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imu
Commits
e45dc73a
Commit
e45dc73a
authored
4 years ago
by
Idril-Tadzio Geer Cousté
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added all gtests
parent
ea0091ac
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3 merge requests
!43
imu2d
,
!42
Merge imu2d
,
!30
WIP: slanted imu2d
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test/gtest_factor_imu2d_with_gravity.cpp
+391
-345
391 additions, 345 deletions
test/gtest_factor_imu2d_with_gravity.cpp
with
391 additions
and
345 deletions
test/gtest_factor_imu2d_with_gravity.cpp
+
391
−
345
View file @
e45dc73a
...
...
@@ -91,345 +91,56 @@ TEST(FactorImu2dWithGravity, bias_zero_solve_f1)
}
}
//TEST(FactorImu2dWithGravity, bias_zero_solve_f0)
//{
// for(int i = 0; i < 50; i++){
// // Random delta
// Vector5d delta = Vector5d::Random() * 10; //delta *= 0;
// delta(2) = pi2pi(delta(2));
//
// // Random initial pose
// Vector5d x0 = Vector5d::Random() * 10; //x0 *= 0;
// x0(2) = pi2pi(x0(2));
//
// // x1 groundtruth
// Vector5d x1;
// x1 = imu2d::composeOverState(x0, delta, 1);
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta, delta_cov, b0_preint, jacobian_bias, cap1);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm0 and biases, perturb frm1
// frm0->unfix();
// cap0->fix();
// frm1->fix();
// cap1->fix();
// frm0->perturb(0.01);
//
// // solve
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_POSE2d_APPROX(frm0->getStateVector(), x0, 1e-6);
// //WOLF_INFO(frm1->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
//}
//}
//
//TEST(FactorImu2dWithGravity, bias_zero_solve_b1)
//{
// for(int i = 0; i < 50; i++){
// // Random delta
// Vector5d delta = Vector5d::Random() * 10; //delta *= 0;
// delta(2) = pi2pi(delta(2));
//
// // Random initial pose
// Vector5d x0 = Vector5d::Random() * 10; //x0 *= 0;
// x0(2) = pi2pi(x0(2));
//
// // x1 groundtruth
// Vector5d x1;
// x1 = imu2d::composeOverState(x0, delta, 1);
//
// //0 Initial bias
// Vector3d b0 = Vector3d::Zero();
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta, delta_cov, b0_preint, jacobian_bias, cap1);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm0, frm1 and cap0, unfix cap1 (bias), perturb cap1
// frm0->fix();
// cap0->fix();
// frm1->fix();
// cap1->unfix();
// cap1->perturb(0.01);
//
// // solve to estimate bias at cap1
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_MATRIX_APPROX(cap1->getStateVector(), b0, 1e-6);
// //WOLF_INFO(cap1->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
//}
//}
//
//TEST(FactorImu2dWithGravity, 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::composeOverState(x0, delta, 1);
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta_biased, delta_cov, b0_preint, jacobian_bias);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm1, perturb frm0
// frm0->fix();
// cap0->unfix();
// frm1->fix();
// cap1->fix();
// cap0->perturb(0.1);
//
// // 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(FactorImu2dWithGravity, solve_b1)
//{
// for(int i = 0; i < 50; i++){
// // Random delta
// Vector5d delta = Vector5d::Random() * 10; //delta *= 0;
// delta(2) = pi2pi(delta(2));
//
// // Random initial pose
// Vector5d x0 = Vector5d::Random() * 10; //x0 *= 0;
// x0(2) = pi2pi(x0(2));
//
// // x1 groundtruth
// Vector5d x1;
// x1 = imu2d::composeOverState(x0, delta, 1);
//
// //0 Initial bias
// Vector3d b0 = Vector3d::Random();
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta, delta_cov, b0_preint, jacobian_bias, cap1);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm0 and frm1, unfix bias, perturb cap1
// frm0->fix();
// cap0->fix();
// frm1->fix();
// cap1->unfix();
