diff --git a/demos/imu_static_init.yaml b/demos/imu_static_init.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..343cc5a3a9a7d7886c9c4cf5ecc1297a692b2b26
--- /dev/null
+++ b/demos/imu_static_init.yaml
@@ -0,0 +1,12 @@
+type: "ProcessorImu" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+time_tolerance: 0.0025 # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.00001
+
+keyframe_vote:
+ voting_active: true
+ voting_aux_active: false
+ max_time_span: 1.0 # seconds
+ max_buff_length: 20000 # motion deltas
+ dist_traveled: 999 # meters
+ angle_turned: 999 # radians (1 rad approx 57 deg, approx 60 deg)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 70ad9b2240b17448306eb5579c9313d212301a70..715b11aa464d8db46a596d80b36e312cc4f51c46 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -37,6 +37,9 @@ target_link_libraries(gtest_feature_imu ${PLUGIN_NAME} ${wolf_LIBRARY})
wolf_add_gtest(gtest_factor_imu2d gtest_factor_imu2d.cpp)
target_link_libraries(gtest_factor_imu2d ${PLUGIN_NAME} ${wolf_LIBRARY})
+wolf_add_gtest(gtest_imu_static_init gtest_imu_static_init.cpp)
+target_link_libraries(gtest_imu_static_init ${PLUGIN_NAME} ${wolf_LIBRARY})
+
wolf_add_gtest(gtest_imu2d_static_init gtest_imu2d_static_init.cpp)
target_link_libraries(gtest_imu2d_static_init ${PLUGIN_NAME} ${wolf_LIBRARY})
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index e503c3625e1fa42306e2978dd4a9e54227bf9bca..6ee9f27219f9019c0533135539099b245d204bc9 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -23,6 +23,7 @@ class ProcessorImu2dStaticInitTest : public testing::Test
double mti_clock, tmp;
double dt;
bool second_frame;
+ bool third_frame;
Vector6d data;
Matrix6d data_cov;
VectorComposite x0c; // initial state composite
@@ -52,6 +53,7 @@ class ProcessorImu2dStaticInitTest : public testing::Test
// Time and data variables
second_frame = false;
+ third_frame = false;
dt = 0.01;
t0.set(0);
t = t0;
@@ -68,122 +70,9 @@ class ProcessorImu2dStaticInitTest : public testing::Test
};
-//// Input odometry data and covariance
-//Matrix6d data_cov = 0.1*Matrix6d::Identity();
-//Matrix5d delta_cov = 0.1*Matrix5d::Identity();
-//
-//// Jacobian of the bias
-//MatrixXd jacobian_bias((MatrixXd(5,3) << 1, 0, 0,
-// 0, 1, 0,
-// 0, 0, 1,
-// 1, 0, 0,
-// 0, 1, 0 ).finished());
-////preintegration bias
-//Vector3d b0_preint = Vector3d::Zero();
-//
-//// Problem and solver
-//ProblemPtr _problem_ptr_ptr = Problem::create("POV", 2);
-//SolverCeres solver(problem_ptr);
-//
-//// Two frames
-//FrameBasePtr frm0 = problem_ptr->emplaceFrame(TimeStamp(0), Vector5d::Zero());
-//FrameBasePtr frm1 = problem_ptr->emplaceFrame(TimeStamp(1), Vector5d::Zero());
-//
-//// Imu2d sensor
-//SensorBasePtr sensor = std::make_shared<SensorImu2d>( Vector3d::Zero(), ParamsSensorImu2d() ); // default params: see sensor_imu2d.h
-//
-////capture from frm1 to frm0
-//auto cap0 = CaptureBase::emplace<CaptureImu>(frm0, 0, sensor, Vector6d::Zero(), data_cov, Vector3d::Zero(), nullptr);
-//auto cap1 = CaptureBase::emplace<CaptureImu>(frm1, 1, sensor, Vector6d::Zero(), data_cov, Vector3d::Zero(), cap0);
-//
-//TEST(imu2d_static_init, check_tree)
-//{
-// ASSERT_TRUE(problem_ptr->check(0));
-//}
-//
-//
-//TEST(imu2d_static_init, solve_b0)
-//{
-// for(int i = 0; i < 50; i++){
-// // Random delta
-// Vector5d delta_biased = Vector5d::Random() * 10;
