Merge branch 'RSS_ImuFactor' into feature/scenarios
Conflicts: gtsam_unstable/slam/Mechanization_bRn2.cpprelease/4.3a0
Frank Dellaert
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/html/
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*.lyx~
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*.bib~
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Scenario.h
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* @brief Simple class to test navigation scenarios
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/linear/NoiseModel.h>
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#include <gtsam/geometry/Pose3.h>
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namespace gtsam {
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/**
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* Simple IMU simulator with constant twist 3D trajectory.
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* It is also assumed that gravity is magically counteracted and has no effect
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* on trajectory. Hence, a simulated IMU yields the actual body angular
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* velocity, and negative G acceleration plus the acceleration created by the
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* rotating body frame.
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*/
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class Scenario {
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public:
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/// Construct scenario with constant twist [w,v]
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Scenario(const Vector3& w, const Vector3& v,
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double imuSampleTime = 1.0 / 100.0, double gyroSigma = 0.17,
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double accSigma = 0.01)
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: twist_((Vector6() << w, v).finished()),
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imuSampleTime_(imuSampleTime),
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gyroNoiseModel_(noiseModel::Isotropic::Sigma(3, gyroSigma)),
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accNoiseModel_(noiseModel::Isotropic::Sigma(3, accSigma)) {}
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const double& imuSampleTime() const { return imuSampleTime_; }
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// NOTE(frank): hardcoded for now with Z up (gravity points in negative Z)
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// also, uses g=10 for easy debugging
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Vector3 gravity() const { return Vector3(0, 0, -10.0); }
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const noiseModel::Diagonal::shared_ptr& gyroNoiseModel() const {
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return gyroNoiseModel_;
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}
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const noiseModel::Diagonal::shared_ptr& accNoiseModel() const {
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return accNoiseModel_;
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}
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Matrix3 gyroCovariance() const { return gyroNoiseModel_->covariance(); }
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Matrix3 accCovariance() const { return accNoiseModel_->covariance(); }
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Vector3 angularVelocityInBody() const { return twist_.head<3>(); }
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Vector3 linearVelocityInBody() const { return twist_.tail<3>(); }
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/// Rotation of body in nav frame at time t
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Rot3 rotAtTime(double t) const {
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return Rot3::Expmap(angularVelocityInBody() * t);
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}
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/// Pose of body in nav frame at time t
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Pose3 pose(double t) const { return Pose3::Expmap(twist_ * t); }
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/// Velocity in nav frame at time t
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Vector3 velocity(double t) const {
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const Rot3 nRb = rotAtTime(t);
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return nRb * linearVelocityInBody();
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}
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// acceleration in nav frame
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Vector3 acceleration(double t) const {
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const Vector3 centripetalAcceleration =
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angularVelocityInBody().cross(linearVelocityInBody());
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const Rot3 nRb = rotAtTime(t);
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return nRb * centripetalAcceleration - gravity();
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}
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// acceleration in body frame frame
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Vector3 accelerationInBody(double t) const {
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const Vector3 centripetalAcceleration =
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angularVelocityInBody().cross(linearVelocityInBody());
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const Rot3 nRb = rotAtTime(t);
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return centripetalAcceleration - nRb.transpose() * gravity();
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}
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private:
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Vector6 twist_;
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double imuSampleTime_;
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noiseModel::Diagonal::shared_ptr gyroNoiseModel_, accNoiseModel_;
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};