// cap1->perturb(0.01);
//
// // solve to estimate bias at cap1
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_MATRIX_APPROX(cap1->getStateVector(), b0, 1e-6);
// //WOLF_INFO(cap1->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
//}
//}
//
//TEST(FactorImu2dWithGravity, solve_f0)
//{
// 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::composeOverState(x0, delta, 1);
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta_biased, delta_cov, b0_preint, jacobian_bias);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm1, perturb frm0
// frm0->unfix();
// cap0->fix();
// frm1->fix();
// cap1->fix();
// frm0->perturb(0.1);
//
// // solve
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_POSE2d_APPROX(frm0->getStateVector(), x0, 1e-6);
// //WOLF_INFO(frm0->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
//}
//}
//
//TEST(FactorImu2dWithGravity, solve_f1)
//{
// 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::composeOverState(x0, delta, 1);
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta_biased, delta_cov, b0_preint, jacobian_bias);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm1, perturb frm0
// frm0->fix();
// cap0->fix();
// frm1->unfix();
// cap1->fix();
// frm1->perturb(0.1);
//
// // solve
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_POSE2d_APPROX(frm1->getStateVector(), x1, 1e-6);
// //WOLF_INFO(frm0->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
//}
//}
//
//TEST(FactorImu2dWithGravity, solve_f1_b1)
//{
// 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::composeOverState(x0, delta, 1);
//
// // Set states
// frm0->setState(x0);
// frm1->setState(x1);
// cap0->getStateBlock('I')->setState(b0);
// cap1->getStateBlock('I')->setState(b0);
//
// // feature & factor with delta measurement
// auto fea1 = FeatureBase::emplace<FeatureImu2d>(cap1, delta_biased, delta_cov, b0_preint, jacobian_bias);
// FactorBase::emplace<FactorImu2dWithGravity>(fea1, fea1, cap0, nullptr, false);
//
// // Fix frm1, perturb frm0
// frm0->fix();
// cap0->fix();
// frm1->unfix();
// cap1->unfix();
// frm1->perturb(0.1);
// cap1->perturb(0.1);
//
// // solve
// std::string report = solver.solve(SolverManager::ReportVerbosity::BRIEF);
//
// ASSERT_POSE2d_APPROX(frm1->getStateVector(), x1, 1e-6);
// ASSERT_MATRIX_APPROX(cap1->getStateVector(), b0, 1e-6);
// //WOLF_INFO(frm0->getStateVector());
//
// // remove feature (and factor) for the next loop
// fea1->remove();
// }
//}
TEST
(
FactorImu2dWithGravity
,
bias_zero_solve_f0
)
{
for
(
int
i
=
0
;
i
<
50
;
i
++
){
// Random delta
Vector5d
delta
=
Vector5d
::
Random
()
*
10
;
//delta *= 0;
delta
(
2
)
=
pi2pi
(
delta
(
2
));
TEST
(
FactorImu2dWithGravity
,
bias_zero_solve_G
)
// Random initial pose
Vector5d
x0
=
Vector5d
::
Random
()
*
10
;
//x0 *= 0;
x0
(
2
)
=
pi2pi
(
x0
(
2
));
//Random gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
// x1 groundtruth
Vector5d
x1
;
x1
=
imu2d
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta
,
delta_cov
,
b0_preint
,
jacobian_bias
,
cap1
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm1 and biases, perturb frm0
frm0
->
unfix
();
cap0
->
fix
();
frm1
->
fix
();
cap1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
frm0
->
perturb
(
0.01
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_POSE2d_APPROX
(
frm0
->
getStateVector
(),
x0
,
1e-6
);
//WOLF_INFO(frm1->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
bias_zero_solve_b1
)
{
for
(
int
i
=
0
;
i
<
50
;
i
++
){
//WOLF_INFO("gravity is orthogonal: ", sensorparams->orthogonal_gravity);
// Random delta
Vector5d
delta
=
Vector5d
::
Random
()
*
10
;
//delta *= 0;
delta
(
2
)
=
pi2pi
(
delta
(
2
));
...
