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fixed imu factor serialization, add unit test

release/4.3a0
Jing Dong 2016-01-13 21:33:41 -05:00
parent 6ab909a92c
commit c3edee1e2d
5 changed files with 66 additions and 13 deletions
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1
gtsam/navigation/ImuBias.h
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@ -201,7 +201,6 @@ private:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & boost::serialization::make_nvp("imuBias::ConstantBias", *this);
ar & BOOST_SERIALIZATION_NVP(biasAcc_);
ar & BOOST_SERIALIZATION_NVP(biasGyro_);
}

8
gtsam/navigation/ImuFactor.h
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@ -128,8 +128,9 @@ private:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegrationBase);
ar & BOOST_SERIALIZATION_NVP(preintMeasCov_);
ar & bs::make_nvp("preintMeasCov_", bs::make_array(preintMeasCov_.data(), preintMeasCov_.size()));
}
};
@ -167,7 +168,7 @@ public:
#endif
/** Default constructor - only use for serialization */
ImuFactor();
ImuFactor() {}
/**
* Constructor
@ -241,4 +242,7 @@ private:
};
// class ImuFactor
/// traits
template<> struct traits<ImuFactor> : public Testable<ImuFactor> {};
} /// namespace gtsam

3
gtsam/navigation/PreintegratedRotation.h
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@ -52,7 +52,8 @@ public:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(gyroscopeCovariance);
namespace bs = ::boost::serialization;
ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size()));
ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
}

21
gtsam/navigation/PreintegrationBase.h
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@ -84,15 +84,17 @@ public:
protected:
/// Default constructor for serialization only: uninitialized!
Params();
Params() {}
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(PreintegratedRotation::Params);
ar & BOOST_SERIALIZATION_NVP(accelerometerCovariance);
ar & BOOST_SERIALIZATION_NVP(integrationCovariance);
namespace bs = ::boost::serialization;
ar & boost::serialization::make_nvp("PreintegratedRotation_Params",
boost::serialization::base_object<PreintegratedRotation::Params>(*this));
ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size()));
ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size()));
ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);
ar & BOOST_SERIALIZATION_NVP(n_gravity);
}
@ -246,15 +248,16 @@ private:
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
namespace bs = ::boost::serialization;
ar & BOOST_SERIALIZATION_NVP(p_);
ar & BOOST_SERIALIZATION_NVP(deltaTij_);
ar & BOOST_SERIALIZATION_NVP(deltaXij_);
ar & BOOST_SERIALIZATION_NVP(biasHat_);
ar & BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
ar & BOOST_SERIALIZATION_NVP(delPdelBiasAcc_);
ar & BOOST_SERIALIZATION_NVP(delPdelBiasOmega_);
ar & BOOST_SERIALIZATION_NVP(delVdelBiasAcc_);
ar & BOOST_SERIALIZATION_NVP(delVdelBiasOmega_);
ar & bs::make_nvp("delRdelBiasOmega_", bs::make_array(delRdelBiasOmega_.data(), delRdelBiasOmega_.size()));
ar & bs::make_nvp("delPdelBiasAcc_", bs::make_array(delPdelBiasAcc_.data(), delPdelBiasAcc_.size()));
ar & bs::make_nvp("delPdelBiasOmega_", bs::make_array(delPdelBiasOmega_.data(), delPdelBiasOmega_.size()));
ar & bs::make_nvp("delVdelBiasAcc_", bs::make_array(delVdelBiasAcc_.data(), delVdelBiasAcc_.size()));
ar & bs::make_nvp("delVdelBiasOmega_", bs::make_array(delVdelBiasOmega_.data(), delVdelBiasOmega_.size()));
}
};

46
gtsam/navigation/tests/testImuFactor.cpp
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@ -1010,6 +1010,52 @@ TEST(ImuFactor, bodyPSensorWithBias) {
EXPECT(assert_equal(biasExpected, biasActual, 1e-3));
}
/* ************************************************************************** */
#include <gtsam/base/serializationTestHelpers.h>
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
TEST(ImuFactor, serialization) {
using namespace gtsam::serializationTestHelpers;
Vector3 n_gravity(0, 0, -9.81);
Pose3 body_P_sensor(Rot3::ypr(0, 0, M_PI), Point3());
Matrix3 accCov = 1e-7 * I_3x3;
Matrix3 gyroCov = 1e-8 * I_3x3;
Matrix3 integrationCov = 1e-9 * I_3x3;
double deltaT = 0.005;
imuBias::ConstantBias priorBias(Vector3(0, 0, 0), Vector3(0, 0.01, 0)); // Biases (acc, rot)
ImuFactor::PreintegratedMeasurements pim =
ImuFactor::PreintegratedMeasurements(priorBias, accCov, gyroCov,
integrationCov, true);
// measurements are needed for non-inf noise model, otherwise will throw err when deserialize
// Sensor frame is z-down
// Gyroscope measurement is the angular velocity of sensor w.r.t nav frame in sensor frame
Vector3 measuredOmega(0, 0.01, 0);
// Acc measurement is acceleration of sensor in the sensor frame, when stationary,
// table exerts an equal and opposite force w.r.t gravity
Vector3 measuredAcc(0, 0, -9.81);
for (int j = 0; j < 200; ++j)
pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT,
body_P_sensor);
ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim);
EXPECT(equalsObj(factor));
EXPECT(equalsXML(factor));
EXPECT(equalsBinary(factor));
}
/* ************************************************************************* */
int main() {
TestResult tr;