299 lines
13 KiB
C++
299 lines
13 KiB
C++
/* ----------------------------------------------------------------------------
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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 testImuFactor.cpp
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* @brief Unit test for ImuFactor
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* @author Luca Carlone, Stephen Williams, Richard Roberts
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*/
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#include <gtsam_unstable/slam/ImuFactor.h>
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#include <gtsam_unstable/slam/CombinedImuFactor.h>
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#include <gtsam/navigation/EquivInertialNavFactor_GlobalVel.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/navigation/ImuBias.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/base/LieVector.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/bind.hpp>
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#include <list>
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using namespace std;
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using namespace gtsam;
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::V;
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using symbol_shorthand::B;
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/* ************************************************************************* */
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namespace {
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Vector callEvaluateError(const ImuFactor& factor,
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const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
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const imuBias::ConstantBias& bias)
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{
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return factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias);
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}
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Rot3 evaluateRotationError(const ImuFactor& factor,
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const Pose3& pose_i, const LieVector& vel_i, const Pose3& pose_j, const LieVector& vel_j,
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const imuBias::ConstantBias& bias)
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{
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return Rot3::Expmap(factor.evaluateError(pose_i, vel_i, pose_j, vel_j, bias).tail(3) ) ;
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}
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ImuFactor::PreintegratedMeasurements evaluatePreintegratedMeasurements(
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const imuBias::ConstantBias& bias,
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const list<Vector3>& measuredAccs,
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const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3(0.0,0.0,0.0)
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)
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{
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ImuFactor::PreintegratedMeasurements result(bias, Matrix3::Identity(),
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Matrix3::Identity(), Matrix3::Identity());
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list<Vector3>::const_iterator itAcc = measuredAccs.begin();
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list<Vector3>::const_iterator itOmega = measuredOmegas.begin();
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list<double>::const_iterator itDeltaT = deltaTs.begin();
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for( ; itAcc != measuredAccs.end(); ++itAcc, ++itOmega, ++itDeltaT) {
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result.integrateMeasurement(*itAcc, *itOmega, *itDeltaT);
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}
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return result;
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}
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Vector3 evaluatePreintegratedMeasurementsPosition(
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const imuBias::ConstantBias& bias,
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const list<Vector3>& measuredAccs,
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const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3(0.0,0.0,0.0) )
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{
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return evaluatePreintegratedMeasurements(bias,
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measuredAccs, measuredOmegas, deltaTs, initialRotationRate).deltaPij;
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}
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Vector3 evaluatePreintegratedMeasurementsVelocity(
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const imuBias::ConstantBias& bias,
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const list<Vector3>& measuredAccs,
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const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3(0.0,0.0,0.0) )
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{
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return evaluatePreintegratedMeasurements(bias,
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measuredAccs, measuredOmegas, deltaTs).deltaVij;
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}
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Rot3 evaluatePreintegratedMeasurementsRotation(
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const imuBias::ConstantBias& bias,
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const list<Vector3>& measuredAccs,
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const list<Vector3>& measuredOmegas,
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const list<double>& deltaTs,
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const Vector3& initialRotationRate = Vector3(0.0,0.0,0.0) )
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{
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return evaluatePreintegratedMeasurements(bias,
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measuredAccs, measuredOmegas, deltaTs).deltaRij;
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}
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Rot3 evaluateRotation(const Vector3 measuredOmega, const Vector3 biasOmega, const double deltaT)
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{
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return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
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}
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Vector3 evaluateLogRotation(const Vector3 thetahat, const Vector3 deltatheta)
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{
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return Rot3::Logmap( Rot3::Expmap(thetahat).compose( Rot3::Expmap(deltatheta) ) );
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}
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}