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} // namespace gtsam
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file ScenarioRunner.h
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* @brief Simple class to test navigation scenarios
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* @author Frank Dellaert
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*/
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#pragma once
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#include <gtsam/linear/Sampler.h>
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#include <gtsam/navigation/ImuFactor.h>
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#include <gtsam/navigation/Scenario.h>
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#include <cmath>
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namespace gtsam {
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static double intNoiseVar = 0.0000001;
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static const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3;
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/// Simple class to test navigation scenarios
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class ScenarioRunner {
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public:
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ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {}
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/// Integrate measurements for T seconds into a PIM
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ImuFactor::PreintegratedMeasurements integrate(
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double T, Sampler* gyroSampler = 0, Sampler* accSampler = 0) const {
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// TODO(frank): allow non-zero
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const imuBias::ConstantBias zeroBias;
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const bool use2ndOrderIntegration = true;
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ImuFactor::PreintegratedMeasurements pim(
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zeroBias, scenario_.accCovariance(), scenario_.gyroCovariance(),
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kIntegrationErrorCovariance, use2ndOrderIntegration);
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const double dt = scenario_.imuSampleTime();
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const double sqrt_dt = std::sqrt(dt);
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const size_t nrSteps = T / dt;
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double t = 0;
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for (size_t k = 0; k < nrSteps; k++, t += dt) {
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Vector3 measuredOmega = scenario_.angularVelocityInBody();
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if (gyroSampler) measuredOmega += gyroSampler->sample() / sqrt_dt;
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Vector3 measuredAcc = scenario_.accelerationInBody(t);
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if (accSampler) measuredAcc += accSampler->sample() / sqrt_dt;
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pim.integrateMeasurement(measuredAcc, measuredOmega, dt);
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}
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return pim;
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}
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/// Predict predict given a PIM
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PoseVelocityBias predict(
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const ImuFactor::PreintegratedMeasurements& pim) const {
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// TODO(frank): allow non-zero bias, omegaCoriolis
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const imuBias::ConstantBias zeroBias;
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const Pose3 pose_i = Pose3::identity();
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const Vector3 vel_i = scenario_.velocity(0);
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const Vector3 omegaCoriolis = Vector3::Zero();
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const bool use2ndOrderCoriolis = true;
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return pim.predict(pose_i, vel_i, zeroBias, scenario_.gravity(),
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omegaCoriolis, use2ndOrderCoriolis);
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}
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/// Return pose covariance by re-arranging pim.preintMeasCov() appropriately
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Matrix6 poseCovariance(
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const ImuFactor::PreintegratedMeasurements& pim) const {
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Matrix9 cov = pim.preintMeasCov(); // _ position rotation
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Matrix6 poseCov;
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poseCov << cov.block<3, 3>(6, 6), cov.block<3, 3>(6, 3), //
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cov.block<3, 3>(3, 6), cov.block<3, 3>(3, 3);
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return poseCov;
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}
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/// Compute a Monte Carlo estimate of the PIM pose covariance using N samples
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Matrix6 estimatePoseCovariance(double T, size_t N = 1000) const {
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// Get predict prediction from ground truth measurements
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Pose3 prediction = predict(integrate(T)).pose;
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// Create two samplers for acceleration and omega noise
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Sampler gyroSampler(scenario_.gyroNoiseModel(), 10);
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Sampler accSampler(scenario_.accNoiseModel(), 29284);
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// Sample !
