Master simulator class that generated visual-inertial measurements. More...

#include <Simulator.h>

Public Member Functions
double	current_timestamp ()
	Gets the timestamp we have simulated up too. More...

std::unordered_map< size_t, Eigen::Vector3d >	get_map ()
	Returns the true 3d map of features. More...

std::vector< Eigen::Vector3d >	get_map_vec ()
	Returns the true 3d map of features. More...

bool	get_next_cam (double &time_cam, std::vector< int > &camids, std::vector< std::vector< std::pair< size_t, Eigen::VectorXf >>> &feats)
	Gets the next inertial reading if we have one. More...

bool	get_next_imu (double &time_imu, Eigen::Vector3d &wm, Eigen::Vector3d &am)
	Gets the next inertial reading if we have one. More...

bool	get_state (double desired_time, Eigen::Matrix< double, 17, 1 > &imustate)
	Get the simulation state at a specified timestep. More...

VioManagerOptions	get_true_parameters ()
	Access function to get the true parameters (i.e. calibration and settings) More...

bool	ok ()
	Returns if we are actively simulating. More...

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

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

Protected Member Functions
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. More...

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)
	Projects the passed map features into the desired camera frame. More...

Protected Attributes
std::unordered_map< size_t, Eigen::Vector3d >	featmap

std::vector< std::mt19937 >	gen_meas_cams
	Mersenne twister PRNG for measurements (CAMERAS) More...

std::mt19937	gen_meas_imu
	Mersenne twister PRNG for measurements (IMU) More...

std::mt19937	gen_state_init
	Mersenne twister PRNG for state initialization. More...

std::mt19937	gen_state_perturb
	Mersenne twister PRNG for state perturbations. More...

bool	has_skipped_first_bias = false

std::vector< Eigen::Vector3d >	hist_true_bias_accel

std::vector< Eigen::Vector3d >	hist_true_bias_gyro

std::vector< double >	hist_true_bias_time

size_t	id_map = 0
	Our map of 3d features. More...

bool	is_running
	If our simulation is running. More...

VioManagerOptions	params
	True vio manager params (a copy of the parsed ones) More...

std::shared_ptr< ov_core::BsplineSE3 >	spline
	Our b-spline trajectory. More...

double	timestamp
	Current timestamp of the system. More...

double	timestamp_last_cam
	Last time we had an CAMERA reading. More...

double	timestamp_last_imu
	Last time we had an IMU reading. More...

std::vector< Eigen::VectorXd >	traj_data
	Our loaded trajectory data (timestamp(s), q_GtoI, p_IinG) More...

Eigen::Vector3d	true_bias_accel = Eigen::Vector3d::Zero()
	Our running acceleration bias. More...

Eigen::Vector3d	true_bias_gyro = Eigen::Vector3d::Zero()
	Our running gyroscope bias. More...

Detailed Description

Master simulator class that generated visual-inertial measurements.

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.

Definition at line 52 of file Simulator.h.

Constructor & Destructor Documentation

◆ Simulator()

Simulator::Simulator ( VioManagerOptions & params_ )

Default constructor, will load all configuration variables.

Parameters

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

Definition at line 35 of file Simulator.cpp.

Member Function Documentation

◆ current_timestamp()

double ov_msckf::Simulator::current_timestamp ( )

inline

Gets the timestamp we have simulated up too.

Returns: Timestamp

Definition at line 78 of file Simulator.h.

◆ generate_points()

void Simulator::generate_points	(	const Eigen::Matrix3d &	R_GtoI,
		const Eigen::Vector3d &	p_IinG,
		int	camid,
		std::unordered_map< size_t, Eigen::Vector3d > &	feats,
		int	numpts
	)

protected

Will generate points in the fov of the specified camera.

Parameters

	R_GtoI	Orientation of the IMU pose
	p_IinG	Position of the IMU pose
	camid	Camera id of the camera sensor we want to project into
[out]	feats	Map we will append new features to
	numpts	Number of points we should generate

Definition at line 501 of file Simulator.cpp.

◆ get_map()

std::unordered_map<size_t, Eigen::Vector3d> ov_msckf::Simulator::get_map ( )

inline

Returns the true 3d map of features.

Definition at line 107 of file Simulator.h.

◆ get_map_vec()

std::vector<Eigen::Vector3d> ov_msckf::Simulator::get_map_vec ( )

inline

Returns the true 3d map of features.

Definition at line 110 of file Simulator.h.

◆ get_next_cam()

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

Gets the next inertial reading if we have one.

Parameters

time_cam	Time that this measurement occured at
camids	Camera ids that the corresponding vectors match
feats	Noisy uv measurements and ids for the returned time

Returns: True if we have a measurement

Definition at line 391 of file Simulator.cpp.

◆ get_next_imu()

bool 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

Definition at line 311 of file Simulator.cpp.

◆ get_state()

bool 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

Definition at line 267 of file Simulator.cpp.

◆ get_true_parameters()

VioManagerOptions ov_msckf::Simulator::get_true_parameters ( )

inline

Access function to get the true parameters (i.e. calibration and settings)

Definition at line 118 of file Simulator.h.

