0]; + Eigen::Matrix3d R0 = Rs[imu_i] * ric[0]; + P0.leftCols<3>() = Eigen::Matrix3d::Identity(); + P0.rightCols<1>() = Eigen::Vector3d::Zero(); + + for (auto &it_per_frame : it_per_id.feature_per_frame) + { + imu_j++; + + Eigen::Vector3d t1 = Ps[imu_j] + Rs[imu_j] * tic[0]; + Eigen::Matrix3d R1 = Rs[imu_j] * ric[0]; + Eigen::Vector3d t = R0.transpose() * (t1 - t0); + Eigen::Matrix3d R = R0.transpose() * R1; + Eigen::Matrix P; + P.leftCols<3>() = R.transpose(); + P.rightCols<1>() = -R.transpose() * t; + Eigen::Vector3d f = it_per_frame.point.normalized(); + svd_A.row(svd_idx++) = f[0] * P.row(2) - f[2] * P.row(0); + svd_A.row(svd_idx++) = f[1] * P.row(2) - f[2] * P.row(1); + + if (imu_i == imu_j) + continue; + } + ROS_ASSERT(svd_idx == svd_A.rows()); + Eigen::Vector4d svd_V = Eigen::JacobiSVD(svd_A, Eigen::ComputeThinV).matrixV().rightCols<1>(); + double svd_method = svd_V[2] / svd_V[3]; + //it_per_id->estimated_depth = -b / A; + //it_per_id->estimated_depth = svd_V[2] / svd_V[3]; + + it_per_id.estimated_depth = svd_method; + //it_per_id->estimated_depth = INIT_DEPTH; + + if (it_per_id.estimated_depth < 0.1) + { + it_per_id.estimated_depth = INIT_DEPTH; + } + + } +} + +void FeatureManager::removeOutlier(set &outlierIndex) +{ + std::set::iterator itSet; + for (auto it = feature.begin(), it_next = feature.begin(); + it != feature.end(); it = it_next) + { + it_next++; + int index = it->feature_id; + itSet = outlierIndex.find(index); // 若路标点编号在outlierIndex里面，则将路标点从feature剔除 + if(itSet != outlierIndex.end()) + { + feature.erase(it); + //printf("remove outlier %d \n", index); + } + } +} + +void FeatureManager::removeBackShiftDepth(Eigen::Matrix3d marg_R, Eigen::Vector3d marg_P, Eigen::Matrix3d new_R, Eigen::Vector3d new_P) +{ + for (auto it = feature.begin(), it_next = feature.begin(); + it != feature.end(); it = it_next) + { + it_next++; + + if (it->start_frame != 0) //第一次观察到该路标点的图像帧不是被边缘化掉的老的第0帧，将start_frame递减1 tzhang + it->start_frame--; + else + { + Eigen::Vector3d uv_i = it->feature_per_frame[0].point; + it->feature_per_frame.erase(it->feature_per_frame.begin()); + if (it->feature_per_frame.size() < 2) + { + feature.erase(it); + continue; + } + else // 该路标点被观测的次数满足要求，将深度信息在新的第0个图像帧中进行表示 tzhang + { + Eigen::Vector3d pts_i = uv_i * it->estimated_depth; + Eigen::Vector3d w_pts_i = marg_R * pts_i + marg_P; + Eigen::Vector3d pts_j = new_R.transpose() * (w_pts_i - new_P); + double dep_j = pts_j(2); + if (dep_j > 0) + it->estimated_depth = dep_j; + else + it->estimated_depth = INIT_DEPTH; + } + } + // remove tracking-lost feature after marginalize + /* + if (it->endFrame() < WINDOW_SIZE - 1) + { + feature.erase(it); + } + */ + } +} + +void FeatureManager::removeBack() +{ + for (auto it = feature.begin(), it_next = feature.begin(); + it != feature.end(); it = it_next) + { + it_next++; + + if (it->start_frame != 0) + it->start_frame--; + else + { + it->feature_per_frame.erase(it->feature_per_frame.begin()); + if (it->feature_per_frame.size() == 0) + feature.erase(it); + } + } +} + +void FeatureManager::removeFront(int frame_count) +{ + for (auto it = feature.begin(), it_next = feature.begin(); it != feature.end(); it = it_next) + { + it_next++; + + if (it->start_frame == frame_count) + { + it->start_frame--; + } + else + { + int j = WINDOW_SIZE - 1 - it->start_frame; + if (it->endFrame() < frame_count - 1) + continue; + it->feature_per_frame.erase(it->feature_per_frame.begin() + j); + if (it->feature_per_frame.size() == 0) + feature.erase(it); + } + } +} + +double FeatureManager::compensatedParallax2(const FeaturePerId &it_per_id, int frame_count) +{ + //check the second last frame is keyframe or not + //parallax betwwen seconde last frame and third last frame + const FeaturePerFrame &frame_i = it_per_id.feature_per_frame[frame_count - 2 - it_per_id.start_frame]; + const FeaturePerFrame &frame_j = it_per_id.feature_per_frame[frame_count - 1 - it_per_id.start_frame]; + + double ans = 0; + Vector3d p_j = frame_j.point; + + double u_j = p_j(0); + double v_j = p_j(1); + + Vector3d p_i = frame_i.point; + Vector3d p_i_comp; + + //int r_i = frame_count - 2; + //int r_j = frame_count - 1; + //p_i_comp = ric[camera_id_j].transpose() * Rs[r_j].transpose() * Rs[r_i] * ric[camera_id_i] * p_i; + p_i_comp = p_i; + double dep_i = p_i(2); + double u_i = p_i(0) / dep_i; + double v_i = p_i(1) / dep_i; + double du = u_i - u_j, dv = v_i - v_j; + + double dep_i_comp = p_i_comp(2); + double u_i_comp = p_i_comp(0) / dep_i_comp; + double v_i_comp = p_i_comp(1) / dep_i_comp; + double du_comp = u_i_comp - u_j, dv_comp = v_i_comp - v_j; + + ans = max(ans, sqrt(min(du * du + dv * dv, du_comp * du_comp + dv_comp * dv_comp))); + + return ans; +} \ No newline at end of file diff --git a/vins_estimator/src/estimator/feature_manager.h b/vins_estimator/src/estimator/feature_manager.h new file mode 100644 index 0000000..898d9f0 --- /dev/null +++ b/vins_estimator/src/estimator/feature_manager.h @@ -0,0 +1,117 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#ifndef FEATURE_MANAGER_H +#define FEATURE_MANAGER_H + +#include +#include +#include +#include +using namespace std; + +#include +using namespace Eigen; + +#include +#include + +#include "parameters.h" +#include "../utility/tic_toc.h" + +class FeaturePerFrame //路标点j图像帧时刻i时刻的特征点信息 +{ + public: + FeaturePerFrame(const Eigen::Matrix &_point, double td) + { + point.x() = _point(0); + point.y() = _point(1); + point.z() = _point(2); + uv.x() = _point(3); + uv.y() = _point(4); + velocity.x() = _point(5); + velocity.y() = _point(6); + cur_td = td; + is_stereo = false; + } + void rightObservation(const Eigen::Matrix &_point) + { + pointRight.x() = _point(0); + pointRight.y() = _point(1); + pointRight.z() = _point(2); + uvRight.x() = _point(3); + uvRight.y() = _point(4); + velocityRight.x() = _point(5); + velocityRight.y() = _point(6); + is_stereo = true; + } + double cur_td; + Vector3d point, pointRight; + Vector2d uv, uvRight; + Vector2d velocity, velocityRight; + bool is_stereo; +}; + +class FeaturePerId // 路标点j在所有观测到该路标点的图像帧上的特征点信息 +{ + public: + const int feature_id; + int start_frame; + vector feature_per_frame; + int used_num; + double estimated_depth; + int solve_flag; // 0 haven't solve yet; 1 solve succ; 2 solve fail; + + FeaturePerId(int _feature_id, int _start_frame) + : feature_id(_feature_id), start_frame(_start_frame), + used_num(0), estimated_depth(-1.0), solve_flag(0) + { + } + + int endFrame(); +}; + +class FeatureManager // 管理所有路标点信息 +{ + public: + FeatureManager(Matrix3d _Rs[]); + + void setRic(Matrix3d _ric[]); + void clearState(); + int getFeatureCount(); + bool addFeatureCheckParallax(int frame_count, const map>>> &image, double td); + vector> getCorresponding(int frame_count_l, int frame_count_r); + //void updateDepth(const VectorXd &x); + void setDepth(const VectorXd &x); + void removeFailures(); + void clearDepth(); + VectorXd getDepthVector(); + void triangulate(int frameCnt, Vector3d Ps[], Matrix3d Rs[], Vector3d tic[], Matrix3d ric[]); + void triangulatePoint(Eigen::Matrix &Pose0, Eigen::Matrix &Pose1, + Eigen::Vector2d &point0, Eigen::Vector2d &point1, Eigen::Vector3d &point_3d); + void initFramePoseByPnP(int frameCnt, Vector3d Ps[], Matrix3d Rs[], Vector3d tic[], Matrix3d ric[]); + bool solvePoseByPnP(Eigen::Matrix3d &R_initial, Eigen::Vector3d &P_initial, + vector &pts2D, vector &pts3D); + void removeBackShiftDepth(Eigen::Matrix3d marg_R, Eigen::Vector3d marg_P, Eigen::Matrix3d new_R, Eigen::Vector3d new_P); + void removeBack(); + void removeFront(int frame_count); + void removeOutlier(set &outlierIndex); + list feature; + int last_track_num; + double last_average_parallax; + int new_feature_num; + int long_track_num; + + private: + double compensatedParallax2(const FeaturePerId &it_per_id, int frame_count); + const Matrix3d *Rs; + Matrix3d ric[2]; +}; + +#endif \ No newline at end of file diff --git a/vins_estimator/src/estimator/parameters.cpp b/vins_estimator/src/estimator/parameters.cpp new file mode 100644 index 0000000..f1890f2 --- /dev/null +++ b/vins_estimator/src/estimator/parameters.cpp @@ -0,0 +1,200 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "parameters.h" + +double INIT_DEPTH; +double MIN_PARALLAX; +double ACC_N, ACC_W; +double GYR_N, GYR_W; + +std::vector RIC; +std::vector TIC; + +Eigen::Vector3d G{0.0, 0.0, 9.8}; + +double BIAS_ACC_THRESHOLD; +double BIAS_GYR_THRESHOLD; +double SOLVER_TIME; +int NUM_ITERATIONS; +int ESTIMATE_EXTRINSIC; +int ESTIMATE_TD; +int ROLLING_SHUTTER; +std::string EX_CALIB_RESULT_PATH; +std::string VINS_RESULT_PATH; +std::string OUTPUT_FOLDER; +std::string IMU_TOPIC; +int ROW, COL; +double TD; +int NUM_OF_CAM; +int STEREO; +int USE_IMU; +int MULTIPLE_THREAD; +map pts_gt; +std::string IMAGE0_TOPIC, IMAGE1_TOPIC; +std::string FISHEYE_MASK; +std::vector CAM_NAMES; +int MAX_CNT; +int MIN_DIST; +double F_THRESHOLD; +int SHOW_TRACK; +int FLOW_BACK; + + +template +T 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; +} + +void readParameters(std::string config_file) +{ + FILE *fh = fopen(config_file.c_str(),"r"); //用于判断文件是否存在，真正的读取在cv::FileStorage + if(fh == NULL){ + ROS_WARN("config_file dosen't exist; wrong config_file path"); + ROS_BREAK(); + return; + } + fclose(fh); + + cv::FileStorage fsSettings(config_file, cv::FileStorage::READ); + if(!fsSettings.isOpened()) + { + std::cerr << "ERROR: Wrong path to settings" << std::endl; + } + + fsSettings["image0_topic"] >> IMAGE0_TOPIC; + fsSettings["image1_topic"] >> IMAGE1_TOPIC; + MAX_CNT = fsSettings["max_cnt"]; + MIN_DIST = fsSettings["min_dist"]; + F_THRESHOLD = fsSettings["F_threshold"]; + SHOW_TRACK = fsSettings["show_track"]; + FLOW_BACK = fsSettings["flow_back"]; + + MULTIPLE_THREAD = fsSettings["multiple_thread"]; + + USE_IMU = fsSettings["imu"]; + printf("USE_IMU: %d\n", USE_IMU); + if(USE_IMU) + { + fsSettings["imu_topic"] >> IMU_TOPIC; + printf("IMU_TOPIC: %s\n", IMU_TOPIC.c_str()); + ACC_N = fsSettings["acc_n"]; + ACC_W = fsSettings["acc_w"]; + GYR_N = fsSettings["gyr_n"]; + GYR_W = fsSettings["gyr_w"]; + G.z() = fsSettings["g_norm"]; + } + + SOLVER_TIME = fsSettings["max_solver_time"]; + NUM_ITERATIONS = fsSettings["max_num_iterations"]; + MIN_PARALLAX = fsSettings["keyframe_parallax"]; + MIN_PARALLAX = MIN_PARALLAX / FOCAL_LENGTH; + + fsSettings["output_path"] >> OUTPUT_FOLDER; + VINS_RESULT_PATH = OUTPUT_FOLDER + "/vio.csv"; + std::cout << "result path " << VINS_RESULT_PATH << std::endl; + std::ofstream fout(VINS_RESULT_PATH, std::ios::out); + fout.close(); + + ESTIMATE_EXTRINSIC = fsSettings["estimate_extrinsic"]; + if (ESTIMATE_EXTRINSIC == 2) + { + ROS_WARN("have no prior about extrinsic param, calibrate extrinsic param"); + RIC.push_back(Eigen::Matrix3d::Identity()); + TIC.push_back(Eigen::Vector3d::Zero()); + EX_CALIB_RESULT_PATH = OUTPUT_FOLDER + "/extrinsic_parameter.csv"; + } + else + { + if ( ESTIMATE_EXTRINSIC == 1) + { + ROS_WARN(" Optimize extrinsic param around initial guess!"); + EX_CALIB_RESULT_PATH = OUTPUT_FOLDER + "/extrinsic_parameter.csv"; + } + if (ESTIMATE_EXTRINSIC == 0) + ROS_WARN(" fix extrinsic param "); + + cv::Mat cv_T; + fsSettings["body_T_cam0"] >> cv_T; + Eigen::Matrix4d T; + cv::cv2eigen(cv_T, T); + RIC.push_back(T.block<3, 3>(0, 0)); + TIC.push_back(T.block<3, 1>(0, 3)); + } + + NUM_OF_CAM = fsSettings["num_of_cam"]; + printf("camera number %d\n", NUM_OF_CAM); + + if(NUM_OF_CAM != 1 && NUM_OF_CAM != 2) + { + printf("num_of_cam should be 1 or 2\n"); + assert(0); + } + + + int pn = config_file.find_last_of('/'); + std::string configPath = config_file.substr(0, pn); + + std::string cam0Calib; + fsSettings["cam0_calib"] >> cam0Calib; + std::string cam0Path = configPath + "/" + cam0Calib; + CAM_NAMES.push_back(cam0Path); + + if(NUM_OF_CAM == 2) + { + STEREO = 1; + std::string cam1Calib; + fsSettings["cam1_calib"] >> cam1Calib; + std::string cam1Path = configPath + "/" + cam1Calib; + //printf("%s cam1 path\n", cam1Path.c_str() ); + CAM_NAMES.push_back(cam1Path); + + cv::Mat cv_T; + fsSettings["body_T_cam1"] >> cv_T; + Eigen::Matrix4d T; + cv::cv2eigen(cv_T, T); + RIC.push_back(T.block<3, 3>(0, 0)); + TIC.push_back(T.block<3, 1>(0, 3)); + } + + INIT_DEPTH = 5.0; + BIAS_ACC_THRESHOLD = 0.1; + BIAS_GYR_THRESHOLD = 0.1; + + TD = fsSettings["td"]; + ESTIMATE_TD = fsSettings["estimate_td"]; + if (ESTIMATE_TD) + ROS_INFO_STREAM("Unsynchronized sensors, online estimate time offset, initial td: " << TD); + else + ROS_INFO_STREAM("Synchronized sensors, fix time offset: " << TD); + + ROW = fsSettings["image_height"]; + COL = fsSettings["image_width"]; + ROS_INFO("ROW: %d COL: %d ", ROW, COL); + + if(!USE_IMU) + { + ESTIMATE_EXTRINSIC = 0; + ESTIMATE_TD = 0; + printf("no imu, fix extrinsic param; no time offset calibration\n"); + } + + fsSettings.release(); +} diff --git a/vins_estimator/src/estimator/parameters.h b/vins_estimator/src/estimator/parameters.h new file mode 100644 index 0000000..ced97a0 --- /dev/null +++ b/vins_estimator/src/estimator/parameters.h @@ -0,0 +1,91 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include +#include +#include +#include + +using namespace std; + +const double FOCAL_LENGTH = 460.0; +const int WINDOW_SIZE = 10; +const int NUM_OF_F = 1000; +//#define UNIT_SPHERE_ERROR + +extern double INIT_DEPTH; +extern double MIN_PARALLAX; +extern int ESTIMATE_EXTRINSIC; + +extern double ACC_N, ACC_W; +extern double GYR_N, GYR_W; + +extern std::vector RIC; +extern std::vector TIC; +extern Eigen::Vector3d G; + +extern double BIAS_ACC_THRESHOLD; //这两个阈值的作用还不是很清楚 tzhang 2019.9.29 +extern double BIAS_GYR_THRESHOLD; +extern double SOLVER_TIME; +extern int NUM_ITERATIONS; +extern std::string EX_CALIB_RESULT_PATH; +extern std::string VINS_RESULT_PATH; +extern std::string OUTPUT_FOLDER; +extern std::string IMU_TOPIC; +extern double TD; +extern int ESTIMATE_TD; +extern int ROLLING_SHUTTER; +extern int ROW, COL; +extern int NUM_OF_CAM; +extern int STEREO; +extern int USE_IMU; +extern int MULTIPLE_THREAD; +// pts_gt for debug purpose; +extern map pts_gt; + +extern std::string IMAGE0_TOPIC, IMAGE1_TOPIC; +extern std::string FISHEYE_MASK; +extern std::vector CAM_NAMES; +extern int MAX_CNT; +extern int MIN_DIST; +extern double F_THRESHOLD; +extern int SHOW_TRACK; +extern int FLOW_BACK; + +void readParameters(std::string config_file); + +enum SIZE_PARAMETERIZATION +{ + SIZE_POSE = 7, + SIZE_SPEEDBIAS = 9, + SIZE_FEATURE = 1 +}; + +enum StateOrder +{ + O_P = 0, + O_R = 3, + O_V = 6, + O_BA = 9, + O_BG = 12 +}; + +enum NoiseOrder +{ + O_AN = 0, + O_GN = 3, + O_AW = 6, + O_GW = 9 +}; diff --git a/vins_estimator/src/factor/imu_factor.h b/vins_estimator/src/factor/imu_factor.h new file mode 100644 index 0000000..896113e --- /dev/null +++ b/vins_estimator/src/factor/imu_factor.h @@ -0,0 +1,198 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once +#include +#include +#include + +#include "../utility/utility.h" +#include "../estimator/parameters.h" +#include "integration_base.h" + +#include + +class IMUFactor : public ceres::SizedCostFunction<15, 7, 9, 7, 9> //残差15维； 状态向量四组 +{ + public: + IMUFactor() = delete; + IMUFactor(IntegrationBase* _pre_integration):pre_integration(_pre_integration) + { + } + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const + { + + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Vi(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Vector3d Bai(parameters[1][3], parameters[1][4], parameters[1][5]); + Eigen::Vector3d Bgi(parameters[1][6], parameters[1][7], parameters[1][8]); + + Eigen::Vector3d Pj(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond Qj(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + Eigen::Vector3d Vj(parameters[3][0], parameters[3][1], parameters[3][2]); + Eigen::Vector3d Baj(parameters[3][3], parameters[3][4], parameters[3][5]); + Eigen::Vector3d Bgj(parameters[3][6], parameters[3][7], parameters[3][8]); + +//Eigen::Matrix Fd; +//Eigen::Matrix Gd; + +//Eigen::Vector3d pPj = Pi + Vi * sum_t - 0.5 * g * sum_t * sum_t + corrected_delta_p; +//Eigen::Quaterniond pQj = Qi * delta_q; +//Eigen::Vector3d pVj = Vi - g * sum_t + corrected_delta_v; +//Eigen::Vector3d pBaj = Bai; +//Eigen::Vector3d pBgj = Bgi; + +//Vi + Qi * delta_v - g * sum_dt = Vj; +//Qi * delta_q = Qj; + +//delta_p = Qi.inverse() * (0.5 * g * sum_dt * sum_dt + Pj - Pi); +//delta_v = Qi.inverse() * (g * sum_dt + Vj - Vi); +//delta_q = Qi.inverse() * Qj; + +#if 0 + if ((Bai - pre_integration->linearized_ba).norm() > 0.10 || + (Bgi - pre_integration->linearized_bg).norm() > 0.01) + { + pre_integration->repropagate(Bai, Bgi); + } +#endif + + Eigen::Map> residual(residuals); + residual = pre_integration->evaluate(Pi, Qi, Vi, Bai, Bgi, + Pj, Qj, Vj, Baj, Bgj); + + Eigen::Matrix sqrt_info = Eigen::LLT>(pre_integration->covariance.inverse()).matrixL().transpose(); + //sqrt_info.setIdentity(); + residual = sqrt_info * residual; + + if (jacobians) + { + double sum_dt = pre_integration->sum_dt; + Eigen::Matrix3d dp_dba = pre_integration->jacobian.template block<3, 3>(O_P, O_BA); + Eigen::Matrix3d dp_dbg = pre_integration->jacobian.template block<3, 3>(O_P, O_BG); + + Eigen::Matrix3d dq_dbg = pre_integration->jacobian.template block<3, 3>(O_R, O_BG); + + Eigen::Matrix3d dv_dba = pre_integration->jacobian.template block<3, 3>(O_V, O_BA); + Eigen::Matrix3d dv_dbg = pre_integration->jacobian.template block<3, 3>(O_V, O_BG); + + if (pre_integration->jacobian.maxCoeff() > 1e8 || pre_integration->jacobian.minCoeff() < -1e8) + { + ROS_WARN("numerical unstable in preintegration"); + //std::cout << pre_integration->jacobian << std::endl; +/// ROS_BREAK(); + } + + if (jacobians[0]) + { + Eigen::Map> jacobian_pose_i(jacobians[0]); + jacobian_pose_i.setZero(); + + jacobian_pose_i.block<3, 3>(O_P, O_P) = -Qi.inverse().toRotationMatrix(); + jacobian_pose_i.block<3, 3>(O_P, O_R) = Utility::skewSymmetric(Qi.inverse() * (0.5 * G * sum_dt * sum_dt + Pj - Pi - Vi * sum_dt)); + +#if 0 + jacobian_pose_i.block<3, 3>(O_R, O_R) = -(Qj.inverse() * Qi).toRotationMatrix(); +#else + Eigen::Quaterniond corrected_delta_q = pre_integration->delta_q * Utility::deltaQ(dq_dbg * (Bgi - pre_integration->linearized_bg)); + jacobian_pose_i.block<3, 3>(O_R, O_R) = -(Utility::Qleft(Qj.inverse() * Qi) * Utility::Qright(corrected_delta_q)).bottomRightCorner<3, 3>(); +#endif + + jacobian_pose_i.block<3, 3>(O_V, O_R) = Utility::skewSymmetric(Qi.inverse() * (G * sum_dt + Vj - Vi)); + + jacobian_pose_i = sqrt_info * jacobian_pose_i; + + if (jacobian_pose_i.maxCoeff() > 1e8 || jacobian_pose_i.minCoeff() < -1e8) + { + ROS_WARN("numerical unstable in preintegration"); + //std::cout << sqrt_info << std::endl; + //ROS_BREAK(); + } + } + if (jacobians[1]) + { + Eigen::Map> jacobian_speedbias_i(jacobians[1]); + jacobian_speedbias_i.setZero(); + jacobian_speedbias_i.block<3, 3>(O_P, O_V - O_V) = -Qi.inverse().toRotationMatrix() * sum_dt; + jacobian_speedbias_i.block<3, 3>(O_P, O_BA - O_V) = -dp_dba; + jacobian_speedbias_i.block<3, 3>(O_P, O_BG - O_V) = -dp_dbg; + +#if 0 + jacobian_speedbias_i.block<3, 3>(O_R, O_BG - O_V) = -dq_dbg; +#else + //Eigen::Quaterniond corrected_delta_q = pre_integration->delta_q * Utility::deltaQ(dq_dbg * (Bgi - pre_integration->linearized_bg)); + //jacobian_speedbias_i.block<3, 3>(O_R, O_BG - O_V) = -Utility::Qleft(Qj.inverse() * Qi * corrected_delta_q).bottomRightCorner<3, 3>() * dq_dbg; + jacobian_speedbias_i.block<3, 3>(O_R, O_BG - O_V) = -Utility::Qleft(Qj.inverse() * Qi * pre_integration->delta_q).bottomRightCorner<3, 3>() * dq_dbg; +#endif + + jacobian_speedbias_i.block<3, 3>(O_V, O_V - O_V) = -Qi.inverse().toRotationMatrix(); + jacobian_speedbias_i.block<3, 3>(O_V, O_BA - O_V) = -dv_dba; + jacobian_speedbias_i.block<3, 3>(O_V, O_BG - O_V) = -dv_dbg; + + jacobian_speedbias_i.block<3, 3>(O_BA, O_BA - O_V) = -Eigen::Matrix3d::Identity(); + + jacobian_speedbias_i.block<3, 3>(O_BG, O_BG - O_V) = -Eigen::Matrix3d::Identity(); + + jacobian_speedbias_i = sqrt_info * jacobian_speedbias_i; + + //ROS_ASSERT(fabs(jacobian_speedbias_i.maxCoeff()) < 1e8); + //ROS_ASSERT(fabs(jacobian_speedbias_i.minCoeff()) < 1e8); + } + if (jacobians[2]) + { + Eigen::Map> jacobian_pose_j(jacobians[2]); + jacobian_pose_j.setZero(); + + jacobian_pose_j.block<3, 3>(O_P, O_P) = Qi.inverse().toRotationMatrix(); + +#if 0 + jacobian_pose_j.block<3, 3>(O_R, O_R) = Eigen::Matrix3d::Identity(); +#else + Eigen::Quaterniond corrected_delta_q = pre_integration->delta_q * Utility::deltaQ(dq_dbg * (Bgi - pre_integration->linearized_bg)); + jacobian_pose_j.block<3, 3>(O_R, O_R) = Utility::Qleft(corrected_delta_q.inverse() * Qi.inverse() * Qj).bottomRightCorner<3, 3>(); +#endif + + jacobian_pose_j = sqrt_info * jacobian_pose_j; + + //ROS_ASSERT(fabs(jacobian_pose_j.maxCoeff()) < 1e8); + //ROS_ASSERT(fabs(jacobian_pose_j.minCoeff()) < 1e8); + } + if (jacobians[3]) + { + Eigen::Map> jacobian_speedbias_j(jacobians[3]); + jacobian_speedbias_j.setZero(); + + jacobian_speedbias_j.block<3, 3>(O_V, O_V - O_V) = Qi.inverse().toRotationMatrix(); + + jacobian_speedbias_j.block<3, 3>(O_BA, O_BA - O_V) = Eigen::Matrix3d::Identity(); + + jacobian_speedbias_j.block<3, 3>(O_BG, O_BG - O_V) = Eigen::Matrix3d::Identity(); + + jacobian_speedbias_j = sqrt_info * jacobian_speedbias_j; + + //ROS_ASSERT(fabs(jacobian_speedbias_j.maxCoeff()) < 1e8); + //ROS_ASSERT(fabs(jacobian_speedbias_j.minCoeff()) < 1e8); + } + } + + return true; + } + + //bool Evaluate_Direct(double const *const *parameters, Eigen::Matrix &residuals, Eigen::Matrix &jacobians); + + //void checkCorrection(); + //void checkTransition(); + //void checkJacobian(double **parameters); + IntegrationBase* pre_integration; + +}; + diff --git a/vins_estimator/src/factor/initial_bias_factor.h b/vins_estimator/src/factor/initial_bias_factor.h new file mode 100644 index 0000000..0758a1e --- /dev/null +++ b/vins_estimator/src/factor/initial_bias_factor.h @@ -0,0 +1,56 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class InitialBiasFactor : public ceres::SizedCostFunction<6, 9> +{ + public: + InitialBiasFactor(const Eigen::Vector3d &_Ba, const Eigen::Vector3d &_Bg) + { + init_Ba = _Ba; + init_Bg = _Bg; + sqrt_info = 1.0 / (0.001) * Eigen::Matrix::Identity(); + } + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const + { + Eigen::Vector3d Ba(parameters[0][3], parameters[0][4], parameters[0][5]); + Eigen::Vector3d Bg(parameters[0][6], parameters[0][7], parameters[0][8]); + + Eigen::Map> residual(residuals); + residual.block<3, 1>(0, 0) = Ba - init_Ba; + residual.block<3, 1>(3, 0) = Bg - init_Bg; + residual = sqrt_info * residual; + + if (jacobians) + { + if (jacobians[0]) + { + Eigen::Map> jacobian_bias(jacobians[0]); + jacobian_bias.setZero(); + jacobian_bias.block<3, 3>(0, 3) = Eigen::Matrix3d::Identity(); + jacobian_bias.block<3, 3>(3, 6) = Eigen::Matrix3d::Identity(); + jacobian_bias = sqrt_info * jacobian_bias; + } + } + return true; + } + + Eigen::Vector3d init_Ba, init_Bg; + Eigen::Matrix sqrt_info; +}; diff --git a/vins_estimator/src/factor/initial_pose_factor.h b/vins_estimator/src/factor/initial_pose_factor.h new file mode 100644 index 0000000..47bd91c --- /dev/null +++ b/vins_estimator/src/factor/initial_pose_factor.h @@ -0,0 +1,112 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class InitialPoseFactor : public ceres::SizedCostFunction<6, 7> +{ + public: + InitialPoseFactor(const Eigen::Vector3d &_P, const Eigen::Quaterniond &_Q) + { + init_P = _P; + init_Q = _Q; + sqrt_info = 1000 * Eigen::Matrix::Identity(); + } + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const + { + Eigen::Vector3d P(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Q(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Map> residual(residuals); + residual.block<3, 1>(0, 0) = P - init_P; + residual.block<3, 1>(3, 0) = 2 * (init_Q.inverse() * Q).vec(); + residual = sqrt_info * residual; + + if (jacobians) + { + if (jacobians[0]) + { + Eigen::Map> jacobian_pose(jacobians[0]); + jacobian_pose.setZero(); + jacobian_pose.