324 lines
12 KiB
C++
324 lines
12 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file testCombinedImuFactor.cpp
|
|
* @brief Unit test for Lupton-style combined IMU factor
|
|
* @author Luca Carlone
|
|
* @author Frank Dellaert
|
|
* @author Richard Roberts
|
|
* @author Stephen Williams
|
|
* @author Varun Agrawal
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <gtsam/base/TestableAssertions.h>
|
|
#include <gtsam/base/numericalDerivative.h>
|
|
#include <gtsam/geometry/Pose3.h>
|
|
#include <gtsam/inference/Symbol.h>
|
|
#include <gtsam/navigation/CombinedImuFactor.h>
|
|
#include <gtsam/navigation/ImuBias.h>
|
|
#include <gtsam/navigation/ImuFactor.h>
|
|
#include <gtsam/navigation/ScenarioRunner.h>
|
|
#include <gtsam/nonlinear/Values.h>
|
|
|
|
#include <list>
|
|
|
|
#include "imuFactorTesting.h"
|
|
|
|
namespace testing {
|
|
// Create default parameters with Z-down and above noise parameters
|
|
static boost::shared_ptr<PreintegratedCombinedMeasurements::Params> Params() {
|
|
auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(kGravity);
|
|
p->gyroscopeCovariance = kGyroSigma * kGyroSigma * I_3x3;
|
|
p->accelerometerCovariance = kAccelSigma * kAccelSigma * I_3x3;
|
|
p->integrationCovariance = 0.0001 * I_3x3;
|
|
p->biasAccCovariance = Z_3x3;
|
|
p->biasOmegaCovariance = Z_3x3;
|
|
p->biasAccOmegaInit = Z_6x6;
|
|
return p;
|
|
}
|
|
} // namespace testing
|
|
|
|
/* ************************************************************************* */
|
|
TEST(CombinedImuFactor, PreintegratedMeasurements ) {
|
|
// Linearization point
|
|
Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); ///< Current estimate of acceleration and angular rate biases
|
|
|
|
// Measurements
|
|
Vector3 measuredAcc(0.1, 0.0, 0.0);
|
|
Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
|
|
double deltaT = 0.5;
|
|
double tol = 1e-6;
|
|
|
|
auto p = testing::Params();
|
|
|
|
// Actual preintegrated values
|
|
PreintegratedImuMeasurements expected1(p, bias);
|
|
expected1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
PreintegratedCombinedMeasurements actual1(p, bias);
|
|
|
|
actual1.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
EXPECT(assert_equal(Vector(expected1.deltaPij()), actual1.deltaPij(), tol));
|
|
EXPECT(assert_equal(Vector(expected1.deltaVij()), actual1.deltaVij(), tol));
|
|
EXPECT(assert_equal(expected1.deltaRij(), actual1.deltaRij(), tol));
|
|
DOUBLES_EQUAL(expected1.deltaTij(), actual1.deltaTij(), tol);
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
TEST(CombinedImuFactor, ErrorWithBiases ) {
|
|
Bias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
|
|
Bias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
|
|
Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0)), Point3(5.0, 1.0, -50.0));
|
|
Vector3 v1(0.5, 0.0, 0.0);
|
|
Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI / 4.0 + M_PI / 10.0)),
|
|
Point3(5.5, 1.0, -50.0));
|
|
Vector3 v2(0.5, 0.0, 0.0);
|
|
|
|
auto p = testing::Params();
|
|
p->omegaCoriolis = Vector3(0,0.1,0.1);
|
|
PreintegratedImuMeasurements pim(
|
|
p, Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
|
|
|
|
// Measurements
|
|
Vector3 measuredOmega;
|
|
measuredOmega << 0, 0, M_PI / 10.0 + 0.3;
|
|
Vector3 measuredAcc =
|
|
x1.rotation().unrotate(-p->n_gravity) + Vector3(0.2, 0.0, 0.0);
|
|
double deltaT = 1.0;
|
|
double tol = 1e-6;
|
|
|
|
pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
PreintegratedCombinedMeasurements combined_pim(p,
|
|
Bias(Vector3(0.2, 0.0, 0.0), Vector3(0.0, 0.0, 0.0)));
|
|
|
|
combined_pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
// Create factor
|
|
ImuFactor imuFactor(X(1), V(1), X(2), V(2), B(1), pim);
|
|
|
|
noiseModel::Gaussian::shared_ptr Combinedmodel =
|
|
noiseModel::Gaussian::Covariance(combined_pim.preintMeasCov());