◆ ok()

bool ov_msckf::Simulator::ok ( )

inline

Returns if we are actively simulating.

Returns: True if we still have simulation data

Definition at line 72 of file Simulator.h.

◆ perturb_parameters()

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

static

Will get a set of perturbed parameters.

Parameters

gen_state	Random number gen to use
params_	Parameters we will perturb

Definition at line 209 of file Simulator.cpp.

◆ project_pointcloud()

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

protected

Projects the passed map features into the desired camera frame.

Parameters

R_GtoI	Orientation of the IMU pose
p_IinG	Position of the IMU pose
camid	Camera id of the camera sensor we want to project into
feats	Our set of 3d features

Returns: True distorted raw image measurements and their ids for the specified camera

Definition at line 453 of file Simulator.cpp.

Member Data Documentation

◆ featmap

std::unordered_map<size_t, Eigen::Vector3d> ov_msckf::Simulator::featmap

protected

Definition at line 162 of file Simulator.h.

◆ gen_meas_cams

std::vector<std::mt19937> ov_msckf::Simulator::gen_meas_cams

protected

Mersenne twister PRNG for measurements (CAMERAS)

Definition at line 168 of file Simulator.h.

◆ gen_meas_imu

std::mt19937 ov_msckf::Simulator::gen_meas_imu

protected

Mersenne twister PRNG for measurements (IMU)

Definition at line 165 of file Simulator.h.

◆ gen_state_init

std::mt19937 ov_msckf::Simulator::gen_state_init

protected

Mersenne twister PRNG for state initialization.

Definition at line 171 of file Simulator.h.

◆ gen_state_perturb

std::mt19937 ov_msckf::Simulator::gen_state_perturb

protected

Mersenne twister PRNG for state perturbations.

Definition at line 174 of file Simulator.h.

◆ has_skipped_first_bias

bool ov_msckf::Simulator::has_skipped_first_bias = false

protected

Definition at line 199 of file Simulator.h.

◆ hist_true_bias_accel

std::vector<Eigen::Vector3d> ov_msckf::Simulator::hist_true_bias_accel

protected

Definition at line 201 of file Simulator.h.

◆ hist_true_bias_gyro

std::vector<Eigen::Vector3d> ov_msckf::Simulator::hist_true_bias_gyro

protected

Definition at line 202 of file Simulator.h.

◆ hist_true_bias_time

std::vector<double> ov_msckf::Simulator::hist_true_bias_time

protected

Definition at line 200 of file Simulator.h.

◆ id_map

size_t ov_msckf::Simulator::id_map = 0

protected

Our map of 3d features.

Definition at line 161 of file Simulator.h.

◆ is_running

bool ov_msckf::Simulator::is_running

protected

If our simulation is running.

Definition at line 177 of file Simulator.h.

◆ params

VioManagerOptions ov_msckf::Simulator::params

protected

True vio manager params (a copy of the parsed ones)

Definition at line 148 of file Simulator.h.

◆ spline

std::shared_ptr<ov_core::BsplineSE3> ov_msckf::Simulator::spline

protected

Our b-spline trajectory.

Definition at line 158 of file Simulator.h.

◆ timestamp

double ov_msckf::Simulator::timestamp

protected

Current timestamp of the system.

Definition at line 184 of file Simulator.h.

◆ timestamp_last_cam

double ov_msckf::Simulator::timestamp_last_cam

protected

Last time we had an CAMERA reading.

Definition at line 190 of file Simulator.h.

◆ timestamp_last_imu

double ov_msckf::Simulator::timestamp_last_imu

protected

Last time we had an IMU reading.

Definition at line 187 of file Simulator.h.

◆ traj_data

std::vector<Eigen::VectorXd> ov_msckf::Simulator::traj_data

protected

Our loaded trajectory data (timestamp(s), q_GtoI, p_IinG)

Definition at line 155 of file Simulator.h.

◆ true_bias_accel

Eigen::Vector3d ov_msckf::Simulator::true_bias_accel = Eigen::Vector3d::Zero()

protected

Our running acceleration bias.

Definition at line 193 of file Simulator.h.

◆ true_bias_gyro

Eigen::Vector3d ov_msckf::Simulator::true_bias_gyro = Eigen::Vector3d::Zero()

protected

Our running gyroscope bias.

Definition at line 196 of file Simulator.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Simulator()

Member Function Documentation

◆ current_timestamp()

◆ generate_points()

◆ get_map()

◆ get_map_vec()

◆ get_next_cam()

◆ get_next_imu()

◆ get_state()

◆ get_true_parameters()

◆ ok()

◆ perturb_parameters()

◆ project_pointcloud()

Member Data Documentation

◆ featmap

◆ gen_meas_cams

◆ gen_meas_imu

◆ gen_state_init

◆ gen_state_perturb

◆ has_skipped_first_bias

◆ hist_true_bias_accel

◆ hist_true_bias_gyro

◆ hist_true_bias_time

◆ id_map

◆ is_running

◆ params

◆ spline

◆ timestamp

◆ timestamp_last_cam

◆ timestamp_last_imu

◆ traj_data

◆ true_bias_accel

◆ true_bias_gyro