...
@@ -445,17 +156,353 @@ TEST(FactorImu2dWithGravity, bias_zero_solve_G)
// x1 groundtruth
Vector5d
x1
;
x1
=
imu2d
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
//0 Initial bias
Vector3d
b0
=
Vector3d
::
Zero
();
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta
,
delta_cov
,
b0_preint
,
jacobian_bias
,
cap1
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm0 and biases, perturb frm1
// Fix frm0, frm1 and cap0, unfix cap1 (bias), perturb cap1
frm0
->
fix
();
cap0
->
fix
();
frm1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
cap1
->
unfix
();
cap1
->
perturb
(
0.01
);
// solve to estimate bias at cap1
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_MATRIX_APPROX
(
cap1
->
getStateVector
(),
b0
,
1e-6
);
//WOLF_INFO(cap1->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
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 gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
//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
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta_biased
,
delta_cov
,
b0_preint
,
jacobian_bias
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm1, perturb frm0
frm0
->
fix
();
cap0
->
unfix
();
frm1
->
fix
();
cap1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
cap0
->
perturb
(
0.1
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_MATRIX_APPROX
(
cap0
->
getStateVector
(),
b0
,
1e-6
);
//WOLF_INFO(cap0->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
solve_b1
)
{
for
(
int
i
=
0
;
i
<
50
;
i
++
){
// Random delta
Vector5d
delta
=
Vector5d
::
Random
()
*
10
;
//delta *= 0;
delta
(
2
)
=
pi2pi
(
delta
(
2
));
// Random initial pose
Vector5d
x0
=
Vector5d
::
Random
()
*
10
;
//x0 *= 0;
x0
(
2
)
=
pi2pi
(
x0
(
2
));
//Random gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
// x1 groundtruth
Vector5d
x1
;
x1
=
imu2d
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
//0 Initial bias
Vector3d
b0
=
Vector3d
::
Random
();
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta
,
delta_cov
,
b0_preint
,
jacobian_bias
,
cap1
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm0 and frm1, unfix bias, perturb cap1
frm0
->
fix
();
cap0
->
fix
();
frm1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
cap1
->
unfix
();
cap1
->
perturb
(
0.01
);
// solve to estimate bias at cap1
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_MATRIX_APPROX
(
cap1
->
getStateVector
(),
b0
,
1e-6
);
//WOLF_INFO(cap1->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
solve_f0
)
{
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 gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
//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
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta_biased
,
delta_cov
,
b0_preint
,
jacobian_bias
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm1, perturb frm0
frm0
->
unfix
();
cap0
->
fix
();
frm1
->
fix
();
cap1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
frm0
->
perturb
(
0.1
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_POSE2d_APPROX
(
frm0
->
getStateVector
(),
x0
,
1e-6
);
//WOLF_INFO(frm0->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
solve_f1
)
{
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 gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
//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
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta_biased
,
delta_cov
,
b0_preint
,
jacobian_bias
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm1, perturb frm0
frm0
->
fix
();
cap0
->
fix
();
frm1
->
unfix
();
cap1
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
frm1
->
perturb
(
0.1
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_POSE2d_APPROX