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Matrix samples(9, N);
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Vector6 sum = Vector6::Zero();
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for (size_t i = 0; i < N; i++) {
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Pose3 sampled = predict(integrate(T, &gyroSampler, &accSampler)).pose;
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Vector6 xi = sampled.localCoordinates(prediction);
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samples.col(i) = xi;
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sum += xi;
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}
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// Compute MC covariance
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Vector6 sampleMean = sum / N;
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Matrix6 Q;
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Q.setZero();
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for (size_t i = 0; i < N; i++) {
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Vector6 xi = samples.col(i);
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xi -= sampleMean;
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Q += xi * xi.transpose();
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}
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return Q / (N - 1);
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}
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private:
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Scenario scenario_;
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};
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} // namespace gtsam
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testScenario.cpp
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* @brief Unit test Scenario class
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* @author Frank Dellaert
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*/
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#include <gtsam/navigation/Scenario.h>
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#include <CppUnitLite/TestHarness.h>
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#include <cmath>
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using namespace std;
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using namespace gtsam;
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static const double degree = M_PI / 180.0;
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/* ************************************************************************* */
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TEST(Scenario, Forward) {
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const double v = 2; // m/s
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Scenario forward(Vector3::Zero(), Vector3(v, 0, 0));
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const Pose3 T15 = forward.pose(15);
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EXPECT(assert_equal(Vector3(0, 0, 0), T15.rotation().xyz(), 1e-9));
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EXPECT(assert_equal(Point3(30, 0, 0), T15.translation(), 1e-9));
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}
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/* ************************************************************************* */
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TEST(Scenario, Circle) {
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// Forward velocity 2m/s, angular velocity 6 degree/sec around Z
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const double v = 2, w = 6 * degree;
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Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0));
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// R = v/w, so test if circle is of right size
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const double R = v / w;
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const Pose3 T15 = circle.pose(15);
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EXPECT(assert_equal(Vector3(0, 0, 90 * degree), T15.rotation().xyz(), 1e-9));
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EXPECT(assert_equal(Point3(R, R, 0), T15.translation(), 1e-9));
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}
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/* ************************************************************************* */
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TEST(Scenario, Loop) {
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// Forward velocity 2m/s
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// Pitch up with angular velocity 6 degree/sec (negative in FLU)
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const double v = 2, w = 6 * degree;
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Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0));
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// R = v/w, so test if loop crests at 2*R
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const double R = v / w;
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const Pose3 T30 = loop.pose(30);
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EXPECT(assert_equal(Vector3(-M_PI, 0, -M_PI), T30.rotation().xyz(), 1e-9));
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EXPECT(assert_equal(Point3(0, 0, 2 * R), T30.translation(), 1e-9));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testScenarioRunner.cpp
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* @brief test ImuFacor with ScenarioRunner class
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* @author Frank Dellaert
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*/
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#include <gtsam/navigation/ScenarioRunner.h>
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#include <CppUnitLite/TestHarness.h>
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#include <cmath>
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using namespace std;
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using namespace gtsam;
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static const double degree = M_PI / 180.0;
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/* ************************************************************************* */
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TEST(ScenarioRunner, Forward) {
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const double v = 2; // m/s
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Scenario forward(Vector3::Zero(), Vector3(v, 0, 0), 1e-2, 0.000001, 1);
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ScenarioRunner runner(forward);
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const double T = 1; // seconds
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ImuFactor::PreintegratedMeasurements pim = runner.integrate(T);
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EXPECT(assert_equal(forward.pose(T), runner.predict(pim).pose, 1e-9));
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Matrix6 estimatedCov = runner.estimatePoseCovariance(T);
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EXPECT(assert_equal(estimatedCov, runner.poseCovariance(pim), 1e-9));
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}
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/* ************************************************************************* */
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TEST(ScenarioRunner, Circle) {
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// Forward velocity 2m/s, angular velocity 6 degree/sec
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const double v = 2, w = 6 * degree;
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Scenario circle(Vector3(0, 0, w), Vector3(v, 0, 0));
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ScenarioRunner runner(circle);
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const double T = 15; // seconds
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ImuFactor::PreintegratedMeasurements pim = runner.integrate(T);
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EXPECT(assert_equal(circle.pose(T), runner.predict(pim).pose, 0.1));
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}
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/* ************************************************************************* */
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TEST(ScenarioRunner, Loop) {
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// Forward velocity 2m/s
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// Pitch up with angular velocity 6 degree/sec (negative in FLU)
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const double v = 2, w = 6 * degree;
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Scenario loop(Vector3(0, -w, 0), Vector3(v, 0, 0));
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ScenarioRunner runner(loop);
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const double T = 30; // seconds
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ImuFactor::PreintegratedMeasurements pim = runner.integrate(T);
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EXPECT(assert_equal(loop.pose(T), runner.predict(pim).pose, 0.1));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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