|
|
CombinedImuFactor combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2),
|
|
combined_pim);
|
|
|
|
Vector errorExpected = imuFactor.evaluateError(x1, v1, x2, v2, bias);
|
|
Vector errorActual = combinedfactor.evaluateError(x1, v1, x2, v2, bias,
|
|
bias2);
|
|
EXPECT(assert_equal(errorExpected, errorActual.head(9), tol));
|
|
|
|
// Expected Jacobians
|
|
Matrix H1e, H2e, H3e, H4e, H5e;
|
|
(void) imuFactor.evaluateError(x1, v1, x2, v2, bias, H1e, H2e, H3e, H4e, H5e);
|
|
|
|
// Actual Jacobians
|
|
Matrix H1a, H2a, H3a, H4a, H5a, H6a;
|
|
(void) combinedfactor.evaluateError(x1, v1, x2, v2, bias, bias2, H1a, H2a,
|
|
H3a, H4a, H5a, H6a);
|
|
|
|
EXPECT(assert_equal(H1e, H1a.topRows(9)));
|
|
EXPECT(assert_equal(H2e, H2a.topRows(9)));
|
|
EXPECT(assert_equal(H3e, H3a.topRows(9)));
|
|
EXPECT(assert_equal(H4e, H4a.topRows(9)));
|
|
EXPECT(assert_equal(H5e, H5a.topRows(9)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
#ifdef GTSAM_TANGENT_PREINTEGRATION
|
|
TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
|
|
auto p = testing::Params();
|
|
testing::SomeMeasurements measurements;
|
|
|
|
auto preintegrated = [=](const Vector3& a, const Vector3& w) {
|
|
PreintegratedImuMeasurements pim(p, Bias(a, w));
|
|
testing::integrateMeasurements(measurements, &pim);
|
|
return pim.preintegrated();
|
|
};
|
|
|
|
// Actual pre-integrated values
|
|
PreintegratedCombinedMeasurements pim(p);
|
|
testing::integrateMeasurements(measurements, &pim);
|
|
|
|
EXPECT(assert_equal(numericalDerivative21<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
|
|
pim.preintegrated_H_biasAcc()));
|
|
EXPECT(assert_equal(numericalDerivative22<Vector9, Vector3, Vector3>(preintegrated, Z_3x1, Z_3x1),
|
|
pim.preintegrated_H_biasOmega(), 1e-3));
|
|
}
|
|
#endif
|
|
|
|
/* ************************************************************************* */
|
|
TEST(CombinedImuFactor, PredictPositionAndVelocity) {
|
|
const Bias bias(Vector3(0, 0.1, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot)
|
|
|
|
auto p = testing::Params();
|
|
|
|
// Measurements
|
|
const Vector3 measuredOmega(0, 0.1, 0); // M_PI/10.0+0.3;
|
|
const Vector3 measuredAcc(0, 1.1, -kGravity);
|
|
const double deltaT = 0.01;
|
|
|
|
PreintegratedCombinedMeasurements pim(p, bias);
|
|
|
|
for (int i = 0; i < 100; ++i)
|
|
pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
// Create factor
|
|
const noiseModel::Gaussian::shared_ptr combinedmodel =
|
|
noiseModel::Gaussian::Covariance(pim.preintMeasCov());
|
|
const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
|
|
|
|
// Predict
|
|
const NavState actual = pim.predict(NavState(), bias);
|
|
const Pose3 expectedPose(Rot3(), Point3(0, 0.5, 0));
|
|
const Vector3 expectedVelocity(0, 1, 0);
|
|
EXPECT(assert_equal(expectedPose, actual.pose()));
|
|
EXPECT(assert_equal(Vector(expectedVelocity), Vector(actual.velocity())));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(CombinedImuFactor, PredictRotation) {
|
|
const Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
|
|
auto p = testing::Params();
|
|
PreintegratedCombinedMeasurements pim(p, bias);
|
|
const Vector3 measuredAcc = - kGravityAlongNavZDown;
|
|
const Vector3 measuredOmega(0, 0, M_PI / 10.0);
|
|
const double deltaT = 0.01;
|
|
const double tol = 1e-4;
|
|
for (int i = 0; i < 100; ++i)
|
|
pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
|
|
|
|
// Predict
|
|
const Pose3 x(Rot3::Ypr(0, 0, 0), Point3(0, 0, 0)), x2;
|
|
const Vector3 v(0, 0, 0), v2;
|
|
const NavState actual = pim.predict(NavState(x, v), bias);
|
|
const Pose3 expectedPose(Rot3::Ypr(M_PI / 10, 0, 0), Point3(0, 0, 0));
|
|
EXPECT(assert_equal(expectedPose, actual.pose(), tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// Testing covariance to check if all the jacobians are accounted for.
