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Covariance regression values

release/4.3a0
dellaert 2015-07-27 16:12:41 +02:00
parent 0ced228413
commit 11d0ad0d78
1 changed files with 31 additions and 6 deletions
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37
gtsam/navigation/tests/testImuFactor.cpp
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@ -755,15 +755,27 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)), const Pose3 body_P_sensor(Rot3::Expmap(Vector3(0, 0.10, 0.10)),
Point3(1, 0, 0)); Point3(1, 0, 0));
ImuFactor::PreintegratedMeasurements pre_int_data( ImuFactor::PreintegratedMeasurements pim(
imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)),
kMeasuredAccCovariance, kMeasuredOmegaCovariance, kMeasuredAccCovariance, kMeasuredOmegaCovariance,
kIntegrationErrorCovariance); kIntegrationErrorCovariance);
pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
Matrix expected(9,9);
expected <<
0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0290687976, 0.0,//
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.03;
EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
// Create factor // Create factor
ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity,
kNonZeroOmegaCoriolis); kNonZeroOmegaCoriolis);
Values values; Values values;
@ -864,16 +876,29 @@ TEST(ImuFactor, PredictArbitrary) {
Vector3 measuredAcc(0.1, 0.2, -9.81); Vector3 measuredAcc(0.1, 0.2, -9.81);
double deltaT = 0.001; double deltaT = 0.001;
ImuFactor::PreintegratedMeasurements pre_int_data( ImuFactor::PreintegratedMeasurements pim(
imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)), imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)),
kMeasuredAccCovariance, kMeasuredOmegaCovariance, kMeasuredAccCovariance, kMeasuredOmegaCovariance,
kIntegrationErrorCovariance, true); kIntegrationErrorCovariance, true);
for (int i = 0; i < 1000; ++i) for (int i = 0; i < 1000; ++i)
pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT); pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
Matrix expected(9,9);
expected << //
0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, -0.0144839494, -0.0454268484, 0.00489577218,//
0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, 0.044978128, -0.0149428917, 0.00839301168, //
-0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, 0.0100471195, 0.00609093775, 0.000448720395, //
0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, -0.0409843415, -0.13554868, 0.00879031682, //
0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, 0.134423822, -0.0471183681, 0.0162199769, //
-0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764, 0.0383280513, 0.0247643646, 0.00112485862,//
-0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, 0.0299999995, 0.0, 0.0, //
-0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, 0.0, 0.0299999995, 0.0, //
0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, 0.0, 0.0, 0.0299999995;
EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
// Create factor // Create factor
ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, kGravity, ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravity,
kZeroOmegaCoriolis); kZeroOmegaCoriolis);
// Predict // Predict