reconstruct code.

.clang-format

@@ -0,0 +1,39 @@
+# clang-format configuration
+
+# created by hailiang
+
+# Base
+BasedOnStyle: LLVM
+
+# Indent
+UseTab: Never
+TabWidth: 4
+IndentWidth: 4
+ColumnLimit: 120
+AccessModifierOffset: -4
+ObjCBlockIndentWidth: 4
+IndentWrappedFunctionNames: true
+IndentCaseLabels: true
+
+# Line
+MaxEmptyLinesToKeep: 1
+SpaceBeforeAssignmentOperators: true
+SpacesInContainerLiterals: true
+KeepEmptyLinesAtTheStartOfBlocks: true
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: Never
+AllowAllParametersOfDeclarationOnNextLine: true
+BreakConstructorInitializersBeforeComma: true
+
+# Space
+PointerAlignment: Right
+SpacesInSquareBrackets: false
+SpacesInParentheses: false
+SpaceAfterCStyleCast: true
+
+# Alignment
+ObjCSpaceAfterProperty: true
+AlignTrailingComments: true
+AlignOperands: true
+AlignConsecutiveDeclarations: None
+AlignConsecutiveAssignments: Consecutive

.gitignore

@@ -0,0 +1,6 @@
+bin/
+lib/
+build/
+.vscode/
+.idea/
+output/

CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.10)
+project(Wheel-INS)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_BUILD_TYPE RELEASE)
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")
+    add_definitions( -D_USE_MATH_DEFINES=True)
+    add_compile_options("$<$<C_COMPILER_ID:MSVC>:/utf-8>")
+    add_compile_options("$<$<CXX_COMPILER_ID:MSVC>:/utf-8>")
+else()
+    set(CMAKE_CXX_FLAGS "-Wno-unused-result")
+endif()
+
+file(GLOB_RECURSE SOURCE
+        src/main.cpp
+        src/fileio/fileloader.cpp
+        src/fileio/filesaver.cpp
+        src/wheel_ins/wheelins.cpp
+        src/wheel_ins/insmech.cpp)
+
+include_directories(${PROJECT_SOURCE_DIR}/src)
+add_executable(${PROJECT_NAME} ${SOURCE})
+
+# Eigen3
+include_directories(ThirdParty/eigen-3.3.9)
+
+# yaml-cpp-0.7.0
+add_subdirectory(ThirdParty/yaml-cpp-0.7.0)
+target_link_libraries(${PROJECT_NAME} yaml-cpp)
+
+
+set(ABSL_PROPAGATE_CXX_STD true)
+add_subdirectory(ThirdParty/abseil-cpp-20220623.1)
+target_link_libraries(${PROJECT_NAME}
+        absl::strings
+        absl::str_format)

README.md

@@ -3,25 +3,62 @@
 Unlike the conventional odometer-aided inertial navigation system (ODO/INS) where the IMU is always placed either on the vehicle body or in the coach, in Wheel-INS, the IMU is mounted on the wheel of the ground vehicle. There are two major advanatges by doing so: 1) the wheel velocity can be obtained by the Wheel-IMU thus replace the traditional odometer (or wheel encoder); 2) the rotation modulation can be leveraged to mitigate the error accumulation of INS. Particularly, the wheel velocity calculated by the gyroscope outputs and the wheel radius is treated as an external observation with non-holonomic constraint (NHC) to fuse with INS through an extended Kalman filter (EKF).
 
 ## :boom:News:boom:
+:tada::tada: Oct. 2023 A completely new version of the code is released!
+
 :tada::tada: Nov. 2022 Our paper on one wheel-mounted IMU-based SLAM ([Wheel-SLAM](https://arxiv.org/pdf/2211.03174.pdf)) has been accepted to IEEE Robotics and Automation Letters. The [source code](https://github.com/i2Nav-WHU/Wheel-SLAM) is released. Check it out!
 
 :tada::tada: Nov. 2022 Our paper on multiple IMUs-based wheeled robot localization ([Wheel-INS2](https://ieeexplore.ieee.org/document/9950438)) has been accepted to IEEE Transactions on Intelligent Transportation Systems. Check it out!
 
