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Added IMU tests

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matlabbe
2026-05-17 10:03:13 -07:00
parent c102c687d9
commit c498a71bc1
4 changed files with 269 additions and 21 deletions
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corelib/include/rtabmap/core/IMU.h
+102 -17
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@@ -1,9 +1,29 @@
/*
* IMU.h
*
* Created on: 2018-03-05
* Author: mathieu
*/
Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef IMU_H_
#define IMU_H_
@@ -14,12 +34,40 @@
namespace rtabmap {
// Correspondence class to sensor_msgs/IMU
/**
* @class IMU
* @brief Inertial measurement sample (ROS @c sensor_msgs/Imu-like fields).
*
* Holds orientation (quaternion), angular velocity, linear acceleration, optional
* 3×3 row-major covariance matrices (double), and an optional @ref Transform
* expressing the IMU frame relative to the robot base.
*
* @ref empty() is true when @ref localTransform() is null (default constructor).
* A sample constructed with @ref Transform::getIdentity() is not empty.
*
* @ref convertToBaseFrame() rotates linear/angular velocity (and orientation when
* quaternion x/y/z are non-zero) into the base frame, then clears rotation in
* @ref localTransform() while keeping translation.
*
* @see SensorData::imu()
* @see IMUEvent
*/
class IMU
{
public:
/** @brief Default-constructs an empty sample (null @ref localTransform()). */
IMU() {}
/**
* @brief Constructs a sample with orientation and motion data.
* @param orientation Unit quaternion (qx, qy, qz, qw).
* @param orientationCovariance 3×3 row-major covariance about x, y, z (empty if unused).
* @param angularVelocity Rad/s about x, y, z.
* @param angularVelocityCovariance 3×3 row-major covariance (empty if unused).
* @param linearAcceleration m/s² about x, y, z.
* @param linearAccelerationCovariance 3×3 row-major covariance (empty if unused).
* @param localTransform IMU frame in base coordinates (default identity).
*/
IMU(const cv::Vec4d & orientation, // qx qy qz qw
const cv::Mat & orientationCovariance,
const cv::Vec3d & angularVelocity,
@@ -36,6 +84,15 @@ public:
localTransform_(localTransform)
{
}
/**
* @brief Constructs a sample without orientation (e.g. no magnetometer / no attitude).
* @param angularVelocity Rad/s about x, y, z.
* @param angularVelocityCovariance 3×3 row-major covariance (empty if unused).
* @param linearAcceleration m/s² about x, y, z.
* @param linearAccelerationCovariance 3×3 row-major covariance (empty if unused).
* @param localTransform IMU frame in base coordinates (default identity).
*/
IMU(const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const cv::Vec3d & linearAcceleration,
@@ -49,21 +106,37 @@ public:
{
}
// qx qy qz qw
/** @return Orientation quaternion (qx, qy, qz, qw). */
const cv::Vec4d & orientation() const {return orientation_;}
const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set
/** @return 3×3 orientation covariance (row-major, empty if orientation unset). */
const cv::Mat & orientationCovariance() const {return orientationCovariance_;}
/** @return Angular velocity (rad/s). */
const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;} // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
/** @return 3×3 angular velocity covariance (row-major, empty if unused). */
const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;}
const cv::Vec3d linearAcceleration() const {return linearAcceleration_;}
const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;} // 3x3 double Row major x, y z, empty if linearAcceleration is not set
/** @return Linear acceleration (m/s²). */
const cv::Vec3d & linearAcceleration() const {return linearAcceleration_;}
/** @return 3×3 linear acceleration covariance (row-major, empty if unused). */
const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;}
/** @return Transform from IMU frame to base frame. */
const Transform & localTransform() const {return localTransform_;}
// apply local transform rotation to data, and set Identity rotation for local transform
/**
* @brief Rotate motion (and optionally orientation) into the base frame.
*
* Applies @ref localTransform() rotation to vectors and covariances, then sets
* rotational part of @ref localTransform() to identity (translation unchanged).
