ov_msckf::Simulator class

Master simulator class that generated visual-inertial measurements.

Reference

Given a trajectory this will generate a SE(3) ov_core::BsplineSE3 for that trajectory. This allows us to get the inertial measurement information at each timestep during this trajectory. After creating the bspline we will generate an environmental feature map which will be used as our feature measurements. This map will be projected into the frame at each timestep to get our "raw" uv measurements. We inject bias and white noises into our inertial readings while adding our white noise to the uv measurements also. The user should specify the sensor rates that they desire along with the seeds of the random number generators.

Public static functions

static void perturb_parameters(std::mt19937 gen_state, VioManagerOptions& params_): Will get a set of perturbed parameters.

Constructors, destructors, conversion operators

Simulator(VioManagerOptions& params_): Default constructor, will load all configuration variables.

Public functions

auto ok() -> bool: Returns if we are actively simulating.
auto current_timestamp() -> double: Gets the timestamp we have simulated up too.
auto get_state(double desired_time, Eigen::Matrix<double, 17, 1>& imustate) -> bool: Get the simulation state at a specified timestep.
auto get_next_imu(double& time_imu, Eigen::Vector3d& wm, Eigen::Vector3d& am) -> bool: Gets the next inertial reading if we have one.
auto get_next_cam(double& time_cam, std::vector<int>& camids, std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>>& feats) -> bool: Gets the next inertial reading if we have one.
auto get_map() -> std::unordered_map<size_t, Eigen::Vector3d>: Returns the true 3d map of features.
auto get_map_vec() -> std::vector<Eigen::Vector3d>: Returns the true 3d map of features.
auto get_true_parameters() -> VioManagerOptions: Access function to get the true parameters (i.e. calibration and settings)

Protected functions

auto project_pointcloud(const Eigen::Matrix3d& R_GtoI, const Eigen::Vector3d& p_IinG, int camid, const std::unordered_map<size_t, Eigen::Vector3d>& feats) -> std::vector<std::pair<size_t, Eigen::VectorXf>>: Projects the passed map features into the desired camera frame.
void generate_points(const Eigen::Matrix3d& R_GtoI, const Eigen::Vector3d& p_IinG, int camid, std::unordered_map<size_t, Eigen::Vector3d>& feats, int numpts): Will generate points in the fov of the specified camera.

Protected variables

VioManagerOptions params: True vio manager params (a copy of the parsed ones)
std::vector<Eigen::VectorXd> traj_data: Our loaded trajectory data (timestamp(s), q_GtoI, p_IinG)
std::shared_ptr<ov_core::BsplineSE3> spline: Our b-spline trajectory.
size_t id_map: Our map of 3d features.
std::mt19937 gen_meas_imu: Mersenne twister PRNG for measurements (IMU)
std::vector<std::mt19937> gen_meas_cams: Mersenne twister PRNG for measurements (CAMERAS)
std::mt19937 gen_state_init: Mersenne twister PRNG for state initialization.
std::mt19937 gen_state_perturb: Mersenne twister PRNG for state perturbations.
bool is_running: If our simulation is running.
double timestamp: Current timestamp of the system.
double timestamp_last_imu: Last time we had an IMU reading.
double timestamp_last_cam: Last time we had an CAMERA reading.
Eigen::Vector3d true_bias_accel: Our running acceleration bias.
Eigen::Vector3d true_bias_gyro: Our running gyroscope bias.

Function documentation

static void ov_msckf::Simulator::perturb_parameters(std::mt19937 gen_state, VioManagerOptions& params_)

Will get a set of perturbed parameters.

Parameters
gen_state	Random number gen to use
params_	Parameters we will perturb

ov_msckf::Simulator::Simulator(VioManagerOptions& params_)

Default constructor, will load all configuration variables.

Parameters
params_	VioManager parameters. Should have already been loaded from cmd.

bool ov_msckf::Simulator::ok()

Returns if we are actively simulating.

Returns	True if we still have simulation data

double ov_msckf::Simulator::current_timestamp()

Gets the timestamp we have simulated up too.

Returns	Timestamp

bool ov_msckf::Simulator::get_state(double desired_time, Eigen::Matrix<double, 17, 1>& imustate)

Get the simulation state at a specified timestep.

Parameters
desired_time	Timestamp we want to get the state at
imustate	State in the MSCKF ordering: [time(sec),q_GtoI,p_IinG,v_IinG,b_gyro,b_accel]
Returns	True if we have a state

bool ov_msckf::Simulator::get_next_imu(double& time_imu, Eigen::Vector3d& wm, Eigen::Vector3d& am)

Gets the next inertial reading if we have one.

Parameters
time_imu	Time that this measurement occured at
wm	Angular velocity measurement in the inertial frame
am	Linear velocity in the inertial frame
Returns	True if we have a measurement

bool ov_msckf::Simulator::get_next_cam(double& time_cam, std::vector<int>& camids, std::vector<std::vector<std::pair<size_t, Eigen::VectorXf>>>& feats)