-## Introduction
-The source code is in the ***Wheel-INS*** folder. It is very consice and light-weight which can be run easily in Windows (Some incompatibility issues should be solved for running in Linux). It does not rely on any third-party libraries.(We only use OpenCV to read configure file.)
+## Run it
+### 1. Linux
+We recommend you to use g++ compiler with Ubuntu 20.04. The build-essential libraries should be installed first:
+```shell
+sudo apt-get install cmake
+sudo apt-get install build-essential
+```
 
-Two sets of example data with ground truth are also provided (see ***Data*** folder). Please refer to the ***ReadMe.pdf*** for details. If *git clone* is too slow, please try to download the *.zip* file directly.
+After preparing the compilation environment, you can clone the repository and run it as follows:
 
-## Related Papers
-*Based on the study of Wheel-IMU, we have published three papers. 1) The original Wheel-INS paper where we proposed a wheel-mounted IMU-based dead reckoning system and investigated its characteristics. 2) A thorough and complete comparison on three different measurement models (vehicle velocity information obtained from the Wwheel-IMU) in Wheel-INS with both theoretical analysis and experimental illustration. 3) A multiple IMUs-based localization system for wheeled robots by obtaining different dynamic information of the vhehicle and taking advantage of the relative spatial constraints among the inertial sensors with a comparison on different configurations.*
+```shell
+# Clone the repository
+git clone git@github.com:i2Nav-WHU/Wheel-INS.git ~/
 
-- X. Niu, Y. Wu and J. Kuang, "Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System," IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2021.3108008, 2021. ([pdf](http://i2nav.cn/ueditor/jsp/upload/file/20210905/1630804325780076093.pdf)) ([IEEE Xplore](https://ieeexplore.ieee.org/document/9524467))
+# Build Wheel-INS
+cd ~/Wheel-INS
+mkdir build && cd build
 
-- Y. Wu, X. Niu and J. Kuang, "A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System," IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2021.3102409, 2021. ([pdf](http://i2nav.cn/ueditor/jsp/upload/file/20210905/1630804728655046341.pdf)) ([IEEE Xplore](https://ieeexplore.ieee.org/document/9508199))
+cmake ..
+make -j10
 
-- Y. Wu, J. Kuang and X. Niu, "Wheel-INS2: Multiple MEMS IMU-based Dead Reckoning System for Wheeled Robots with Evaluation of Different IMU Configurations," IEEE Transactions on Intelligent Transportation Systems, 2022. ([pdf](https://arxiv.org/abs/2012.10593))([IEEE Xplore](https://ieeexplore.ieee.org/document/9950438))
+# Run demo dataset
+cd ~/Wheel-INS
+./bin/Wheel-INS config/robot.yaml
+```
+### 2. Windows
+Here we show how to run the code with [Visual Studio Code (VSCode)](https://code.visualstudio.com/), but you can also use other IDEs, e.g., [Visual Studio](https://visualstudio.microsoft.com/).
+
+- Install VSCode and the extensions: **C/C++**, **C/C++ Extension Pack**, **CMake**, and **CMake Tools**
+- Install [CMake](https://cmake.org/download/) and [Microsoft Visual C/C++ Build Tools](https://visualstudio.microsoft.com/downloads/).
+- Open Wheel-INS with VSCode.
+- Set compiler: open the Command Palette (Ctrl+Shift+P) and type "CMake: Select a Kit", select the correct build tool according to your system.
+- Configure CMake: type "CMake: Configure" in the Command Palette
+- Compile Project: type "CMake: Build" in the Command Palette 
+
+Once a execuble file **Wheel-INS.exe** is generated, the compilation is done. Then, you can run it via the terminal in VSCode as following:
+
+```shell
+.\bin\Release\Wheel-INS.exe config/robot.yaml
+```
+You can then run **plot.py** in utils to plot the trajectory estimated by Wheel-INS as well as the raw Wheel-IMU data.
+## Datasets
+Two sets of example data with ground truth are also provided (see ***dtaset***). Please refer to the ***ReadMe.pdf*** for details. If *git clone* is too slow, please try to download the *.zip* file directly.
 