(
frm1
->
getStateVector
(),
x1
,
1e-6
);
//WOLF_INFO(frm0->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
solve_f1_b1
)
{
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 gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
//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
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta_biased
,
delta_cov
,
b0_preint
,
jacobian_bias
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frm1, perturb frm0
frm0
->
fix
();
cap0
->
fix
();
sensor
->
getStateBlock
(
'G'
)
->
fix
();
frm1
->
unfix
();
cap1
->
unfix
();
frm1
->
perturb
(
0.1
);
cap1
->
perturb
(
0.1
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_POSE2d_APPROX
(
frm1
->
getStateVector
(),
x1
,
1e-6
);
ASSERT_MATRIX_APPROX
(
cap1
->
getStateVector
(),
b0
,
1e-6
);
//WOLF_INFO(frm0->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
TEST
(
FactorImu2dWithGravity
,
bias_zero_solve_G
)
{
for
(
int
i
=
0
;
i
<
50
;
i
++
){
//WOLF_INFO("gravity is orthogonal: ", sensorparams->orthogonal_gravity);
// Random delta
Vector5d
delta
=
Vector5d
::
Random
()
*
10
;
//delta *= 0;
delta
(
2
)
=
pi2pi
(
delta
(
2
));
// Random initial pose
Vector5d
x0
=
Vector5d
::
Random
()
*
10
;
//x0 *= 0;
x0
(
2
)
=
pi2pi
(
x0
(
2
));
//Random gravity
//Vector2d g = Vector2d::Random()*5;
Vector2d
g
=
Vector2d
::
Zero
();
//Zero bias
Vector3d
b0
=
Vector3d
::
Zero
();
// x1 groundtruth
Vector5d
x1
;
x1
=
imu2d
::
composeOverStateWithGravity
(
x0
,
delta
,
1
,
g
);
// Set states
frm0
->
setState
(
x0
);
frm1
->
setState
(
x1
);
cap0
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
cap1
->
getStateBlock
(
'I'
)
->
setState
(
b0
);
sensor
->
getStateBlock
(
'G'
)
->
setState
(
g
);
// feature & factor with delta measurement
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta
,
delta_cov
,
b0_preint
,
jacobian_bias
,
cap1
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix frames and biases, perturb g
frm0
->
fix
();
cap0
->
fix
();
frm1
->
fix
();
...
...
@@ -465,14 +512,13 @@ TEST(FactorImu2dWithGravity, bias_zero_solve_G)
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
FULL
);
//std::cout << report << std::endl;
ASSERT_MATRIX_APPROX
(
sensor
->
getStateBlock
(
'G'
)
->
getState
(),
g
,
1e-6
);
//WOLF_INFO(frm1->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
}
TEST
(
FactorImu2dWithGravity
,
solve_G
)
{
...
...
@@ -485,13 +531,13 @@ TEST(FactorImu2dWithGravity, solve_G)
Vector5d
x0
=
Vector5d
::
Random
()
*
10
;
x0
(
2
)
=
pi2pi
(
x0
(
2
));
//Random Initial bias
Vector3d
b0
=
Vector3d
::
Random
();
//Random gravity
Vector2d
g
=
Vector2d
::
Random
()
*
5
;
//Vector2d g = Vector2d::Zero();
//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
);
...
...
@@ -511,7 +557,7 @@ TEST(FactorImu2dWithGravity, solve_G)
auto
fea1
=
FeatureBase
::
emplace
<
FeatureImu2d
>
(
cap1
,
delta_biased
,
delta_cov
,
b0_preint
,
jacobian_bias
);
FactorBase
::
emplace
<
FactorImu2dWithGravity
>
(
fea1
,
fea1
,
cap0
,
nullptr
,
false
);
// Fix fr
m1
, perturb
frm0
// Fix fr
ames and captures
, perturb
g
frm0
->
fix
();
cap0
->
fix
();
frm1
->
fix
();
...
...
@@ -520,14 +566,14 @@ TEST(FactorImu2dWithGravity, solve_G)
sensor
->
getStateBlock
(
'G'
)
->
perturb
(
1
);
// solve
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
std
::
string
report
=
solver
.
solve
(
SolverManager
::
ReportVerbosity
::
BRIEF
);
ASSERT_MATRIX_APPROX
(
sensor
->
getStateBlock
(
'G'
)
->
getState
(),
g
,
1e-6
);
//WOLF_INFO(cap0->getStateVector());
// remove feature (and factor) for the next loop
fea1
->
remove
();
}
}
}
int
main
(
int
argc
,
char
**
argv
)
...
...
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