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feature: expose IMU gravity param and set via gtsam::PreintegrationParams #305

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feature: expose IMU gravity param and set via gtsam::PreintegrationParams #305

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4 changes: 3 additions & 1 deletion config/config_sensors.json
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
{
/*** Sensor configurations ***
// --- IMU config ---
// imu_gravity_magnitude : Gravity magnitude used for IMU preintegration
// imu_acc_noise : Accelerometer noise
// imu_gyro_noise : Gyroscope noise
// imu_int_noise : Integration noise
Expand Down Expand Up @@ -44,6 +45,7 @@
*/
"sensors": {
// IMU config
"imu_gravity_magnitude": 9.80665,
"imu_acc_noise": 0.05,
"imu_gyro_noise": 0.02,
"imu_int_noise": 0.001,
Expand Down Expand Up @@ -96,4 +98,4 @@
-0.03279627881588615
]
}
}
}
3 changes: 2 additions & 1 deletion include/glim/common/imu_integration.hpp
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Expand Up @@ -15,6 +15,7 @@ struct IMUIntegrationParams {
~IMUIntegrationParams();

bool upright; // If true, +Z = up
double gravity_magnitude; // Gravity magnitude used by GTSAM IMU preintegration
double acc_noise; // Linear acceleration noise
double gyro_noise; // Angular velocity noise
double int_noise; // Integration noise
Expand Down Expand Up @@ -94,4 +95,4 @@ class IMUIntegration {
std::shared_ptr<gtsam::PreintegratedImuMeasurements> imu_measurements;
std::deque<Eigen::Matrix<double, 7, 1>> imu_queue;
};
} // namespace glim
} // namespace glim
5 changes: 3 additions & 2 deletions src/glim/common/imu_integration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@ IMUIntegrationParams::IMUIntegrationParams(const bool upright) {
glim::Config config_sensors(glim::GlobalConfig::get_config_path("config_sensors"));

this->upright = upright;
this->gravity_magnitude = config_sensors.param<double>("sensors", "imu_gravity_magnitude", 9.80665);
this->acc_noise = config_sensors.param<double>("sensors", "imu_acc_noise", 0.01);
this->gyro_noise = config_sensors.param<double>("sensors", "imu_gyro_noise", 0.001);
this->int_noise = config_sensors.param<double>("sensors", "imu_int_noise", 0.001);
Expand All @@ -16,9 +17,9 @@ IMUIntegrationParams::IMUIntegrationParams(const bool upright) {
IMUIntegrationParams::~IMUIntegrationParams() {}

IMUIntegration::IMUIntegration(const IMUIntegrationParams& params) {
auto imu_params = gtsam::PreintegrationParams::MakeSharedU();
auto imu_params = gtsam::PreintegrationParams::MakeSharedU(params.gravity_magnitude);
if (!params.upright) {
imu_params = gtsam::PreintegrationParams::MakeSharedD();
imu_params = gtsam::PreintegrationParams::MakeSharedD(params.gravity_magnitude);
}

imu_params->accelerometerCovariance = gtsam::Matrix3::Identity() * std::pow(params.acc_noise, 2);
Expand Down