ImuFactorsExample.cpp
说明:
/**
* @file ImuFactorsExample
* @brief Test example for using GTSAM ImuFactor and ImuCombinedFactor
* navigation code.
* @author Garrett (ghemann@gmail.com), Luca Carlone
*/
/**
* Example of use of the imuFactors (imuFactor and combinedImuFactor) in
* conjunction with GPS
* - imuFactor is used by default. You can test combinedImuFactor by
* appending a `-c` flag at the end (see below for example command).
* - we read IMU and GPS data from a CSV file, with the following format:
* A row starting with "i" is the first initial position formatted with
* N, E, D, qx, qY, qZ, qW, velN, velE, velD
* A row starting with "0" is an imu measurement
* (body frame - Forward, Right, Down)
* linAccX, linAccY, linAccZ, angVelX, angVelY, angVelX
* A row starting with "1" is a gps correction formatted with
* N, E, D, qX, qY, qZ, qW
* Note that for GPS correction, we're only using the position not the
* rotation. The rotation is provided in the file for ground truth comparison.
*
* See usage: ./ImuFactorsExample --help
*/
一、预先定义
boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
// We use the sensor specs to build the noise model for the IMU factor.
double accel_noise_sigma = 0.0003924;
double gyro_noise_sigma = 0.000205689024915;
double accel_bias_rw_sigma = 0.004905;
double gyro_bias_rw_sigma = 0.000001454441043;
Matrix33 measured_acc_cov = I_3x3 * pow(accel_noise_sigma, 2);
Matrix33 measured_omega_cov = I_3x3 * pow(gyro_noise_sigma, 2);
Matrix33 integration_error_cov =
I_3x3 * 1e-8; // error committed in integrating position from velocities
Matrix33 bias_acc_cov = I_3x3 * pow(accel_bias_rw_sigma, 2);
Matrix33 bias_omega_cov = I_3x3 * pow(gyro_bias_rw_sigma, 2);
Matrix66 bias_acc_omega_int =
I_6x6 * 1e-5; // error in the bias used for preintegration
auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(0.0);
// PreintegrationBase params:
p->accelerometerCovariance =
measured_acc_cov; // acc white noise in continuous
p->integrationCovariance =
integration_error_cov; // integration uncertainty continuous
// should be using 2nd order integration
// PreintegratedRotation params:
p->gyroscopeCovariance =
measured_omega_cov; // gyro white noise in continuous
// PreintegrationCombinedMeasurements params:
p->biasAccCovariance = bias_acc_cov; // acc bias in continuous
p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous
p->biasAccOmegaInt = bias_acc_omega_int;
return p;
}
在此程序中使用的是PreintegratedCombinedMeasurements
见002 gtsam/examples CombinedImuFactorsExample.cpp
factor使用的是ImuFactor
二、main函数
2.1 读数据和初始设置
string data_filename, output_filename;
bool use_isam = false;
po::variables_map var_map = parseOptions(argc, argv);
data_filename = findExampleDataFile(var_map["data_csv_path"].as<string>());
output_filename = var_map["output_filename"].as<string>();
use_isam = var_map["use_isam"].as<bool>();
ISAM2* isam2 = 0;
if (use_isam) {
printf("Using ISAM2\n");
ISAM2Params parameters;
parameters.relinearizeThreshold = 0.01;
parameters.relinearizeSkip = 1;
isam2 = new ISAM2(parameters);
} else {
printf("Using Levenberg Marquardt Optimizer\n");
}
// Set up output file for plotting errors
FILE* fp_out = fopen(output_filename.c_str(), "w+");
fprintf(fp_out,
"#time(s),x(m),y(m),z(m),qx,qy,qz,qw,gt_x(m),gt_y(m),gt_z(m),gt_qx,"
"gt_qy,gt_qz,gt_qw\n");
// Begin parsing the CSV file. Input the first line for initialization.
// From there, we'll iterate through the file and we'll preintegrate the IMU
// or add in the GPS given the input.
ifstream file(data_filename.c_str());
string value;
// Format is (N,E,D,qX,qY,qZ,qW,velN,velE,velD)
Vector10 initial_state;
getline(file, value, ','); // i
for (int i = 0; i < 9; i++) {
getline(file, value, ',');
initial_state(i) = stof(value.c_str());
}
getline(file, value, '\n');
initial_state(9) = stof(value.c_str());
cout << "initial state:\n" << initial_state.transpose() << "\n\n";
2.2 进行先验的设置
// Assemble initial quaternion through GTSAM constructor
// ::quaternion(w,x,y,z);
// step 1.1 进行初始的位姿、速度、bias设置
Rot3 prior_rotation = Rot3::Quaternion(initial_state(6), initial_state(3),
initial_state(4), initial_state(5));
Point3 prior_point(initial_state.head<3>());
Pose3 prior_pose(prior_rotation, prior_point);
Vector3 prior_velocity(initial_state.tail<3>());
imuBias::ConstantBias prior_imu_bias; // assume zero initial bias
// step 1.2 将初始值插入到Values中
Values initial_values;
int correction_count = 0;
initial_values.insert(X(correction_count), prior_pose);
initial_values.insert(V(correction_count), prior_velocity);
initial_values.insert(B(correction_count), prior_imu_bias);
// Assemble prior noise model and add it the graph.`
// step 1-3 设置先验的噪声
auto pose_noise_model = noiseModel::Diagonal::Sigmas(
(Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5)
.finished()); // rad,rad,rad,m, m, m
auto velocity_noise_model = noiseModel::Isotropic::Sigma(3, 0.1); // m/s
auto bias_noise_model = noiseModel::Isotropic::Sigma(6, 1e-3);
// Add all prior factors (pose, velocity, bias) to the graph.
