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completed GPS factors

release/4.3a0
djensen3 2014-04-23 14:45:17 -04:00
parent 2ab81ae997
commit 87f9e5bb2c
3 changed files with 18 additions and 7 deletions
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13
matlab/unstable_examples/+imuSimulator/covarianceAnalysisBetween.m
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@ -15,7 +15,7 @@ saveResults = 0;
%% Configuration %% Configuration
options.useRealData = 1; % controls whether or not to use the real data (if available) as the ground truth traj options.useRealData = 1; % controls whether or not to use the real data (if available) as the ground truth traj
options.includeBetweenFactors = 1; % if true, BetweenFactors will be added between consecutive poses options.includeBetweenFactors = 0; % if true, BetweenFactors will be added between consecutive poses
options.includeIMUFactors = 1; % if true, IMU factors will be added between consecutive states (biases, poses, velocities) options.includeIMUFactors = 1; % if true, IMU factors will be added between consecutive states (biases, poses, velocities)
options.imuFactorType = 1; % Set to 1 or 2 to use IMU type 1 or type 2 factors (will default to type 1) options.imuFactorType = 1; % Set to 1 or 2 to use IMU type 1 or type 2 factors (will default to type 1)
@ -29,7 +29,7 @@ options.includeGPSFactors = 0; % if true, GPS factors will be added as prior
options.trajectoryLength = 209; % length of the ground truth trajectory options.trajectoryLength = 209; % length of the ground truth trajectory
options.subsampleStep = 20; % number of poses to skip when using real data (to reduce computation on long trajectories) options.subsampleStep = 20; % number of poses to skip when using real data (to reduce computation on long trajectories)
numMonteCarloRuns = 2; % number of Monte Carlo runs to perform numMonteCarloRuns = 50; % number of Monte Carlo runs to perform
%% Camera metadata %% Camera metadata
K = Cal3_S2(500,500,0,640/2,480/2); % Camera calibration K = Cal3_S2(500,500,0,640/2,480/2); % Camera calibration
@ -73,6 +73,11 @@ sigma_ang = 1e-2; sigma_cart = 1e-1;
noiseVectorPose = [sigma_ang * ones(3,1); sigma_cart * ones(3,1)]; noiseVectorPose = [sigma_ang * ones(3,1); sigma_cart * ones(3,1)];
noisePose = noiseModel.Diagonal.Sigmas(noiseVectorPose); noisePose = noiseModel.Diagonal.Sigmas(noiseVectorPose);
%% GPS metadata
sigma_gps = 1e-4;
noiseVectorGPS = sigma_gps * ones(3,1);
noiseGPS = noiseModel.Diagonal.Precisions([zeros(3,1); 1/sigma_gps^2 * ones(3,1)]);
%% Set log files %% Set log files
testName = sprintf('sa-%1.2g-sc-%1.2g-sacc-%1.2g-sg-%1.2g',sigma_ang,sigma_cart,sigma_accel,sigma_gyro) testName = sprintf('sa-%1.2g-sc-%1.2g-sacc-%1.2g-sg-%1.2g',sigma_ang,sigma_cart,sigma_accel,sigma_gyro)
folderName = 'results/' folderName = 'results/'
@ -87,12 +92,14 @@ gtNoiseModels.noiseVel = noiseVel;
gtNoiseModels.noiseBias = noiseBias; gtNoiseModels.noiseBias = noiseBias;
gtNoiseModels.noisePriorPose = noisePose; gtNoiseModels.noisePriorPose = noisePose;
gtNoiseModels.noisePriorBias = noisePriorBias; gtNoiseModels.noisePriorBias = noisePriorBias;
gtNoiseModels.noiseGPS = noiseGPS;
% Set measurement noise to 0, because this is ground truth % Set measurement noise to 0, because this is ground truth
gtMeasurementNoise.poseNoiseVector = zeros(6,1); gtMeasurementNoise.poseNoiseVector = zeros(6,1);
gtMeasurementNoise.imu.accelNoiseVector = zeros(3,1); gtMeasurementNoise.imu.accelNoiseVector = zeros(3,1);
gtMeasurementNoise.imu.gyroNoiseVector = zeros(3,1); gtMeasurementNoise.imu.gyroNoiseVector = zeros(3,1);
gtMeasurementNoise.cameraPixelNoiseVector = zeros(2,1); gtMeasurementNoise.cameraPixelNoiseVector = zeros(2,1);
gtMeasurementNoise.gpsNoiseVector = zeros(3,1);
% Set IMU biases to zero % Set IMU biases to zero
metadata.imu.accelConstantBiasVector = zeros(3,1); metadata.imu.accelConstantBiasVector = zeros(3,1);
@ -133,12 +140,14 @@ monteCarloNoiseModels.noiseVel = noiseVel;
monteCarloNoiseModels.noiseBias = noiseBias; monteCarloNoiseModels.noiseBias = noiseBias;
monteCarloNoiseModels.noisePriorPose = noisePose; monteCarloNoiseModels.noisePriorPose = noisePose;
monteCarloNoiseModels.noisePriorBias = noisePriorBias; monteCarloNoiseModels.noisePriorBias = noisePriorBias;
monteCarloNoiseModels.noiseGPS = noiseGPS;
% Set measurement noise for monte carlo runs % Set measurement noise for monte carlo runs
monteCarloMeasurementNoise.poseNoiseVector = noiseVectorPose; monteCarloMeasurementNoise.poseNoiseVector = noiseVectorPose;
monteCarloMeasurementNoise.imu.accelNoiseVector = noiseVectorAccel; monteCarloMeasurementNoise.imu.accelNoiseVector = noiseVectorAccel;
monteCarloMeasurementNoise.imu.gyroNoiseVector = noiseVectorGyro; monteCarloMeasurementNoise.imu.gyroNoiseVector = noiseVectorGyro;
monteCarloMeasurementNoise.cameraPixelNoiseVector = [0; 0]; monteCarloMeasurementNoise.cameraPixelNoiseVector = [0; 0];
monteCarloMeasurementNoise.gpsNoiseVector = noiseVectorGPS;
for k=1:numMonteCarloRuns for k=1:numMonteCarloRuns
fprintf('Monte Carlo Run %d.\n', k'); fprintf('Monte Carlo Run %d.\n', k');

