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Keeping imu_from_rig constant at identity #10

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Merged
nushakrishnan merged 5 commits into from
Oct 8, 2025
Merged

Keeping imu_from_rig constant at identity #10

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b0dcbc4
legacy comment
nushakrishnan Oct 8, 2025
3d40e2c
constant imu from rig
nushakrishnan Oct 8, 2025
3f8b1ce
constant
nushakrishnan Oct 8, 2025
5a750c3
ruff
nushakrishnan Oct 8, 2025
bb0f0f6
comment
nushakrishnan Oct 8, 2025
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2 changes: 0 additions & 2 deletions defaults.yaml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
# Default configuration for run_pipeline.py
keyframing:
max_rotation: 20.0
max_distance: 1.0
Expand Down Expand Up @@ -38,7 +37,6 @@ optimization:
imu:
optimize_scale: false
optimize_gravity: false
optimize_imu_from_rig: false
optimize_bias: true
gyro_infl: 1.0
acc_infl: 1.0
Expand Down
1 change: 0 additions & 1 deletion lamaria/config/options.py
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Expand Up @@ -79,7 +79,6 @@ class OptIMUOptions:

optimize_scale: bool = False
optimize_gravity: bool = False
optimize_imu_from_rig: bool = False
optimize_bias: bool = False


Expand Down
14 changes: 7 additions & 7 deletions lamaria/pipeline/optim/residual.py
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Expand Up @@ -61,19 +61,15 @@ def setup_manifolds_and_constraints(
problem,
):
"""Setup manifolds and parameter constraints"""
problem.set_manifold(session.gravity, pyceres.SphereManifold(3))
problem.set_manifold(
session.imu_from_rig.rotation.quat, pyceres.EigenQuaternionManifold()
)

# Apply optimization constraints based on configuration
if not imu_options.optimize_scale:
problem.set_parameter_block_constant(session.log_scale)
if not imu_options.optimize_gravity:
problem.set_parameter_block_constant(session.gravity)
if not imu_options.optimize_imu_from_rig:
problem.set_parameter_block_constant(session.imu_from_rig.rotation.quat)
problem.set_parameter_block_constant(session.imu_from_rig.translation)
else:
problem.set_manifold(session.gravity, pyceres.SphereManifold(3))

if not imu_options.optimize_bias:
constant_idxs = np.arange(3, 9)
for frame_id in session.imu_states:
Expand All @@ -82,4 +78,8 @@ def setup_manifolds_and_constraints(
pyceres.SubsetManifold(9, constant_idxs),
)

# IMU sensor is the reference frame, keeping identity tranformation constant
problem.set_parameter_block_constant(session.imu_from_rig.rotation.quat)
problem.set_parameter_block_constant(session.imu_from_rig.translation)

return problem