* No-op if @ref localTransform() is null or rotation is identity.
* Orientation is updated only when quaternion x, y, z are not all zero.
*/
void convertToBaseFrame();
/**
* @brief True when @ref localTransform() is null (placeholder / unset sample).
*/
bool empty() const
{
return localTransform_.isNull();
@@ -71,30 +144,43 @@ public:
private:
cv::Vec4d orientation_;
cv::Mat orientationCovariance_; // 3x3 double Row major about x, y, z axes, empty if orientation is not set
cv::Mat orientationCovariance_;
cv::Vec3d angularVelocity_;
cv::Mat angularVelocityCovariance_; // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
cv::Mat angularVelocityCovariance_;
cv::Vec3d linearAcceleration_;
cv::Mat linearAccelerationCovariance_; // 3x3 double Row major x, y z, empty if linearAcceleration is not set
cv::Mat linearAccelerationCovariance_;
Transform localTransform_;
};
/**
* @class IMUEvent
* @brief @ref UEvent carrying an @ref IMU sample and timestamp.
*/
class IMUEvent : public UEvent
{
public:
/** @brief Default-constructs an event with zero stamp. */
IMUEvent() :
stamp_(0.0)
{}
/**
* @brief Constructs an event with IMU data and stamp.
* @param data IMU sample.
* @param stamp Timestamp in seconds.
*/
IMUEvent(const IMU & data, double stamp) :
data_(data),
stamp_(stamp)
{
}
/** @return Event type name for the utilite event system. */
virtual std::string getClassName() const {return "IMUEvent";}
/** @return IMU payload. */
const IMU & getData() const {return data_;}
/** @return Timestamp in seconds. */
double getStamp() const {return stamp_;}
private:
@@ -104,5 +190,4 @@ private:
}
#endif /* IMU_H_ */
corelib/src/IMU.cpp
+6 -4
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@@ -38,15 +38,17 @@ void IMU::convertToBaseFrame()
localTransform_.rotationMatrix().convertTo(rotationMatrix, CV_64FC1);
cv::transpose(rotationMatrix, rotationMatrixT);
cv::Mat_<double> v = rotationMatrix * cv::Mat(linearAcceleration_);
linearAcceleration_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
cv::Mat_<double> linearIn = (cv::Mat_<double>(3,1) << linearAcceleration_[0], linearAcceleration_[1], linearAcceleration_[2]);
cv::Mat_<double> linearOut = rotationMatrix * linearIn;
linearAcceleration_ = cv::Vec3d(linearOut(0,0), linearOut(1,0), linearOut(2,0));
if(!linearAccelerationCovariance_.empty())
{
linearAccelerationCovariance_ = rotationMatrix * linearAccelerationCovariance_ * rotationMatrixT;
}
v = rotationMatrix * cv::Mat(angularVelocity_);
angularVelocity_ = cv::Vec3d(v(0,0), v(0,1), v(0,2));
cv::Mat_<double> angularIn = (cv::Mat_<double>(3,1) << angularVelocity_[0], angularVelocity_[1], angularVelocity_[2]);
cv::Mat_<double> angularOut = rotationMatrix * angularIn;
angularVelocity_ = cv::Vec3d(angularOut(0,0), angularOut(1,0), angularOut(2,0));
if(!angularVelocityCovariance_.empty())
{
angularVelocityCovariance_ = rotationMatrix * angularVelocityCovariance_ * rotationMatrixT;