|
|
TEST(CombinedImuFactor, CheckCovariance) {
|
|
auto params = PreintegrationCombinedParams::MakeSharedU(9.81);
|
|
|
|
params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
|
|
params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
|
|
params->setIntegrationCovariance(pow(0.0, 2) * I_3x3);
|
|
params->setOmegaCoriolis(Vector3::Zero());
|
|
|
|
imuBias::ConstantBias currentBias;
|
|
|
|
PreintegratedCombinedMeasurements actual(params, currentBias);
|
|
|
|
// Measurements
|
|
Vector3 measuredAcc(0.1577, -0.8251, 9.6111);
|
|
Vector3 measuredOmega(-0.0210, 0.0311, 0.0145);
|
|
double deltaT = 0.01;
|
|
|
|
actual.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
|
|
|
|
Eigen::Matrix<double, 15, 15> expected;
|
|
expected << 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 2.50025e-07, 0, 0, 5.0005e-05, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 5.0005e-05, 0, 0, 0.010001, 0, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, //
|
|
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0;
|
|
|
|
// regression
|
|
EXPECT(assert_equal(expected, actual.preintMeasCov()));
|
|
}
|
|
|
|
// Test that the covariance values for the ImuFactor and the CombinedImuFactor
|
|
// (top-left 9x9) are the same
|
|
TEST(CombinedImuFactor, SameCovariance) {
|
|
// IMU measurements and time delta
|
|
Vector3 accMeas(0.1577, -0.8251, 9.6111);
|
|
Vector3 omegaMeas(-0.0210, 0.0311, 0.0145);
|
|
double deltaT = 0.01;
|
|
|
|
// Assume zero bias
|
|
imuBias::ConstantBias currentBias;
|
|
|
|
// Define params for ImuFactor
|
|
auto params = PreintegrationParams::MakeSharedU();
|
|
params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
|
|
params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
|
|
params->setIntegrationCovariance(pow(0, 2) * I_3x3);
|
|
params->setOmegaCoriolis(Vector3::Zero());
|
|
|
|
// The IMU preintegration object for ImuFactor
|
|
PreintegratedImuMeasurements pim(params, currentBias);
|
|
pim.integrateMeasurement(accMeas, omegaMeas, deltaT);
|
|
|
|
// Define params for CombinedImuFactor
|
|
auto combined_params = PreintegrationCombinedParams::MakeSharedU();
|
|
combined_params->setAccelerometerCovariance(pow(0.01, 2) * I_3x3);
|
|
combined_params->setGyroscopeCovariance(pow(1.75e-4, 2) * I_3x3);
|
|
combined_params->setIntegrationCovariance(pow(0, 2) * I_3x3);
|
|
combined_params->setOmegaCoriolis(Vector3::Zero());
|
|
// Set bias integration covariance explicitly to zero
|
|
combined_params->setBiasAccOmegaInt(Z_6x6);
|
|
|
|
// The IMU preintegration object for CombinedImuFactor
|
|
PreintegratedCombinedMeasurements cpim(combined_params, currentBias);
|
|
cpim.integrateMeasurement(accMeas, omegaMeas, deltaT);
|
|
|
|
// Assert if the noise covariance
|
|
EXPECT(assert_equal(pim.preintMeasCov(),
|
|
cpim.preintMeasCov().block(0, 0, 9, 9)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(CombinedImuFactor, Accelerating) {
|
|
const double a = 0.2, v = 50;
|
|
|
|
// Set up body pointing towards y axis, and start at 10,20,0 with velocity
|
|
// going in X The body itself has Z axis pointing down
|
|
const Rot3 nRb(Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1));
|
|
const Point3 initial_position(10, 20, 0);
|
|
const Vector3 initial_velocity(v, 0, 0);
|
|
|
|
const AcceleratingScenario scenario(nRb, initial_position, initial_velocity,
|
|
Vector3(a, 0, 0));
|
|
|
|
const double T = 3.0; // seconds
|
|
|
|
CombinedScenarioRunner runner(scenario, testing::Params(), T / 10);
|
|
|
|
PreintegratedCombinedMeasurements pim = runner.integrate(T);
|
|
EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
|
|
|
|
auto estimatedCov = runner.estimateCovariance(T, 100);
|
|
Eigen::Matrix<double, 15, 15> expected = pim.preintMeasCov();
|
|
EXPECT(assert_equal(estimatedCov, expected, 0.1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|