SLAM源码分析（十一）

2021SC@SDUSC

ImuTypes.cc

IMU参数，imu到相机、相机到imu、协方差、游走协方差

class Calib
{
    template<class Archive>
    void serializeMatrix(Archive &ar, cv::Mat& mat, const unsigned int version)
    {
        int cols, rows, type;
        bool continuous;

        if (Archive::is_saving::value) {
            cols = mat.cols; rows = mat.rows; type = mat.type();
            continuous = mat.isContinuous();
        }

        ar & cols & rows & type & continuous;
        if (Archive::is_loading::value)
            mat.create(rows, cols, type);

        if (continuous) {
            const unsigned int data_size = rows * cols * mat.elemSize();
            ar & boost::serialization::make_array(mat.ptr(), data_size);
        } else {
            const unsigned int row_size = cols*mat.elemSize();
            for (int i = 0; i < rows; i++) {
                ar & boost::serialization::make_array(mat.ptr(i), row_size);
            }
        }
    }

    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int version)
    {
        serializeMatrix(ar,Tcb,version);
        serializeMatrix(ar,Tbc,version);
        serializeMatrix(ar,Cov,version);
        serializeMatrix(ar,CovWalk,version);
    }

public:
    Calib(const cv::Mat &Tbc_, const float &ng, const float &na, const float &ngw, const float &naw)
    {
        Set(Tbc_,ng,na,ngw,naw);
    }
    Calib(const Calib &calib);
    Calib(){}

    void Set(const cv::Mat &Tbc_, const float &ng, const float &na, const float &ngw, const float &naw);

public:
    cv::Mat Tcb;
    cv::Mat Tbc;
    cv::Mat Cov, CovWalk;
};

角速度计算旋转量

float deltaT;    积分时间
cv::Mat deltaR;   指数映射
cv::Mat rightJ;   右乘 jacobian

class IntegratedRotation
{
public:
    IntegratedRotation(){}
    IntegratedRotation(const cv::Point3f &angVel, const Bias &imuBias, const float &time);

public:
    float deltaT; 
    cv::Mat deltaR; 
    cv::Mat rightJ; 
};

IMU测量的预积分

class Preintegrated
{
    template<class Archive>
    void serializeMatrix(Archive &ar, cv::Mat& mat, const unsigned int version)
    {
        int cols, rows, type;
        bool continuous;

        if (Archive::is_saving::value) {
            cols = mat.cols; rows = mat.rows; type = mat.type();
            continuous = mat.isContinuous();
        }

        ar & cols & rows & type & continuous;
        if (Archive::is_loading::value)
            mat.create(rows, cols, type);

        if (continuous) {
            const unsigned int data_size = rows * cols * mat.elemSize();
            ar & boost::serialization::make_array(mat.ptr(), data_size);
        } else {
            const unsigned int row_size = cols*mat.elemSize();
            for (int i = 0; i < rows; i++) {
                ar & boost::serialization::make_array(mat.ptr(i), row_size);
            }
        }
    }

    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int version)
    {
        ar & dT;
        serializeMatrix(ar,C,version);
        serializeMatrix(ar,Info,version);
        serializeMatrix(ar,Nga,version);
        serializeMatrix(ar,NgaWalk,version);
        ar & b;
        serializeMatrix(ar,dR,version);
        serializeMatrix(ar,dV,version);
        serializeMatrix(ar,dP,version);
        serializeMatrix(ar,JRg,version);
        serializeMatrix(ar,JVg,version);
        serializeMatrix(ar,JVa,version);
        serializeMatrix(ar,JPg,version);
        serializeMatrix(ar,JPa,version);
        serializeMatrix(ar,avgA,version);
        serializeMatrix(ar,avgW,version);

        ar & bu;
        serializeMatrix(ar,db,version);
        ar & mvMeasurements;
    }