corelib/test/CMakeLists.txt
+5
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@@ -106,6 +106,11 @@ add_executable(test_gps test_gps.cpp)
target_link_libraries(test_gps gtest_main rtabmap_core)
add_test(NAME test_gps COMMAND test_gps)
#IMU.h
add_executable(test_imu test_imu.cpp)
target_link_libraries(test_imu gtest_main rtabmap_core)
add_test(NAME test_imu COMMAND test_imu)
#GeodeticCoords.h
add_executable(test_geodeticcoords test_geodeticcoords.cpp)
target_link_libraries(test_geodeticcoords gtest_main rtabmap_core)
corelib/test/test_imu.cpp
+156
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@@ -0,0 +1,156 @@
#include <gtest/gtest.h>
#include <rtabmap/core/IMU.h>
#include <opencv2/core.hpp>
#include <cmath>
using namespace rtabmap;
namespace {
static cv::Mat covariance3x3Diagonal(double d0, double d1, double d2)
{
cv::Mat cov = cv::Mat::zeros(3, 3, CV_64FC1);
cov.at<double>(0, 0) = d0;
cov.at<double>(1, 1) = d1;
cov.at<double>(2, 2) = d2;
return cov;
}
static void expectVec3Near(const cv::Vec3d & a, const cv::Vec3d & b, double tol = 1e-5)
{
EXPECT_NEAR(a[0], b[0], tol);
EXPECT_NEAR(a[1], b[1], tol);
EXPECT_NEAR(a[2], b[2], tol);
}
} // namespace
TEST(IMUTest, DefaultConstructorIsEmpty)
{
const IMU imu;
EXPECT_TRUE(imu.empty());
EXPECT_TRUE(imu.localTransform().isNull());
EXPECT_TRUE(imu.orientationCovariance().empty());
EXPECT_TRUE(imu.angularVelocityCovariance().empty());
EXPECT_TRUE(imu.linearAccelerationCovariance().empty());
}
TEST(IMUTest, IdentityLocalTransformIsNotEmpty)
{
const IMU imu(
cv::Vec3d(0.1, 0.2, 0.3),
cv::Mat(),
cv::Vec3d(1.0, 0.0, 0.0),
cv::Mat(),
Transform::getIdentity());
EXPECT_FALSE(imu.empty());
EXPECT_TRUE(imu.localTransform().isIdentity());
}
TEST(IMUTest, FullConstructorStoresFields)
{
const cv::Vec4d orientation(0.1, 0.2, 0.3, 0.9);
const cv::Vec3d angularVelocity(0.01, 0.02, 0.03);
const cv::Vec3d linearAcceleration(9.8, 0.1, 0.2);
const cv::Mat orientationCov = covariance3x3Diagonal(1.0, 1.0, 1.0);
const cv::Mat angularCov = covariance3x3Diagonal(2.0, 2.0, 2.0);
const cv::Mat linearCov = covariance3x3Diagonal(3.0, 3.0, 3.0);
const Transform local(0.1f, 0.2f, 0.3f, 0.f, 0.f, 0.5f);
const IMU imu(orientation, orientationCov, angularVelocity, angularCov, linearAcceleration, linearCov, local);
EXPECT_FALSE(imu.empty());
EXPECT_EQ(imu.orientation(), orientation);
EXPECT_EQ(imu.angularVelocity(), angularVelocity);
EXPECT_EQ(imu.linearAcceleration(), linearAcceleration);
EXPECT_EQ(cv::norm(imu.orientationCovariance(), orientationCov, cv::NORM_INF), 0);
EXPECT_EQ(cv::norm(imu.angularVelocityCovariance(), angularCov, cv::NORM_INF), 0);
EXPECT_EQ(cv::norm(imu.linearAccelerationCovariance(), linearCov, cv::NORM_INF), 0);
EXPECT_FLOAT_EQ(imu.localTransform().x(), 0.1f);
EXPECT_FLOAT_EQ(imu.localTransform().theta(), 0.5f);
}