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity(); + jacobian_pose.block<3, 3>(3, 3) = Utility::Qleft(init_Q.inverse() * Q).bottomRightCorner<3, 3>(); + jacobian_pose = sqrt_info * jacobian_pose; + } + + } + return true; + + } + + void check(double **parameters) + { + double *res = new double[6]; + double **jaco = new double *[1]; + jaco[0] = new double[6 * 7]; + Evaluate(parameters, res, jaco); + puts("check begins"); + + puts("my"); + + std::cout << Eigen::Map>(res).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + + Eigen::Vector3d P(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Q(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Matrix residual; + residual.block<3, 1>(0, 0) = P - init_P; + residual.block<3, 1>(3, 0) = 2 * (init_Q.inverse()* Q).vec(); + residual = sqrt_info * residual; + + puts("num"); + std::cout << residual.transpose() << std::endl; + + const double eps = 1e-6; + Eigen::Matrix num_jacobian; + for (int k = 0; k < 6; k++) + { + Eigen::Vector3d P(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Q(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + int a = k / 3, b = k % 3; + Eigen::Vector3d delta = Eigen::Vector3d(b == 0, b == 1, b == 2) * eps; + + if (a == 0) + P += delta; + else if (a == 1) + Q = Q * Utility::deltaQ(delta); + + + Eigen::Matrix tmp_residual; + tmp_residual.block<3, 1>(0, 0) = P - init_P; + tmp_residual.block<3, 1>(3, 0) = 2 * (init_Q.inverse()* Q).vec(); + tmp_residual = sqrt_info * tmp_residual; + + num_jacobian.col(k) = (tmp_residual - residual) / eps; + } + std::cout << num_jacobian << std::endl; + + } + + Eigen::Vector3d init_P; + Eigen::Quaterniond init_Q; + Eigen::Matrix sqrt_info; +}; diff --git a/vins_estimator/src/factor/integration_base.h b/vins_estimator/src/factor/integration_base.h new file mode 100644 index 0000000..1389ee8 --- /dev/null +++ b/vins_estimator/src/factor/integration_base.h @@ -0,0 +1,455 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include "../utility/utility.h" +#include "../estimator/parameters.h" + +#include +using namespace Eigen; + +class IntegrationBase +{ + public: + IntegrationBase() = delete; + IntegrationBase(const Eigen::Vector3d &_acc_0, const Eigen::Vector3d &_gyr_0, + const Eigen::Vector3d &_linearized_ba, const Eigen::Vector3d &_linearized_bg) + : acc_0{_acc_0}, gyr_0{_gyr_0}, linearized_acc{_acc_0}, linearized_gyr{_gyr_0}, + linearized_ba{_linearized_ba}, linearized_bg{_linearized_bg}, + jacobian{Eigen::Matrix::Identity()}, covariance{Eigen::Matrix::Zero()}, + sum_dt{0.0}, delta_p{Eigen::Vector3d::Zero()}, delta_q{Eigen::Quaterniond::Identity()}, delta_v{Eigen::Vector3d::Zero()} + + { + noise = Eigen::Matrix::Zero(); // 中值积分，噪声项有6项；欧拉积分，噪声项为4项 tzhang + noise.block<3, 3>(0, 0) = (ACC_N * ACC_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(3, 3) = (GYR_N * GYR_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(6, 6) = (ACC_N * ACC_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(9, 9) = (GYR_N * GYR_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(12, 12) = (ACC_W * ACC_W) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(15, 15) = (GYR_W * GYR_W) * Eigen::Matrix3d::Identity(); + } + + void push_back(double dt, const Eigen::Vector3d &acc, const Eigen::Vector3d &gyr) + { + dt_buf.push_back(dt); + acc_buf.push_back(acc); + gyr_buf.push_back(gyr); + propagate(dt, acc, gyr); + } + + void repropagate(const Eigen::Vector3d &_linearized_ba, const Eigen::Vector3d &_linearized_bg) + { + sum_dt = 0.0; //再次进行预积分重传播，通常是由于imu的bias发生较大的改变，预积分值不能通过雅克比进行更新，需要重新预积分传播进行更新 tzhang + acc_0 = linearized_acc; + gyr_0 = linearized_gyr; + delta_p.setZero(); + delta_q.setIdentity(); + delta_v.setZero(); + linearized_ba = _linearized_ba; + linearized_bg = _linearized_bg; + jacobian.setIdentity(); + covariance.setZero(); + for (int i = 0; i < static_cast(dt_buf.size()); i++) + propagate(dt_buf[i], acc_buf[i], gyr_buf[i]); + } + + void midPointIntegration(double _dt, + const Eigen::Vector3d &_acc_0, const Eigen::Vector3d &_gyr_0, + const Eigen::Vector3d &_acc_1, const Eigen::Vector3d &_gyr_1, + const Eigen::Vector3d &delta_p, const Eigen::Quaterniond &delta_q, const Eigen::Vector3d &delta_v, + const Eigen::Vector3d &linearized_ba, const Eigen::Vector3d &linearized_bg, + Eigen::Vector3d &result_delta_p, Eigen::Quaterniond &result_delta_q, Eigen::Vector3d &result_delta_v, + Eigen::Vector3d &result_linearized_ba, Eigen::Vector3d &result_linearized_bg, bool update_jacobian) + { + //ROS_INFO("midpoint integration"); // 注意预积分中，下述中值积分的坐标基准为第k帧图像帧时刻IMU坐标系 + Vector3d un_acc_0 = delta_q * (_acc_0 - linearized_ba); //i时刻在第k帧图像帧时刻IMU坐标系下的加速度 tzhang + Vector3d un_gyr = 0.5 * (_gyr_0 + _gyr_1) - linearized_bg; + result_delta_q = delta_q * Quaterniond(1, un_gyr(0) * _dt / 2, un_gyr(1) * _dt / 2, un_gyr(2) * _dt / 2); //q= q*dq 中值积分更新四元数 tzhang + Vector3d un_acc_1 = result_delta_q * (_acc_1 - linearized_ba); //i+1时刻在第k帧图像帧时刻IMU坐标系下的加速度 tzhang + Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1); // 中值积分更新加速度 tzhang + result_delta_p = delta_p + delta_v * _dt + 0.5 * un_acc * _dt * _dt; // 中值积分更新位置 tzhang + result_delta_v = delta_v + un_acc * _dt; //中值积分更新速度 tzhang + result_linearized_ba = linearized_ba; //两图像帧之间，IMU bias保持固定 tzhang + result_linearized_bg = linearized_bg; + + if(update_jacobian) //根据传入参数，决定是否更新雅克比矩阵 tzhang + { + Vector3d w_x = 0.5 * (_gyr_0 + _gyr_1) - linearized_bg; + Vector3d a_0_x = _acc_0 - linearized_ba; + Vector3d a_1_x = _acc_1 - linearized_ba; + Matrix3d R_w_x, R_a_0_x, R_a_1_x; + + R_w_x<<0, -w_x(2), w_x(1), + w_x(2), 0, -w_x(0), + -w_x(1), w_x(0), 0; + R_a_0_x<<0, -a_0_x(2), a_0_x(1), + a_0_x(2), 0, -a_0_x(0), + -a_0_x(1), a_0_x(0), 0; + R_a_1_x<<0, -a_1_x(2), a_1_x(1), + a_1_x(2), 0, -a_1_x(0), + -a_1_x(1), a_1_x(0), 0; + + MatrixXd F = MatrixXd::Zero(15, 15); //对应贺博第三讲F矩阵，对应VINS_Mono论文（I+F*dt) tzhang + F.block<3, 3>(0, 0) = Matrix3d::Identity(); + F.block<3, 3>(0, 3) = -0.25 * delta_q.toRotationMatrix() * R_a_0_x * _dt * _dt + + -0.25 * result_delta_q.toRotationMatrix() * R_a_1_x * (Matrix3d::Identity() - R_w_x * _dt) * _dt * _dt; + F.block<3, 3>(0, 6) = MatrixXd::Identity(3,3) * _dt; + F.block<3, 3>(0, 9) = -0.25 * (delta_q.toRotationMatrix() + result_delta_q.toRotationMatrix()) * _dt * _dt; + F.block<3, 3>(0, 12) = -0.25 * result_delta_q.toRotationMatrix() * R_a_1_x * _dt * _dt * -_dt; + F.block<3, 3>(3, 3) = Matrix3d::Identity() - R_w_x * _dt; + F.block<3, 3>(3, 12) = -1.0 * MatrixXd::Identity(3,3) * _dt; + F.block<3, 3>(6, 3) = -0.5 * delta_q.toRotationMatrix() * R_a_0_x * _dt + + -0.5 * result_delta_q.toRotationMatrix() * R_a_1_x * (Matrix3d::Identity() - R_w_x * _dt) * _dt; + F.block<3, 3>(6, 6) = Matrix3d::Identity(); + F.block<3, 3>(6, 9) = -0.5 * (delta_q.toRotationMatrix() + result_delta_q.toRotationMatrix()) * _dt; + F.block<3, 3>(6, 12) = -0.5 * result_delta_q.toRotationMatrix() * R_a_1_x * _dt * -_dt; + F.block<3, 3>(9, 9) = Matrix3d::Identity(); + F.block<3, 3>(12, 12) = Matrix3d::Identity(); + //cout<<"A"<(0, 0) = 0.25 * delta_q.toRotationMatrix() * _dt * _dt; + V.block<3, 3>(0, 3) = 0.25 * -result_delta_q.toRotationMatrix() * R_a_1_x * _dt * _dt * 0.5 * _dt; + V.block<3, 3>(0, 6) = 0.25 * result_delta_q.toRotationMatrix() * _dt * _dt; + V.block<3, 3>(0, 9) = V.block<3, 3>(0, 3); + V.block<3, 3>(3, 3) = 0.5 * MatrixXd::Identity(3,3) * _dt; + V.block<3, 3>(3, 9) = 0.5 * MatrixXd::Identity(3,3) * _dt; + V.block<3, 3>(6, 0) = 0.5 * delta_q.toRotationMatrix() * _dt; + V.block<3, 3>(6, 3) = 0.5 * -result_delta_q.toRotationMatrix() * R_a_1_x * _dt * 0.5 * _dt; + V.block<3, 3>(6, 6) = 0.5 * result_delta_q.toRotationMatrix() * _dt; + V.block<3, 3>(6, 9) = V.block<3, 3>(6, 3); + V.block<3, 3>(9, 12) = MatrixXd::Identity(3,3) * _dt; + V.block<3, 3>(12, 15) = MatrixXd::Identity(3,3) * _dt; + + //step_jacobian = F; + //step_V = V; + jacobian = F * jacobian; //对应 VINS_Mono公式11，即雅克比矩阵的迭代更新计算 tzhang + covariance = F * covariance * F.transpose() + V * noise * V.transpose(); //协方差传播 tzhang + } + + } + + void propagate(double _dt, const Eigen::Vector3d &_acc_1, const Eigen::Vector3d &_gyr_1) + { + dt = _dt; + acc_1 = _acc_1; + gyr_1 = _gyr_1; + Vector3d result_delta_p; + Quaterniond result_delta_q; + Vector3d result_delta_v; + Vector3d result_linearized_ba; + Vector3d result_linearized_bg; + + midPointIntegration(_dt, acc_0, gyr_0, _acc_1, _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + result_delta_p, result_delta_q, result_delta_v, + result_linearized_ba, result_linearized_bg, 1); + + //checkJacobian(_dt, acc_0, gyr_0, acc_1, gyr_1, delta_p, delta_q, delta_v, + // linearized_ba, linearized_bg); + delta_p = result_delta_p; + delta_q = result_delta_q; + delta_v = result_delta_v; + linearized_ba = result_linearized_ba; + linearized_bg = result_linearized_bg; + delta_q.normalize(); + sum_dt += dt; + acc_0 = acc_1; + gyr_0 = gyr_1; + + } + + Eigen::Matrix evaluate(const Eigen::Vector3d &Pi, const Eigen::Quaterniond &Qi, const Eigen::Vector3d &Vi, const Eigen::Vector3d &Bai, const Eigen::Vector3d &Bgi, + const Eigen::Vector3d &Pj, const Eigen::Quaterniond &Qj, const Eigen::Vector3d &Vj, const Eigen::Vector3d &Baj, const Eigen::Vector3d &Bgj) + { + Eigen::Matrix residuals; + + Eigen::Matrix3d dp_dba = jacobian.block<3, 3>(O_P, O_BA); + Eigen::Matrix3d dp_dbg = jacobian.block<3, 3>(O_P, O_BG); + + Eigen::Matrix3d dq_dbg = jacobian.block<3, 3>(O_R, O_BG); + + Eigen::Matrix3d dv_dba = jacobian.block<3, 3>(O_V, O_BA); + Eigen::Matrix3d dv_dbg = jacobian.block<3, 3>(O_V, O_BG); + + Eigen::Vector3d dba = Bai - linearized_ba; + Eigen::Vector3d dbg = Bgi - linearized_bg; + + Eigen::Quaterniond corrected_delta_q = delta_q * Utility::deltaQ(dq_dbg * dbg); + Eigen::Vector3d corrected_delta_v = delta_v + dv_dba * dba + dv_dbg * dbg; + Eigen::Vector3d corrected_delta_p = delta_p + dp_dba * dba + dp_dbg * dbg; + + residuals.block<3, 1>(O_P, 0) = Qi.inverse() * (0.5 * G * sum_dt * sum_dt + Pj - Pi - Vi * sum_dt) - corrected_delta_p; + residuals.block<3, 1>(O_R, 0) = 2 * (corrected_delta_q.inverse() * (Qi.inverse() * Qj)).vec(); + residuals.block<3, 1>(O_V, 0) = Qi.inverse() * (G * sum_dt + Vj - Vi) - corrected_delta_v; + residuals.block<3, 1>(O_BA, 0) = Baj - Bai; + residuals.block<3, 1>(O_BG, 0) = Bgj - Bgi; + return residuals; + } + + double dt; + Eigen::Vector3d acc_0, gyr_0; + Eigen::Vector3d acc_1, gyr_1; + + const Eigen::Vector3d linearized_acc, linearized_gyr; + Eigen::Vector3d linearized_ba, linearized_bg; + + Eigen::Matrix jacobian, covariance; + Eigen::Matrix step_jacobian; + Eigen::Matrix step_V; + Eigen::Matrix noise; + + double sum_dt; + Eigen::Vector3d delta_p; + Eigen::Quaterniond delta_q; + Eigen::Vector3d delta_v; + + std::vector dt_buf; + std::vector acc_buf; + std::vector gyr_buf; + +}; +/* + + void eulerIntegration(double _dt, const Eigen::Vector3d &_acc_0, const Eigen::Vector3d &_gyr_0, + const Eigen::Vector3d &_acc_1, const Eigen::Vector3d &_gyr_1, + const Eigen::Vector3d &delta_p, const Eigen::Quaterniond &delta_q, const Eigen::Vector3d &delta_v, + const Eigen::Vector3d &linearized_ba, const Eigen::Vector3d &linearized_bg, + Eigen::Vector3d &result_delta_p, Eigen::Quaterniond &result_delta_q, Eigen::Vector3d &result_delta_v, + Eigen::Vector3d &result_linearized_ba, Eigen::Vector3d &result_linearized_bg, bool update_jacobian) + { + result_delta_p = delta_p + delta_v * _dt + 0.5 * (delta_q * (_acc_1 - linearized_ba)) * _dt * _dt; + result_delta_v = delta_v + delta_q * (_acc_1 - linearized_ba) * _dt; + Vector3d omg = _gyr_1 - linearized_bg; + omg = omg * _dt / 2; + Quaterniond dR(1, omg(0), omg(1), omg(2)); + result_delta_q = (delta_q * dR); + result_linearized_ba = linearized_ba; + result_linearized_bg = linearized_bg; + + if(update_jacobian) + { + Vector3d w_x = _gyr_1 - linearized_bg; + Vector3d a_x = _acc_1 - linearized_ba; + Matrix3d R_w_x, R_a_x; + + R_w_x<<0, -w_x(2), w_x(1), + w_x(2), 0, -w_x(0), + -w_x(1), w_x(0), 0; + R_a_x<<0, -a_x(2), a_x(1), + a_x(2), 0, -a_x(0), + -a_x(1), a_x(0), 0; + + MatrixXd A = MatrixXd::Zero(15, 15); + // one step euler 0.5 + A.block<3, 3>(0, 3) = 0.5 * (-1 * delta_q.toRotationMatrix()) * R_a_x * _dt; + A.block<3, 3>(0, 6) = MatrixXd::Identity(3,3); + A.block<3, 3>(0, 9) = 0.5 * (-1 * delta_q.toRotationMatrix()) * _dt; + A.block<3, 3>(3, 3) = -R_w_x; + A.block<3, 3>(3, 12) = -1 * MatrixXd::Identity(3,3); + A.block<3, 3>(6, 3) = (-1 * delta_q.toRotationMatrix()) * R_a_x; + A.block<3, 3>(6, 9) = (-1 * delta_q.toRotationMatrix()); + //cout<<"A"<(0, 0) = 0.5 * delta_q.toRotationMatrix() * _dt; + U.block<3, 3>(3, 3) = MatrixXd::Identity(3,3); + U.block<3, 3>(6, 0) = delta_q.toRotationMatrix(); + U.block<3, 3>(9, 6) = MatrixXd::Identity(3,3); + U.block<3, 3>(12, 9) = MatrixXd::Identity(3,3); + + // put outside + Eigen::Matrix noise = Eigen::Matrix::Zero(); + noise.block<3, 3>(0, 0) = (ACC_N * ACC_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(3, 3) = (GYR_N * GYR_N) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(6, 6) = (ACC_W * ACC_W) * Eigen::Matrix3d::Identity(); + noise.block<3, 3>(9, 9) = (GYR_W * GYR_W) * Eigen::Matrix3d::Identity(); + + //write F directly + MatrixXd F, V; + F = (MatrixXd::Identity(15,15) + _dt * A); + V = _dt * U; + step_jacobian = F; + step_V = V; + jacobian = F * jacobian; + covariance = F * covariance * F.transpose() + V * noise * V.transpose(); + } + + } + + + void checkJacobian(double _dt, const Eigen::Vector3d &_acc_0, const Eigen::Vector3d &_gyr_0, + const Eigen::Vector3d &_acc_1, const Eigen::Vector3d &_gyr_1, + const Eigen::Vector3d &delta_p, const Eigen::Quaterniond &delta_q, const Eigen::Vector3d &delta_v, + const Eigen::Vector3d &linearized_ba, const Eigen::Vector3d &linearized_bg) + { + Vector3d result_delta_p; + Quaterniond result_delta_q; + Vector3d result_delta_v; + Vector3d result_linearized_ba; + Vector3d result_linearized_bg; + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + result_delta_p, result_delta_q, result_delta_v, + result_linearized_ba, result_linearized_bg, 0); + + Vector3d turb_delta_p; + Quaterniond turb_delta_q; + Vector3d turb_delta_v; + Vector3d turb_linearized_ba; + Vector3d turb_linearized_bg; + + Vector3d turb(0.0001, -0.003, 0.003); + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p + turb, delta_q, delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb p " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_jacobian.block<3, 3>(0, 0) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_jacobian.block<3, 3>(3, 0) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_jacobian.block<3, 3>(6, 0) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_jacobian.block<3, 3>(9, 0) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff " << (step_jacobian.block<3, 3>(12, 0) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p, delta_q * Quaterniond(1, turb(0) / 2, turb(1) / 2, turb(2) / 2), delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb q " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_jacobian.block<3, 3>(0, 3) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_jacobian.block<3, 3>(3, 3) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_jacobian.block<3, 3>(6, 3) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_jacobian.block<3, 3>(9, 3) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_jacobian.block<3, 3>(12, 3) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p, delta_q, delta_v + turb, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb v " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_jacobian.block<3, 3>(0, 6) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_jacobian.block<3, 3>(3, 6) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_jacobian.block<3, 3>(6, 6) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_jacobian.block<3, 3>(9, 6) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_jacobian.block<3, 3>(12, 6) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p, delta_q, delta_v, + linearized_ba + turb, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb ba " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_jacobian.block<3, 3>(0, 9) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_jacobian.block<3, 3>(3, 9) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_jacobian.block<3, 3>(6, 9) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_jacobian.block<3, 3>(9, 9) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_jacobian.block<3, 3>(12, 9) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1, _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg + turb, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb bg " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_jacobian.block<3, 3>(0, 12) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_jacobian.block<3, 3>(3, 12) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_jacobian.block<3, 3>(6, 12) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_jacobian.block<3, 3>(9, 12) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_jacobian.block<3, 3>(12, 12) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0 + turb, _gyr_0, _acc_1 , _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb acc_0 " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_V.block<3, 3>(0, 0) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_V.block<3, 3>(3, 0) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_V.block<3, 3>(6, 0) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_V.block<3, 3>(9, 0) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_V.block<3, 3>(12, 0) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0 + turb, _acc_1 , _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb _gyr_0 " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_V.block<3, 3>(0, 3) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_V.block<3, 3>(3, 3) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_V.block<3, 3>(6, 3) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_V.block<3, 3>(9, 3) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_V.block<3, 3>(12, 3) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1 + turb, _gyr_1, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb acc_1 " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_V.block<3, 3>(0, 6) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_V.block<3, 3>(3, 6) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_V.block<3, 3>(6, 6) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_V.block<3, 3>(9, 6) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_V.block<3, 3>(12, 6) * turb).transpose() << endl; + + midPointIntegration(_dt, _acc_0, _gyr_0, _acc_1 , _gyr_1 + turb, delta_p, delta_q, delta_v, + linearized_ba, linearized_bg, + turb_delta_p, turb_delta_q, turb_delta_v, + turb_linearized_ba, turb_linearized_bg, 0); + cout << "turb _gyr_1 " << endl; + cout << "p diff " << (turb_delta_p - result_delta_p).transpose() << endl; + cout << "p jacob diff " << (step_V.block<3, 3>(0, 9) * turb).transpose() << endl; + cout << "q diff " << ((result_delta_q.inverse() * turb_delta_q).vec() * 2).transpose() << endl; + cout << "q jacob diff " << (step_V.block<3, 3>(3, 9) * turb).transpose() << endl; + cout << "v diff " << (turb_delta_v - result_delta_v).transpose() << endl; + cout << "v jacob diff " << (step_V.block<3, 3>(6, 9) * turb).transpose() << endl; + cout << "ba diff " << (turb_linearized_ba - result_linearized_ba).transpose() << endl; + cout << "ba jacob diff" << (step_V.block<3, 3>(9, 9) * turb).transpose() << endl; + cout << "bg diff " << (turb_linearized_bg - result_linearized_bg).transpose() << endl; + cout << "bg jacob diff" << (step_V.block<3, 3>(12, 9) * turb).transpose() << endl; + } + */ \ No newline at end of file diff --git a/vins_estimator/src/factor/marginalization_factor.cpp b/vins_estimator/src/factor/marginalization_factor.cpp new file mode 100644 index 0000000..2ac27e7 --- /dev/null +++ b/vins_estimator/src/factor/marginalization_factor.cpp @@ -0,0 +1,395 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "marginalization_factor.h" + +void ResidualBlockInfo::Evaluate() +{ + residuals.resize(cost_function->num_residuals()); + + std::vector block_sizes = cost_function->parameter_block_sizes(); //参数块数目 + raw_jacobians = new double *[block_sizes.size()]; + jacobians.resize(block_sizes.size()); + + for (int i = 0; i < static_cast(block_sizes.size()); i++) + { + jacobians[i].resize(cost_function->num_residuals(), block_sizes[i]); + raw_jacobians[i] = jacobians[i].data(); + //dim += block_sizes[i] == 7 ? 