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Load/save imu accel/gyro time offsets #292

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16 changes: 14 additions & 2 deletions core/calibration/ImuMagnetometerCalibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,11 +47,15 @@ ImuCalibration::ImuCalibration(
const Eigen::Vector3d& biasAccel,
const Eigen::Matrix3d& rectificationMatrixGyro,
const Eigen::Vector3d& biasGyro,
const Sophus::SE3d& T_Device_Imu)
const Sophus::SE3d& T_Device_Imu,
double timeOffsetSecDeviceAccel,
double timeOffsetSecDeviceGyro)
: label_(label),
accel_(rectificationMatrixAccel, biasAccel),
gyro_(rectificationMatrixGyro, biasGyro),
T_Device_Imu_(T_Device_Imu) {}
T_Device_Imu_(T_Device_Imu),
timeOffsetSecDeviceAccel_(timeOffsetSecDeviceAccel),
timeOffsetSecDeviceGyro_(timeOffsetSecDeviceGyro) {}

std::string ImuCalibration::getLabel() const {
return label_;
Expand Down Expand Up @@ -84,6 +88,14 @@ LinearRectificationModel3d ImuCalibration::getGyroModel() const {
return gyro_;
}

double ImuCalibration::getTimeOffsetSecDeviceAccel() const {
return timeOffsetSecDeviceAccel_;
}

double ImuCalibration::getTimeOffsetSecDeviceGyro() const {
return timeOffsetSecDeviceGyro_;
}

/* MagnetometerCalibration */
MagnetometerCalibration::MagnetometerCalibration(
const std::string& label,
Expand Down
16 changes: 15 additions & 1 deletion core/calibration/ImuMagnetometerCalibration.h
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Expand Up @@ -87,7 +87,9 @@ class ImuCalibration {
const Eigen::Vector3d& biasAccel,
const Eigen::Matrix3d& rectificationMatrixGyro,
const Eigen::Vector3d& biasGyro,
const Sophus::SE3d& T_Device_Imu);
const Sophus::SE3d& T_Device_Imu,
double timeOffsetSecDeviceAccel = 0.0,
double timeOffsetSecDeviceGyro = 0.0);

std::string getLabel() const;
Sophus::SE3d getT_Device_Imu() const;
Expand Down Expand Up @@ -120,11 +122,23 @@ class ImuCalibration {
*/
LinearRectificationModel3d getGyroModel() const;

/**
* @brief return time offset between device and accelerometer
*/
double getTimeOffsetSecDeviceAccel() const;

/**
* @brief return time offset between device and gyroscope
*/
double getTimeOffsetSecDeviceGyro() const;

private:
std::string label_;
LinearRectificationModel3d accel_;
LinearRectificationModel3d gyro_;
Sophus::SE3d T_Device_Imu_;
double timeOffsetSecDeviceAccel_;
double timeOffsetSecDeviceGyro_;
};

/**
Expand Down
15 changes: 6 additions & 9 deletions core/calibration/loader/DeviceCalibrationJson.cpp
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Expand Up @@ -219,26 +219,23 @@ nlohmann::json imuCalibrationToJson(const ImuCalibration& imuCalib) {
imuJson["T_Device_Imu"] = json::se3ToJson(imuCalib.getT_Device_Imu());

// Accelerometer calibration
imuJson["Accelerometer"]["TimeOffsetSec_Device_Accel"] = 0;
imuJson["Accelerometer"]["Model"]["Name"] = "UpperTriagonalLinear";
imuJson["Accelerometer"]["Model"]["RectificationMatrix"] =
json::eigenMatrixToJson(imuCalib.getAccelModel().getRectification());
imuJson["Accelerometer"]["Bias"]["Offset"] =
json::eigenVectorToJson(imuCalib.getAccelModel().getBias());
imuJson["Accelerometer"]["Bias"]["Name"] = "Constant";
imuJson["Accelerometer"]["Model"]["Name"] = "UpperTriagonalLinear";
imuJson["Accelerometer"]["Model"]["RectificationMatrix"] =
json::eigenMatrixToJson(imuCalib.getAccelModel().getRectification());
imuJson["Accelerometer"]["TimeOffsetSec_Device_Accel"] = imuCalib.getTimeOffsetSecDeviceAccel();

// Gyroscope calibration
imuJson["Gyroscope"]["Bias"]["Name"] = "Constant";

imuJson["Gyroscope"]["Bias"]["Offset"] =
json::eigenVectorToJson(imuCalib.getGyroModel().getBias());
imuJson["Gyroscope"]["Model"]["Name"] = "Linear";
imuJson["Gyroscope"]["Model"]["RectificationMatrix"] =
json::eigenMatrixToJson(imuCalib.getGyroModel().getRectification());
imuJson["Gyroscope"]["Model"]["Name"] = "LinearGSensitivity";
auto zeroMat = Eigen::Matrix<double, 3, 3>();
zeroMat.setZero();
imuJson["Gyroscope"]["Model"]["GSensitivityMatrix"] = json::eigenMatrixToJson(zeroMat);
imuJson["Gyroscope"]["TimeOffsetSec_Device_Gyro"] = 0;
imuJson["Gyroscope"]["TimeOffsetSec_Device_Gyro"] = imuCalib.getTimeOffsetSecDeviceGyro();

return imuJson;
}
Expand Down
5 changes: 4 additions & 1 deletion core/calibration/loader/SensorCalibrationJson.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,12 @@ ImuCalibration parseImuCalibrationFromJson(const nlohmann::json& json) {
const auto& label = json["Label"];
const auto [accelMat, accelBias] = parseRectModelFromJson(json["Accelerometer"]);
const auto [gyroMat, gyroBias] = parseRectModelFromJson(json["Gyroscope"]);
const double timeOffsetSecDeviceAccel = static_cast<double>(json["Accelerometer"]["TimeOffsetSec_Device_Accel"]);
const double timeOffsetSecDeviceGyro = static_cast<double>(json["Gyroscope"]["TimeOffsetSec_Device_Gyro"]);
const auto T_Device_Imu = se3FromJson<double>(json["T_Device_Imu"]);

return ImuCalibration(label, accelMat, accelBias, gyroMat, gyroBias, T_Device_Imu);
return ImuCalibration(label, accelMat, accelBias, gyroMat, gyroBias, T_Device_Imu,
timeOffsetSecDeviceAccel, timeOffsetSecDeviceGyro);
}

MagnetometerCalibration parseMagnetometerCalibrationFromJson(
Expand Down
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