TEST(IMUTest, VelocityOnlyConstructorLeavesOrientationUnset)
{
const IMU imu(cv::Vec3d(1, 2, 3), cv::Mat(), cv::Vec3d(4, 5, 6), cv::Mat(), Transform::getIdentity());
EXPECT_EQ(imu.orientation(), cv::Vec4d());
EXPECT_TRUE(imu.orientationCovariance().empty());
EXPECT_EQ(imu.angularVelocity(), cv::Vec3d(1, 2, 3));
EXPECT_EQ(imu.linearAcceleration(), cv::Vec3d(4, 5, 6));
}
TEST(IMUTest, ConvertToBaseFrameNoOpWhenLocalTransformNull)
{
IMU imu;
imu.convertToBaseFrame();
EXPECT_TRUE(imu.empty());
}
TEST(IMUTest, ConvertToBaseFrameNoOpWhenRotationIdentity)
{
IMU imu(cv::Vec3d(1, 0, 0), cv::Mat(), cv::Vec3d(0, 0, 9.8), cv::Mat(), Transform::getIdentity());
const cv::Vec3d accelBefore = imu.linearAcceleration();
const cv::Vec3d gyroBefore = imu.angularVelocity();
imu.convertToBaseFrame();
expectVec3Near(imu.linearAcceleration(), accelBefore);
expectVec3Near(imu.angularVelocity(), gyroBefore);
EXPECT_TRUE(imu.localTransform().isIdentity());
}
TEST(IMUTest, ConvertToBaseFrameRotatesLinearAcceleration)
{
const double halfPi = CV_PI / 2.0;
const Transform local(0.f, 0.f, 0.f, 0.f, 0.f, static_cast<float>(halfPi));
IMU imu(cv::Vec3d(), cv::Mat(), cv::Vec3d(1.0, 0.0, 0.0), cv::Mat(), local);
imu.convertToBaseFrame();
expectVec3Near(imu.linearAcceleration(), cv::Vec3d(0.0, 1.0, 0.0), 1e-4);
EXPECT_NEAR(imu.localTransform().theta(), 0.0f, 1e-5f);
EXPECT_FLOAT_EQ(imu.localTransform().x(), 0.f);
}
TEST(IMUTest, ConvertToBaseFrameRotatesCovariance)
{
const double halfPi = CV_PI / 2.0;
const Transform local(0.f, 0.f, 0.f, 0.f, 0.f, static_cast<float>(halfPi));
// Distinct diagonal: a 90° yaw swaps x/y variance (1 and 2), z (4) unchanged.
const cv::Mat cov = covariance3x3Diagonal(1.0, 2.0, 4.0);
IMU imu(cv::Vec3d(1, 0, 0), cov, cv::Vec3d(), cv::Mat(), local);
imu.convertToBaseFrame();
const cv::Mat & rotated = imu.angularVelocityCovariance();
ASSERT_EQ(rotated.rows, 3);
EXPECT_NE(rotated.at<double>(0, 0), 1.0);
EXPECT_NE(rotated.at<double>(1, 1), 2.0);
EXPECT_NEAR(rotated.at<double>(0, 0), 2.0, 1e-5);
EXPECT_NEAR(rotated.at<double>(1, 1), 1.0, 1e-5);
EXPECT_NEAR(rotated.at<double>(2, 2), 4.0, 1e-5);
EXPECT_NEAR(rotated.at<double>(0, 1), 0.0, 1e-5);
EXPECT_NEAR(rotated.at<double>(1, 0), 0.0, 1e-5);
}
TEST(IMUEventTest, DefaultConstructor)
{
const IMUEvent event;
EXPECT_EQ(event.getClassName(), "IMUEvent");
EXPECT_DOUBLE_EQ(event.getStamp(), 0.0);
EXPECT_TRUE(event.getData().empty());
}
TEST(IMUEventTest, StoresDataAndStamp)
{
const IMU imu(cv::Vec3d(0.1, 0.2, 0.3), cv::Mat(), cv::Vec3d(1, 0, 0), cv::Mat(), Transform::getIdentity());
const double stamp = 123.456;
const IMUEvent event(imu, stamp);
EXPECT_EQ(event.getClassName(), "IMUEvent");
EXPECT_DOUBLE_EQ(event.getStamp(), stamp);
EXPECT_FALSE(event.getData().empty());
EXPECT_EQ(event.getData().angularVelocity(), imu.angularVelocity());
EXPECT_EQ(event.getData().linearAcceleration(), imu.linearAcceleration());
}