6 : block_sizes[i]; + } + cost_function->Evaluate(parameter_blocks.data(), residuals.data(), raw_jacobians); + + //std::vector tmp_idx(block_sizes.size()); + //Eigen::MatrixXd tmp(dim, dim); + //for (int i = 0; i < static_cast(parameter_blocks.size()); i++) + //{ + // int size_i = localSize(block_sizes[i]); + // Eigen::MatrixXd jacobian_i = jacobians[i].leftCols(size_i); + // for (int j = 0, sub_idx = 0; j < static_cast(parameter_blocks.size()); sub_idx += block_sizes[j] == 7 ? 6 : block_sizes[j], j++) + // { + // int size_j = localSize(block_sizes[j]); + // Eigen::MatrixXd jacobian_j = jacobians[j].leftCols(size_j); + // tmp_idx[j] = sub_idx; + // tmp.block(tmp_idx[i], tmp_idx[j], size_i, size_j) = jacobian_i.transpose() * jacobian_j; + // } + //} + //Eigen::SelfAdjointEigenSolver saes(tmp); + //std::cout << saes.eigenvalues() << std::endl; + //ROS_ASSERT(saes.eigenvalues().minCoeff() >= -1e-6); + + if (loss_function) + { + double residual_scaling_, alpha_sq_norm_; + + double sq_norm, rho[3]; + + sq_norm = residuals.squaredNorm(); + loss_function->Evaluate(sq_norm, rho); + //printf("sq_norm: %f, rho[0]: %f, rho[1]: %f, rho[2]: %f\n", sq_norm, rho[0], rho[1], rho[2]); + + double sqrt_rho1_ = sqrt(rho[1]); + + if ((sq_norm == 0.0) || (rho[2] <= 0.0)) + { + residual_scaling_ = sqrt_rho1_; + alpha_sq_norm_ = 0.0; + } + else + { + const double D = 1.0 + 2.0 * sq_norm * rho[2] / rho[1]; + const double alpha = 1.0 - sqrt(D); + residual_scaling_ = sqrt_rho1_ / (1 - alpha); + alpha_sq_norm_ = alpha / sq_norm; + } + + for (int i = 0; i < static_cast(parameter_blocks.size()); i++) + { + jacobians[i] = sqrt_rho1_ * (jacobians[i] - alpha_sq_norm_ * residuals * (residuals.transpose() * jacobians[i])); + } + + residuals *= residual_scaling_; + } +} + +MarginalizationInfo::~MarginalizationInfo() +{ + //ROS_WARN("release marginlizationinfo"); + + for (auto it = parameter_block_data.begin(); it != parameter_block_data.end(); ++it) + delete it->second; + + for (int i = 0; i < (int)factors.size(); i++) + { + + delete[] factors[i]->raw_jacobians; + + delete factors[i]->cost_function; + + delete factors[i]; + } +} + +void MarginalizationInfo::addResidualBlockInfo(ResidualBlockInfo *residual_block_info) //构建parameter_block_size和parameter_block_idx +{ + factors.emplace_back(residual_block_info); + + std::vector ¶meter_blocks = residual_block_info->parameter_blocks; //参数块 + std::vector parameter_block_sizes = residual_block_info->cost_function->parameter_block_sizes(); //每个参数块中参数的数目 + + for (int i = 0; i < static_cast(residual_block_info->parameter_blocks.size()); i++) + { + double *addr = parameter_blocks[i]; + int size = parameter_block_sizes[i]; + parameter_block_size[reinterpret_cast(addr)] = size; + } + + for (int i = 0; i < static_cast(residual_block_info->drop_set.size()); i++) + { + double *addr = parameter_blocks[residual_block_info->drop_set[i]]; + parameter_block_idx[reinterpret_cast(addr)] = 0; + } +} + +void MarginalizationInfo::preMarginalize() //构建parameter_block_data +{ + for (auto it : factors) + { + it->Evaluate(); //求解因子对应的残差与雅克比 + + std::vector block_sizes = it->cost_function->parameter_block_sizes(); //该残差对应的参数块的数目 + for (int i = 0; i < static_cast(block_sizes.size()); i++) + { + long addr = reinterpret_cast(it->parameter_blocks[i]); + int size = block_sizes[i]; + if (parameter_block_data.find(addr) == parameter_block_data.end()) + { + double *data = new double[size]; + memcpy(data, it->parameter_blocks[i], sizeof(double) * size); + parameter_block_data[addr] = data; + } + } + } +} + +int MarginalizationInfo::localSize(int size) const +{ + return size == 7 ? 6 : size; +} + +int MarginalizationInfo::globalSize(int size) const +{ + return size == 6 ? 7 : size; +} + +void* ThreadsConstructA(void* threadsstruct) +{ + ThreadsStruct* p = ((ThreadsStruct*)threadsstruct); + for (auto it : p->sub_factors) //遍历残差因子 + { + for (int i = 0; i < static_cast(it->parameter_blocks.size()); i++) //遍历状态向量 + { + int idx_i = p->parameter_block_idx[reinterpret_cast(it->parameter_blocks[i])]; + int size_i = p->parameter_block_size[reinterpret_cast(it->parameter_blocks[i])]; + if (size_i == 7) + size_i = 6; + Eigen::MatrixXd jacobian_i = it->jacobians[i].leftCols(size_i); + for (int j = i; j < static_cast(it->parameter_blocks.size()); j++) + { + int idx_j = p->parameter_block_idx[reinterpret_cast(it->parameter_blocks[j])]; + int size_j = p->parameter_block_size[reinterpret_cast(it->parameter_blocks[j])]; + if (size_j == 7) + size_j = 6; + Eigen::MatrixXd jacobian_j = it->jacobians[j].leftCols(size_j); + if (i == j) + p->A.block(idx_i, idx_j, size_i, size_j) += jacobian_i.transpose() * jacobian_j; + else + { + p->A.block(idx_i, idx_j, size_i, size_j) += jacobian_i.transpose() * jacobian_j; + p->A.block(idx_j, idx_i, size_j, size_i) = p->A.block(idx_i, idx_j, size_i, size_j).transpose(); + } + } + p->b.segment(idx_i, size_i) += jacobian_i.transpose() * it->residuals; + } + } + return threadsstruct; +} + +void MarginalizationInfo::marginalize() +{ + int pos = 0; + for (auto &it : parameter_block_idx) + { + it.second = pos; + pos += localSize(parameter_block_size[it.first]); + } + + m = pos; + + for (const auto &it : parameter_block_size) //将保留的部分添加到parameter_block_idx，即形成边缘化部分（m状态量）在前，保留的部分（n状态量）在后的情形 + { + if (parameter_block_idx.find(it.first) == parameter_block_idx.end()) + { + parameter_block_idx[it.first] = pos; + pos += localSize(it.second); + } + } + + n = pos - m; + //ROS_INFO("marginalization, pos: %d, m: %d, n: %d, size: %d", pos, m, n, (int)parameter_block_idx.size()); + if(m == 0) //即没有需要边缘化的状态量 + { + valid = false; + printf("unstable tracking...\n"); + return; + } + + TicToc t_summing; + Eigen::MatrixXd A(pos, pos); + Eigen::VectorXd b(pos); + A.setZero(); + b.setZero(); + /* + for (auto it : factors) + { + for (int i = 0; i < static_cast(it->parameter_blocks.size()); i++) + { + int idx_i = parameter_block_idx[reinterpret_cast(it->parameter_blocks[i])]; + int size_i = localSize(parameter_block_size[reinterpret_cast(it->parameter_blocks[i])]); + Eigen::MatrixXd jacobian_i = it->jacobians[i].leftCols(size_i); + for (int j = i; j < static_cast(it->parameter_blocks.size()); j++) + { + int idx_j = parameter_block_idx[reinterpret_cast(it->parameter_blocks[j])]; + int size_j = localSize(parameter_block_size[reinterpret_cast(it->parameter_blocks[j])]); + Eigen::MatrixXd jacobian_j = it->jacobians[j].leftCols(size_j); + if (i == j) + A.block(idx_i, idx_j, size_i, size_j) += jacobian_i.transpose() * jacobian_j; + else + { + A.block(idx_i, idx_j, size_i, size_j) += jacobian_i.transpose() * jacobian_j; + A.block(idx_j, idx_i, size_j, size_i) = A.block(idx_i, idx_j, size_i, size_j).transpose(); + } + } + b.segment(idx_i, size_i) += jacobian_i.transpose() * it->residuals; + } + } + ROS_INFO("summing up costs %f ms", t_summing.toc()); + */ + //multi thread + + + TicToc t_thread_summing; + pthread_t tids[NUM_THREADS]; + ThreadsStruct threadsstruct[NUM_THREADS]; + int i = 0; + for (auto it : factors) + { + threadsstruct[i].sub_factors.push_back(it); + i++; + i = i % NUM_THREADS; + } + for (int i = 0; i < NUM_THREADS; i++) + { + TicToc zero_matrix; + threadsstruct[i].A = Eigen::MatrixXd::Zero(pos,pos); + threadsstruct[i].b = Eigen::VectorXd::Zero(pos); + threadsstruct[i].parameter_block_size = parameter_block_size; + threadsstruct[i].parameter_block_idx = parameter_block_idx; + int ret = pthread_create( &tids[i], NULL, ThreadsConstructA ,(void*)&(threadsstruct[i])); //采用多线程构建hessian矩阵 tzhang + if (ret != 0) + { + ROS_WARN("pthread_create error"); + ROS_BREAK(); + } + } + for( int i = NUM_THREADS - 1; i >= 0; i--) + { + pthread_join( tids[i], NULL ); + A += threadsstruct[i].A; + b += threadsstruct[i].b; + } + //ROS_DEBUG("thread summing up costs %f ms", t_thread_summing.toc()); + //ROS_INFO("A diff %f , b diff %f ", (A - tmp_A).sum(), (b - tmp_b).sum()); + + + //TODO + Eigen::MatrixXd Amm = 0.5 * (A.block(0, 0, m, m) + A.block(0, 0, m, m).transpose()); + Eigen::SelfAdjointEigenSolver saes(Amm); + + //ROS_ASSERT_MSG(saes.eigenvalues().minCoeff() >= -1e-4, "min eigenvalue %f", saes.eigenvalues().minCoeff()); + + Eigen::MatrixXd Amm_inv = saes.eigenvectors() * Eigen::VectorXd((saes.eigenvalues().array() > eps).select(saes.eigenvalues().array().inverse(), 0)).asDiagonal() * saes.eigenvectors().transpose(); + //printf("error1: %f\n", (Amm * Amm_inv - Eigen::MatrixXd::Identity(m, m)).sum()); + + Eigen::VectorXd bmm = b.segment(0, m); + Eigen::MatrixXd Amr = A.block(0, m, m, n); + Eigen::MatrixXd Arm = A.block(m, 0, n, m); + Eigen::MatrixXd Arr = A.block(m, m, n, n); + Eigen::VectorXd brr = b.segment(m, n); + A = Arr - Arm * Amm_inv * Amr; + b = brr - Arm * Amm_inv * bmm; + + Eigen::SelfAdjointEigenSolver saes2(A); + Eigen::VectorXd S = Eigen::VectorXd((saes2.eigenvalues().array() > eps).select(saes2.eigenvalues().array(), 0)); + Eigen::VectorXd S_inv = Eigen::VectorXd((saes2.eigenvalues().array() > eps).select(saes2.eigenvalues().array().inverse(), 0)); + + Eigen::VectorXd S_sqrt = S.cwiseSqrt(); + Eigen::VectorXd S_inv_sqrt = S_inv.cwiseSqrt(); + + linearized_jacobians = S_sqrt.asDiagonal() * saes2.eigenvectors().transpose(); + linearized_residuals = S_inv_sqrt.asDiagonal() * saes2.eigenvectors().transpose() * b; + //std::cout << A << std::endl + // << std::endl; + //std::cout << linearized_jacobians << std::endl; + //printf("error2: %f %f\n", (linearized_jacobians.transpose() * linearized_jacobians - A).sum(), + // (linearized_jacobians.transpose() * linearized_residuals - b).sum()); +} + +std::vector MarginalizationInfo::getParameterBlocks(std::unordered_map &addr_shift) +{ + std::vector keep_block_addr; + keep_block_size.clear(); + keep_block_idx.clear(); + keep_block_data.clear(); + + for (const auto &it : parameter_block_idx) + { + if (it.second >= m) //排序大于m的部分为保留的部分，将该部分状态向量进行保留 + { + keep_block_size.push_back(parameter_block_size[it.first]); + keep_block_idx.push_back(parameter_block_idx[it.first]); + keep_block_data.push_back(parameter_block_data[it.first]); + keep_block_addr.push_back(addr_shift[it.first]); + } + } + sum_block_size = std::accumulate(std::begin(keep_block_size), std::end(keep_block_size), 0); + + return keep_block_addr; +} + +MarginalizationFactor::MarginalizationFactor(MarginalizationInfo* _marginalization_info):marginalization_info(_marginalization_info) +{ + int cnt = 0; + for (auto it : marginalization_info->keep_block_size) + { + mutable_parameter_block_sizes()->push_back(it); + cnt += it; + } + //printf("residual size: %d, %d\n", cnt, n); + set_num_residuals(marginalization_info->n); +}; + +bool MarginalizationFactor::Evaluate(double const *const *parameters, double *residuals, double **jacobians) const +{ + //printf("internal addr,%d, %d\n", (int)parameter_block_sizes().size(), num_residuals()); + //for (int i = 0; i < static_cast(keep_block_size.size()); i++) + //{ + // //printf("unsigned %x\n", reinterpret_cast(parameters[i])); + // //printf("signed %x\n", reinterpret_cast(parameters[i])); + //printf("jacobian %x\n", reinterpret_cast(jacobians)); + //printf("residual %x\n", reinterpret_cast(residuals)); + //} + int n = marginalization_info->n; //保留的部分 + int m = marginalization_info->m; //边缘化的部分 + Eigen::VectorXd dx(n); + for (int i = 0; i < static_cast(marginalization_info->keep_block_size.size()); i++) + { + int size = marginalization_info->keep_block_size[i]; + int idx = marginalization_info->keep_block_idx[i] - m; + Eigen::VectorXd x = Eigen::Map(parameters[i], size); + Eigen::VectorXd x0 = Eigen::Map(marginalization_info->keep_block_data[i], size); + if (size != 7) + dx.segment(idx, size) = x - x0; + else + { + dx.segment<3>(idx + 0) = x.head<3>() - x0.head<3>(); + dx.segment<3>(idx + 3) = 2.0 * Utility::positify(Eigen::Quaterniond(x0(6), x0(3), x0(4), x0(5)).inverse() * Eigen::Quaterniond(x(6), x(3), x(4), x(5))).vec(); + if (!((Eigen::Quaterniond(x0(6), x0(3), x0(4), x0(5)).inverse() * Eigen::Quaterniond(x(6), x(3), x(4), x(5))).w() >= 0)) + { + dx.segment<3>(idx + 3) = 2.0 * -Utility::positify(Eigen::Quaterniond(x0(6), x0(3), x0(4), x0(5)).inverse() * Eigen::Quaterniond(x(6), x(3), x(4), x(5))).vec(); + } + } + } + Eigen::Map(residuals, n) = marginalization_info->linearized_residuals + marginalization_info->linearized_jacobians * dx; //相当于残差更新 + if (jacobians) + { + + for (int i = 0; i < static_cast(marginalization_info->keep_block_size.size()); i++) + { + if (jacobians[i]) + { + int size = marginalization_info->keep_block_size[i], local_size = marginalization_info->localSize(size); + int idx = marginalization_info->keep_block_idx[i] - m; + Eigen::Map> jacobian(jacobians[i], n, size); + jacobian.setZero(); + jacobian.leftCols(local_size) = marginalization_info->linearized_jacobians.middleCols(idx, local_size); + } + } + } + return true; +} diff --git a/vins_estimator/src/factor/marginalization_factor.h b/vins_estimator/src/factor/marginalization_factor.h new file mode 100644 index 0000000..817f4e6 --- /dev/null +++ b/vins_estimator/src/factor/marginalization_factor.h @@ -0,0 +1,93 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "../utility/utility.h" +#include "../utility/tic_toc.h" + +const int NUM_THREADS = 4; + +struct ResidualBlockInfo //模拟ceres中的costfunction的操作，主要完成残差与雅克比计算 +{ + ResidualBlockInfo(ceres::CostFunction *_cost_function, ceres::LossFunction *_loss_function, std::vector _parameter_blocks, std::vector _drop_set) + : cost_function(_cost_function), loss_function(_loss_function), parameter_blocks(_parameter_blocks), drop_set(_drop_set) {} + + void Evaluate(); + + ceres::CostFunction *cost_function; + ceres::LossFunction *loss_function; + std::vector parameter_blocks; + std::vector drop_set; + + double **raw_jacobians; //雅克比 + std::vector> jacobians; + Eigen::VectorXd residuals; //残差向量：预积分——15x1； 视觉——2x1 + + int localSize(int size) + { + return size == 7 ? 6 : size; + } +}; + +struct ThreadsStruct +{ + std::vector sub_factors; + Eigen::MatrixXd A; + Eigen::VectorXd b; + std::unordered_map parameter_block_size; //global size + std::unordered_map parameter_block_idx; //local size +}; + +class MarginalizationInfo +{ + public: + MarginalizationInfo(){valid = true;}; + ~MarginalizationInfo(); + int localSize(int size) const; + int globalSize(int size) const; + void addResidualBlockInfo(ResidualBlockInfo *residual_block_info); + void preMarginalize(); + void marginalize(); + std::vector getParameterBlocks(std::unordered_map &addr_shift); + + std::vector factors; + int m, n; //m表征需要边缘化的数量，n表征保留的数量 tzhang + //下述unordered_map关键字long使用的是状态向量的地址 + std::unordered_map parameter_block_size; //global size 存储每个状态向量的尺度 + int sum_block_size; + std::unordered_map parameter_block_idx; //local size 存储状态向量的索引。前面m个为将被边缘化的参数块的尺寸；通过参数块地址进行索引 + std::unordered_map parameter_block_data; //存储状态向量的数据 + + // 存储边缘化后最终保留的量 tzhang + std::vector keep_block_size; //global size + std::vector keep_block_idx; //local size + std::vector keep_block_data; + + Eigen::MatrixXd linearized_jacobians; //边缘化得到的雅克比 tzhang + Eigen::VectorXd linearized_residuals; //边缘化得到的残差 tzhang + const double eps = 1e-8; + bool valid; +}; + +class MarginalizationFactor : public ceres::CostFunction +{ + public: + MarginalizationFactor(MarginalizationInfo* _marginalization_info); + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const; + + MarginalizationInfo* marginalization_info; +}; diff --git a/vins_estimator/src/factor/pose_local_parameterization.cpp b/vins_estimator/src/factor/pose_local_parameterization.cpp new file mode 100644 index 0000000..8bc5a8c --- /dev/null +++ b/vins_estimator/src/factor/pose_local_parameterization.cpp @@ -0,0 +1,37 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "pose_local_parameterization.h" + +bool PoseLocalParameterization::Plus(const double *x, const double *delta, double *x_plus_delta) const +{ + Eigen::Map _p(x); + Eigen::Map _q(x + 3); + + Eigen::Map dp(delta); + + Eigen::Quaterniond dq = Utility::deltaQ(Eigen::Map(delta + 3)); + + Eigen::Map p(x_plus_delta); + Eigen::Map q(x_plus_delta + 3); + + p = _p + dp; + q = (_q * dq).normalized(); + + return true; +} + +bool PoseLocalParameterization::ComputeJacobian(const double *x, double *jacobian) const +{ + Eigen::Map> j(jacobian); + j.topRows<6>().setIdentity(); + j.bottomRows<1>().setZero(); + + return true; +} diff --git a/vins_estimator/src/factor/pose_local_parameterization.h b/vins_estimator/src/factor/pose_local_parameterization.h new file mode 100644 index 0000000..d4c8d19 --- /dev/null +++ b/vins_estimator/src/factor/pose_local_parameterization.h @@ -0,0 +1,22 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include "../utility/utility.h" + +class PoseLocalParameterization : public ceres::LocalParameterization +{ + virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const; + virtual bool ComputeJacobian(const double *x, double *jacobian) const; + virtual int GlobalSize() const { return 7; }; + virtual int LocalSize() const { return 6; }; +}; diff --git a/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.cpp b/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.cpp new file mode 100644 index 0000000..8e24cfa --- /dev/null +++ b/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.cpp @@ -0,0 +1,248 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "projectionOneFrameTwoCamFactor.h" + +Eigen::Matrix2d ProjectionOneFrameTwoCamFactor::sqrt_info; +double ProjectionOneFrameTwoCamFactor::sum_t; + +ProjectionOneFrameTwoCamFactor::ProjectionOneFrameTwoCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j) : + pts_i(_pts_i), pts_j(_pts_j), + td_i(_td_i), td_j(_td_j) +{ + velocity_i.x() = _velocity_i.x(); + velocity_i.y() = _velocity_i.y(); + velocity_i.z() = 0; + velocity_j.x() = _velocity_j.x(); + velocity_j.y() = _velocity_j.y(); + velocity_j.z() = 0; +#ifdef UNIT_SPHERE_ERROR + Eigen::Vector3d b1, b2; + Eigen::Vector3d a = pts_j.normalized(); + Eigen::Vector3d tmp(0, 0, 1); + if(a == tmp) + tmp << 1, 0, 0; + b1 = (tmp - a * (a.transpose() * tmp)).normalized(); + b2 = a.cross(b1); + tangent_base.block<1, 3>(0, 0) = b1.transpose(); + tangent_base.block<1, 3>(1, 0) = b2.transpose(); +#endif +}; + +bool ProjectionOneFrameTwoCamFactor::Evaluate(double const *const *parameters, double *residuals, double **jacobians) const +{ + TicToc tic_toc; + + Eigen::Vector3d tic(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond qic(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d tic2(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond qic2(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + double inv_dep_i = parameters[2][0]; + + double td = parameters[3][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_imu_j = pts_imu_i; + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + Eigen::Map residual(residuals); + +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + + residual = sqrt_info * residual; + + if (jacobians) + { + Eigen::Matrix3d ric = qic.toRotationMatrix(); + Eigen::Matrix3d ric2 = qic2.toRotationMatrix(); + Eigen::Matrix reduce(2, 3); +#ifdef UNIT_SPHERE_ERROR + double norm = pts_camera_j.norm(); + Eigen::Matrix3d norm_jaco; + double x1, x2, x3; + x1 = pts_camera_j(0); + x2 = pts_camera_j(1); + x3 = pts_camera_j(2); + norm_jaco << 1.0 / norm - x1 * x1 / pow(norm, 3), - x1 * x2 / pow(norm, 3), - x1 * x3 / pow(norm, 3), + - x1 * x2 / pow(norm, 3), 1.0 / norm - x2 * x2 / pow(norm, 3), - x2 * x3 / pow(norm, 3), + - x1 * x3 / pow(norm, 3), - x2 * x3 / pow(norm, 3), 1.0 / norm - x3 * x3 / pow(norm, 3); + reduce = tangent_base * norm_jaco; +#else + reduce << 1. / dep_j, 0, -pts_camera_j(0) / (dep_j * dep_j), + 0, 1. / dep_j, -pts_camera_j(1) / (dep_j * dep_j); +#endif + reduce = sqrt_info * reduce; + + if (jacobians[0]) + { + Eigen::Map> jacobian_ex_pose(jacobians[0]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = ric2.transpose(); + jaco_ex.rightCols<3>() = ric2.transpose() * ric * -Utility::skewSymmetric(pts_camera_i); + jacobian_ex_pose.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose.rightCols<1>().setZero(); + } + if (jacobians[1]) + { + Eigen::Map> jacobian_ex_pose1(jacobians[1]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = - ric2.transpose(); + jaco_ex.rightCols<3>() = Utility::skewSymmetric(pts_camera_j); + jacobian_ex_pose1.