8
matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
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@ -147,9 +147,11 @@ for i=0:length(measurements)
%% Add GPS factors %% Add GPS factors
if options.includeGPSFactors == 1 if options.includeGPSFactors == 1
currentGPSKey = symbol('g', i); gpsPosition = measurements(i).gpsPositionVector ...
graph.add(GPSPriorFactor(currentPoseKey, measurements(i).gpsPosition, ... + measurementNoise.gpsNoiseVector .* randn(3,1);
noiseModel.Isotropic.Sigma(3, 1e-4))); graph.add(PriorFactorPose3(currentPoseKey, ...
Pose3(currentPose.rotation, Point3(gpsPosition)), ...
noiseModels.noiseGPS));
end % end of GPS factor creation end % end of GPS factor creation
end % end of else (i=0) end % end of else (i=0)

4
matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m
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@ -82,8 +82,8 @@ if options.useRealData == 1
%% gt GPS measurements %% gt GPS measurements
if options.includeGPSFactors == 1 && i > 0 if options.includeGPSFactors == 1 && i > 0
gpsPosition = imuSimulator.getPoseFromGtScenario(gtScenario,scenarioInd).translation.vector; gpsPositionVector = imuSimulator.getPoseFromGtScenario(gtScenario,scenarioInd).translation.vector;
measurements(i).gpsPosition = Point3(gpsPosition); measurements(i).gpsPositionVector = gpsPositionVector;
end end
end end