Simulator.h

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/*
 * OpenVINS: An Open Platform for Visual-Inertial Research
 * Copyright (C) 2018-2023 Patrick Geneva
 * Copyright (C) 2018-2023 Guoquan Huang
 * Copyright (C) 2018-2023 OpenVINS Contributors
 * Copyright (C) 2018-2019 Kevin Eckenhoff
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

#ifndef OV_MSCKF_SIMULATOR_H
#define OV_MSCKF_SIMULATOR_H

#include <Eigen/Eigen>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <random>
#include <sstream>
#include <string>
#include <unordered_map>

#include "core/VioManagerOptions.h"

namespace ov_core {
class BsplineSE3;
} // namespace ov_core

namespace ov_msckf {

class Simulator {

public:
  Simulator(VioManagerOptions &params_);

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

  bool ok() { return is_running; }

  double current_timestamp() { return timestamp; }

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

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

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

  std::unordered_map<size_t, Eigen::Vector3d> get_map() { return featmap; }

  std::vector<Eigen::Vector3d> get_map_vec() {
    std::vector<Eigen::Vector3d> feats;
    for (auto const &feat : featmap)
      feats.push_back(feat.second);
    return feats;
  }

  VioManagerOptions get_true_parameters() { return params; }

protected:
  std::vector<std::pair<size_t, Eigen::VectorXf>> project_pointcloud(const Eigen::Matrix3d &R_GtoI, const Eigen::Vector3d &p_IinG,
                                                                     int camid, const std::unordered_map<size_t, Eigen::Vector3d> &feats);

  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);

  //===================================================================
  // Configuration variables
  //===================================================================

  VioManagerOptions params;

  //===================================================================
  // State related variables
  //===================================================================

  std::vector<Eigen::VectorXd> traj_data;

  std::shared_ptr<ov_core::BsplineSE3> spline;

  size_t id_map = 0;
  std::unordered_map<size_t, Eigen::Vector3d> featmap;

  std::mt19937 gen_meas_imu;

  std::vector<std::mt19937> gen_meas_cams;

  std::mt19937 gen_state_init;

  std::mt19937 gen_state_perturb;

  bool is_running;

  //===================================================================
  // Simulation specific variables
  //===================================================================

  double timestamp;

  double timestamp_last_imu;

  double timestamp_last_cam;

  Eigen::Vector3d true_bias_accel = Eigen::Vector3d::Zero();

  Eigen::Vector3d true_bias_gyro = Eigen::Vector3d::Zero();

  // Our history of true biases
  bool has_skipped_first_bias = false;
  std::vector<double> hist_true_bias_time;
  std::vector<Eigen::Vector3d> hist_true_bias_accel;
  std::vector<Eigen::Vector3d> hist_true_bias_gyro;
};

} // namespace ov_msckf

#endif // OV_MSCKF_SIMULATOR_H