-// delta_biased(2) = pi2pi(delta_biased(2));
-//
-// // Random initial pose
-// Vector5d x0 = Vector5d::Random() * 10;
-// x0(2) = pi2pi(x0(2));
-//
-// //Random Initial bias
-// Vector3d b0 = Vector3d::Random();
-//
-// //Corrected delta
-// Vector5d delta_step = jacobian_bias*(b0-b0_preint);
-// Vector5d delta = imu2d::plus(delta_biased, delta_step);
-//
-// // x1 groundtruth
-// Vector5d x1;
-// x1 = imu2d::compose(x0, delta, 1);
-//
-// // Set states
-// frm0->setState(x0);
-// frm1->setState(x1);
-// frm0->getV()->setZero();
-// frm0->getV()->fix();
-// frm1->getV()->setZero();
-// frm1->getV()->fix();
-// cap0->getStateBlock('I')->setState(b0);
-// cap1->getStateBlock('I')->setState(b0);
-// //WOLF_INFO("states set");
-//
-// // feature & factor with delta measurement
-// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta_biased, delta_cov, b0_preint, jacobian_bias);
-// FactorBase::emplace<FactorImu2d>(fea1, fea1, cap0, nullptr, false);
-//
-// // Fix frm1, perturb frm0
-// frm0->fix();
-// cap0->unfix();
-// frm1->fix();
-// cap1->fix();
-// cap0->perturb(0.1);
-//
-// //do static init stuff on frm1
-// Eigen::VectorXd zero_motion = Eigen::VectorXd::Zero(3);
-// //WOLF_INFO("zero_motion created");
-// for (auto frm_pair = problem_ptr->getTrajectory()->begin();
-// frm_pair != problem_ptr->getTrajectory()->end();
-// frm_pair++)
-// {
-// //WOLF_INFO("entered for");
-// if (frm_pair->second == frm1)
-// break;
-// auto capture_zero = CaptureBase::emplace<CaptureVoid>(frm1, frm1->getTimeStamp(), nullptr);
-// auto feature_zero = FeatureBase::emplace<FeatureBase>(capture_zero,
-// "FeatureZeroOdom",
-// zero_motion,
-// Eigen::MatrixXd::Identity(3,3) * 0.01);
-// FactorBase::emplace<FactorRelativePose2d>(feature_zero,
-// feature_zero,
-// frm_pair->second,
-// nullptr,
-// false,
-// TOP_MOTION);
-//
-// }
-//
-// // solve
-// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
-//
-// ASSERT_POSE2d_APPROX(cap0->getStateVector(), b0, 1e-6);
-// //WOLF_INFO(cap0->getStateVector());
-//
-// // remove feature (and factor) for the next loop
-// fea1->remove();
-// }
-//}
TEST_F(ProcessorImu2dStaticInitTest, static)
{
- Vector2d pos;
// Set the origin
x0c['P'] = Vector2d(0, 0);
x0c['O'] = Vector1d(0);
@@ -191,6 +80,8 @@ TEST_F(ProcessorImu2dStaticInitTest, static)
data_cov *= 1e-3;
data << 1, 2, 3, 4, 5, 6;
+ Vector3d bias_groundtruth;
+ bias_groundtruth << data(0), data(1), data(5);
//dt = 0.0001;
auto KF0 = _problem_ptr->setPriorFix(x0c, t0, dt/2);
KF0->fix();
@@ -202,7 +93,8 @@ TEST_F(ProcessorImu2dStaticInitTest, static)
_first_frame = nullptr;
int i = 1;
- for(t = t0+dt; t <= t0 + 3 + dt/2; t+=dt){
+ int n_frames = 0;
+ for(t = t0+dt; t <= t0 + 3.1 + dt/2; t+=dt){
WOLF_INFO("Starting iteration ", i, " with timestamp ", t);
++i;
C = std::make_shared<CaptureImu>(t, _sensor_ptr, data, data_cov, Vector3d::Zero());
@@ -215,6 +107,7 @@ TEST_F(ProcessorImu2dStaticInitTest, static)
WOLF_INFO("Doing the static initialization stuff");
if (not _last_frame)
{
+ n_frames++;
_last_frame = _processor_motion->getOrigin()->getFrame();
_first_frame = _last_frame;
@@ -233,6 +126,7 @@ TEST_F(ProcessorImu2dStaticInitTest, static)
// new frame
if (_last_frame != _processor_motion->getOrigin()->getFrame())
{
+ n_frames++;
second_frame = true;
_last_frame = _processor_motion->getOrigin()->getFrame();
