108 lines
3.5 KiB
C++
108 lines
3.5 KiB
C++
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#include <basalt/optimization/spline_optimize.h>
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#include <iostream>
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#include "gtest/gtest.h"
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#include "test_utils.h"
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TEST(SplineOpt, SplineOptTest) {
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int num_knots = 15;
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basalt::CalibAccelBias<double> accel_bias_full;
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accel_bias_full.setRandom();
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basalt::CalibGyroBias<double> gyro_bias_full;
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gyro_bias_full.setRandom();
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Eigen::Vector3d g(0, 0, -9.81);
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basalt::Se3Spline<5> gt_spline(int64_t(2e9));
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gt_spline.genRandomTrajectory(num_knots);
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basalt::SplineOptimization<5, double> spline_opt(int64_t(2e9));
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int64_t pose_dt_ns = 1e8;
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for (int64_t t_ns = pose_dt_ns / 2; t_ns < gt_spline.maxTimeNs();
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t_ns += pose_dt_ns) {
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Sophus::SE3d pose_gt = gt_spline.pose(t_ns);
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spline_opt.addPoseMeasurement(t_ns, pose_gt);
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}
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int64_t dt_ns = 1e7;
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for (int64_t t_ns = 0; t_ns < gt_spline.maxTimeNs(); t_ns += dt_ns) {
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Sophus::SE3d pose = gt_spline.pose(t_ns);
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Eigen::Vector3d accel_body =
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pose.so3().inverse() * (gt_spline.transAccelWorld(t_ns) + g);
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// accel_body + accel_bias = (I + scale) * meas
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spline_opt.addAccelMeasurement(
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t_ns, accel_bias_full.invertCalibration(accel_body));
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}
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for (int64_t t_ns = 0; t_ns < gt_spline.maxTimeNs(); t_ns += dt_ns) {
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Eigen::Vector3d rot_vel_body = gt_spline.rotVelBody(t_ns);
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spline_opt.addGyroMeasurement(
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t_ns, gyro_bias_full.invertCalibration(rot_vel_body));
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}
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spline_opt.resetCalib(0, {});
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spline_opt.initSpline(gt_spline);
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spline_opt.setG(g + Eigen::Vector3d::Random() / 10);
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spline_opt.init();
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double error;
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double reprojection_error;
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int num_inliers;
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for (int i = 0; i < 10; i++)
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spline_opt.optimize(false, true, false, false, true, false, 0.002, 1e-10,
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error, num_inliers, reprojection_error);
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ASSERT_TRUE(
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spline_opt.getAccelBias().getParam().isApprox(accel_bias_full.getParam()))
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<< "spline_opt.getCalib().accel_bias "
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<< spline_opt.getGyroBias().getParam().transpose() << " and accel_bias "
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<< accel_bias_full.getParam().transpose() << " are not the same";
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ASSERT_TRUE(
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spline_opt.getGyroBias().getParam().isApprox(gyro_bias_full.getParam()))
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<< "spline_opt.getCalib().gyro_bias "
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<< spline_opt.getGyroBias().getParam().transpose() << " and gyro_bias "
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<< gyro_bias_full.getParam().transpose() << " are not the same";
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ASSERT_TRUE(spline_opt.getG().isApprox(g))
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<< "spline_opt.getG() " << spline_opt.getG().transpose() << " and g "
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<< g.transpose() << " are not the same";
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for (int64_t t_ns = 0; t_ns < gt_spline.maxTimeNs(); t_ns += 1e7) {
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Sophus::SE3d pose_gt = gt_spline.pose(t_ns);
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Sophus::SE3d pose = spline_opt.getSpline().pose(t_ns);
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Eigen::Vector3d pos_gt = pose_gt.translation();
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Eigen::Vector3d pos = pose.translation();
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Eigen::Quaterniond quat_gt = pose_gt.unit_quaternion();
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Eigen::Quaterniond quat = pose.unit_quaternion();
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Eigen::Vector3d accel_gt = gt_spline.transAccelWorld(t_ns);
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Eigen::Vector3d accel = spline_opt.getSpline().transAccelWorld(t_ns);
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Eigen::Vector3d gyro_gt = gt_spline.rotVelBody(t_ns);
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Eigen::Vector3d gyro = spline_opt.getSpline().rotVelBody(t_ns);
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ASSERT_TRUE(pos_gt.isApprox(pos)) << "pos_gt and pos are not the same";
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ASSERT_TRUE(quat_gt.angularDistance(quat) < 1e-2)
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<< "quat_gt and quat are not the same";
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ASSERT_TRUE(accel_gt.isApprox(accel))
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<< "accel_gt and accel are not the same";
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ASSERT_TRUE(gyro_gt.isApprox(gyro)) << "gyro_gt and gyro are not the same";
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}
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}
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