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose1.rightCols<1>().setZero(); + } + if (jacobians[2]) + { + Eigen::Map jacobian_feature(jacobians[2]); +#if 1 + jacobian_feature = reduce * ric2.transpose() * ric * pts_i * -1.0 / (inv_dep_i * inv_dep_i); +#else + jacobian_feature = reduce * ric.transpose() * Rj.transpose() * Ri * ric * pts_i; +#endif + } + if (jacobians[3]) + { + Eigen::Map jacobian_td(jacobians[3]); + jacobian_td = reduce * ric2.transpose() * ric * velocity_i / inv_dep_i * -1.0 + + sqrt_info * velocity_j.head(2); + } + } + sum_t += tic_toc.toc(); + + return true; +} + +void ProjectionOneFrameTwoCamFactor::check(double **parameters) +{ + double *res = new double[15]; + double **jaco = new double *[4]; + jaco[0] = new double[2 * 7]; + jaco[1] = new double[2 * 7]; + jaco[2] = new double[2 * 1]; + jaco[3] = new double[2 * 1]; + Evaluate(parameters, res, jaco); + puts("check begins"); + + puts("my"); + + std::cout << Eigen::Map>(res).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[3]) << std::endl + << std::endl; + + Eigen::Vector3d tic(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond qic(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d tic2(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond qic2(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + double inv_dep_i = parameters[2][0]; + + double td = parameters[3][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_imu_j = pts_imu_i; + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + + + Eigen::Vector2d residual; +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + residual = sqrt_info * residual; + + puts("num"); + std::cout << residual.transpose() << std::endl; + + const double eps = 1e-6; + Eigen::Matrix num_jacobian; + for (int k = 0; k < 14; k++) + { + Eigen::Vector3d tic(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond qic(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d tic2(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond qic2(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + double inv_dep_i = parameters[2][0]; + + double td = parameters[3][0]; + + int a = k / 3, b = k % 3; + Eigen::Vector3d delta = Eigen::Vector3d(b == 0, b == 1, b == 2) * eps; + + if (a == 0) + tic += delta; + else if (a == 1) + qic = qic * Utility::deltaQ(delta); + else if (a == 2) + tic2 += delta; + else if (a == 3) + qic2 = qic2 * Utility::deltaQ(delta); + else if (a == 4) + { + if (b == 0) + inv_dep_i += delta.x(); + else + td += delta.y(); + } + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_imu_j = pts_imu_i; + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + + Eigen::Vector2d tmp_residual; +#ifdef UNIT_SPHERE_ERROR + tmp_residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + tmp_residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + tmp_residual = sqrt_info * tmp_residual; + num_jacobian.col(k) = (tmp_residual - residual) / eps; + } + std::cout << num_jacobian.block<2, 6>(0, 0) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 6) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 12) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 13) << std::endl; +} diff --git a/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.h b/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.h new file mode 100644 index 0000000..03a43b6 --- /dev/null +++ b/vins_estimator/src/factor/projectionOneFrameTwoCamFactor.h @@ -0,0 +1,37 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class ProjectionOneFrameTwoCamFactor : public ceres::SizedCostFunction<2, 7, 7, 1, 1> //残差维度2； 参数维度：Xbc 7维； + // Xbc2 7维；逆深度 1维； td 1维 +{ + public: + ProjectionOneFrameTwoCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j); + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const; + void check(double **parameters); + + Eigen::Vector3d pts_i, pts_j; + Eigen::Vector3d velocity_i, velocity_j; + double td_i, td_j; + Eigen::Matrix tangent_base; + static Eigen::Matrix2d sqrt_info; + static double sum_t; +}; diff --git a/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.cpp b/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.cpp new file mode 100644 index 0000000..8af01e8 --- /dev/null +++ b/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.cpp @@ -0,0 +1,272 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "projectionTwoFrameOneCamFactor.h" + +Eigen::Matrix2d ProjectionTwoFrameOneCamFactor::sqrt_info; +double ProjectionTwoFrameOneCamFactor::sum_t; + +ProjectionTwoFrameOneCamFactor::ProjectionTwoFrameOneCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j) : + pts_i(_pts_i), pts_j(_pts_j), + td_i(_td_i), td_j(_td_j) +{ + velocity_i.x() = _velocity_i.x(); + velocity_i.y() = _velocity_i.y(); + velocity_i.z() = 0; + velocity_j.x() = _velocity_j.x(); + velocity_j.y() = _velocity_j.y(); + velocity_j.z() = 0; + +#ifdef UNIT_SPHERE_ERROR + Eigen::Vector3d b1, b2; + Eigen::Vector3d a = pts_j.normalized(); + Eigen::Vector3d tmp(0, 0, 1); + if(a == tmp) + tmp << 1, 0, 0; + b1 = (tmp - a * (a.transpose() * tmp)).normalized(); + b2 = a.cross(b1); + tangent_base.block<1, 3>(0, 0) = b1.transpose(); + tangent_base.block<1, 3>(1, 0) = b2.transpose(); +#endif +}; + +bool ProjectionTwoFrameOneCamFactor::Evaluate(double const *const *parameters, double *residuals, double **jacobians) const +{ + TicToc tic_toc; + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + double inv_dep_i = parameters[3][0]; + + double td = parameters[4][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + Eigen::Map residual(residuals); + +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + + residual = sqrt_info * residual; + + if (jacobians) + { + Eigen::Matrix3d Ri = Qi.toRotationMatrix(); + Eigen::Matrix3d Rj = Qj.toRotationMatrix(); + Eigen::Matrix3d ric = qic.toRotationMatrix(); + Eigen::Matrix reduce(2, 3); +#ifdef UNIT_SPHERE_ERROR + double norm = pts_camera_j.norm(); + Eigen::Matrix3d norm_jaco; + double x1, x2, x3; + x1 = pts_camera_j(0); + x2 = pts_camera_j(1); + x3 = pts_camera_j(2); + norm_jaco << 1.0 / norm - x1 * x1 / pow(norm, 3), - x1 * x2 / pow(norm, 3), - x1 * x3 / pow(norm, 3), + - x1 * x2 / pow(norm, 3), 1.0 / norm - x2 * x2 / pow(norm, 3), - x2 * x3 / pow(norm, 3), + - x1 * x3 / pow(norm, 3), - x2 * x3 / pow(norm, 3), 1.0 / norm - x3 * x3 / pow(norm, 3); + reduce = tangent_base * norm_jaco; +#else + reduce << 1. / dep_j, 0, -pts_camera_j(0) / (dep_j * dep_j), + 0, 1. / dep_j, -pts_camera_j(1) / (dep_j * dep_j); +#endif + reduce = sqrt_info * reduce; + + if (jacobians[0]) + { + Eigen::Map> jacobian_pose_i(jacobians[0]); + + Eigen::Matrix jaco_i; + jaco_i.leftCols<3>() = ric.transpose() * Rj.transpose(); + jaco_i.rightCols<3>() = ric.transpose() * Rj.transpose() * Ri * -Utility::skewSymmetric(pts_imu_i); + + jacobian_pose_i.leftCols<6>() = reduce * jaco_i; + jacobian_pose_i.rightCols<1>().setZero(); + } + + if (jacobians[1]) + { + Eigen::Map> jacobian_pose_j(jacobians[1]); + + Eigen::Matrix jaco_j; + jaco_j.leftCols<3>() = ric.transpose() * -Rj.transpose(); + jaco_j.rightCols<3>() = ric.transpose() * Utility::skewSymmetric(pts_imu_j); + + jacobian_pose_j.leftCols<6>() = reduce * jaco_j; + jacobian_pose_j.rightCols<1>().setZero(); + } + if (jacobians[2]) + { + Eigen::Map> jacobian_ex_pose(jacobians[2]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = ric.transpose() * (Rj.transpose() * Ri - Eigen::Matrix3d::Identity()); + Eigen::Matrix3d tmp_r = ric.transpose() * Rj.transpose() * Ri * ric; + jaco_ex.rightCols<3>() = -tmp_r * Utility::skewSymmetric(pts_camera_i) + Utility::skewSymmetric(tmp_r * pts_camera_i) + + Utility::skewSymmetric(ric.transpose() * (Rj.transpose() * (Ri * tic + Pi - Pj) - tic)); + jacobian_ex_pose.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose.rightCols<1>().setZero(); + } + if (jacobians[3]) + { + Eigen::Map jacobian_feature(jacobians[3]); + jacobian_feature = reduce * ric.transpose() * Rj.transpose() * Ri * ric * pts_i_td * -1.0 / (inv_dep_i * inv_dep_i); + } + if (jacobians[4]) + { + Eigen::Map jacobian_td(jacobians[4]); + jacobian_td = reduce * ric.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + + sqrt_info * velocity_j.head(2); + } + } + sum_t += tic_toc.toc(); + + return true; +} + +void ProjectionTwoFrameOneCamFactor::check(double **parameters) +{ + double *res = new double[2]; + double **jaco = new double *[5]; + jaco[0] = new double[2 * 7]; + jaco[1] = new double[2 * 7]; + jaco[2] = new double[2 * 7]; + jaco[3] = new double[2 * 1]; + jaco[4] = new double[2 * 1]; + Evaluate(parameters, res, jaco); + puts("check begins"); + + puts("my"); + + std::cout << Eigen::Map>(res).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[3]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[4]) << std::endl + << std::endl; + + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + double inv_dep_i = parameters[3][0]; + double td = parameters[4][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i ) * velocity_i; + pts_j_td = pts_j - (td - td_j ) * velocity_j; + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + Eigen::Vector2d residual; + +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + residual = sqrt_info * residual; + + puts("num"); + std::cout << residual.transpose() << std::endl; + + const double eps = 1e-6; + Eigen::Matrix num_jacobian; + for (int k = 0; k < 20; k++) + { + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + double inv_dep_i = parameters[3][0]; + double td = parameters[4][0]; + + + int a = k / 3, b = k % 3; + Eigen::Vector3d delta = Eigen::Vector3d(b == 0, b == 1, b == 2) * eps; + + if (a == 0) + Pi += delta; + else if (a == 1) + Qi = Qi * Utility::deltaQ(delta); + else if (a == 2) + Pj += delta; + else if (a == 3) + Qj = Qj * Utility::deltaQ(delta); + else if (a == 4) + tic += delta; + else if (a == 5) + qic = qic * Utility::deltaQ(delta); + else if (a == 6 && b == 0) + inv_dep_i += delta.x(); + else if (a == 6 && b == 1) + td += delta.y(); + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + Eigen::Vector2d tmp_residual; + +#ifdef UNIT_SPHERE_ERROR + tmp_residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + tmp_residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + tmp_residual = sqrt_info * tmp_residual; + + num_jacobian.col(k) = (tmp_residual - residual) / eps; + } + std::cout << num_jacobian.block<2, 6>(0, 0) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 6) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 12) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 18) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 19) << std::endl; +} diff --git a/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.h b/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.h new file mode 100644 index 0000000..e088185 --- /dev/null +++ b/vins_estimator/src/factor/projectionTwoFrameOneCamFactor.h @@ -0,0 +1,37 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class ProjectionTwoFrameOneCamFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1, 1> //残差维度2； 参数维度：Xi 7维；Xj 7维； + // Xbc 7维；逆深度 1维； td 1维 +{ + public: + ProjectionTwoFrameOneCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j); + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const; + void check(double **parameters); + + Eigen::Vector3d pts_i, pts_j; + Eigen::Vector3d velocity_i, velocity_j; + double td_i, td_j; + Eigen::Matrix tangent_base; + static Eigen::Matrix2d sqrt_info; + static double sum_t; +}; diff --git a/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cpp b/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cpp new file mode 100644 index 0000000..8fa4364 --- /dev/null +++ b/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.cpp @@ -0,0 +1,310 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "projectionTwoFrameTwoCamFactor.h" + +Eigen::Matrix2d ProjectionTwoFrameTwoCamFactor::sqrt_info; +double ProjectionTwoFrameTwoCamFactor::sum_t; + +ProjectionTwoFrameTwoCamFactor::ProjectionTwoFrameTwoCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j) : + pts_i(_pts_i), pts_j(_pts_j), + td_i(_td_i), td_j(_td_j) +{ + velocity_i.x() = _velocity_i.x(); + velocity_i.y() = _velocity_i.y(); + velocity_i.z() = 0; + velocity_j.x() = _velocity_j.x(); + velocity_j.y() = _velocity_j.y(); + velocity_j.z() = 0; + +#ifdef UNIT_SPHERE_ERROR + Eigen::Vector3d b1, b2; + Eigen::Vector3d a = pts_j.normalized(); + Eigen::Vector3d tmp(0, 0, 1); + if(a == tmp) + tmp << 1, 0, 0; + b1 = (tmp - a * (a.transpose() * tmp)).normalized(); + b2 = a.cross(b1); + tangent_base.block<1, 3>(0, 0) = b1.transpose(); + tangent_base.block<1, 3>(1, 0) = b2.transpose(); +#endif +}; + +bool ProjectionTwoFrameTwoCamFactor::Evaluate(double const *const *parameters, double *residuals, double **jacobians) const +{ + TicToc tic_toc; + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + Eigen::Vector3d tic2(parameters[3][0], parameters[3][1], parameters[3][2]); + Eigen::Quaterniond qic2(parameters[3][6], parameters[3][3], parameters[3][4], parameters[3][5]); + + double inv_dep_i = parameters[4][0]; + + double td = parameters[5][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + Eigen::Map residual(residuals); + +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); // 估计值 - 观测值 tzhang +#endif + + residual = sqrt_info * residual; + + if (jacobians) + { + Eigen::Matrix3d Ri = Qi.toRotationMatrix(); + Eigen::Matrix3d Rj = Qj.toRotationMatrix(); + Eigen::Matrix3d ric = qic.toRotationMatrix(); + Eigen::Matrix3d ric2 = qic2.toRotationMatrix(); + Eigen::Matrix reduce(2, 3); +#ifdef UNIT_SPHERE_ERROR + double norm = pts_camera_j.norm(); + Eigen::Matrix3d norm_jaco; + double x1, x2, x3; + x1 = pts_camera_j(0); + x2 = pts_camera_j(1); + x3 = pts_camera_j(2); + norm_jaco << 1.0 / norm - x1 * x1 / pow(norm, 3), - x1 * x2 / pow(norm, 3), - x1 * x3 / pow(norm, 3), + - x1 * x2 / pow(norm, 3), 1.0 / norm - x2 * x2 / pow(norm, 3), - x2 * x3 / pow(norm, 3), + - x1 * x3 / pow(norm, 3), - x2 * x3 / pow(norm, 3), 1.0 / norm - x3 * x3 / pow(norm, 3); + reduce = tangent_base * norm_jaco; +#else + reduce << 1. / dep_j, 0, -pts_camera_j(0) / (dep_j * dep_j), + 0, 1. / dep_j, -pts_camera_j(1) / (dep_j * dep_j); +#endif + reduce = sqrt_info * reduce; + + if (jacobians[0]) //对i时刻机体位姿的雅克比 tzhang + { + Eigen::Map> jacobian_pose_i(jacobians[0]); + + Eigen::Matrix jaco_i; + jaco_i.leftCols<3>() = ric2.transpose() * Rj.transpose(); //对平移的雅克比 + jaco_i.rightCols<3>() = ric2.transpose() * Rj.transpose() * Ri * -Utility::skewSymmetric(pts_imu_i); //对旋转的雅克比 + + jacobian_pose_i.leftCols<6>() = reduce * jaco_i; + jacobian_pose_i.rightCols<1>().setZero(); + } + + if (jacobians[1]) + { + Eigen::Map> jacobian_pose_j(jacobians[1]); + + Eigen::Matrix jaco_j; + jaco_j.leftCols<3>() = ric2.transpose() * -Rj.transpose(); + jaco_j.rightCols<3>() = ric2.transpose() * Utility::skewSymmetric(pts_imu_j); + + jacobian_pose_j.leftCols<6>() = reduce * jaco_j; + jacobian_pose_j.rightCols<1>().setZero(); + } + if (jacobians[2]) + { + Eigen::Map> jacobian_ex_pose(jacobians[2]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = ric2.transpose() * Rj.transpose() * Ri; + jaco_ex.rightCols<3>() = ric2.transpose() * Rj.transpose() * Ri * ric * -Utility::skewSymmetric(pts_camera_i); + jacobian_ex_pose.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose.rightCols<1>().setZero(); + } + if (jacobians[3]) + { + Eigen::Map> jacobian_ex_pose1(jacobians[3]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = - ric2.transpose(); + jaco_ex.rightCols<3>() = Utility::skewSymmetric(pts_camera_j); + jacobian_ex_pose1.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose1.rightCols<1>().setZero(); + } + if (jacobians[4]) + { + Eigen::Map jacobian_feature(jacobians[4]); +#if 1 + jacobian_feature = reduce * ric2.transpose() * Rj.transpose() * Ri * ric * pts_i_td * -1.0 / (inv_dep_i * inv_dep_i); +#else + jacobian_feature = reduce * ric.transpose() * Rj.transpose() * Ri * ric * pts_i; +#endif + } + if (jacobians[5]) + { + Eigen::Map jacobian_td(jacobians[5]); + jacobian_td = reduce * ric2.transpose() * Rj.transpose() * Ri * ric * velocity_i / inv_dep_i * -1.0 + + sqrt_info * velocity_j.head(2); + } + } + sum_t += tic_toc.toc(); + + return true; +} + +void ProjectionTwoFrameTwoCamFactor::check(double **parameters) +{ + double *res = new double[15]; + double **jaco = new double *[6]; + jaco[0] = new double[2 * 7]; + jaco[1] = new double[2 * 7]; + jaco[2] = new double[2 * 7]; + jaco[3] = new double[2 * 7]; + jaco[4] = new double[2 * 1]; + jaco[5] = new double[2 * 1]; + Evaluate(parameters, res, jaco); + puts("check begins"); + + puts("my"); + + std::cout << Eigen::Map>(res).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[3]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[4]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[5]) << std::endl + << std::endl; + + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + Eigen::Vector3d tic2(parameters[3][0], parameters[3][1], parameters[3][2]); + Eigen::Quaterniond qic2(parameters[3][6], parameters[3][3], parameters[3][4], parameters[3][5]); + + double inv_dep_i = parameters[4][0]; + + double td = parameters[5][0]; + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + + + Eigen::Vector2d residual; +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + residual = sqrt_info * residual; + + puts("num"); + std::cout << residual.transpose() << std::endl; + + const double eps = 1e-6; + Eigen::Matrix num_jacobian; + for (int k = 0; k < 26; k++) + { + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + Eigen::Vector3d tic2(parameters[3][0], parameters[3][1], parameters[3][2]); + Eigen::Quaterniond qic2(parameters[3][6], parameters[3][3], parameters[3][4], parameters[3][5]); + + double inv_dep_i = parameters[4][0]; + + double td = parameters[5][0]; + + int a = k / 3, b = k % 3; + Eigen::Vector3d delta = Eigen::Vector3d(b == 0, b == 1, b == 2) * eps; + + if (a == 0) + Pi += delta; + else if (a == 1) + Qi = Qi * Utility::deltaQ(delta); + else if (a == 2) + Pj += delta; + else if (a == 3) + Qj = Qj * Utility::deltaQ(delta); + else if (a == 4) + tic += delta; + else if (a == 5) + qic = qic * Utility::deltaQ(delta); + else if (a == 6) + tic2 += delta; + else if (a == 7) + qic2 = qic2 * Utility::deltaQ(delta); + else if (a == 8) + { + if(b == 0) + inv_dep_i += delta.x(); + else + td += delta.y(); + } + + Eigen::Vector3d pts_i_td, pts_j_td; + pts_i_td = pts_i - (td - td_i) * velocity_i; + pts_j_td = pts_j - (td - td_j) * velocity_j; + + Eigen::Vector3d pts_camera_i = pts_i_td / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic2.inverse() * (pts_imu_j - tic2); + + Eigen::Vector2d tmp_residual; +#ifdef UNIT_SPHERE_ERROR + tmp_residual = tangent_base * (pts_camera_j.normalized() - pts_j_td.normalized()); +#else + double dep_j = pts_camera_j.z(); + tmp_residual = (pts_camera_j / dep_j).head<2>() - pts_j_td.head<2>(); +#endif + tmp_residual = sqrt_info * tmp_residual; + num_jacobian.col(k) = (tmp_residual - residual) / eps; + } + std::cout << num_jacobian.block<2, 6>(0, 0) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 6) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 12) << std::endl; + std::cout << num_jacobian.block<2, 6>(0, 18) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 24) << std::endl; + std::cout << num_jacobian.block<2, 1>(0, 25) << std::endl; +} diff --git a/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.h b/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.h new file mode 100644 index 0000000..fe75641 --- /dev/null +++ b/vins_estimator/src/factor/projectionTwoFrameTwoCamFactor.h @@ -0,0 +1,37 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class ProjectionTwoFrameTwoCamFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 7, 1, 1>//残差维度2； 参数维度：Xi 7维；Xj 7维； + // Xbc 7维；Xbc2 7维；逆深度 1维； td 1维 +{ + public: + ProjectionTwoFrameTwoCamFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j, + const Eigen::Vector2d &_velocity_i, const Eigen::Vector2d &_velocity_j, + const double _td_i, const double _td_j); + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const; + void check(double **parameters); + + Eigen::Vector3d pts_i, pts_j; + Eigen::Vector3d velocity_i, velocity_j; + double td_i, td_j; + Eigen::Matrix tangent_base; + static Eigen::Matrix2d sqrt_info; + static double sum_t; +}; diff --git a/vins_estimator/src/factor/projection_factor.cpp b/vins_estimator/src/factor/projection_factor.cpp new file mode 100644 index 0000000..64cf8e0 --- /dev/null +++ b/vins_estimator/src/factor/projection_factor.cpp @@ -0,0 +1,234 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "projection_factor.h" + +Eigen::Matrix2d ProjectionFactor::sqrt_info; +double ProjectionFactor::sum_t; + +ProjectionFactor::ProjectionFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j) : pts_i(_pts_i), pts_j(_pts_j) +{ +#ifdef UNIT_SPHERE_ERROR + Eigen::Vector3d b1, b2; + Eigen::Vector3d a = pts_j.normalized(); + Eigen::Vector3d tmp(0, 0, 1); + if(a == tmp) + tmp << 1, 0, 0; + b1 = (tmp - a * (a.transpose() * tmp)).normalized(); + b2 = a.cross(b1); + tangent_base.block<1, 3>(0, 0) = b1.transpose(); + tangent_base.block<1, 3>(1, 0) = b2.transpose(); +#endif +}; + +bool ProjectionFactor::Evaluate(double const *const *parameters, double *residuals, double **jacobians) const +{ + TicToc tic_toc; + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + + double inv_dep_i = parameters[3][0]; + + Eigen::Vector3d pts_camera_i = pts_i / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + Eigen::Map residual(residuals); + +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j.head<2>(); +#endif + + residual = sqrt_info * residual; + + if (jacobians) + { + Eigen::Matrix3d Ri = Qi.toRotationMatrix(); + Eigen::Matrix3d Rj = Qj.toRotationMatrix(); + Eigen::Matrix3d ric = qic.toRotationMatrix(); + Eigen::Matrix reduce(2, 3); +#ifdef UNIT_SPHERE_ERROR + double norm = pts_camera_j.norm(); + Eigen::Matrix3d norm_jaco; + double x1, x2, x3; + x1 = pts_camera_j(0); + x2 = pts_camera_j(1); + x3 = pts_camera_j(2); + norm_jaco << 1.0 / norm - x1 * x1 / pow(norm, 3), - x1 * x2 / pow(norm, 3), - x1 * x3 / pow(norm, 3), + - x1 * x2 / pow(norm, 3), 1.0 / norm - x2 * x2 / pow(norm, 3), - x2 * x3 / pow(norm, 3), + - x1 * x3 / pow(norm, 3), - x2 * x3 / pow(norm, 3), 1.0 / norm - x3 * x3 / pow(norm, 3); + reduce = tangent_base * norm_jaco; +#else + reduce << 1. / dep_j, 0, -pts_camera_j(0) / (dep_j * dep_j), + 0, 1. / dep_j, -pts_camera_j(1) / (dep_j * dep_j); +#endif + reduce = sqrt_info * reduce; + + if (jacobians[0]) + { + Eigen::Map> jacobian_pose_i(jacobians[0]); + + Eigen::Matrix jaco_i; + jaco_i.leftCols<3>() = ric.transpose() * Rj.transpose(); + jaco_i.rightCols<3>() = ric.transpose() * Rj.transpose() * Ri * -Utility::skewSymmetric(pts_imu_i); + + jacobian_pose_i.leftCols<6>() = reduce * jaco_i; + jacobian_pose_i.rightCols<1>().setZero(); + } + + if (jacobians[1]) + { + Eigen::Map> jacobian_pose_j(jacobians[1]); + + Eigen::Matrix jaco_j; + jaco_j.leftCols<3>() = ric.transpose() * -Rj.transpose(); + jaco_j.rightCols<3>() = ric.transpose() * Utility::skewSymmetric(pts_imu_j); + + jacobian_pose_j.leftCols<6>() = reduce * jaco_j; + jacobian_pose_j.rightCols<1>().setZero(); + } + if (jacobians[2]) + { + Eigen::Map> jacobian_ex_pose(jacobians[2]); + Eigen::Matrix jaco_ex; + jaco_ex.leftCols<3>() = ric.transpose() * (Rj.transpose() * Ri - Eigen::Matrix3d::Identity()); + Eigen::Matrix3d tmp_r = ric.transpose() * Rj.transpose() * Ri * ric; + jaco_ex.rightCols<3>() = -tmp_r * Utility::skewSymmetric(pts_camera_i) + Utility::skewSymmetric(tmp_r * pts_camera_i) + + Utility::skewSymmetric(ric.transpose() * (Rj.transpose() * (Ri * tic + Pi - Pj) - tic)); + jacobian_ex_pose.leftCols<6>() = reduce * jaco_ex; + jacobian_ex_pose.rightCols<1>().setZero(); + } + if (jacobians[3]) + { + Eigen::Map jacobian_feature(jacobians[3]); +#if 1 + jacobian_feature = reduce * ric.transpose() * Rj.transpose() * Ri * ric * pts_i * -1.0 / (inv_dep_i * inv_dep_i); +#else + jacobian_feature = reduce * ric.transpose() * Rj.transpose() * Ri * ric * pts_i; +#endif + } + } + sum_t += tic_toc.toc(); + + return true; +} + +void ProjectionFactor::check(double **parameters) +{ + double *res = new double[15]; + double **jaco = new double *[4]; + jaco[0] = new double[2 * 7]; + jaco[1] = new double[2 * 7]; + jaco[2] = new double[2 * 7]; + jaco[3] = new double[2 * 1]; + Evaluate(parameters, res, jaco); + puts("check begins"); + + puts("my"); + + std::cout << Eigen::Map>(res).transpose() << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[0]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[1]) << std::endl + << std::endl; + std::cout << Eigen::Map>(jaco[2]) << std::endl + << std::endl; + std::cout << Eigen::Map(jaco[3]) << std::endl + << std::endl; + + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + double inv_dep_i = parameters[3][0]; + + Eigen::Vector3d pts_camera_i = pts_i / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + + + Eigen::Vector2d residual; +#ifdef UNIT_SPHERE_ERROR + residual = tangent_base * (pts_camera_j.normalized() - pts_j.normalized()); +#else + double dep_j = pts_camera_j.z(); + residual = (pts_camera_j / dep_j).head<2>() - pts_j.head<2>(); +#endif + residual = sqrt_info * residual; + + puts("num"); + std::cout << residual.transpose() << std::endl; + + const double eps = 1e-6; + Eigen::Matrix num_jacobian; + for (int k = 0; k < 19; k++) + { + Eigen::Vector3d Pi(parameters[0][0], parameters[0][1], parameters[0][2]); + Eigen::Quaterniond Qi(parameters[0][6], parameters[0][3], parameters[0][4], parameters[0][5]); + + Eigen::Vector3d Pj(parameters[1][0], parameters[1][1], parameters[1][2]); + Eigen::Quaterniond Qj(parameters[1][6], parameters[1][3], parameters[1][4], parameters[1][5]); + + Eigen::Vector3d tic(parameters[2][0], parameters[2][1], parameters[2][2]); + Eigen::Quaterniond qic(parameters[2][6], parameters[2][3], parameters[2][4], parameters[2][5]); + double inv_dep_i = parameters[3][0]; + + int a = k / 3, b = k % 3; + Eigen::Vector3d delta = Eigen::Vector3d(b == 0, b == 1, b == 2) * eps; + + if (a == 0) + Pi += delta; + else if (a == 1) + Qi = Qi * Utility::deltaQ(delta); + else if (a == 2) + Pj += delta; + else if (a == 3) + Qj = Qj * Utility::deltaQ(delta); + else if (a == 4) + tic += delta; + else if (a == 5) + qic = qic * Utility::deltaQ(delta); + else if (a == 6) + inv_dep_i += delta.x(); + + Eigen::Vector3d pts_camera_i = pts_i / inv_dep_i; + Eigen::Vector3d pts_imu_i = qic * pts_camera_i + tic; + Eigen::Vector3d pts_w = Qi * pts_imu_i + Pi; + Eigen::Vector3d pts_imu_j = Qj.inverse() * (pts_w - Pj); + Eigen::Vector3d pts_camera_j = qic.inverse() * (pts_imu_j - tic); + + Eigen::Vector2d tmp_residual; +#ifdef UNIT_SPHERE_ERROR + tmp_residual = tangent_base * (pts_camera_j.normalized() - pts_j.normalized()); +#else + double dep_j = pts_camera_j.z(); + tmp_residual = (pts_camera_j / dep_j).head<2>() - pts_j.head<2>(); +#endif + tmp_residual = sqrt_info * tmp_residual; + num_jacobian.col(k) = (tmp_residual - residual) / eps; + } + std::cout << num_jacobian << std::endl; +} diff --git a/vins_estimator/src/factor/projection_factor.h b/vins_estimator/src/factor/projection_factor.h new file mode 100644 index 0000000..952cecc --- /dev/null +++ b/vins_estimator/src/factor/projection_factor.h @@ -0,0 +1,30 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include "../utility/utility.h" +#include "../utility/tic_toc.h" +#include "../estimator/parameters.h" + +class ProjectionFactor : public ceres::SizedCostFunction<2, 7, 7, 7, 1> +{ + public: + ProjectionFactor(const Eigen::Vector3d &_pts_i, const Eigen::Vector3d &_pts_j); + virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const; + void check(double **parameters); + + Eigen::Vector3d pts_i, pts_j; + Eigen::Matrix tangent_base; + static Eigen::Matrix2d sqrt_info; + static double sum_t; +}; diff --git a/vins_estimator/src/featureTracker/feature_tracker.cpp b/vins_estimator/src/featureTracker/feature_tracker.cpp new file mode 100644 index 0000000..65947c6 --- /dev/null +++ b/vins_estimator/src/featureTracker/feature_tracker.cpp @@ -0,0 +1,548 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "feature_tracker.h" + +bool FeatureTracker::inBorder(const cv::Point2f &pt) +{ + const int BORDER_SIZE = 1; + int img_x = cvRound(pt.x); + int img_y = cvRound(pt.y); + return BORDER_SIZE <= img_x && img_x < col - BORDER_SIZE && BORDER_SIZE <= img_y && img_y < row - BORDER_SIZE; +} + +double distance(cv::Point2f pt1, cv::Point2f pt2) +{ + //printf("pt1: %f %f pt2: %f %f\n", pt1.x, pt1.y, pt2.x, pt2.y); + double dx = pt1.x - pt2.x; + double dy = pt1.y - pt2.y; + return sqrt(dx * dx + dy * dy); +} + +void reduceVector(vector &v, vector status) +{ + int j = 0; + for (int i = 0; i < int(v.size()); i++) + if (status[i]) + v[j++] = v[i]; + v.resize(j); +} + +void reduceVector(vector &v, vector status) +{ + int j = 0; + for (int i = 0; i < int(v.size()); i++) + if (status[i]) + v[j++] = v[i]; + v.resize(j); +} + +FeatureTracker::FeatureTracker() +{ + stereo_cam = 0; + n_id = 0; + hasPrediction = false; +} + +void FeatureTracker::setMask() +{ + mask = cv::Mat(row, col, CV_8UC1, cv::Scalar(255)); + + // prefer to keep features that are tracked for long time + vector>> cnt_pts_id; + + for (unsigned int i = 0; i < cur_pts.size(); i++) + cnt_pts_id.push_back(make_pair(track_cnt[i], make_pair(cur_pts[i], ids[i]))); + + sort(cnt_pts_id.begin(), cnt_pts_id.end(), [](const pair> &a, const pair> &b) + { + return a.first > b.first; + }); + + cur_pts.clear(); + ids.clear(); + track_cnt.clear(); + + for (auto &it : cnt_pts_id) + { + if (mask.at(it.second.first) == 255) + { + cur_pts.push_back(it.second.first); + ids.push_back(it.second.second); + track_cnt.push_back(it.first); + cv::circle(mask, it.second.first, MIN_DIST, 0, -1); + } + } +} + +double FeatureTracker::distance(cv::Point2f &pt1, cv::Point2f &pt2) +{ + //printf("pt1: %f %f pt2: %f %f\n", pt1.x, pt1.y, pt2.x, pt2.y); + double dx = pt1.x - pt2.x; + double dy = pt1.y - pt2.y; + return sqrt(dx * dx + dy * dy); +} + +map>>> FeatureTracker::trackImage(double _cur_time, const cv::Mat &_img, const cv::Mat &_img1) +{ + TicToc t_r; + cur_time = _cur_time; + cur_img = _img; + row = cur_img.rows; + col = cur_img.cols; + cv::Mat rightImg = _img1; + /* + { + cv::Ptr clahe = cv::createCLAHE(3.0, cv::Size(8, 8)); + clahe->apply(cur_img, cur_img); + if(!rightImg.empty()) + clahe->apply(rightImg, rightImg); + } + */ + cur_pts.clear(); + + if (prev_pts.size() > 0) + { + TicToc t_o; + vector status; + vector err; + if(hasPrediction) // 利用恒速模型对路标点坐标进行了预测 + { + cur_pts = predict_pts; + cv::calcOpticalFlowPyrLK(prev_img, cur_img, prev_pts, cur_pts, status, err, cv::Size(21, 21), 1, + cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), cv::OPTFLOW_USE_INITIAL_FLOW); + + int succ_num = 0; + for (size_t i = 0; i < status.size(); i++) + { + if (status[i]) + succ_num++; + } + if (succ_num < 10) + cv::calcOpticalFlowPyrLK(prev_img, cur_img, prev_pts, cur_pts, status, err, cv::Size(21, 21), 3); + } + else + cv::calcOpticalFlowPyrLK(prev_img, cur_img, prev_pts, cur_pts, status, err, cv::Size(21, 21), 3); + // reverse check + if(FLOW_BACK) //从后一帧图像，计算前一帧图像的points，进行额外筛选，提升鲁棒性 + { + vector reverse_status; + vector reverse_pts = prev_pts; + cv::calcOpticalFlowPyrLK(cur_img, prev_img, cur_pts, reverse_pts, reverse_status, err, cv::Size(21, 21), 1, + cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), cv::OPTFLOW_USE_INITIAL_FLOW); + //cv::calcOpticalFlowPyrLK(cur_img, prev_img, cur_pts, reverse_pts, reverse_status, err, cv::Size(21, 21), 3); + for(size_t i = 0; i < status.size(); i++) + { + if(status[i] && reverse_status[i] && distance(prev_pts[i], reverse_pts[i]) <= 0.5) + { + status[i] = 1; + } + else + status[i] = 0; + } + } + + for (int i = 0; i < int(cur_pts.size()); i++) + if (status[i] && !inBorder(cur_pts[i])) + status[i] = 0; + reduceVector(prev_pts, status); // 对不满足条件的points，进行剔除 + reduceVector(cur_pts, status); + reduceVector(ids, status); + reduceVector(track_cnt, status); + ROS_DEBUG("temporal optical flow costs: %fms", t_o.toc()); + //printf("track cnt %d\n", (int)ids.size()); + } + + for (auto &n : track_cnt) + n++; + + if (1) + { + //rejectWithF(); + ROS_DEBUG("set mask begins"); + TicToc t_m; + setMask(); + ROS_DEBUG("set mask costs %fms", t_m.toc()); + + ROS_DEBUG("detect feature begins"); + TicToc t_t; + int n_max_cnt = MAX_CNT - static_cast(cur_pts.size()); + int n_max_cnt = MAX_CNT - static_cast(cur_pts.size()); + if (n_max_cnt > 0) // 如果跟踪的points数目未达到设定的数目MAX_CNT，额外提取角点，此处为Shi Tomasi点 + { + if(mask.empty()) + cout << "mask is empty " << endl; + if (mask.type() != CV_8UC1) + cout << "mask type wrong " << endl; + cv::goodFeaturesToTrack(cur_img, n_pts, MAX_CNT - cur_pts.size(), 0.01, MIN_DIST, mask); + } + else + n_pts.clear(); + ROS_DEBUG("detect feature costs: %f ms", t_t.toc()); + + for (auto &p : n_pts) //将新提取的点保存 + { + cur_pts.push_back(p); + ids.push_back(n_id++); // TODO(tzhang):超过int最大范围导致溢出，怎么办？ Bug + track_cnt.push_back(1); + } + //printf("feature cnt after add %d\n", (int)ids.size()); + } + + cur_un_pts = undistortedPts(cur_pts, m_camera[0]); //去畸变 + pts_velocity = ptsVelocity(ids, cur_un_pts, cur_un_pts_map, prev_un_pts_map); //计算在归一化相机坐标系下的速度 + + if(!_img1.empty() && stereo_cam) //双目情形，右图跟踪左图上的points，与前面的前后帧处理方法类似 + { + ids_right.clear(); + cur_right_pts.clear(); + cur_un_right_pts.clear(); + right_pts_velocity.clear(); + cur_un_right_pts_map.clear(); + if(!cur_pts.empty()) + { + //printf("stereo image; track feature on right image\n"); + vector reverseLeftPts; + vector status, statusRightLeft; + vector err; + // cur left ---- cur right + cv::calcOpticalFlowPyrLK(cur_img, rightImg, cur_pts, cur_right_pts, status, err, cv::Size(21, 21), 3); + // reverse check cur right ---- cur left + if(FLOW_BACK) + { + cv::calcOpticalFlowPyrLK(rightImg, cur_img, cur_right_pts, reverseLeftPts, statusRightLeft, err, cv::Size(21, 21), 3); + for(size_t i = 0; i < status.size(); i++) + { + if(status[i] && statusRightLeft[i] && inBorder(cur_right_pts[i]) && distance(cur_pts[i], reverseLeftPts[i]) <= 0.5) + status[i] = 1; + else + status[i] = 0; + } + } + + ids_right = ids; + reduceVector(cur_right_pts, status); + reduceVector(ids_right, status); + // only keep left-right pts + /* + reduceVector(cur_pts, status); + reduceVector(ids, status); + reduceVector(track_cnt, status); + reduceVector(cur_un_pts, status); + reduceVector(pts_velocity, status); + */ + cur_un_right_pts = undistortedPts(cur_right_pts, m_camera[1]); + right_pts_velocity = ptsVelocity(ids_right, cur_un_right_pts, cur_un_right_pts_map, prev_un_right_pts_map); + } + prev_un_right_pts_map = cur_un_right_pts_map; + } + if(SHOW_TRACK) //显示跟踪的路标点，就是rosviz双目图像上那些点 + drawTrack(cur_img, rightImg, ids, cur_pts, cur_right_pts, prevLeftPtsMap); + + prev_img = cur_img; + prev_pts = cur_pts; + prev_un_pts = cur_un_pts; + prev_un_pts_map = cur_un_pts_map; + prev_time = cur_time; + hasPrediction = false; + + prevLeftPtsMap.clear(); + for(size_t i = 0; i < cur_pts.size(); i++) + prevLeftPtsMap[ids[i]] = cur_pts[i]; + + map>>> featureFrame; // feature_id camera_id x, y, z, p_u, p_v, velocity_x, velocity_y; + //（即特征点编号、相机编号（0表示左相机，1表示右相机）、每个特征点参数（归一化相机坐标系坐标、图像坐标（矫正后）、归一化相机坐标系下路标点速度） + for (size_t i = 0; i < ids.size(); i++) + { + int feature_id = ids[i]; + double x, y ,z; + x = cur_un_pts[i].x; + y = cur_un_pts[i].y; + z = 1; + double p_u, p_v; + p_u = cur_pts[i].x; + p_v = cur_pts[i].y; + int camera_id = 0; + double velocity_x, velocity_y; + velocity_x = pts_velocity[i].x; + velocity_y = pts_velocity[i].y; + + Eigen::Matrix xyz_uv_velocity; + xyz_uv_velocity << x, y, z, p_u, p_v, velocity_x, velocity_y; + featureFrame[feature_id].emplace_back(camera_id, xyz_uv_velocity); + } + + if (!_img1.empty() && stereo_cam) + { + for (size_t i = 0; i < ids_right.size(); i++) + { + int feature_id = ids_right[i]; + double x, y ,z; + x = cur_un_right_pts[i].x; + y = cur_un_right_pts[i].y; + z = 1; + double p_u, p_v; + p_u = cur_right_pts[i].x; + p_v = cur_right_pts[i].y; + int camera_id = 1; + double velocity_x, velocity_y; + velocity_x = right_pts_velocity[i].x; + velocity_y = right_pts_velocity[i].y; + + Eigen::Matrix xyz_uv_velocity; + xyz_uv_velocity << x, y, z, p_u, p_v, velocity_x, velocity_y; + featureFrame[feature_id].emplace_back(camera_id, xyz_uv_velocity); + } + } + + //printf("feature track whole time %f\n", t_r.toc()); + return featureFrame; +} + +void FeatureTracker::rejectWithF() +{ + if (cur_pts.size() >= 8) + { + ROS_DEBUG("FM ransac begins"); + TicToc t_f; + vector un_cur_pts(cur_pts.size()), un_prev_pts(prev_pts.size()); + for (unsigned int i = 0; i < cur_pts.size(); i++) + { + Eigen::Vector3d tmp_p; + m_camera[0]->liftProjective(Eigen::Vector2d(cur_pts[i].x, cur_pts[i].y), tmp_p); + tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + col / 2.0; + tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + row / 2.0; + un_cur_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y()); + + m_camera[0]->liftProjective(Eigen::Vector2d(prev_pts[i].x, prev_pts[i].y), tmp_p); + tmp_p.x() = FOCAL_LENGTH * tmp_p.x() / tmp_p.z() + col / 2.0; + tmp_p.y() = FOCAL_LENGTH * tmp_p.y() / tmp_p.z() + row / 2.0; + un_prev_pts[i] = cv::Point2f(tmp_p.x(), tmp_p.y()); + } + + vector status; + cv::findFundamentalMat(un_cur_pts, un_prev_pts, cv::FM_RANSAC, F_THRESHOLD, 0.99, status); + int size_a = cur_pts.size(); + reduceVector(prev_pts, status); + reduceVector(cur_pts, status); + reduceVector(cur_un_pts, status); + reduceVector(ids, status); + reduceVector(track_cnt, status); + ROS_DEBUG("FM ransac: %d -> %lu: %f", size_a, cur_pts.size(), 1.0 * cur_pts.size() / size_a); + ROS_DEBUG("FM ransac costs: %fms", t_f.toc()); + } +} + +void FeatureTracker::readIntrinsicParameter(const vector &calib_file) +{ + for (size_t i = 0; i < calib_file.size(); i++) + { + ROS_INFO("reading paramerter of camera %s", calib_file[i].c_str()); + camodocal::CameraPtr camera = CameraFactory::instance()->generateCameraFromYamlFile(calib_file[i]); + m_camera.push_back(camera); + } + if (calib_file.size() == 2) + stereo_cam = 1; +} + +void FeatureTracker::showUndistortion(const string &name) +{ + cv::Mat undistortedImg(row + 600, col + 600, CV_8UC1, cv::Scalar(0)); + vector distortedp, undistortedp; + for (int i = 0; i < col; i++) + for (int j = 0; j < row; j++) + { + Eigen::Vector2d a(i, j); + Eigen::Vector3d b; + m_camera[0]->liftProjective(a, b); + distortedp.push_back(a); + undistortedp.push_back(Eigen::Vector2d(b.x() / b.z(), b.y() / b.z())); + //printf("%f,%f->%f,%f,%f\n)\n", a.x(), a.y(), b.x(), b.y(), b.z()); + } + for (int i = 0; i < int(undistortedp.size()); i++) + { + cv::Mat pp(3, 1, CV_32FC1); + pp.at(0, 0) = undistortedp[i].x() * FOCAL_LENGTH + col / 2; + pp.at(1, 0) = undistortedp[i].y() * FOCAL_LENGTH + row / 2; + pp.at(2, 0) = 1.0; + //cout << trackerData[0].K << endl; + //printf("%lf %lf\n", p.at(1, 0), p.at(0, 0)); + //printf("%lf %lf\n", pp.at(1, 0), pp.at(0, 0)); + if (pp.at(1, 0) + 300 >= 0 && pp.at(1, 0) + 300 < row + 600 && pp.at(0, 0) + 300 >= 0 && pp.at(0, 0) + 300 < col + 600) + { + undistortedImg.at(pp.at(1, 0) + 300, pp.at(0, 0) + 300) = cur_img.at(distortedp[i].y(), distortedp[i].x()); + } + else + { + //ROS_ERROR("(%f %f) -> (%f %f)", distortedp[i].y, distortedp[i].x, pp.at(1, 0), pp.at(0, 0)); + } + } + // turn the following code on if you need + // cv::imshow(name, undistortedImg); + // cv::waitKey(0); +} + +vector FeatureTracker::undistortedPts(vector &pts, camodocal::CameraPtr cam) +{ + vector un_pts; + for (unsigned int i = 0; i < pts.size(); i++) + { + Eigen::Vector2d a(pts[i].x, pts[i].y); + Eigen::Vector3d b; + cam->liftProjective(a, b); + un_pts.push_back(cv::Point2f(b.x() / b.z(), b.y() / b.z())); + } + return un_pts; +} + +vector FeatureTracker::ptsVelocity(vector &ids, vector &pts, + map &cur_id_pts, map &prev_id_pts) +{ + vector pts_velocity; + cur_id_pts.clear(); + for (unsigned int i = 0; i < ids.size(); i++) + { + cur_id_pts.insert(make_pair(ids[i], pts[i])); + } + + // caculate points velocity + if (!prev_id_pts.empty()) + { + double dt = cur_time - prev_time; + + for (unsigned int i = 0; i < pts.size(); i++) + { + std::map::iterator it; + it = prev_id_pts.find(ids[i]); + if (it != prev_id_pts.end()) + { + double v_x = (pts[i].x - it->second.x) / dt; + double v_y = (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)); + + } + } + else + { + for (unsigned int i = 0; i < cur_pts.size(); i++) + { + pts_velocity.push_back(cv::Point2f(0, 0)); + } + } + return pts_velocity; +} + +void FeatureTracker::drawTrack(const cv::Mat &imLeft, const cv::Mat &imRight, + vector &curLeftIds, + vector &curLeftPts, + vector &curRightPts, + map &prevLeftPtsMap) +{ + //int rows = imLeft.rows; + int cols = imLeft.cols; + if (!imRight.empty() && stereo_cam) + cv::hconcat(imLeft, imRight, imTrack); + else + imTrack = imLeft.clone(); + cv::cvtColor(imTrack, imTrack, CV_GRAY2RGB); + + for (size_t j = 0; j < curLeftPts.size(); j++) + { + double len = std::min(1.0, 1.0 * track_cnt[j] / 20); + cv::circle(imTrack, curLeftPts[j], 2, cv::Scalar(255 * (1 - len), 0, 255 * len), 2); + } + if (!imRight.empty() && stereo_cam) + { + for (size_t i = 0; i < curRightPts.size(); i++) + { + cv::Point2f rightPt = curRightPts[i]; + rightPt.x += cols; + cv::circle(imTrack, rightPt, 2, cv::Scalar(0, 255, 0), 2); + // cv::Point2f leftPt = curLeftPtsTrackRight[i]; + // cv::line(imTrack, leftPt, rightPt, cv::Scalar(0, 255, 0), 1, 8, 0); + } + } + + map::iterator mapIt; + for (size_t i = 0; i < curLeftIds.size(); i++) + { + int id = curLeftIds[i]; + mapIt = prevLeftPtsMap.find(id); + if(mapIt != prevLeftPtsMap.end()) + { + cv::arrowedLine(imTrack, curLeftPts[i], mapIt->second, cv::Scalar(0, 255, 0), 1, 8, 0, 0.2); + } + } + + //draw prediction + /* + for(size_t i = 0; i < predict_pts_debug.size(); i++) + { + cv::circle(imTrack, predict_pts_debug[i], 2, cv::Scalar(0, 170, 255), 2); + } + */ + //printf("predict pts size %d \n", (int)predict_pts_debug.size()); + + //cv::Mat imCur2Compress; + //cv::resize(imCur2, imCur2Compress, cv::Size(cols, rows / 2)); +} + + +void FeatureTracker::setPrediction(map &predictPts) +{ + hasPrediction = true; + predict_pts.clear(); + predict_pts_debug.clear(); + map::iterator itPredict; + for (size_t i = 0; i < ids.size(); i++) // 对维护的用于跟踪的所有路标点编号进行遍历 + { + //printf("prevLeftId size %d prevLeftPts size %d\n",(int)prevLeftIds.size(), (int)prevLeftPts.size()); + int id = ids[i]; + itPredict = predictPts.find(id); + if (itPredict != predictPts.end()) // 若该路标点进行了预测 + { + Eigen::Vector2d tmp_uv; + m_camera[0]->spaceToPlane(itPredict->second, tmp_uv); //该路标点坐标，从相机坐标系变换到左相机图像坐标系 + predict_pts.