@@ -271,26 +165,44 @@ TEST_F(ProcessorImu2dStaticInitTest, static)
WOLF_INFO("Static initialization done");
if(_first_frame)
{
- WOLF_INFO("0 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
- WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
- WOLF_INFO_COND(second_frame, "The second frame has been created");
- WOLF_INFO("1 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
- WOLF_INFO("2 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
- WOLF_INFO("3 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
+ //WOLF_INFO("0 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
+ //WOLF_INFO_COND(second_frame, "The second frame has been created");
+ //WOLF_INFO("1 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
+ //WOLF_INFO("2 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("3 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
}
//WOLF_INFO("The current problem is:");
//_problem_ptr->print(4);
WOLF_INFO("Solving...");
std::string report = _solver->solve(SolverManager::ReportVerbosity::BRIEF);
+
+ auto state = _problem_ptr->getState();
+ auto bias_est = _sensor_ptr->getIntrinsic()->getState();
+ auto bias_preint = _processor_motion->getLast()->getCalibrationPreint();
+
WOLF_INFO("Solved");
if(_first_frame)
{
- WOLF_INFO("4 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
- WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
- WOLF_INFO_COND(second_frame, "The second frame has been created");
- WOLF_INFO("5 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
- WOLF_INFO("6 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
- WOLF_INFO("7 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
+ //WOLF_INFO("4 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
+ //WOLF_INFO_COND(second_frame, "The second frame has been created");
+ //WOLF_INFO("5 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
+ //WOLF_INFO("6 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("7 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
+ WOLF_INFO("Current frame is", _processor_motion->getLast()->id());
+ WOLF_INFO("The state is \n:", state);
+ WOLF_INFO("The estimated bias is: \n", bias_est);
+ WOLF_INFO("The preintegrated bias is: \n", bias_preint);
+ }
+ if(second_frame)
+ {
+ ASSERT_MATRIX_APPROX(state.vector("POV"), KF0->getState().vector("POV"), 1e-9);
+ ASSERT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-9);
+ }
+ if (n_frames > 2)
+ {
+ ASSERT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-9);
}
WOLF_INFO("------------------------------------------------------------------------\n");
}
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..32566857f6f38058ac09d70c1d6e4b353fcfe090
--- /dev/null
+++ b/test/gtest_imu_static_init.cpp
@@ -0,0 +1,217 @@
+#include <core/ceres_wrapper/solver_ceres.h>
+#include <core/utils/utils_gtest.h>
+#include "imu/internal/config.h"
+
+#include "imu/factor/factor_imu.h"
+#include "imu/math/imu_tools.h"
+#include "imu/sensor/sensor_imu.h"
+#include "core/capture/capture_void.h"
+#include <core/factor/factor_relative_pose_3d.h>
+
+using namespace Eigen;
+using namespace wolf;
+
+class ProcessorImuStaticInitTest : public testing::Test
+{
+
+ public: //These can be accessed in fixtures
+ wolf::ProblemPtr _problem_ptr;
+ wolf::SensorBasePtr _sensor_ptr;
+ wolf::ProcessorMotionPtr _processor_motion;