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/* ************************************************************************* */
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TEST( CombinedImuFactor, PreintegratedMeasurements )
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{
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cout << "++++++++++++++++++++++++++++++ PreintegratedMeasurements +++++++++++++++++++++++++++++++++++++++ " << endl;
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// Linearization point
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imuBias::ConstantBias bias(Vector3(0,0,0), Vector3(0,0,0)); ///< Current estimate of acceleration and angular rate biases
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// Measurements
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Vector3 measuredAcc(0.1, 0.0, 0.0);
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Vector3 measuredOmega(M_PI/100.0, 0.0, 0.0);
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double deltaT = 0.5;
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double tol = 1e-6;
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// Actual preintegrated values
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ImuFactor::PreintegratedMeasurements expected1(bias, Matrix3::Zero(),
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Matrix3::Zero(), Matrix3::Zero());
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expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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CombinedImuFactor::CombinedPreintegratedMeasurements actual1(bias,
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Matrix3::Zero(), Matrix3::Zero(), Matrix3::Zero(),
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Matrix3::Zero(), Matrix3::Zero(), Matrix::Zero(6,6));
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// const imuBias::ConstantBias& bias, ///< Current estimate of acceleration and rotation rate biases
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// const Matrix3& measuredAccCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& measuredOmegaCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& integrationErrorCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& biasAccCovariance, ///< Covariance matrix of biasAcc (random walk describing BIAS evolution)
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// const Matrix3& biasOmegaCovariance, ///< Covariance matrix of biasOmega (random walk describing BIAS evolution)
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// const Matrix& biasAccOmegaInit ///< Covariance of biasAcc & biasOmega when preintegrating measurements
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actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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EXPECT(assert_equal(Vector(expected1.deltaPij), Vector(actual1.deltaPij), tol));
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EXPECT(assert_equal(Vector(expected1.deltaVij), Vector(actual1.deltaVij), tol));
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EXPECT(assert_equal(expected1.deltaRij, actual1.deltaRij, tol));
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DOUBLES_EQUAL(expected1.deltaTij, actual1.deltaTij, tol);
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}
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/* ************************************************************************* */
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TEST( CombinedImuFactor, ErrorWithBiases )
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{
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cout << "++++++++++++++++++++++++++++++ ErrorWithBiases +++++++++++++++++++++++++++++++++++++++ " << endl;
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imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
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imuBias::ConstantBias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
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Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI/4.0)), Point3(5.0, 1.0, -50.0));
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LieVector v1(3, 0.5, 0.0, 0.0);
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Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI/4.0 + M_PI/10.0)), Point3(5.5, 1.0, -50.0));
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LieVector v2(3, 0.5, 0.0, 0.0);
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// Measurements
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Vector3 gravity; gravity << 0, 0, 9.81;
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Vector3 omegaCoriolis; omegaCoriolis << 0, 0.1, 0.1;
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Vector3 measuredOmega; measuredOmega << 0, 0, M_PI/10.0+0.3;
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Vector3 measuredAcc = x1.rotation().unrotate(-Point3(gravity)).vector() + Vector3(0.2,0.0,0.0);
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double deltaT = 1.0;
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double tol = 1e-6;
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// const imuBias::ConstantBias& bias, ///< Current estimate of acceleration and rotation rate biases
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// const Matrix3& measuredAccCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& measuredOmegaCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& integrationErrorCovariance, ///< Covariance matrix of measuredAcc
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// const Matrix3& biasAccCovariance, ///< Covariance matrix of biasAcc (random walk describing BIAS evolution)
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// const Matrix3& biasOmegaCovariance, ///< Covariance matrix of biasOmega (random walk describing BIAS evolution)
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// const Matrix& biasAccOmegaInit ///< Covariance of biasAcc & biasOmega when preintegrating measurements
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Matrix I6x6(6,6);
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I6x6 = Matrix::Identity(6,6);
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ImuFactor::PreintegratedMeasurements pre_int_data(imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)),
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Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity());
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pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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CombinedImuFactor::CombinedPreintegratedMeasurements Combined_pre_int_data(
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imuBias::ConstantBias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)),
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Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), Matrix3::Identity(), 2 * Matrix3::Identity(), I6x6 );
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Combined_pre_int_data.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
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// Create factor
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noiseModel::Gaussian::shared_ptr model = noiseModel::Gaussian::Covariance(pre_int_data.PreintMeasCov);
