# Map-Matching Navigation

**Repository Path**: bingbingjohn/map-matching-navigation

## Basic Information

- **Project Name**: Map-Matching Navigation
- **Description**: Map-Matching Navigation Code Processing Multi-Modal Information
- **Primary Language**: C++
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-07-08
- **Last Updated**: 2024-07-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# To-do 
## terrain map: not consistent at all

# camera_calibration
# issue
## assertion failed
OpenCV Error: Assertion failed (!buf.empty() && buf.isContinuous()) in imdecode_, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/imgcodecs/src/loadsave.cpp, line 637
### I forgot how to resolve it
## calibration parameter
### opencv
```
<?xml version="1.0"?>
<opencv_storage>
<image_width>1280</image_width>
<image_height>960</image_height>
<camera_matrix type_id="opencv-matrix">
  <rows>3</rows>
  <cols>3</cols>
  <dt>d</dt>
  <data>
    8.1351201462952520e+02 0. 640. 0. 1.0895773686738053e+03 480. 0. 0.
    1.</data></camera_matrix>
<distortion_coefficients type_id="opencv-matrix">
  <rows>1</rows>
  <cols>5</cols>
  <dt>d</dt>
  <data>
    -4.8575374147621608e-01 3.2576299600047887e-01 0. 0.
    -1.3248820031418074e-01</data></distortion_coefficients>
<error>5.6254044935961312e-01</error>
</opencv_storage>

```
#### distortion_coefficients is [k1 k2 p1 p2 k3]

### vins mono 
```
distortion_parameters: 
   k1: -0.4396736969906403
   k2: 0.23485666064798882
   p1: -0.00026527931810937363
   p2: -0.00200813623046122
projection_parameters:
   fx: 779.4745053234154
   fy: 1038.89995713717
   cx: 662.3315324942033
   cy: 518.67
```
```
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);
}

```
### kalib
```
Calibration results 
====================
Camera-system parameters:
cam0 (/web_cameras/left/image_raw/compressed):
    type: <class 'aslam_cv.libaslam_cv_python.DistortedPinholeCameraGeometry'>
    distortion: [-0.4396737   0.23485666 -0.00026528 -0.00200814] +- [ 0.03970219  0.13759299  0.01740079  0.01637693]
    projection: [  779.47450532  1038.89995714   662.33153249   518.66785956] +- [ 14.36067859   2.62924587  30.75531504  47.883702  ]
    reprojection error: [0.000035, -0.000013] +- [0.091086, 0.086939]



Target configuration
====================

  Type: checkerboard
  Rows
    Count: 11
    Distance: 0.05 [m]
  Cols
    Count: 8
    Distance: 0.05 [m]

```

# Question
## Where does the auv_nav_msg come from
it contains in this project