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y())); //存储左相机图像坐标系下预测的路标点坐标值 + predict_pts_debug.push_back(cv::Point2f(tmp_uv.x(), tmp_uv.y())); + } + else + predict_pts.push_back(prev_pts[i]); //未预测，采用路标点在上一帧图像位置的坐标 + } +} + + +void FeatureTracker::removeOutliers(set &removePtsIds) +{ + std::set::iterator itSet; + vector status; + for (size_t i = 0; i < ids.size(); i++) + { + itSet = removePtsIds.find(ids[i]); + if(itSet != removePtsIds.end()) + status.push_back(0); + else + status.push_back(1); + } + + reduceVector(prev_pts, status); + reduceVector(ids, status); + reduceVector(track_cnt, status); +} + + +cv::Mat FeatureTracker::getTrackImage() +{ + return imTrack; +} \ No newline at end of file diff --git a/vins_estimator/src/featureTracker/feature_tracker.h b/vins_estimator/src/featureTracker/feature_tracker.h new file mode 100644 index 0000000..00bfffa --- /dev/null +++ b/vins_estimator/src/featureTracker/feature_tracker.h @@ -0,0 +1,84 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "camodocal/camera_models/CameraFactory.h" +#include "camodocal/camera_models/CataCamera.h" +#include "camodocal/camera_models/PinholeCamera.h" +#include "../estimator/parameters.h" +#include "../utility/tic_toc.h" + +using namespace std; +using namespace camodocal; +using namespace Eigen; + +bool inBorder(const cv::Point2f &pt); +void reduceVector(vector &v, vector status); +void reduceVector(vector &v, vector status); + +class FeatureTracker +{ +public: + FeatureTracker(); + map>>> trackImage(double _cur_time, const cv::Mat &_img, const cv::Mat &_img1 = cv::Mat()); + void setMask(); + void readIntrinsicParameter(const vector &calib_file); + void showUndistortion(const string &name); + void rejectWithF(); + void undistortedPoints(); + vector undistortedPts(vector &pts, camodocal::CameraPtr cam); + vector ptsVelocity(vector &ids, vector &pts, + map &cur_id_pts, map &prev_id_pts); + void showTwoImage(const cv::Mat &img1, const cv::Mat &img2, + vector pts1, vector pts2); + void drawTrack(const cv::Mat &imLeft, const cv::Mat &imRight, + vector &curLeftIds, + vector &curLeftPts, + vector &curRightPts, + map &prevLeftPtsMap); + void setPrediction(map &predictPts); + double distance(cv::Point2f &pt1, cv::Point2f &pt2); + void removeOutliers(set &removePtsIds); + cv::Mat getTrackImage(); + bool inBorder(const cv::Point2f &pt); + + int row, col; + cv::Mat imTrack; + cv::Mat mask; + cv::Mat fisheye_mask; + cv::Mat prev_img, cur_img; + vector n_pts; + vector predict_pts; + vector predict_pts_debug; + vector prev_pts, cur_pts, cur_right_pts; + vector prev_un_pts, cur_un_pts, cur_un_right_pts; + vector pts_velocity, right_pts_velocity; + vector ids, ids_right; + vector track_cnt; + map cur_un_pts_map, prev_un_pts_map; + map cur_un_right_pts_map, prev_un_right_pts_map; + map prevLeftPtsMap; + vector m_camera; + double cur_time; + double prev_time; + bool stereo_cam; + int n_id; + bool hasPrediction; +}; diff --git a/vins_estimator/src/initial/initial_aligment.cpp b/vins_estimator/src/initial/initial_aligment.cpp new file mode 100644 index 0000000..3febe34 --- /dev/null +++ b/vins_estimator/src/initial/initial_aligment.cpp @@ -0,0 +1,217 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "initial_alignment.h" + +void solveGyroscopeBias(map &all_image_frame, Vector3d* Bgs) +{ + Matrix3d A; + Vector3d b; + Vector3d delta_bg; + A.setZero(); + b.setZero(); + map::iterator frame_i; + map::iterator frame_j; + for (frame_i = all_image_frame.begin(); next(frame_i) != all_image_frame.end(); frame_i++) + { + frame_j = next(frame_i); + MatrixXd tmp_A(3, 3); + tmp_A.setZero(); + VectorXd tmp_b(3); + tmp_b.setZero(); + Eigen::Quaterniond q_ij(frame_i->second.R.transpose() * frame_j->second.R); //R_ci_cj = R_w_ci^T*R_w_cj tzhang + tmp_A = frame_j->second.pre_integration->jacobian.template block<3, 3>(O_R, O_BG); //旋转量相对于bg的雅克比 tzhang + tmp_b = 2 * (frame_j->second.pre_integration->delta_q.inverse() * q_ij).vec(); + A += tmp_A.transpose() * tmp_A; //J^T*J 构建normal equation tzhang + b += tmp_A.transpose() * tmp_b; //J^T*b + } + delta_bg = A.ldlt().solve(b); //基于Cholesky的线性方程组求解 tzhang + ROS_WARN_STREAM("gyroscope bias initial calibration " << delta_bg.transpose()); + + for (int i = 0; i <= WINDOW_SIZE; i++) + Bgs[i] += delta_bg; + + for (frame_i = all_image_frame.begin(); next(frame_i) != all_image_frame.end( ); frame_i++) + { + frame_j = next(frame_i); + frame_j->second.pre_integration->repropagate(Vector3d::Zero(), Bgs[0]); + } +} + + +MatrixXd TangentBasis(Vector3d &g0) +{ + Vector3d b, c; + Vector3d a = g0.normalized(); + Vector3d tmp(0, 0, 1); + if(a == tmp) + tmp << 1, 0, 0; + b = (tmp - a * (a.transpose() * tmp)).normalized(); + c = a.cross(b); + MatrixXd bc(3, 2); + bc.block<3, 1>(0, 0) = b; + bc.block<3, 1>(0, 1) = c; + return bc; +} + +void RefineGravity(map &all_image_frame, Vector3d &g, VectorXd &x) +{ + Vector3d g0 = g.normalized() * G.norm(); + Vector3d lx, ly; + //VectorXd x; + int all_frame_count = all_image_frame.size(); + int n_state = all_frame_count * 3 + 2 + 1; + + MatrixXd A{n_state, n_state}; + A.setZero(); + VectorXd b{n_state}; + b.setZero(); + + map::iterator frame_i; + map::iterator frame_j; + for(int k = 0; k < 4; k++) + { + MatrixXd lxly(3, 2); + lxly = TangentBasis(g0); + int i = 0; + for (frame_i = all_image_frame.begin(); next(frame_i) != all_image_frame.end(); frame_i++, i++) + { + frame_j = next(frame_i); + + MatrixXd tmp_A(6, 9); + tmp_A.setZero(); + VectorXd tmp_b(6); + tmp_b.setZero(); + + double dt = frame_j->second.pre_integration->sum_dt; + + + tmp_A.block<3, 3>(0, 0) = -dt * Matrix3d::Identity(); + tmp_A.block<3, 2>(0, 6) = frame_i->second.R.transpose() * dt * dt / 2 * Matrix3d::Identity() * lxly; + tmp_A.block<3, 1>(0, 8) = frame_i->second.R.transpose() * (frame_j->second.T - frame_i->second.T) / 100.0; + tmp_b.block<3, 1>(0, 0) = frame_j->second.pre_integration->delta_p + frame_i->second.R.transpose() * frame_j->second.R * TIC[0] - TIC[0] - frame_i->second.R.transpose() * dt * dt / 2 * g0; + + tmp_A.block<3, 3>(3, 0) = -Matrix3d::Identity(); + tmp_A.block<3, 3>(3, 3) = frame_i->second.R.transpose() * frame_j->second.R; + tmp_A.block<3, 2>(3, 6) = frame_i->second.R.transpose() * dt * Matrix3d::Identity() * lxly; + tmp_b.block<3, 1>(3, 0) = frame_j->second.pre_integration->delta_v - frame_i->second.R.transpose() * dt * Matrix3d::Identity() * g0; + + + Matrix cov_inv = Matrix::Zero(); + //cov.block<6, 6>(0, 0) = IMU_cov[i + 1]; + //MatrixXd cov_inv = cov.inverse(); + cov_inv.setIdentity(); + + MatrixXd r_A = tmp_A.transpose() * cov_inv * tmp_A; + VectorXd r_b = tmp_A.transpose() * cov_inv * tmp_b; + + A.block<6, 6>(i * 3, i * 3) += r_A.topLeftCorner<6, 6>(); + b.segment<6>(i * 3) += r_b.head<6>(); + + A.bottomRightCorner<3, 3>() += r_A.bottomRightCorner<3, 3>(); + b.tail<3>() += r_b.tail<3>(); + + A.block<6, 3>(i * 3, n_state - 3) += r_A.topRightCorner<6, 3>(); + A.block<3, 6>(n_state - 3, i * 3) += r_A.bottomLeftCorner<3, 6>(); + } + A = A * 1000.0; + b = b * 1000.0; + x = A.ldlt().solve(b); + VectorXd dg = x.segment<2>(n_state - 3); + g0 = (g0 + lxly * dg).normalized() * G.norm(); + //double s = x(n_state - 1); + } + g = g0; +} + +bool LinearAlignment(map &all_image_frame, Vector3d &g, VectorXd &x) +{ + int all_frame_count = all_image_frame.size(); + int n_state = all_frame_count * 3 + 3 + 1; + + MatrixXd A{n_state, n_state}; + A.setZero(); + VectorXd b{n_state}; + b.setZero(); + + map::iterator frame_i; + map::iterator frame_j; + int i = 0; + for (frame_i = all_image_frame.begin(); next(frame_i) != all_image_frame.end(); frame_i++, i++) + { + frame_j = next(frame_i); + + MatrixXd tmp_A(6, 10); + tmp_A.setZero(); + VectorXd tmp_b(6); + tmp_b.setZero(); + + double dt = frame_j->second.pre_integration->sum_dt; + + tmp_A.block<3, 3>(0, 0) = -dt * Matrix3d::Identity(); + tmp_A.block<3, 3>(0, 6) = frame_i->second.R.transpose() * dt * dt / 2 * Matrix3d::Identity(); + tmp_A.block<3, 1>(0, 9) = frame_i->second.R.transpose() * (frame_j->second.T - frame_i->second.T) / 100.0; + tmp_b.block<3, 1>(0, 0) = frame_j->second.pre_integration->delta_p + frame_i->second.R.transpose() * frame_j->second.R * TIC[0] - TIC[0]; + //cout << "delta_p " << frame_j->second.pre_integration->delta_p.transpose() << endl; + tmp_A.block<3, 3>(3, 0) = -Matrix3d::Identity(); + tmp_A.block<3, 3>(3, 3) = frame_i->second.R.transpose() * frame_j->second.R; + tmp_A.block<3, 3>(3, 6) = frame_i->second.R.transpose() * dt * Matrix3d::Identity(); + tmp_b.block<3, 1>(3, 0) = frame_j->second.pre_integration->delta_v; + //cout << "delta_v " << frame_j->second.pre_integration->delta_v.transpose() << endl; + + Matrix cov_inv = Matrix::Zero(); + //cov.block<6, 6>(0, 0) = IMU_cov[i + 1]; + //MatrixXd cov_inv = cov.inverse(); + cov_inv.setIdentity(); + + MatrixXd r_A = tmp_A.transpose() * cov_inv * tmp_A; + VectorXd r_b = tmp_A.transpose() * cov_inv * tmp_b; + + A.block<6, 6>(i * 3, i * 3) += r_A.topLeftCorner<6, 6>(); + b.segment<6>(i * 3) += r_b.head<6>(); + + A.bottomRightCorner<4, 4>() += r_A.bottomRightCorner<4, 4>(); + b.tail<4>() += r_b.tail<4>(); + + A.block<6, 4>(i * 3, n_state - 4) += r_A.topRightCorner<6, 4>(); + A.block<4, 6>(n_state - 4, i * 3) += r_A.bottomLeftCorner<4, 6>(); + } + A = A * 1000.0; + b = b * 1000.0; + x = A.ldlt().solve(b); + double s = x(n_state - 1) / 100.0; + ROS_DEBUG("estimated scale: %f", s); + g = x.segment<3>(n_state - 4); + ROS_DEBUG_STREAM(" result g " << g.norm() << " " << g.transpose()); + if(fabs(g.norm() - G.norm()) > 0.5 || s < 0) + { + return false; + } + + RefineGravity(all_image_frame, g, x); + s = (x.tail<1>())(0) / 100.0; + (x.tail<1>())(0) = s; + ROS_DEBUG_STREAM(" refine " << g.norm() << " " << g.transpose()); + if(s < 0.0 ) + return false; + else + return true; +} + +bool VisualIMUAlignment(map &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x) +{ + solveGyroscopeBias(all_image_frame, Bgs); + + if(LinearAlignment(all_image_frame, g, x)) + return true; + else + return false; +} diff --git a/vins_estimator/src/initial/initial_alignment.h b/vins_estimator/src/initial/initial_alignment.h new file mode 100644 index 0000000..4a6631f --- /dev/null +++ b/vins_estimator/src/initial/initial_alignment.h @@ -0,0 +1,40 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once +#include +#include +#include "../factor/imu_factor.h" +#include "../utility/utility.h" +#include +#include +#include "../estimator/feature_manager.h" + +using namespace Eigen; +using namespace std; + +class ImageFrame +{ + public: + ImageFrame(){}; + ImageFrame(const map>>>& _points, double _t):t{_t},is_key_frame{false} + { + points = _points; + }; + map> > > points; + double t; + Matrix3d R; + Vector3d T; + IntegrationBase *pre_integration; + bool is_key_frame; +}; +void solveGyroscopeBias(map &all_image_frame, Vector3d* Bgs); +bool VisualIMUAlignment(map &all_image_frame, Vector3d* Bgs, Vector3d &g, VectorXd &x); \ No newline at end of file diff --git a/vins_estimator/src/initial/initial_ex_rotation.cpp b/vins_estimator/src/initial/initial_ex_rotation.cpp new file mode 100644 index 0000000..28df513 --- /dev/null +++ b/vins_estimator/src/initial/initial_ex_rotation.cpp @@ -0,0 +1,153 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "initial_ex_rotation.h" + +InitialEXRotation::InitialEXRotation(){ + frame_count = 0; + Rc.push_back(Matrix3d::Identity()); + Rc_g.push_back(Matrix3d::Identity()); + Rimu.push_back(Matrix3d::Identity()); + ric = Matrix3d::Identity(); +} + +bool InitialEXRotation::CalibrationExRotation(vector> corres, Quaterniond delta_q_imu, Matrix3d &calib_ric_result) +{ + frame_count++; + Rc.push_back(solveRelativeR(corres)); + Rimu.push_back(delta_q_imu.toRotationMatrix()); + Rc_g.push_back(ric.inverse() * delta_q_imu * ric); + + Eigen::MatrixXd A(frame_count * 4, 4); + A.setZero(); + int sum_ok = 0; + for (int i = 1; i <= frame_count; i++) + { + Quaterniond r1(Rc[i]); + Quaterniond r2(Rc_g[i]); + + double angular_distance = 180 / M_PI * r1.angularDistance(r2); + ROS_DEBUG( + "%d %f", i, angular_distance); + + double huber = angular_distance > 5.0 ? 5.0 / angular_distance : 1.0; + ++sum_ok; + Matrix4d L, R; + + double w = Quaterniond(Rc[i]).w(); + Vector3d q = Quaterniond(Rc[i]).vec(); + L.block<3, 3>(0, 0) = w * Matrix3d::Identity() + Utility::skewSymmetric(q); + L.block<3, 1>(0, 3) = q; + L.block<1, 3>(3, 0) = -q.transpose(); + L(3, 3) = w; + + Quaterniond R_ij(Rimu[i]); + w = R_ij.w(); + q = R_ij.vec(); + R.block<3, 3>(0, 0) = w * Matrix3d::Identity() - Utility::skewSymmetric(q); + R.block<3, 1>(0, 3) = q; + R.block<1, 3>(3, 0) = -q.transpose(); + R(3, 3) = w; + + A.block<4, 4>((i - 1) * 4, 0) = huber * (L - R); + } + + JacobiSVD svd(A, ComputeFullU | ComputeFullV); + Matrix x = svd.matrixV().col(3); + Quaterniond estimated_R(x); + ric = estimated_R.toRotationMatrix().inverse(); + //cout << svd.singularValues().transpose() << endl; + //cout << ric << endl; + Vector3d ric_cov; + ric_cov = svd.singularValues().tail<3>(); + if (frame_count >= WINDOW_SIZE && ric_cov(1) > 0.25) + { + calib_ric_result = ric; + return true; + } + else + return false; +} + +Matrix3d InitialEXRotation::solveRelativeR(const vector> &corres) +{ + if (corres.size() >= 9) + { + vector ll, rr; + for (int i = 0; i < int(corres.size()); i++) + { + ll.push_back(cv::Point2f(corres[i].first(0), corres[i].first(1))); + rr.push_back(cv::Point2f(corres[i].second(0), corres[i].second(1))); + } + cv::Mat E = cv::findFundamentalMat(ll, rr); + cv::Mat_ R1, R2, t1, t2; + decomposeE(E, R1, R2, t1, t2); + + if (determinant(R1) + 1.0 < 1e-09) + { + E = -E; + decomposeE(E, R1, R2, t1, t2); + } + double ratio1 = max(testTriangulation(ll, rr, R1, t1), testTriangulation(ll, rr, R1, t2)); + double ratio2 = max(testTriangulation(ll, rr, R2, t1), testTriangulation(ll, rr, R2, t2)); + cv::Mat_ ans_R_cv = ratio1 > ratio2 ? R1 : R2; + + Matrix3d ans_R_eigen; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + ans_R_eigen(j, i) = ans_R_cv(i, j); + return ans_R_eigen; + } + return Matrix3d::Identity(); +} + +double InitialEXRotation::testTriangulation(const vector &l, + const vector &r, + cv::Mat_ R, cv::Mat_ t) +{ + cv::Mat pointcloud; + cv::Matx34f P = cv::Matx34f(1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0); + cv::Matx34f P1 = cv::Matx34f(R(0, 0), R(0, 1), R(0, 2), t(0), + R(1, 0), R(1, 1), R(1, 2), t(1), + R(2, 0), R(2, 1), R(2, 2), t(2)); + cv::triangulatePoints(P, P1, l, r, pointcloud); + int front_count = 0; + for (int i = 0; i < pointcloud.cols; i++) + { + double normal_factor = pointcloud.col(i).at(3); + + cv::Mat_ p_3d_l = cv::Mat(P) * (pointcloud.col(i) / normal_factor); + cv::Mat_ p_3d_r = cv::Mat(P1) * (pointcloud.col(i) / normal_factor); + if (p_3d_l(2) > 0 && p_3d_r(2) > 0) + front_count++; + } + ROS_DEBUG("MotionEstimator: %f", 1.0 * front_count / pointcloud.cols); + return 1.0 * front_count / pointcloud.cols; +} + +void InitialEXRotation::decomposeE(cv::Mat E, + cv::Mat_ &R1, cv::Mat_ &R2, + cv::Mat_ &t1, cv::Mat_ &t2) +{ + cv::SVD svd(E, cv::SVD::MODIFY_A); + cv::Matx33d W(0, -1, 0, + 1, 0, 0, + 0, 0, 1); + cv::Matx33d Wt(0, 1, 0, + -1, 0, 0, + 0, 0, 1); + R1 = svd.u * cv::Mat(W) * svd.vt; + R2 = svd.u * cv::Mat(Wt) * svd.vt; + t1 = svd.u.col(2); + t2 = -svd.u.col(2); +} diff --git a/vins_estimator/src/initial/initial_ex_rotation.h b/vins_estimator/src/initial/initial_ex_rotation.h new file mode 100644 index 0000000..7eba420 --- /dev/null +++ b/vins_estimator/src/initial/initial_ex_rotation.h @@ -0,0 +1,47 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +#include "../estimator/parameters.h" +using namespace std; + +#include + +#include +using namespace Eigen; +#include + +/* This class help you to calibrate extrinsic rotation between imu and camera when your totally don't konw the extrinsic parameter */ +class InitialEXRotation +{ +public: + InitialEXRotation(); + bool CalibrationExRotation(vector> corres, Quaterniond delta_q_imu, Matrix3d &calib_ric_result); +private: + Matrix3d solveRelativeR(const vector> &corres); + + double testTriangulation(const vector &l, + const vector &r, + cv::Mat_ R, cv::Mat_ t); + void decomposeE(cv::Mat E, + cv::Mat_ &R1, cv::Mat_ &R2, + cv::Mat_ &t1, cv::Mat_ &t2); + int frame_count; + + vector< Matrix3d > Rc; + vector< Matrix3d > Rimu; + vector< Matrix3d > Rc_g; + Matrix3d ric; +}; + + diff --git a/vins_estimator/src/initial/initial_sfm.cpp b/vins_estimator/src/initial/initial_sfm.cpp new file mode 100644 index 0000000..a23c01d --- /dev/null +++ b/vins_estimator/src/initial/initial_sfm.cpp @@ -0,0 +1,324 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "initial_sfm.h" + +GlobalSFM::GlobalSFM(){} + +void GlobalSFM::triangulatePoint(Eigen::Matrix &Pose0, Eigen::Matrix &Pose1, + Vector2d &point0, Vector2d &point1, Vector3d &point_3d) +{ + Matrix4d design_matrix = Matrix4d::Zero(); + design_matrix.row(0) = point0[0] * Pose0.row(2) - Pose0.row(0); + design_matrix.row(1) = point0[1] * Pose0.row(2) - Pose0.row(1); + design_matrix.row(2) = point1[0] * Pose1.row(2) - Pose1.row(0); + design_matrix.row(3) = point1[1] * Pose1.row(2) - Pose1.row(1); + Vector4d triangulated_point; + triangulated_point = + design_matrix.jacobiSvd(Eigen::ComputeFullV).matrixV().rightCols<1>(); + point_3d(0) = triangulated_point(0) / triangulated_point(3); + point_3d(1) = triangulated_point(1) / triangulated_point(3); + point_3d(2) = triangulated_point(2) / triangulated_point(3); +} + + +bool GlobalSFM::solveFrameByPnP(Matrix3d &R_initial, Vector3d &P_initial, int i, + vector &sfm_f) +{ + vector pts_2_vector; + vector pts_3_vector; + for (int j = 0; j < feature_num; j++) + { + if (sfm_f[j].state != true) + continue; + Vector2d point2d; + for (int k = 0; k < (int)sfm_f[j].observation.size(); k++) + { + if (sfm_f[j].observation[k].first == i) + { + Vector2d img_pts = sfm_f[j].observation[k].second; + cv::Point2f pts_2(img_pts(0), img_pts(1)); + pts_2_vector.push_back(pts_2); + cv::Point3f pts_3(sfm_f[j].position[0], sfm_f[j].position[1], sfm_f[j].position[2]); + pts_3_vector.push_back(pts_3); + break; + } + } + } + if (int(pts_2_vector.size()) < 15) + { + printf("unstable features tracking, please slowly move you device!\n"); + if (int(pts_2_vector.size()) < 10) + return false; + } + cv::Mat r, rvec, t, D, tmp_r; + cv::eigen2cv(R_initial, tmp_r); + cv::Rodrigues(tmp_r, rvec); + cv::eigen2cv(P_initial, t); + cv::Mat K = (cv::Mat_(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1); + bool pnp_succ; + pnp_succ = cv::solvePnP(pts_3_vector, pts_2_vector, K, D, rvec, t, 1); + if(!pnp_succ) + { + return false; + } + cv::Rodrigues(rvec, r); + //cout << "r " << endl << r << endl; + MatrixXd R_pnp; + cv::cv2eigen(r, R_pnp); + MatrixXd T_pnp; + cv::cv2eigen(t, T_pnp); + R_initial = R_pnp; + P_initial = T_pnp; + return true; + +} + +void GlobalSFM::triangulateTwoFrames(int frame0, Eigen::Matrix &Pose0, + int frame1, Eigen::Matrix &Pose1, + vector &sfm_f) +{ + assert(frame0 != frame1); + for (int j = 0; j < feature_num; j++) + { + if (sfm_f[j].state == true) + continue; + bool has_0 = false, has_1 = false; + Vector2d point0; + Vector2d point1; + for (int k = 0; k < (int)sfm_f[j].observation.size(); k++) + { + if (sfm_f[j].observation[k].first == frame0) + { + point0 = sfm_f[j].observation[k].second; + has_0 = true; + } + if (sfm_f[j].observation[k].first == frame1) + { + point1 = sfm_f[j].observation[k].second; + has_1 = true; + } + } + if (has_0 && has_1) + { + Vector3d point_3d; + triangulatePoint(Pose0, Pose1, point0, point1, point_3d); + sfm_f[j].state = true; + sfm_f[j].position[0] = point_3d(0); + sfm_f[j].position[1] = point_3d(1); + sfm_f[j].position[2] = point_3d(2); + //cout << "trangulated : " << frame1 << " 3d point : " << j << " " << point_3d.transpose() << endl; + } + } +} + +// q w_R_cam t w_R_cam +// c_rotation cam_R_w +// c_translation cam_R_w +// relative_q[i][j] j_q_i +// relative_t[i][j] j_t_ji (j < i) +bool GlobalSFM::construct(int frame_num, Quaterniond* q, Vector3d* T, int l, + const Matrix3d relative_R, const Vector3d relative_T, + vector &sfm_f, map &sfm_tracked_points) +{ + feature_num = sfm_f.size(); + //cout << "set 0 and " << l << " as known " << endl; + // have relative_r relative_t + // intial two view + q[l].w() = 1; + q[l].x() = 0; + q[l].y() = 0; + q[l].z() = 0; + T[l].setZero(); + q[frame_num - 1] = q[l] * Quaterniond(relative_R); + T[frame_num - 1] = relative_T; + //cout << "init q_l " << q[l].w() << " " << q[l].vec().transpose() << endl; + //cout << "init t_l " << T[l].transpose() << endl; + + //rotate to cam frame + Matrix3d c_Rotation[frame_num]; + Vector3d c_Translation[frame_num]; + Quaterniond c_Quat[frame_num]; + double c_rotation[frame_num][4]; + double c_translation[frame_num][3]; + Eigen::Matrix Pose[frame_num]; + + c_Quat[l] = q[l].inverse(); + c_Rotation[l] = c_Quat[l].toRotationMatrix(); + c_Translation[l] = -1 * (c_Rotation[l] * T[l]); + Pose[l].block<3, 3>(0, 0) = c_Rotation[l]; + Pose[l].block<3, 1>(0, 3) = c_Translation[l]; + + c_Quat[frame_num - 1] = q[frame_num - 1].inverse(); + c_Rotation[frame_num - 1] = c_Quat[frame_num - 1].toRotationMatrix(); + c_Translation[frame_num - 1] = -1 * (c_Rotation[frame_num - 1] * T[frame_num - 1]); + Pose[frame_num - 1].block<3, 3>(0, 0) = c_Rotation[frame_num - 1]; + Pose[frame_num - 1].block<3, 1>(0, 3) = c_Translation[frame_num - 1]; + + + //1: trangulate between l ----- frame_num - 1 + //2: solve pnp l + 1; trangulate l + 1 ------- frame_num - 1; + for (int i = l; i < frame_num - 1 ; i++) + { + // solve pnp + if (i > l) + { + Matrix3d R_initial = c_Rotation[i - 1]; + Vector3d P_initial = c_Translation[i - 1]; + if(!solveFrameByPnP(R_initial, P_initial, i, sfm_f)) + return false; + c_Rotation[i] = R_initial; + c_Translation[i] = P_initial; + c_Quat[i] = c_Rotation[i]; + Pose[i].block<3, 3>(0, 0) = c_Rotation[i]; + Pose[i].block<3, 1>(0, 3) = c_Translation[i]; + } + + // triangulate point based on the solve pnp result + triangulateTwoFrames(i, Pose[i], frame_num - 1, Pose[frame_num - 1], sfm_f); + } + //3: triangulate l-----l+1 l+2 ... frame_num -2 + for (int i = l + 1; i < frame_num - 1; i++) + triangulateTwoFrames(l, Pose[l], i, Pose[i], sfm_f); + //4: solve pnp l-1; triangulate l-1 ----- l + // l-2 l-2 ----- l + for (int i = l - 1; i >= 0; i--) + { + //solve pnp + Matrix3d R_initial = c_Rotation[i + 1]; + Vector3d P_initial = c_Translation[i + 1]; + if(!solveFrameByPnP(R_initial, P_initial, i, sfm_f)) + return false; + c_Rotation[i] = R_initial; + c_Translation[i] = P_initial; + c_Quat[i] = c_Rotation[i]; + Pose[i].block<3, 3>(0, 0) = c_Rotation[i]; + Pose[i].block<3, 1>(0, 3) = c_Translation[i]; + //triangulate + triangulateTwoFrames(i, Pose[i], l, Pose[l], sfm_f); + } + //5: triangulate all other points + for (int j = 0; j < feature_num; j++) + { + if (sfm_f[j].state == true) + continue; + if ((int)sfm_f[j].observation.size() >= 2) + { + Vector2d point0, point1; + int frame_0 = sfm_f[j].observation[0].first; + point0 = sfm_f[j].observation[0].second; + int frame_1 = sfm_f[j].observation.back().first; + point1 = sfm_f[j].observation.back().second; + Vector3d point_3d; + triangulatePoint(Pose[frame_0], Pose[frame_1], point0, point1, point_3d); + sfm_f[j].state = true; + sfm_f[j].position[0] = point_3d(0); + sfm_f[j].position[1] = point_3d(1); + sfm_f[j].position[2] = point_3d(2); + //cout << "trangulated : " << frame_0 << " " << frame_1 << " 3d point : " << j << " " << point_3d.transpose() << endl; + } + } + +/* + for (int i = 0; i < frame_num; i++) + { + q[i] = c_Rotation[i].transpose(); + cout << "solvePnP q" << " i " << i <<" " < +#include +#include +#include +#include +#include +#include +#include +#include +using namespace Eigen; +using namespace std; + + + +struct SFMFeature +{ + bool state; + int id; + vector> observation; + double position[3]; + double depth; +}; + +struct ReprojectionError3D +{ + ReprojectionError3D(double observed_u, double observed_v) + :observed_u(observed_u), observed_v(observed_v) + {} + + template + bool operator()(const T* const camera_R, const T* const camera_T, const T* point, T* residuals) const + { + T p[3]; + ceres::QuaternionRotatePoint(camera_R, point, p); + p[0] += camera_T[0]; p[1] += camera_T[1]; p[2] += camera_T[2]; + T xp = p[0] / p[2]; + T yp = p[1] / p[2]; + residuals[0] = xp - T(observed_u); + residuals[1] = yp - T(observed_v); + return true; + } + + static ceres::CostFunction* Create(const double observed_x, + const double observed_y) + { + return (new ceres::AutoDiffCostFunction< + ReprojectionError3D, 2, 4, 3, 3>( + new ReprojectionError3D(observed_x,observed_y))); + } + + double observed_u; + double observed_v; +}; + +class GlobalSFM +{ +public: + GlobalSFM(); + bool construct(int frame_num, Quaterniond* q, Vector3d* T, int l, + const Matrix3d relative_R, const Vector3d relative_T, + vector &sfm_f, map &sfm_tracked_points); + +private: + bool solveFrameByPnP(Matrix3d &R_initial, Vector3d &P_initial, int i, vector &sfm_f); + + void triangulatePoint(Eigen::Matrix &Pose0, Eigen::Matrix &Pose1, + Vector2d &point0, Vector2d &point1, Vector3d &point_3d); + void triangulateTwoFrames(int frame0, Eigen::Matrix &Pose0, + int frame1, Eigen::Matrix &Pose1, + vector &sfm_f); + + int feature_num; +}; \ No newline at end of file diff --git a/vins_estimator/src/initial/solve_5pts.cpp b/vins_estimator/src/initial/solve_5pts.cpp new file mode 100644 index 0000000..991232d --- /dev/null +++ b/vins_estimator/src/initial/solve_5pts.cpp @@ -0,0 +1,241 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include "solve_5pts.h" + + +namespace cv { + void decomposeEssentialMat( InputArray _E, OutputArray _R1, OutputArray _R2, OutputArray _t ) + { + + Mat E = _E.getMat().reshape(1, 3); + CV_Assert(E.cols == 3 && E.rows == 3); + + Mat D, U, Vt; + SVD::compute(E, D, U, Vt); + + if (determinant(U) < 0) U *= -1.; + if (determinant(Vt) < 0) Vt *= -1.; + + Mat W = (Mat_(3, 3) << 0, 1, 0, -1, 0, 0, 0, 0, 1); + W.convertTo(W, E.type()); + + Mat R1, R2, t; + R1 = U * W * Vt; + R2 = U * W.t() * Vt; + t = U.col(2) * 1.0; + + R1.copyTo(_R1); + R2.copyTo(_R2); + t.copyTo(_t); + } + + int recoverPose( InputArray E, InputArray _points1, InputArray _points2, InputArray _cameraMatrix, + OutputArray _R, OutputArray _t, InputOutputArray _mask) + { + + Mat points1, points2, cameraMatrix; + _points1.getMat().convertTo(points1, CV_64F); + _points2.getMat().convertTo(points2, CV_64F); + _cameraMatrix.getMat().convertTo(cameraMatrix, CV_64F); + + int npoints = points1.checkVector(2); + CV_Assert( npoints >= 0 && points2.checkVector(2) == npoints && + points1.type() == points2.type()); + + CV_Assert(cameraMatrix.rows == 3 && cameraMatrix.cols == 3 && cameraMatrix.channels() == 1); + + if (points1.channels() > 1) + { + points1 = points1.reshape(1, npoints); + points2 = points2.reshape(1, npoints); + } + + double fx = cameraMatrix.at(0,0); + double fy = cameraMatrix.at(1,1); + double cx = cameraMatrix.at(0,2); + double cy = cameraMatrix.at(1,2); + + points1.col(0) = (points1.col(0) - cx) / fx; + points2.col(0) = (points2.col(0) - cx) / fx; + points1.col(1) = (points1.col(1) - cy) / fy; + points2.col(1) = (points2.col(1) - cy) / fy; + + points1 = points1.t(); + points2 = points2.t(); + + Mat R1, R2, t; + decomposeEssentialMat(E, R1, R2, t); + Mat P0 = Mat::eye(3, 4, R1.type()); + Mat P1(3, 4, R1.type()), P2(3, 4, R1.type()), P3(3, 4, R1.type()), P4(3, 4, R1.type()); + P1(Range::all(), Range(0, 3)) = R1 * 1.0; P1.col(3) = t * 1.0; + P2(Range::all(), Range(0, 3)) = R2 * 1.0; P2.col(3) = t * 1.0; + P3(Range::all(), Range(0, 3)) = R1 * 1.0; P3.col(3) = -t * 1.0; + P4(Range::all(), Range(0, 3)) = R2 * 1.0; P4.col(3) = -t * 1.0; + + // Do the cheirality check. + // Notice here a threshold dist is used to filter + // out far away points (i.e. infinite points) since + // there depth may vary between postive and negtive. + double dist = 50.0; + Mat Q; + triangulatePoints(P0, P1, points1, points2, Q); + Mat mask1 = Q.row(2).mul(Q.row(3)) > 0; + Q.row(0) /= Q.row(3); + Q.row(1) /= Q.row(3); + Q.row(2) /= Q.row(3); + Q.row(3) /= Q.row(3); + mask1 = (Q.row(2) < dist) & mask1; + Q = P1 * Q; + mask1 = (Q.row(2) > 0) & mask1; + mask1 = (Q.row(2) < dist) & mask1; + + triangulatePoints(P0, P2, points1, points2, Q); + Mat mask2 = Q.row(2).mul(Q.row(3)) > 0; + Q.row(0) /= Q.row(3); + Q.row(1) /= Q.row(3); + Q.row(2) /= Q.row(3); + Q.row(3) /= Q.row(3); + mask2 = (Q.row(2) < dist) & mask2; + Q = P2 * Q; + mask2 = (Q.row(2) > 0) & mask2; + mask2 = (Q.row(2) < dist) & mask2; + + triangulatePoints(P0, P3, points1, points2, Q); + Mat mask3 = Q.row(2).mul(Q.row(3)) > 0; + Q.row(0) /= Q.row(3); + Q.row(1) /= Q.row(3); + Q.row(2) /= Q.row(3); + Q.row(3) /= Q.row(3); + mask3 = (Q.row(2) < dist) & mask3; + Q = P3 * Q; + mask3 = (Q.row(2) > 0) & mask3; + mask3 = (Q.row(2) < dist) & mask3; + + triangulatePoints(P0, P4, points1, points2, Q); + Mat mask4 = Q.row(2).mul(Q.row(3)) > 0; + Q.row(0) /= Q.row(3); + Q.row(1) /= Q.row(3); + Q.row(2) /= Q.row(3); + Q.row(3) /= Q.row(3); + mask4 = (Q.row(2) < dist) & mask4; + Q = P4 * Q; + mask4 = (Q.row(2) > 0) & mask4; + mask4 = (Q.row(2) < dist) & mask4; + + mask1 = mask1.t(); + mask2 = mask2.t(); + mask3 = mask3.t(); + mask4 = mask4.t(); + + // If _mask is given, then use it to filter outliers. + if (!_mask.empty()) + { + Mat mask = _mask.getMat(); + CV_Assert(mask.size() == mask1.size()); + bitwise_and(mask, mask1, mask1); + bitwise_and(mask, mask2, mask2); + bitwise_and(mask, mask3, mask3); + bitwise_and(mask, mask4, mask4); + } + if (_mask.empty() && _mask.needed()) + { + _mask.create(mask1.size(), CV_8U); + } + + CV_Assert(_R.needed() && _t.needed()); + _R.create(3, 3, R1.type()); + _t.create(3, 1, t.type()); + + int good1 = countNonZero(mask1); + int good2 = countNonZero(mask2); + int good3 = countNonZero(mask3); + int good4 = countNonZero(mask4); + + if (good1 >= good2 && good1 >= good3 && good1 >= good4) + { + R1.copyTo(_R); + t.copyTo(_t); + if (_mask.needed()) mask1.copyTo(_mask); + return good1; + } + else if (good2 >= good1 && good2 >= good3 && good2 >= good4) + { + R2.copyTo(_R); + t.copyTo(_t); + if (_mask.needed()) mask2.copyTo(_mask); + return good2; + } + else if (good3 >= good1 && good3 >= good2 && good3 >= good4) + { + t = -t; + R1.copyTo(_R); + t.copyTo(_t); + if (_mask.needed()) mask3.copyTo(_mask); + return good3; + } + else + { + t = -t; + R2.copyTo(_R); + t.copyTo(_t); + if (_mask.needed()) mask4.copyTo(_mask); + return good4; + } + } + + int recoverPose( InputArray E, InputArray _points1, InputArray _points2, OutputArray _R, + OutputArray _t, double focal, Point2d pp, InputOutputArray _mask) + { + Mat cameraMatrix = (Mat_(3,3) << focal, 0, pp.x, 0, focal, pp.y, 0, 0, 1); + return cv::recoverPose(E, _points1, _points2, cameraMatrix, _R, _t, _mask); + } +} + + +bool MotionEstimator::solveRelativeRT(const vector> &corres, Matrix3d &Rotation, Vector3d &Translation) +{ + if (corres.size() >= 15) + { + vector ll, rr; + for (int i = 0; i < int(corres.size()); i++) + { + ll.push_back(cv::Point2f(corres[i].first(0), corres[i].first(1))); + rr.push_back(cv::Point2f(corres[i].second(0), corres[i].second(1))); + } + cv::Mat mask; + cv::Mat E = cv::findFundamentalMat(ll, rr, cv::FM_RANSAC, 0.3 / 460, 0.99, mask); + cv::Mat cameraMatrix = (cv::Mat_(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1); + cv::Mat rot, trans; + int inlier_cnt = cv::recoverPose(E, ll, rr, cameraMatrix, rot, trans, mask); + //cout << "inlier_cnt " << inlier_cnt << endl; + + Eigen::Matrix3d R; + Eigen::Vector3d T; + for (int i = 0; i < 3; i++) + { + T(i) = trans.at(i, 0); + for (int j = 0; j < 3; j++) + R(i, j) = rot.at(i, j); + } + + Rotation = R.transpose(); + Translation = -R.transpose() * T; + if(inlier_cnt > 12) + return true; + else + return false; + } + return false; +} + + + diff --git a/vins_estimator/src/initial/solve_5pts.h b/vins_estimator/src/initial/solve_5pts.h new file mode 100644 index 0000000..ee3f8d5 --- /dev/null +++ b/vins_estimator/src/initial/solve_5pts.h @@ -0,0 +1,39 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#pragma once + +#include +using namespace std; + +#include +//#include +#include +using namespace Eigen; + +#include + +class MotionEstimator +{ + public: + + bool solveRelativeRT(const vector> &corres, Matrix3d &R, Vector3d &T); + + private: + double testTriangulation(const vector &l, + const vector &r, + cv::Mat_ R, cv::Mat_ t); + void decomposeE(cv::Mat E, + cv::Mat_ &R1, cv::Mat_ &R2, + cv::Mat_ &t1, cv::Mat_ &t2); +}; + + diff --git a/vins_estimator/src/rosNodeTest.cpp b/vins_estimator/src/rosNodeTest.cpp new file mode 100644 index 0000000..812c93c --- /dev/null +++ b/vins_estimator/src/rosNodeTest.cpp @@ -0,0 +1,264 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + * + * Author: Qin Tong (qintonguav@gmail.com) + *******************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include "estimator/estimator.h" +#include "estimator/parameters.h" +#include "utility/visualization.h" + +Estimator estimator; + +queue imu_buf; +queue feature_buf; +queue img0_buf; +queue img1_buf; +std::mutex m_buf; + + +void img0_callback(const sensor_msgs::ImageConstPtr &img_msg) +{ + m_buf.lock(); + img0_buf.push(img_msg); + m_buf.unlock(); +} + +void img1_callback(const sensor_msgs::ImageConstPtr &img_msg) +{ + m_buf.lock(); + img1_buf.push(img_msg); + m_buf.unlock(); +} + + +cv::Mat getImageFromMsg(const sensor_msgs::ImageConstPtr &img_msg) +{ + 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); + + cv::Mat img = ptr->image.clone(); + return img; +} + +// extract images with same timestamp from two topics +void sync_process() +{ + while(1) + { + if(STEREO) + { + cv::Mat image0, image1; + std_msgs::Header header; + double time = 0; + m_buf.lock(); + if (!img0_buf.empty() && !img1_buf.empty()) + { + double time0 = img0_buf.front()->header.stamp.toSec(); + double time1 = img1_buf.front()->header.stamp.toSec(); + // 0.003s sync tolerance + if(time0 < time1 - 0.003) + { + img0_buf.pop(); + printf("throw img0\n"); + } + else if(time0 > time1 + 0.003) + { + img1_buf.pop(); + printf("throw img1\n"); + } + else + { + time = img0_buf.front()->header.stamp.toSec(); + header = img0_buf.front()->header; + image0 = getImageFromMsg(img0_buf.front()); + img0_buf.pop(); + image1 = getImageFromMsg(img1_buf.front()); + img1_buf.pop(); + //printf("find img0 and img1\n"); + } + } + m_buf.unlock(); + if(!image0.empty()) + estimator.inputImage(time, image0, image1); + } + else + { + cv::Mat image; + std_msgs::Header header; + double time = 0; + m_buf.lock(); + if(!img0_buf.empty()) + { + time = img0_buf.front()->header.stamp.toSec(); + header = img0_buf.front()->header; + image = getImageFromMsg(img0_buf.front()); + img0_buf.pop(); + } + m_buf.unlock(); + if(!image.empty()) + estimator.inputImage(time, image); + } + + std::chrono::milliseconds dura(2); + std::this_thread::sleep_for(dura); + } +} + + +void imu_callback(const sensor_msgs::ImuConstPtr &imu_msg) +{ + double t = imu_msg->header.stamp.toSec(); + double dx = imu_msg->linear_acceleration.x; + double dy = imu_msg->linear_acceleration.y; + double dz = imu_msg->linear_acceleration.z; + double rx = imu_msg->angular_velocity.x; + double ry = imu_msg->angular_velocity.y; + double rz = imu_msg->angular_velocity.z; + Vector3d acc(dx, dy, dz); + Vector3d gyr(rx, ry, rz); + estimator.inputIMU(t, acc, gyr); + return; +} + + +void feature_callback(const sensor_msgs::PointCloudConstPtr &feature_msg) +{ + map>>> featureFrame; + for (unsigned int i = 0; i < feature_msg->points.size(); i++) + { + int feature_id = feature_msg->channels[0].values[i]; + int camera_id = feature_msg->channels[1].values[i]; + double x = feature_msg->points[i].x; + double y = feature_msg->points[i].y; + double z = feature_msg->points[i].z; + double p_u = feature_msg->channels[2].values[i]; + double p_v = feature_msg->channels[3].values[i]; + double velocity_x = feature_msg->channels[4].values[i]; + double velocity_y = feature_msg->channels[5].values[i]; + if(feature_msg->channels.size() > 5) + { + double gx = feature_msg->channels[6].values[i]; + double gy = feature_msg->channels[7].values[i]; + double gz = feature_msg->channels[8].values[i]; + pts_gt[feature_id] = Eigen::Vector3d(gx, gy, gz); + //printf("receive pts gt %d %f %f %f\n", feature_id, gx, gy, gz); + } + ROS_ASSERT(z == 1); + Eigen::Matrix xyz_uv_velocity; + xyz_uv_velocity << x, y, z, p_u, p_v, velocity_x, velocity_y; + featureFrame[feature_id].emplace_back(camera_id, xyz_uv_velocity); + } + double t = feature_msg->header.stamp.toSec(); + estimator.inputFeature(t, featureFrame); + return; +} + +void restart_callback(const std_msgs::BoolConstPtr &restart_msg) +{ + if (restart_msg->data == true) + { + ROS_WARN("restart the estimator!"); + estimator.clearState(); + estimator.setParameter(); + } + return; +} + +void imu_switch_callback(const std_msgs::BoolConstPtr &switch_msg) +{ + if (switch_msg->data == true) + { + //ROS_WARN("use IMU!"); + estimator.changeSensorType(1, STEREO); + } + else + { + //ROS_WARN("disable IMU!"); + estimator.changeSensorType(0, STEREO); + } + return; +} + +void cam_switch_callback(const std_msgs::BoolConstPtr &switch_msg) +{ + if (switch_msg->data == true) + { + //ROS_WARN("use stereo!"); + estimator.changeSensorType(USE_IMU, 1); + } + else + { + //ROS_WARN("use mono camera (left)!"); + estimator.changeSensorType(USE_IMU, 0); + } + return; +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "vins_estimator"); + ros::NodeHandle n("~"); + ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); + + if(argc != 2) + { + printf("please intput: rosrun vins vins_node [config file] \n" + "for example: rosrun vins vins_node " + "~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml \n"); + return 1; + } + + string config_file = argv[1]; + printf("config_file: %s\n", argv[1]); + + readParameters(config_file); + estimator.setParameter(); + +#ifdef EIGEN_DONT_PARALLELIZE + ROS_DEBUG("EIGEN_DONT_PARALLELIZE"); +#endif + + ROS_WARN("waiting for image and imu..."); + + registerPub(n); + + ros::Subscriber sub_imu = n.subscribe(IMU_TOPIC, 2000, imu_callback, ros::TransportHints().tcpNoDelay()); + ros::Subscriber sub_feature = n.subscribe("/feature_tracker/feature", 2000, feature_callback); + ros::Subscriber sub_img0 = n.subscribe(IMAGE0_TOPIC, 100, img0_callback); + ros::Subscriber sub_img1 = n.subscribe(IMAGE1_TOPIC, 100, img1_callback); + ros::Subscriber sub_restart = n.subscribe("/vins_restart", 100, restart_callback); + ros::Subscriber sub_imu_switch = n.subscribe("/vins_imu_switch", 100, imu_switch_callback); + ros::Subscriber sub_cam_switch = n.subscribe("/vins_cam_switch", 100, cam_switch_callback); + + std::thread sync_thread{sync_process}; + ros::spin(); + + return 0; +} diff --git a/vins_estimator/src/utility/CameraPoseVisualization.cpp b/vins_estimator/src/utility/CameraPoseVisualization.cpp new file mode 100644 index 0000000..16fd1b7 --- /dev/null +++ b/vins_estimator/src/utility/CameraPoseVisualization.cpp @@ -0,0 +1,207 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "CameraPoseVisualization.h" + +const Eigen::Vector3d CameraPoseVisualization::imlt = Eigen::Vector3d(-1.0, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imrt = Eigen::Vector3d( 1.0, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imlb = Eigen::Vector3d(-1.0, 0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::imrb = Eigen::Vector3d( 1.0, 0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt0 = Eigen::Vector3d(-0.7, -0.5, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt1 = Eigen::Vector3d(-0.7, -0.2, 1.0); +const Eigen::Vector3d CameraPoseVisualization::lt2 = Eigen::Vector3d(-1.0, -0.2, 1.0); +const Eigen::Vector3d CameraPoseVisualization::oc = Eigen::Vector3d(0.0, 0.0, 0.0); + +void Eigen2Point(const Eigen::Vector3d& v, geometry_msgs::Point& p) { + p.x = v.x(); + p.y = v.y(); + p.z = v.z(); +} + +CameraPoseVisualization::CameraPoseVisualization(float r, float g, float b, float a) + : m_marker_ns("CameraPoseVisualization"), m_scale(0.2), m_line_width(0.01) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; +} + +void CameraPoseVisualization::setImageBoundaryColor(float r, float g, float b, float a) { + m_image_boundary_color.r = r; + m_image_boundary_color.g = g; + m_image_boundary_color.b = b; + m_image_boundary_color.a = a; +} + +void CameraPoseVisualization::setOpticalCenterConnectorColor(float r, float g, float b, float a) { + m_optical_center_connector_color.r = r; + m_optical_center_connector_color.g = g; + m_optical_center_connector_color.b = b; + m_optical_center_connector_color.a = a; +} + +void CameraPoseVisualization::setScale(double s) { + m_scale = s; +} +void CameraPoseVisualization::setLineWidth(double width) { + m_line_width = width; +} +void CameraPoseVisualization::add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + marker.scale.x = 0.005; + + marker.color.g = 1.0f; + marker.color.a = 1.0; + + geometry_msgs::Point point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + +void CameraPoseVisualization::add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1){ + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + marker.scale.x = 0.04; + //marker.scale.x = 0.3; + + marker.color.r = 1.0f; + marker.color.b = 1.0f; + marker.color.a = 1.0; + + geometry_msgs::Point point0, point1; + + Eigen2Point(p0, point0); + Eigen2Point(p1, point1); + + marker.points.push_back(point0); + marker.points.push_back(point1); + + m_markers.push_back(marker); +} + + +void CameraPoseVisualization::add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q) { + visualization_msgs::Marker marker; + + marker.ns = m_marker_ns; + marker.id = m_markers.size() + 1; + marker.type = visualization_msgs::Marker::LINE_STRIP; + marker.action = visualization_msgs::Marker::ADD; + marker.scale.x = m_line_width; + + marker.pose.position.x = 0.0; + marker.pose.position.y = 0.0; + marker.pose.position.z = 0.0; + marker.pose.orientation.w = 1.0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + + + geometry_msgs::Point pt_lt, pt_lb, pt_rt, pt_rb, pt_oc, pt_lt0, pt_lt1, pt_lt2; + + Eigen2Point(q * (m_scale *imlt) + p, pt_lt); + Eigen2Point(q * (m_scale *imlb) + p, pt_lb); + Eigen2Point(q * (m_scale *imrt) + p, pt_rt); + Eigen2Point(q * (m_scale *imrb) + p, pt_rb); + Eigen2Point(q * (m_scale *lt0 ) + p, pt_lt0); + Eigen2Point(q * (m_scale *lt1 ) + p, pt_lt1); + Eigen2Point(q * (m_scale *lt2 ) + p, pt_lt2); + Eigen2Point(q * (m_scale *oc ) + p, pt_oc); + + // image boundaries + marker.points.push_back(pt_lt); + marker.points.push_back(pt_lb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_rb); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_rt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_lt); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // top-left indicator + marker.points.push_back(pt_lt0); + marker.points.push_back(pt_lt1); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + marker.points.push_back(pt_lt1); + marker.points.push_back(pt_lt2); + marker.colors.push_back(m_image_boundary_color); + marker.colors.push_back(m_image_boundary_color); + + // optical center connector + marker.points.push_back(pt_lt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + + marker.points.push_back(pt_lb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rt); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + marker.points.push_back(pt_rb); + marker.points.push_back(pt_oc); + marker.colors.push_back(m_optical_center_connector_color); + marker.colors.push_back(m_optical_center_connector_color); + + m_markers.push_back(marker); +} + +void CameraPoseVisualization::reset() { + m_markers.clear(); +} + +void CameraPoseVisualization::publish_by( ros::Publisher &pub, const std_msgs::Header &header ) { + visualization_msgs::MarkerArray markerArray_msg; + + for(auto& marker : m_markers) { + marker.header = header; + markerArray_msg.markers.push_back(marker); + } + + pub.publish(markerArray_msg); +} \ No newline at end of file diff --git a/vins_estimator/src/utility/CameraPoseVisualization.h b/vins_estimator/src/utility/CameraPoseVisualization.h new file mode 100644 index 0000000..8339f18 --- /dev/null +++ b/vins_estimator/src/utility/CameraPoseVisualization.h @@ -0,0 +1,51 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include + +class CameraPoseVisualization { +public: + std::string m_marker_ns; + + CameraPoseVisualization(float r, float g, float b, float a); + + void setImageBoundaryColor(float r, float g, float b, float a=1.0); + void setOpticalCenterConnectorColor(float r, float g, float b, float a=1.0); + void setScale(double s); + void