// step 1-4 将所有的先验因子加入到图中
NonlinearFactorGraph* graph = new NonlinearFactorGraph();
graph->addPrior(X(correction_count), prior_pose, pose_noise_model);
graph->addPrior(V(correction_count), prior_velocity, velocity_noise_model);
graph->addPrior(B(correction_count), prior_imu_bias, bias_noise_model);
auto p = imuParams();
// step 1-5 设置积分类型
std::shared_ptr<PreintegrationType> preintegrated =
std::make_shared<PreintegratedImuMeasurements>(p, prior_imu_bias);
assert(preintegrated);
// Store previous state for imu integration and latest predicted outcome.
// step 1-6 存储imu预积分的先前状态和传播状态
NavState prev_state(prior_pose, prior_velocity);
NavState prop_state = prev_state;
imuBias::ConstantBias prev_bias = prior_imu_bias;
// Keep track of total error over the entire run as simple performance metric.
// step 1-7 错误跟踪设置
double current_position_error = 0.0, current_orientation_error = 0.0;
double output_time = 0.0;
double dt = 0.005; // The real system has noise, but here, results are nearly
// exactly the same, so keeping this for simplicity.
2.3 根据数据进行迭代
2.3.1 for loop
while (file.good())
{
/*......*/
}
2.3.2 get value
// Parse out first value
getline(file, value, ',');
int type = stoi(value.c_str());
if (type == 0) { // IMU measurement
Vector6 imu;
for (int i = 0; i < 5; ++i) {
getline(file, value, ',');
imu(i) = stof(value.c_str());
}
getline(file, value, '\n');
imu(5) = stof(value.c_str());
// Adding the IMU preintegration.
preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt);
} else if (type == 1) { // GPS measurement
Vector7 gps;
for (int i = 0; i < 6; ++i) {
getline(file, value, ',');
gps(i) = stof(value.c_str());
}
getline(file, value, '\n');
gps(6) = stof(value.c_str());
correction_count++;
// Adding IMU factor and GPS factor and optimizing.
auto preint_imu =
dynamic_cast<const PreintegratedImuMeasurements&>(*preintegrated);
ImuFactor imu_factor(X(correction_count - 1), V(correction_count - 1),
X(correction_count), V(correction_count),
B(correction_count - 1), preint_imu);
graph->add(imu_factor);
imuBias::ConstantBias zero_bias(Vector3(0, 0, 0), Vector3(0, 0, 0));
graph->add(BetweenFactor<imuBias::ConstantBias>(
B(correction_count - 1), B(correction_count), zero_bias,
bias_noise_model));
auto correction_noise = noiseModel::Isotropic::Sigma(3, 1.0);
GPSFactor gps_factor(X(correction_count),
Point3(gps(0), // N,
gps(1), // E,
gps(2)), // D,
correction_noise);
graph->add(gps_factor);
2.3.3 执行优化
imu传播插入初值
// Now optimize and compare results.
prop_state = preintegrated->predict(prev_state, prev_bias);
initial_values.insert(X(correction_count), prop_state.pose());
initial_values.insert(V(correction_count), prop_state.v());
initial_values.insert(B(correction_count), prev_bias);
根据不同的优化方法执行优化
if (use_isam) {
isam2->update(*graph, initial_values);
isam2->update();
result = isam2->calculateEstimate();
// reset the graph
graph->resize(0);
initial_values.clear();
} else {
LevenbergMarquardtOptimizer optimizer(*graph, initial_values);
result = optimizer.optimize();
}
2.3.4 优化后初值设置
// Overwrite the beginning of the preintegration for the next step.
// step 1 初值重置
prev_state = NavState(result.at<Pose3>(X(correction_count)),
result.at<Vector3>(V(correction_count)));
prev_bias = result.at<imuBias::ConstantBias>(B(correction_count));
// Reset the preintegration object.
// step 2 重置预积分和bias
preintegrated->resetIntegrationAndSetBias(prev_bias);
2.3.4 report error
// Print out the position and orientation error for comparison.
Vector3 gtsam_position = prev_state.pose().translation();
Vector3 position_error = gtsam_position - gps.head<3>();
current_position_error = position_error.norm();
Quaternion gtsam_quat = prev_state.pose().rotation().toQuaternion();
Quaternion gps_quat(gps(6), gps(3), gps(4), gps(5));
Quaternion quat_error = gtsam_quat * gps_quat.inverse();
quat_error.normalize();
Vector3 euler_angle_error(quat_error.x() * 2, quat_error.y() * 2,
quat_error.z() * 2);
current_orientation_error = euler_angle_error.norm();
// display statistics
cout << "Position error:" << current_position_error << "\t "
<< "Angular error:" << current_orientation_error << "\n";
fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",
output_time, gtsam_position(0), gtsam_position(1),
gtsam_position(2), gtsam_quat.x(), gtsam_quat.y(), gtsam_quat.z(),
gtsam_quat.w(), gps(0), gps(1), gps(2), gps_quat.x(),
gps_quat.y(), gps_quat.z(), gps_quat.w());
output_time += 1.0;