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Working on IMUKittiExample script

release/4.3a0
Richard Roberts 2013-07-31 15:25:06 +00:00
parent 90cf73d4a7
commit fc79a13932
1 changed files with 46 additions and 5 deletions
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51
matlab/gtsam_examples/IMUKittiExample.m
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@ -1,12 +1,53 @@
close all
clc
%close all
%clc
import gtsam.*;
IMU_data = dmlread('IMU.txt');
VO_data = dmlread('VO.txt');
GPS_data = dmlread('GPS.txt');
%% Read metadata and compute relative sensor pose transforms
IMU_metadata = importdata('KittiEquivBiasedImu_metadata.txt');
IMU_metadata = cell2struct(num2cell(IMU_metadata.data), IMU_metadata.colheaders, 2);
IMUinBody = Pose3.Expmap([
IMU_metadata.BodyPtx; IMU_metadata.BodyPty; IMU_metadata.BodyPtz;
IMU_metadata.BodyPrx; IMU_metadata.BodyPry; IMU_metadata.BodyPrz; ]);
VO_metadata = importdata('KittiRelativePose_metadata.txt');
VO_metadata = cell2struct(num2cell(VO_metadata.data), VO_metadata.colheaders, 2);
VOinBody = Pose3.Expmap([
VO_metadata.BodyPtx; VO_metadata.BodyPty; VO_metadata.BodyPtz;
VO_metadata.BodyPrx; VO_metadata.BodyPry; VO_metadata.BodyPrz; ]);
GPS_metadata = importdata('KittiGps_metadata.txt');
GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2);
GPSinBody = Pose3.Expmap([
GPS_metadata.BodyPtx; GPS_metadata.BodyPty; GPS_metadata.BodyPtz;
GPS_metadata.BodyPrx; GPS_metadata.BodyPry; GPS_metadata.BodyPrz; ]);
VOinIMU = IMUinBody.inverse().compose(VOinBody);
GPSinIMU = IMUinBody.inverse().compose(GPSinBody);
%% Read data and change coordinate frame of GPS and VO measurements to IMU frame
IMU_data = importdata('KittiEquivBiasedImu.txt');
IMU_data = cell2struct(num2cell(IMU_data.data), IMU_data.colheaders, 2);
imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_data.accelZ]' [IMU_data.omegaX]' [IMU_data.omegaY]' [IMU_data.omegaZ]' ], 2), 'UniformOutput', false);
[IMU_data.acc_omega] = deal(imum{:});
IMU_data = rmfield(IMU_data, { 'accelX' 'accelY' 'accelZ' 'omegaX' 'omegaY' 'omegaZ' });
clear imum
VO_data = importdata('KittiRelativePose.txt');
VO_data = cell2struct(num2cell(VO_data.data), VO_data.colheaders, 2);
% Merge relative pose fields and convert to Pose3
logposes = [ [VO_data.dtx]' [VO_data.dty]' [VO_data.dtz]' [VO_data.drx]' [VO_data.dry]' [VO_data.drz]' ];
logposes = num2cell(logposes, 2);
relposes = arrayfun(@(x) {gtsam.Pose3.Expmap(x{1}')}, logposes);
% TODO: convert to IMU frame %relposes = arrayfun(
[VO_data.RelativePose] = deal(relposes{:});
VO_data = rmfield(VO_data, { 'dtx' 'dty' 'dtz' 'drx' 'dry' 'drz' });
clear logposes relposes
GPS_data = importdata('KittiGps.txt');
GPS_data = cell2struct(num2cell(GPS_data.data), GPS_data.colheaders, 2);
%%
SummaryTemplate = gtsam.ImuFactorPreintegratedMeasurements( ...
gtsam.imuBias.ConstantBias([0;0;0], [0;0;0]), ...
1e-3 * eye(3), 1e-3 * eye(3), 1e-3 * eye(3));