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fix IMUDelta factor serde #749

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merged 1 commit into from
Aug 13, 2024
Merged

fix IMUDelta factor serde #749

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1 change: 1 addition & 0 deletions src/ExportAPI.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -229,6 +229,7 @@ export DynPose2, DynPose2VelocityPrior, PackedDynPose2VelocityPrior, DynPose2Pos
export PriorIMUBias, PackedPriorIMUBias
export PriorVelPos3, PackedPriorVelPos3
export VelPosRotVelPos, PackedVelPosRotVelPos
export IMUDeltaFactor, PackedIMUDeltaFactor

# InertialPose3
export
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42 changes: 35 additions & 7 deletions src/factors/Inertial/IMUDeltaFactor.jl
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Expand Up @@ -495,34 +495,62 @@ end

## serde

Base.@kwdef struct PackedIMUDeltaFactor{T <: PackedSamplableBelief} <: AbstractPackedFactor
struct PackedIMUDeltaFactor{T <: PackedSamplableBelief} <: AbstractPackedFactor
Z::T # NOTE dim is 9 as Δt is not included in covariance
dt::Float64
D::Vector{Float64}
Sigma::Vector{Float64} #SMatrix{10,10,Float64}
# J_b::SMatrix{10,6,Float64} = zeros(SMatrix{10,6,Float64})
# accelerometer bias, gyroscope bias
b::Vector{Float64} = zeros(6)
b::Vector{Float64}
end

function PackedIMUDeltaFactor(;
Z,
dt,
D,
Sigma,
b
)
_gettype(zt::PackedSamplableBelief) = zt
_gettype(zt) = DistributedFactorGraphs.getTypeFromSerializationModule(zt["_type"])(; zt...)

_Z = _gettype(Z)
# _Z = ZT(; Z...)
_dt = Float64(dt)
_D = Float64.(D)
_Sigma = Float64.(Sigma)
_b = Float64.(b)
PackedIMUDeltaFactor(
_Z,
_dt,
_D,
_Sigma,
_b
)
end


function convert(::Type{<:PackedIMUDeltaFactor}, d::IMUDeltaFactor)
Z = convert(PackedSamplableBelief, d.Z)
return PackedIMUDeltaFactor(;
Z = convert(PackedSamplableBelief, d.Z),
Z,
dt = d.Δt,
D = vcat(collect(d.Δ.x[1][:]), collect(d.Δ.x[2]), collect(d.Δ.x[3])),
Sigma = collect(d.Σ[:])
D = vcat(collect(d.Δ.x[1][:]), collect(d.Δ.x[2]), collect(d.Δ.x[3]), d.Δ.x[4]),
Sigma = collect(d.Σ[:]),
b = collect(d.b),
)
end
function convert(::Type{<:IMUDeltaFactor}, d::PackedIMUDeltaFactor)
15 == length(d.D) && @error("Deserializing a PackedIMUDeltaFactor has wrong length .D = $(length(d.D))")
16 !== length(d.D) && @error("Deserializing a PackedIMUDeltaFactor not 16 in length, .D = $(length(d.D))")
return IMUDeltaFactor(;
Z = convert(SamplableBelief, d.Z),
Δt = d.dt,
Δ = ArrayPartition(
SMatrix{3,3,Float64}(reshape(d.D[1:9],3,3)),
SVector{3,Float64}(d.D[10:12]),
SVector{3,Float64}(d.D[13:15])
SVector{3,Float64}(d.D[13:15]),
Float64(d.D[16])
),
Σ = SMatrix{10,10,Float64}(reshape(d.Sigma, 10,10)),
)
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