setLineWidth(double width); + + void add_pose(const Eigen::Vector3d& p, const Eigen::Quaterniond& q); + void reset(); + + void publish_by(ros::Publisher& pub, const std_msgs::Header& header); + void add_edge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); + void add_loopedge(const Eigen::Vector3d& p0, const Eigen::Vector3d& p1); +private: + std::vector m_markers; + std_msgs::ColorRGBA m_image_boundary_color; + std_msgs::ColorRGBA m_optical_center_connector_color; + double m_scale; + double m_line_width; + + static const Eigen::Vector3d imlt; + static const Eigen::Vector3d imlb; + static const Eigen::Vector3d imrt; + static const Eigen::Vector3d imrb; + static const Eigen::Vector3d oc ; + static const Eigen::Vector3d lt0 ; + static const Eigen::Vector3d lt1 ; + static const Eigen::Vector3d lt2 ; +}; diff --git a/vins_estimator/src/utility/tic_toc.h b/vins_estimator/src/utility/tic_toc.h new file mode 100644 index 0000000..aeeee01 --- /dev/null +++ b/vins_estimator/src/utility/tic_toc.h @@ -0,0 +1,38 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include + +class TicToc +{ + public: + TicToc() + { + tic(); + } + + void tic() + { + start = std::chrono::system_clock::now(); + } + + double toc() + { + end = std::chrono::system_clock::now(); + std::chrono::duration elapsed_seconds = end - start; + return elapsed_seconds.count() * 1000; + } + + private: + std::chrono::time_point start, end; +}; diff --git a/vins_estimator/src/utility/utility.cpp b/vins_estimator/src/utility/utility.cpp new file mode 100644 index 0000000..d9f9b82 --- /dev/null +++ b/vins_estimator/src/utility/utility.cpp @@ -0,0 +1,22 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "utility.h" + +Eigen::Matrix3d Utility::g2R(const Eigen::Vector3d &g) +{ + Eigen::Matrix3d R0; + Eigen::Vector3d ng1 = g.normalized(); + Eigen::Vector3d ng2{0, 0, 1.0}; + R0 = Eigen::Quaterniond::FromTwoVectors(ng1, ng2).toRotationMatrix(); + double yaw = Utility::R2ypr(R0).x(); + R0 = Utility::ypr2R(Eigen::Vector3d{-yaw, 0, 0}) * R0; + // R0 = Utility::ypr2R(Eigen::Vector3d{-90, 0, 0}) * R0; + return R0; +} diff --git a/vins_estimator/src/utility/utility.h b/vins_estimator/src/utility/utility.h new file mode 100644 index 0000000..6872696 --- /dev/null +++ b/vins_estimator/src/utility/utility.h @@ -0,0 +1,149 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include + +class Utility +{ + public: + template + static Eigen::Quaternion deltaQ(const Eigen::MatrixBase &theta) + { + typedef typename Derived::Scalar Scalar_t; + + Eigen::Quaternion dq; + Eigen::Matrix half_theta = theta; + half_theta /= static_cast(2.0); + dq.w() = static_cast(1.0); + dq.x() = half_theta.x(); + dq.y() = half_theta.y(); + dq.z() = half_theta.z(); + return dq; + } + + template + static Eigen::Matrix skewSymmetric(const Eigen::MatrixBase &q) + { + Eigen::Matrix ans; + ans << typename Derived::Scalar(0), -q(2), q(1), + q(2), typename Derived::Scalar(0), -q(0), + -q(1), q(0), typename Derived::Scalar(0); + return ans; + } + + template + static Eigen::Quaternion positify(const Eigen::QuaternionBase &q) + { + //printf("a: %f %f %f %f", q.w(), q.x(), q.y(), q.z()); + //Eigen::Quaternion p(-q.w(), -q.x(), -q.y(), -q.z()); + //printf("b: %f %f %f %f", p.w(), p.x(), p.y(), p.z()); + //return q.template w() >= (typename Derived::Scalar)(0.0) ? q : Eigen::Quaternion(-q.w(), -q.x(), -q.y(), -q.z()); + return q; + } + + template + static Eigen::Matrix Qleft(const Eigen::QuaternionBase &q) + { + Eigen::Quaternion qq = positify(q); + Eigen::Matrix ans; + ans(0, 0) = qq.w(), ans.template block<1, 3>(0, 1) = -qq.vec().transpose(); + ans.template block<3, 1>(1, 0) = qq.vec(), ans.template block<3, 3>(1, 1) = qq.w() * Eigen::Matrix::Identity() + skewSymmetric(qq.vec()); + return ans; + } + + template + static Eigen::Matrix Qright(const Eigen::QuaternionBase &p) + { + Eigen::Quaternion pp = positify(p); + Eigen::Matrix ans; + ans(0, 0) = pp.w(), ans.template block<1, 3>(0, 1) = -pp.vec().transpose(); + ans.template block<3, 1>(1, 0) = pp.vec(), ans.template block<3, 3>(1, 1) = pp.w() * Eigen::Matrix::Identity() - skewSymmetric(pp.vec()); + return ans; + } + + static Eigen::Vector3d R2ypr(const Eigen::Matrix3d &R) + { + Eigen::Vector3d n = R.col(0); + Eigen::Vector3d o = R.col(1); + Eigen::Vector3d a = R.col(2); + + Eigen::Vector3d ypr(3); + double y = atan2(n(1), n(0)); + double p = atan2(-n(2), n(0) * cos(y) + n(1) * sin(y)); + double r = atan2(a(0) * sin(y) - a(1) * cos(y), -o(0) * sin(y) + o(1) * cos(y)); + ypr(0) = y; + ypr(1) = p; + ypr(2) = r; + + return ypr / M_PI * 180.0; + } + + template + static Eigen::Matrix ypr2R(const Eigen::MatrixBase &ypr) + { + typedef typename Derived::Scalar Scalar_t; + + Scalar_t y = ypr(0) / 180.0 * M_PI; + Scalar_t p = ypr(1) / 180.0 * M_PI; + Scalar_t r = ypr(2) / 180.0 * M_PI; + + Eigen::Matrix Rz; + Rz << cos(y), -sin(y), 0, + sin(y), cos(y), 0, + 0, 0, 1; + + Eigen::Matrix Ry; + Ry << cos(p), 0., sin(p), + 0., 1., 0., + -sin(p), 0., cos(p); + + Eigen::Matrix Rx; + Rx << 1., 0., 0., + 0., cos(r), -sin(r), + 0., sin(r), cos(r); + + return Rz * Ry * Rx; + } + + static Eigen::Matrix3d g2R(const Eigen::Vector3d &g); + + template + struct uint_ + { + }; + + template + void unroller(const Lambda &f, const IterT &iter, uint_) + { + unroller(f, iter, uint_()); + f(iter + N); + } + + template + void unroller(const Lambda &f, const IterT &iter, uint_<0>) + { + f(iter); + } + + template + static T normalizeAngle(const T& angle_degrees) { + T two_pi(2.0 * 180); + if (angle_degrees > 0) + return angle_degrees - + two_pi * std::floor((angle_degrees + T(180)) / two_pi); + else + return angle_degrees + + two_pi * std::floor((-angle_degrees + T(180)) / two_pi); + }; +}; diff --git a/vins_estimator/src/utility/visualization.cpp b/vins_estimator/src/utility/visualization.cpp new file mode 100644 index 0000000..7e04838 --- /dev/null +++ b/vins_estimator/src/utility/visualization.cpp @@ -0,0 +1,414 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#include "visualization.h" + +using namespace ros; +using namespace Eigen; +ros::Publisher pub_odometry, pub_latest_odometry; +ros::Publisher pub_path; +ros::Publisher pub_point_cloud, pub_margin_cloud; +ros::Publisher pub_key_poses; +ros::Publisher pub_camera_pose; +ros::Publisher pub_camera_pose_visual; +nav_msgs::Path path; + +ros::Publisher pub_keyframe_pose; +ros::Publisher pub_keyframe_point; +ros::Publisher pub_extrinsic; + +ros::Publisher pub_image_track; + +CameraPoseVisualization cameraposevisual(1, 0, 0, 1); +static double sum_of_path = 0; +static Vector3d last_path(0.0, 0.0, 0.0); + +size_t pub_counter = 0; + +void registerPub(ros::NodeHandle &n) +{ + pub_latest_odometry = n.advertise("imu_propagate", 1000); + pub_path = n.advertise("path", 1000); + pub_odometry = n.advertise("odometry", 1000); + pub_point_cloud = n.advertise("point_cloud", 1000); + pub_margin_cloud = n.advertise("margin_cloud", 1000); + pub_key_poses = n.advertise("key_poses", 1000); + pub_camera_pose = n.advertise("camera_pose", 1000); + pub_camera_pose_visual = n.advertise("camera_pose_visual", 1000); + pub_keyframe_pose = n.advertise("keyframe_pose", 1000); + pub_keyframe_point = n.advertise("keyframe_point", 1000); + pub_extrinsic = n.advertise("extrinsic", 1000); + pub_image_track = n.advertise("image_track", 1000); + + cameraposevisual.setScale(0.1); + cameraposevisual.setLineWidth(0.01); +} + +void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, double t) +{ + nav_msgs::Odometry odometry; + odometry.header.stamp = ros::Time(t); + odometry.header.frame_id = "world"; + odometry.pose.pose.position.x = P.x(); + odometry.pose.pose.position.y = P.y(); + odometry.pose.pose.position.z = P.z(); + odometry.pose.pose.orientation.x = Q.x(); + odometry.pose.pose.orientation.y = Q.y(); + odometry.pose.pose.orientation.z = Q.z(); + odometry.pose.pose.orientation.w = Q.w(); + odometry.twist.twist.linear.x = V.x(); + odometry.twist.twist.linear.y = V.y(); + odometry.twist.twist.linear.z = V.z(); + pub_latest_odometry.publish(odometry); +} + +void pubTrackImage(const cv::Mat &imgTrack, const double t) +{ + std_msgs::Header header; + header.frame_id = "world"; + header.stamp = ros::Time(t); + sensor_msgs::ImagePtr imgTrackMsg = cv_bridge::CvImage(header, "bgr8", imgTrack).toImageMsg(); + pub_image_track.publish(imgTrackMsg); +} + + +void printStatistics(const Estimator &estimator, double t) +{ + if (estimator.solver_flag != Estimator::SolverFlag::NON_LINEAR) + return; + //printf("position: %f, %f, %f\r", estimator.Ps[WINDOW_SIZE].x(), estimator.Ps[WINDOW_SIZE].y(), estimator.Ps[WINDOW_SIZE].z()); + ROS_DEBUG_STREAM("position: " << estimator.Ps[WINDOW_SIZE].transpose()); + ROS_DEBUG_STREAM("orientation: " << estimator.Vs[WINDOW_SIZE].transpose()); + if (ESTIMATE_EXTRINSIC) + { + cv::FileStorage fs(EX_CALIB_RESULT_PATH, cv::FileStorage::WRITE); + for (int i = 0; i < NUM_OF_CAM; i++) + { + //ROS_DEBUG("calibration result for camera %d", i); + ROS_DEBUG_STREAM("extirnsic tic: " << estimator.tic[i].transpose()); + ROS_DEBUG_STREAM("extrinsic ric: " << Utility::R2ypr(estimator.ric[i]).transpose()); + + Eigen::Matrix4d eigen_T = Eigen::Matrix4d::Identity(); + eigen_T.block<3, 3>(0, 0) = estimator.ric[i]; + eigen_T.block<3, 1>(0, 3) = estimator.tic[i]; + cv::Mat cv_T; + cv::eigen2cv(eigen_T, cv_T); + if(i == 0) + fs << "body_T_cam0" << cv_T ; + else + fs << "body_T_cam1" << cv_T ; + } + fs.release(); + } + + static double sum_of_time = 0; + static int sum_of_calculation = 0; + sum_of_time += t; + sum_of_calculation++; + ROS_DEBUG("vo solver costs: %f ms", t); + ROS_DEBUG("average of time %f ms", sum_of_time / sum_of_calculation); + + sum_of_path += (estimator.Ps[WINDOW_SIZE] - last_path).norm(); + last_path = estimator.Ps[WINDOW_SIZE]; + ROS_DEBUG("sum of path %f", sum_of_path); + if (ESTIMATE_TD) + ROS_INFO("td %f", estimator.td); +} + +void pubOdometry(const Estimator &estimator, const std_msgs::Header &header) +{ + if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) + { + nav_msgs::Odometry odometry; + odometry.header = header; + odometry.header.frame_id = "world"; + odometry.child_frame_id = "world"; + Quaterniond tmp_Q; + tmp_Q = Quaterniond(estimator.Rs[WINDOW_SIZE]); + odometry.pose.pose.position.x = estimator.Ps[WINDOW_SIZE].x(); + odometry.pose.pose.position.y = estimator.Ps[WINDOW_SIZE].y(); + odometry.pose.pose.position.z = estimator.Ps[WINDOW_SIZE].z(); + odometry.pose.pose.orientation.x = tmp_Q.x(); + odometry.pose.pose.orientation.y = tmp_Q.y(); + odometry.pose.pose.orientation.z = tmp_Q.z(); + odometry.pose.pose.orientation.w = tmp_Q.w(); + odometry.twist.twist.linear.x = estimator.Vs[WINDOW_SIZE].x(); + odometry.twist.twist.linear.y = estimator.Vs[WINDOW_SIZE].y(); + odometry.twist.twist.linear.z = estimator.Vs[WINDOW_SIZE].z(); + pub_odometry.publish(odometry); + + geometry_msgs::PoseStamped pose_stamped; + pose_stamped.header = header; + pose_stamped.header.frame_id = "world"; + pose_stamped.pose = odometry.pose.pose; + path.header = header; + path.header.frame_id = "world"; + path.poses.push_back(pose_stamped); + pub_path.publish(path); + + // write result to file + ofstream foutC(VINS_RESULT_PATH, ios::app); + foutC.setf(ios::fixed, ios::floatfield); + foutC.precision(0); + foutC << header.stamp.toSec() * 1e9 << ","; + foutC.precision(5); + foutC << estimator.Ps[WINDOW_SIZE].x() << "," + << estimator.Ps[WINDOW_SIZE].y() << "," + << estimator.Ps[WINDOW_SIZE].z() << "," + << tmp_Q.w() << "," + << tmp_Q.x() << "," + << tmp_Q.y() << "," + << tmp_Q.z() << "," + << estimator.Vs[WINDOW_SIZE].x() << "," + << estimator.Vs[WINDOW_SIZE].y() << "," + << estimator.Vs[WINDOW_SIZE].z() << "," << endl; + foutC.close(); + Eigen::Vector3d tmp_T = estimator.Ps[WINDOW_SIZE]; + printf("time: %f, t: %f %f %f q: %f %f %f %f \n", header.stamp.toSec(), tmp_T.x(), tmp_T.y(), tmp_T.z(), + tmp_Q.w(), tmp_Q.x(), tmp_Q.y(), tmp_Q.z()); + } +} + +void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header) +{ + if (estimator.key_poses.size() == 0) + return; + visualization_msgs::Marker key_poses; + key_poses.header = header; + key_poses.header.frame_id = "world"; + key_poses.ns = "key_poses"; + key_poses.type = visualization_msgs::Marker::SPHERE_LIST; + key_poses.action = visualization_msgs::Marker::ADD; + key_poses.pose.orientation.w = 1.0; + key_poses.lifetime = ros::Duration(); + + //static int key_poses_id = 0; + key_poses.id = 0; //key_poses_id++; + key_poses.scale.x = 0.05; + key_poses.scale.y = 0.05; + key_poses.scale.z = 0.05; + key_poses.color.r = 1.0; + key_poses.color.a = 1.0; + + for (int i = 0; i <= WINDOW_SIZE; i++) + { + geometry_msgs::Point pose_marker; + Vector3d correct_pose; + correct_pose = estimator.key_poses[i]; + pose_marker.x = correct_pose.x(); + pose_marker.y = correct_pose.y(); + pose_marker.z = correct_pose.z(); + key_poses.points.push_back(pose_marker); + } + pub_key_poses.publish(key_poses); +} + +void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header) +{ + int idx2 = WINDOW_SIZE - 1; + + if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR) + { + int i = idx2; + Vector3d P = estimator.Ps[i] + estimator.Rs[i] * estimator.tic[0]; + Quaterniond R = Quaterniond(estimator.Rs[i] * estimator.ric[0]); + + nav_msgs::Odometry odometry; + odometry.header = header; + odometry.header.frame_id = "world"; + odometry.pose.pose.position.x = P.x(); + odometry.pose.pose.position.y = P.y(); + odometry.pose.pose.position.z = P.z(); + odometry.pose.pose.orientation.x = R.x(); + odometry.pose.pose.orientation.y = R.y(); + odometry.pose.pose.orientation.z = R.z(); + odometry.pose.pose.orientation.w = R.w(); + + pub_camera_pose.publish(odometry); + + cameraposevisual.reset(); + cameraposevisual.add_pose(P, R); + if(STEREO) + { + Vector3d P = estimator.Ps[i] + estimator.Rs[i] * estimator.tic[1]; + Quaterniond R = Quaterniond(estimator.Rs[i] * estimator.ric[1]); + cameraposevisual.add_pose(P, R); + } + cameraposevisual.publish_by(pub_camera_pose_visual, odometry.header); + } +} + + +void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header) +{ + sensor_msgs::PointCloud point_cloud, loop_point_cloud; + point_cloud.header = header; + loop_point_cloud.header = header; + + + for (auto &it_per_id : estimator.f_manager.feature) + { + int used_num; + used_num = it_per_id.feature_per_frame.size(); + if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2)) + continue; + if (it_per_id.start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id.solve_flag != 1) + continue; + int imu_i = it_per_id.start_frame; + Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; + Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + estimator.Ps[imu_i]; + + geometry_msgs::Point32 p; + p.x = w_pts_i(0); + p.y = w_pts_i(1); + p.z = w_pts_i(2); + point_cloud.points.push_back(p); + } + pub_point_cloud.publish(point_cloud); + + + // pub margined potin + sensor_msgs::PointCloud margin_cloud; + margin_cloud.header = header; + + for (auto &it_per_id : estimator.f_manager.feature) + { + int used_num; + used_num = it_per_id.feature_per_frame.size(); + if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2)) + continue; + //if (it_per_id->start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id->solve_flag != 1) + // continue; + + if (it_per_id.start_frame == 0 && it_per_id.feature_per_frame.size() <= 2 + && it_per_id.solve_flag == 1 ) + { + int imu_i = it_per_id.start_frame; + Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; + Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + estimator.Ps[imu_i]; + + geometry_msgs::Point32 p; + p.x = w_pts_i(0); + p.y = w_pts_i(1); + p.z = w_pts_i(2); + margin_cloud.points.push_back(p); + } + } + pub_margin_cloud.publish(margin_cloud); +} + + +void pubTF(const Estimator &estimator, const std_msgs::Header &header) +{ + if( estimator.solver_flag != Estimator::SolverFlag::NON_LINEAR) + return; + static tf::TransformBroadcaster br; + tf::Transform transform; + tf::Quaternion q; + // body frame + Vector3d correct_t; + Quaterniond correct_q; + correct_t = estimator.Ps[WINDOW_SIZE]; + correct_q = estimator.Rs[WINDOW_SIZE]; + + transform.setOrigin(tf::Vector3(correct_t(0), + correct_t(1), + correct_t(2))); + q.setW(correct_q.w()); + q.setX(correct_q.x()); + q.setY(correct_q.y()); + q.setZ(correct_q.z()); + transform.setRotation(q); + br.sendTransform(tf::StampedTransform(transform, header.stamp, "world", "body")); + + // camera frame + transform.setOrigin(tf::Vector3(estimator.tic[0].x(), + estimator.tic[0].y(), + estimator.tic[0].z())); + q.setW(Quaterniond(estimator.ric[0]).w()); + q.setX(Quaterniond(estimator.ric[0]).x()); + q.setY(Quaterniond(estimator.ric[0]).y()); + q.setZ(Quaterniond(estimator.ric[0]).z()); + transform.setRotation(q); + br.sendTransform(tf::StampedTransform(transform, header.stamp, "body", "camera")); + + + nav_msgs::Odometry odometry; + odometry.header = header; + odometry.header.frame_id = "world"; + odometry.pose.pose.position.x = estimator.tic[0].x(); + odometry.pose.pose.position.y = estimator.tic[0].y(); + odometry.pose.pose.position.z = estimator.tic[0].z(); + Quaterniond tmp_q{estimator.ric[0]}; + odometry.pose.pose.orientation.x = tmp_q.x(); + odometry.pose.pose.orientation.y = tmp_q.y(); + odometry.pose.pose.orientation.z = tmp_q.z(); + odometry.pose.pose.orientation.w = tmp_q.w(); + pub_extrinsic.publish(odometry); + +} + +void pubKeyframe(const Estimator &estimator) +{ + // pub camera pose, 2D-3D points of keyframe + if (estimator.solver_flag == Estimator::SolverFlag::NON_LINEAR && estimator.marginalization_flag == 0) + { + int i = WINDOW_SIZE - 2; + //Vector3d P = estimator.Ps[i] + estimator.Rs[i] * estimator.tic[0]; + Vector3d P = estimator.Ps[i]; + Quaterniond R = Quaterniond(estimator.Rs[i]); + + nav_msgs::Odometry odometry; + odometry.header.stamp = ros::Time(estimator.Headers[WINDOW_SIZE - 2]); + odometry.header.frame_id = "world"; + odometry.pose.pose.position.x = P.x(); + odometry.pose.pose.position.y = P.y(); + odometry.pose.pose.position.z = P.z(); + odometry.pose.pose.orientation.x = R.x(); + odometry.pose.pose.orientation.y = R.y(); + odometry.pose.pose.orientation.z = R.z(); + odometry.pose.pose.orientation.w = R.w(); + //printf("time: %f t: %f %f %f r: %f %f %f %f\n", odometry.header.stamp.toSec(), P.x(), P.y(), P.z(), R.w(), R.x(), R.y(), R.z()); + + pub_keyframe_pose.publish(odometry); + + + sensor_msgs::PointCloud point_cloud; + point_cloud.header.stamp = ros::Time(estimator.Headers[WINDOW_SIZE - 2]); + point_cloud.header.frame_id = "world"; + for (auto &it_per_id : estimator.f_manager.feature) + { + int frame_size = it_per_id.feature_per_frame.size(); + if(it_per_id.start_frame < WINDOW_SIZE - 2 && it_per_id.start_frame + frame_size - 1 >= WINDOW_SIZE - 2 && it_per_id.solve_flag == 1) + { + + int imu_i = it_per_id.start_frame; + Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth; + Vector3d w_pts_i = estimator.Rs[imu_i] * (estimator.ric[0] * pts_i + estimator.tic[0]) + + estimator.Ps[imu_i]; + geometry_msgs::Point32 p; + p.x = w_pts_i(0); + p.y = w_pts_i(1); + p.z = w_pts_i(2); + point_cloud.points.push_back(p); + + int imu_j = WINDOW_SIZE - 2 - it_per_id.start_frame; + sensor_msgs::ChannelFloat32 p_2d; + p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].point.x()); + p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].point.y()); + p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].uv.x()); + p_2d.values.push_back(it_per_id.feature_per_frame[imu_j].uv.y()); + p_2d.values.push_back(it_per_id.feature_id); + point_cloud.channels.push_back(p_2d); + } + + } + pub_keyframe_point.publish(point_cloud); + } +} \ No newline at end of file diff --git a/vins_estimator/src/utility/visualization.h b/vins_estimator/src/utility/visualization.h new file mode 100644 index 0000000..d2e7e4e --- /dev/null +++ b/vins_estimator/src/utility/visualization.h @@ -0,0 +1,66 @@ +/******************************************************* + * Copyright (C) 2019, Aerial Robotics Group, Hong Kong University of Science and Technology + * + * This file is part of VINS. + * + * Licensed under the GNU General Public License v3.0; + * you may not use this file except in compliance with the License. + *******************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "CameraPoseVisualization.h" +#include +#include "../estimator/estimator.h" +#include "../estimator/parameters.h" +#include + +extern ros::Publisher pub_odometry; +extern ros::Publisher pub_path, pub_pose; +extern ros::Publisher pub_cloud, pub_map; +extern ros::Publisher pub_key_poses; +extern ros::Publisher pub_ref_pose, pub_cur_pose; +extern ros::Publisher pub_key; +extern nav_msgs::Path path; +extern ros::Publisher pub_pose_graph; +extern int IMAGE_ROW, IMAGE_COL; + +void registerPub(ros::NodeHandle &n); + +void pubLatestOdometry(const Eigen::Vector3d &P, const Eigen::Quaterniond &Q, const Eigen::Vector3d &V, double t); + +void pubTrackImage(const cv::Mat &imgTrack, const double t); + +void printStatistics(const Estimator &estimator, double t); + +void pubOdometry(const Estimator &estimator, const std_msgs::Header &header); + +void pubInitialGuess(const Estimator &estimator, const std_msgs::Header &header); + +void pubKeyPoses(const Estimator &estimator, const std_msgs::Header &header); + +void pubCameraPose(const Estimator &estimator, const std_msgs::Header &header); + +void pubPointCloud(const Estimator &estimator, const std_msgs::Header &header); + +void pubTF(const Estimator &estimator, const std_msgs::Header &header); + +void pubKeyframe(const Estimator &estimator); + +void pubRelocalization(const Estimator &estimator); + +void pubCar(const Estimator & estimator, const std_msgs::Header &header);