+ wolf::TimeStamp t;
+ wolf::TimeStamp t0;
+ double mti_clock, tmp;
+ double dt;
+ bool second_frame;
+ Vector6d data;
+ Matrix6d data_cov;
+ VectorComposite x0c; // initial state composite
+ VectorComposite s0c; // initial sigmas composite
+ std::shared_ptr<wolf::CaptureImu> C;
+ FrameBasePtr _first_frame;
+ FrameBasePtr _last_frame;
+ SolverCeresPtr _solver;
+
+ //a new of this will be created for each new test
+ void SetUp() override
+ {
+ WOLF_INFO("Doing setup...");
+ using namespace Eigen;
+ using std::shared_ptr;
+ using std::make_shared;
+ using std::static_pointer_cast;
+ using namespace wolf::Constants;
+
+ std::string wolf_root = _WOLF_IMU_ROOT_DIR;
+
+ // Wolf problem
+ _problem_ptr = Problem::create("POV", 3);
+ Vector7d extrinsics = (Vector7d() << 0,0,0, 0, 0,0,0).finished();
+ _sensor_ptr = _problem_ptr->installSensor("SensorImu", "Main Imu", extrinsics, wolf_root + "/demos/sensor_imu.yaml");
+ ProcessorBasePtr processor_ptr = _problem_ptr->installProcessor("ProcessorImu", "Imu pre-integrator", "Main Imu", wolf_root + "/demos/imu_static_init.yaml");
+ _processor_motion = std::static_pointer_cast<ProcessorMotion>(processor_ptr);
+
+ // Time and data variables
+ second_frame = false;
+ dt = 0.01;
+ t0.set(0);
+ t = t0;
+ data = Vector6d::Random();
+ data_cov = Matrix6d::Identity();
+ _last_frame = nullptr;
+
+ // Create one capture to store the Imu data arriving from (sensor / callback / file / etc.)
+ C = make_shared<CaptureImu>(t, _sensor_ptr, data, data_cov, Vector3d::Zero());
+
+ // Create the solver
+ _solver = make_shared<SolverCeres>(_problem_ptr);
+ }
+
+};
+
+
+TEST_F(ProcessorImuStaticInitTest, static)
+{
+ WOLF_INFO("Starting Test");
+ // Set the origin
+ x0c['P'] = Vector3d(0, 0, 0);
+ x0c['O'] = Vector4d(0, 0, 0, 1);
+ x0c['V'] = Vector3d(0, 0, 0);
+
+ data_cov *= 1e-3;
+ data << 1, 2, 3, 4, 5, 6;
+ Vector6d bias_groundtruth;
+ bias_groundtruth.head(3) = data.head(3) -wolf::gravity();
+ bias_groundtruth.tail(3) = data.tail(3);
+
+
+ //dt = 0.0001;
+ auto KF0 = _problem_ptr->setPriorFix(x0c, t0, dt/2);
+ KF0->fix();
+ _processor_motion->setOrigin(KF0);
+
+ WOLF_INFO("Data is: \n", data);
+ int size = 7;
+ _first_frame = nullptr;
+
+ int i = 1;
+ int n_frames = 0;
+ for(t = t0+dt; t <= t0 + 3 + dt/2; t+=dt){
+ WOLF_INFO("Starting iteration ", i, " with timestamp ", t);
+ ++i;
+ C = std::make_shared<CaptureImu>(t, _sensor_ptr, data, data_cov, Vector3d::Zero());
+ WOLF_INFO("Created new Capture");
+ if(second_frame){
+ //ASSERT_MATRIX_APPROX(_processor_motion->getState().vector("POV"), Vector5d::Zero(), 1e-9);
+ }
+ WOLF_INFO("Processing capture");
+ C->process();
+ WOLF_INFO("Doing the static initialization stuff");
+ if (not _last_frame)
+ {
+ n_frames++;
+ _last_frame = _processor_motion->getOrigin()->getFrame();
+ _first_frame = _last_frame;
+
+ // impose zero velocity
+ _last_frame->getV()->setZero();
+ _last_frame->getV()->fix();
+
+ // impose zero odometry
+ _processor_motion->setOdometry(_sensor_ptr->getProblem()->stateZero(_processor_motion->getStateStructure()));
+ }
+ else
+ {
+ assert(_processor_motion->getOrigin() && "SubscriberImuEnableable::callback: nullptr origin");
+ assert(_processor_motion->getOrigin()->getFrame() && "SubscriberImuEnableable::callback: nullptr origin frame");
+
+ // new frame