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ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pre_int_data, gravity, omegaCoriolis, model);
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noiseModel::Gaussian::shared_ptr Combinedmodel = noiseModel::Gaussian::Covariance(Combined_pre_int_data.PreintMeasCov);
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CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), Combined_pre_int_data, gravity, omegaCoriolis, Combinedmodel);
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Vector errorExpected = factor.evaluateError(x1, v1, x2, v2, bias);
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Vector errorActual = Combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2);
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EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
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// Expected Jacobians
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Matrix H1e, H2e, H3e, H4e, H5e;
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(void) factor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
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// Actual Jacobians
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Matrix H1a, H2a, H3a, H4a, H5a, H6a;
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(void) Combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a, H3a, H4a, H5a, H6a);
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EXPECT(assert_equal(H1e, H1a.topRows(9)));
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EXPECT(assert_equal(H2e, H2a.topRows(9)));
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EXPECT(assert_equal(H3e, H3a.topRows(9)));
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EXPECT(assert_equal(H4e, H4a.topRows(9)));
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EXPECT(assert_equal(H5e, H5a.topRows(9)));
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}
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/* ************************************************************************* */
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TEST( CombinedImuFactor, FirstOrderPreIntegratedMeasurements )
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{
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cout << "++++++++++++++++++++++++++++++ FirstOrderPreIntegratedMeasurements +++++++++++++++++++++++++++++++++++++++ " << endl;
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// Linearization point
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imuBias::ConstantBias bias; ///< Current estimate of acceleration and rotation rate biases
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Pose3 body_P_sensor(Rot3::Expmap(Vector3(0,0.1,0.1)), Point3(1, 0, 1));
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// Measurements
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list<Vector3> measuredAccs, measuredOmegas;
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list<double> deltaTs;
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measuredAccs.push_back(Vector3(0.1, 0.0, 0.0));
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measuredOmegas.push_back(Vector3(M_PI/100.0, 0.0, 0.0));
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deltaTs.push_back(0.01);
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measuredAccs.push_back(Vector3(0.1, 0.0, 0.0));
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measuredOmegas.push_back(Vector3(M_PI/100.0, 0.0, 0.0));
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deltaTs.push_back(0.01);
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for(int i=1;i<100;i++)
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{
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measuredAccs.push_back(Vector3(0.05, 0.09, 0.01));
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measuredOmegas.push_back(Vector3(M_PI/100.0, M_PI/300.0, 2*M_PI/100.0));
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deltaTs.push_back(0.01);
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}
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// Actual preintegrated values
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ImuFactor::PreintegratedMeasurements preintegrated =
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evaluatePreintegratedMeasurements(bias, measuredAccs, measuredOmegas, deltaTs, Vector3(M_PI/100.0, 0.0, 0.0));
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// Compute numerical derivatives
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Matrix expectedDelPdelBias = numericalDerivative11<imuBias::ConstantBias>(
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boost::bind(&evaluatePreintegratedMeasurementsPosition, _1, measuredAccs, measuredOmegas, deltaTs, Vector3(M_PI/100.0, 0.0, 0.0)), bias);
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Matrix expectedDelPdelBiasAcc = expectedDelPdelBias.leftCols(3);
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Matrix expectedDelPdelBiasOmega = expectedDelPdelBias.rightCols(3);
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Matrix expectedDelVdelBias = numericalDerivative11<imuBias::ConstantBias>(
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boost::bind(&evaluatePreintegratedMeasurementsVelocity, _1, measuredAccs, measuredOmegas, deltaTs, Vector3(M_PI/100.0, 0.0, 0.0)), bias);
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Matrix expectedDelVdelBiasAcc = expectedDelVdelBias.leftCols(3);
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Matrix expectedDelVdelBiasOmega = expectedDelVdelBias.rightCols(3);
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Matrix expectedDelRdelBias = numericalDerivative11<Rot3,imuBias::ConstantBias>(
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boost::bind(&evaluatePreintegratedMeasurementsRotation, _1, measuredAccs, measuredOmegas, deltaTs, Vector3(M_PI/100.0, 0.0, 0.0)), bias);
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Matrix expectedDelRdelBiasAcc = expectedDelRdelBias.leftCols(3);
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Matrix expectedDelRdelBiasOmega = expectedDelRdelBias.rightCols(3);
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// Compare Jacobians
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EXPECT(assert_equal(expectedDelPdelBiasAcc, preintegrated.delPdelBiasAcc));
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EXPECT(assert_equal(expectedDelPdelBiasOmega, preintegrated.delPdelBiasOmega));
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EXPECT(assert_equal(expectedDelVdelBiasAcc, preintegrated.delVdelBiasAcc));
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EXPECT(assert_equal(expectedDelVdelBiasOmega, preintegrated.delVdelBiasOmega));
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EXPECT(assert_equal(expectedDelRdelBiasAcc, Matrix::Zero(3,3)));
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EXPECT(assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega));
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}
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#include <gtsam/linear/GaussianFactorGraph.h>
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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