public:
    Preintegrated(const Bias &b_, const Calib &calib);// 赋值协方差+游走协方差，并初始化数据
    Preintegrated(Preintegrated* pImuPre);//里面所有参数都一一赋值
    Preintegrated() {}
    ~Preintegrated() {}
    void CopyFrom(Preintegrated* pImuPre); // 初始化所有变量
    void Initialize(const Bias &b_);
    void IntegrateNewMeasurement(const cv::Point3f &acceleration, const cv::Point3f &angVel, const float &dt);
    // 位置首先更新，因为它取决于先前计算的速度和旋转。
    // 第二更新速度，因为它取决于先前计算的旋转。
    // 旋转是最后更新的

    void Reintegrate();
    void MergePrevious(Preintegrated* pPrev);
    void SetNewBias(const Bias &bu_);
    IMU::Bias GetDeltaBias(const Bias &b_);
    cv::Mat GetDeltaRotation(const Bias &b_);
    cv::Mat GetDeltaVelocity(const Bias &b_);
    cv::Mat GetDeltaPosition(const Bias &b_);
    cv::Mat GetUpdatedDeltaRotation();
    cv::Mat GetUpdatedDeltaVelocity();
    cv::Mat GetUpdatedDeltaPosition();
    cv::Mat GetOriginalDeltaRotation();
    cv::Mat GetOriginalDeltaVelocity();
    cv::Mat GetOriginalDeltaPosition();
    Eigen::Matrix<double,15,15> GetInformationMatrix();
    cv::Mat GetDeltaBias();
    Bias GetOriginalBias();
    Bias GetUpdatedBias();

public:
    float dT;
    cv::Mat C;
    cv::Mat Info;
    cv::Mat Nga, NgaWalk;

    // Values for the original bias (when integration was computed)
    Bias b;
    cv::Mat dR, dV, dP;
    cv::Mat JRg, JVg, JVa, JPg, JPa;
    cv::Mat avgA;
    cv::Mat avgW;


private:
    // Updated bias
    Bias bu;
    // Dif between original and updated bias
    // This is used to compute the updated values of the preintegration
    cv::Mat db;

    struct integrable
    {
        integrable(const cv::Point3f &a_, const cv::Point3f &w_ , const float &t_):a(a_),w(w_),t(t_){}
        cv::Point3f a;
        cv::Point3f w;
        float t;
    };

    std::vector<integrable> mvMeasurements;

    std::mutex mMutex;
};

// Lie Algebra Functions
cv::Mat ExpSO3(const float &x, const float &y, const float &z);
Eigen::Matrix<double,3,3> ExpSO3(const double &x, const double &y, const double &z);
cv::Mat ExpSO3(const cv::Mat &v);
cv::Mat LogSO3(const cv::Mat &R);
cv::Mat RightJacobianSO3(const float &x, const float &y, const float &z);
cv::Mat RightJacobianSO3(const cv::Mat &v);
cv::Mat InverseRightJacobianSO3(const float &x, const float &y, const float &z);
cv::Mat InverseRightJacobianSO3(const cv::Mat &v);
cv::Mat Skew(const cv::Mat &v);
cv::Mat NormalizeRotation(const cv::Mat &R);

}

 Preintegrated，预积分类构造函数，根据输入的偏置初始化预积分参数。calib：imu标定参数的类

Preintegrated::Preintegrated(const Bias &b_, const Calib &calib)
{
    Nga = calib.Cov.clone();
    NgaWalk = calib.CovWalk.clone();
    Initialize(b_);
}

// Copy constructor
Preintegrated::Preintegrated(Preintegrated* pImuPre): dT(pImuPre->dT), C(pImuPre->C.clone()), Info(pImuPre->Info.clone()),
    Nga(pImuPre->Nga.clone()), NgaWalk(pImuPre->NgaWalk.clone()), b(pImuPre->b), dR(pImuPre->dR.clone()), dV(pImuPre->dV.clone()),
    dP(pImuPre->dP.clone()), JRg(pImuPre->JRg.clone()), JVg(pImuPre->JVg.clone()), JVa(pImuPre->JVa.clone()), JPg(pImuPre->JPg.clone()),
    JPa(pImuPre->JPa.clone()), avgA(pImuPre->avgA.clone()), avgW(pImuPre->avgW.clone()), bu(pImuPre->bu), db(pImuPre->db.clone()), mvMeasurements(pImuPre->mvMeasurements)
{

}