+ if (_last_frame != _processor_motion->getOrigin()->getFrame())
+ {
+ n_frames++;
+ _last_frame = _processor_motion->getOrigin()->getFrame();
+
+ // impose zero velocity
+ _last_frame->getV()->setZero();
+ _last_frame->getV()->fix();
+
+ // impose zero odometry
+ _processor_motion->setOdometry(_sensor_ptr->getProblem()->stateZero(_processor_motion->getStateStructure()));
+
+ // add zero displacement and rotation capture & feature & factor with all previous frames
+ assert(_sensor_ptr->getProblem());
+ Eigen::VectorXd zero_motion = Eigen::VectorXd::Zero(size);
+ zero_motion.tail<4>() = Eigen::Quaterniond::Identity().coeffs();
+ for (auto frm_pair = _sensor_ptr->getProblem()->getTrajectory()->begin();
+ frm_pair != _sensor_ptr->getProblem()->getTrajectory()->end();
+ frm_pair++)
+ {
+ if (frm_pair->second == _last_frame)
+ break;
+ auto capture_zero = CaptureBase::emplace<CaptureVoid>(_last_frame, _last_frame->getTimeStamp(), nullptr);
+ auto feature_zero = FeatureBase::emplace<FeatureBase>(capture_zero,
+ "FeatureZeroOdom",
+ zero_motion,
+ Eigen::MatrixXd::Identity(6,6) * 0.01);
+
+ FactorBase::emplace<FactorRelativePose3d>(feature_zero,
+ feature_zero,
+ frm_pair->second,
+ nullptr,
+ false,
+ TOP_MOTION);
+
+ }
+ }
+ }
+ WOLF_INFO("Static initialization done");
+ if(_first_frame)
+ {
+ //WOLF_INFO("0 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
+ //WOLF_INFO_COND(second_frame, "The second frame has been created");
+ //WOLF_INFO("1 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
+ //WOLF_INFO("2 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("3 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
+ }
+ //WOLF_INFO("The current problem is:");
+ //_problem_ptr->print(4);
+ WOLF_INFO("Solving...");
+ std::string report = _solver->solve(SolverManager::ReportVerbosity::BRIEF);
+
+ auto state = _problem_ptr->getState();
+ auto bias_est = _sensor_ptr->getIntrinsic()->getState();
+ auto bias_preint = _processor_motion->getLast()->getCalibrationPreint();
+
+ WOLF_INFO("Solved");
+ if(_first_frame)
+ {
+ //WOLF_INFO("4 - The first frame is ", _first_frame->id(), " and it's currently estimated bias is: \n", _first_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("its state vector is: \n", _first_frame->getStateVector());
+ //WOLF_INFO_COND(second_frame, "The second frame has been created");
+ //WOLF_INFO("5 - The last (current) frame is: ", _last_frame->id(), " and it's state vector is: \n", _last_frame->getStateVector());
+ //WOLF_INFO("6 - The current frame's estimated bias is: \n", _last_frame->getCaptureOf(_sensor_ptr)->getStateBlock('I')->getState());
+ //WOLF_INFO("7 - The current state is (from _processor_motion): \n", _processor_motion->getState().vector("POV"));
+ WOLF_INFO("Current frame is", _processor_motion->getLast()->id());
+ WOLF_INFO("The state is \n:", state);
+ WOLF_INFO("The estimated bias is: \n", bias_est);
+ WOLF_INFO("The preintegrated bias is: \n", bias_preint);
+ }
+ if(n_frames > 1)
+ {
+ ASSERT_MATRIX_APPROX(state.vector("POV"), KF0->getState().vector("POV"), 1e-9);
+ ASSERT_MATRIX_APPROX(bias_est, bias_groundtruth, 1e-9);
+ }
+ if (n_frames > 2)
+ {
+ ASSERT_MATRIX_APPROX(bias_preint, bias_groundtruth, 1e-9);
+ }
+ WOLF_INFO("------------------------------------------------------------------------\n");
+ }
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}