-If you find our study helpful to your academic research, please consider citing the related papers.
+## Related Papers
+*Based on the study of Wheel-IMU, we have published three papers. 1) The original Wheel-INS paper where we proposed a wheel-mounted IMU-based dead reckoning system and investigated its characteristics. 2) A thorough and complete comparison on three different measurement models in Wheel-INS with both theoretical analysis and experimental illustration. 3) A multiple IMUs-based localization system for wheeled robots by obtaining different dynamic information of the vhehicle and taking advantage of the relative spatial constraints among the inertial sensors.*
+
+If you find our studies helpful to your academic research, please consider citing the related papers.
+
+- X. Niu, Y. Wu and J. Kuang, "Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System," IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2021.3108008, 2021. ([pdf](http://i2nav.cn/ueditor/jsp/upload/file/20210905/1630804325780076093.pdf)) ([IEEE Xplore](https://ieeexplore.ieee.org/document/9524467))
 ```bibtex
 @ARTICLE{niu2021tvt,
   author={Niu, Xiaoji and Wu, Yibin and Kuang, Jian},
@@ -34,6 +71,8 @@ If you find our study helpful to your academic research, please consider citing
   doi={10.1109/TVT.2021.3108008}
 }
 ```
+
+- Y. Wu, X. Niu and J. Kuang, "A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System," IEEE Transactions on Vehicular Technology, doi: 10.1109/TVT.2021.3102409, 2021. ([pdf](http://i2nav.cn/ueditor/jsp/upload/file/20210905/1630804728655046341.pdf)) ([IEEE Xplore](https://ieeexplore.ieee.org/document/9508199))
 ```bibtex
 @ARTICLE{wu2021tvt,
   author={Wu, Yibin and Niu, Xiaoji and Kuang, Jian},
@@ -45,6 +84,8 @@ If you find our study helpful to your academic research, please consider citing
   pages={11193-11203},
   doi={10.1109/TVT.2021.3102409}}
 ```
+
+- Y. Wu, J. Kuang and X. Niu, "Wheel-INS2: Multiple MEMS IMU-based Dead Reckoning System for Wheeled Robots with Evaluation of Different IMU Configurations," IEEE Transactions on Intelligent Transportation Systems, 2022. ([pdf](https://arxiv.org/abs/2012.10593))([IEEE Xplore](https://ieeexplore.ieee.org/document/9950438))
 ```bibtex
 @ARTICLE{wu2022tits,  
     author={Wu, Yibin and Kuang, Jian and Niu, Xiaoji},  
@@ -55,4 +96,10 @@ If you find our study helpful to your academic research, please consider citing
     doi={10.1109/TITS.2022.3220508}
 }
 ```
-For any questions, please feel free to contact Mr. Yibin Wu (ybwu@whu.edu.cn) or Dr. Jian Kuang (kuang@whu.edu.cn).
+## License
+The code is released under GPLv3 license.
+
+## Acknowledgement
+We would like to thank i2Nav group for sharing [KF-GINS](https://github.com/i2Nav-WHU/KF-GINS), which is referenced by this code. 
+
+For any questions, please feel free to contact Mr. Yibin Wu (ybwu at whu.edu.cn) or Dr. Jian Kuang (kuang at whu.edu.cn).

ThirdParty/abseil-cpp-20220623.1/.clang-format

@@ -0,0 +1,4 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+...

ThirdParty/abseil-cpp-20220623.1/.github/ISSUE_TEMPLATE/00-bug_report.md

@@ -0,0 +1,41 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: 'bug'
+assignees: ''
+---
+
+**Describe the bug**
+
+Include a clear and concise description of what the problem is, including what
+you expected to happen, and what actually happened.
+
+**Steps to reproduce the bug**
+
+It's important that we are able to reproduce the problem that you are
+experiencing. Please provide all code and relevant steps to reproduce the
+problem, including your `BUILD`/`CMakeLists.txt` file and build commands. Links
+to a GitHub branch or [godbolt.org](https://godbolt.org/) that demonstrate the
+problem are also helpful.
+
+**What version of Abseil are you using?**
+
+**What operating system and version are you using**
+
+If you are using a Linux distribution please include the name and version of the
+distribution as well.
+
+**What compiler and version are you using?**
+
+Please include the output of `gcc -v` or `clang -v`, or the equivalent for your
+compiler.
+
+**What build system are you using?**
+
+Please include the output of `bazel --version` or `cmake --version`, or the
+equivalent for your build system.
+
+**Additional context**
+
+Add any other context about the problem here.

ThirdParty/abseil-cpp-20220623.1/.github/ISSUE_TEMPLATE/90-question.md

@@ -0,0 +1,7 @@
+---
+name: Question
+about: Have a question? Ask us anything! :-)
+title: ''
+labels: 'question'
+assignees: ''
+---

ThirdParty/abseil-cpp-20220623.1/.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1 @@
+blank_issues_enabled: true

ThirdParty/abseil-cpp-20220623.1/.gitignore

@@ -0,0 +1,15 @@
+# Ignore all bazel-* symlinks.
+/bazel-*
+# Ignore Bazel verbose explanations
+--verbose_explanations
+# Ignore CMake usual build directory
+build
+# Ignore Vim files
+*.swp
+# Ignore QtCreator Project file
+CMakeLists.txt.user
+# Ignore VS Code files
+.vscode/*
+# Ignore generated python artifacts
+*.pyc
+copts/__pycache__/

ThirdParty/abseil-cpp-20220623.1/ABSEIL_ISSUE_TEMPLATE.md

@@ -0,0 +1,22 @@
+Please submit a new Abseil Issue using the template below:
+
+## [Short title of proposed API change(s)]
+
+--------------------------------------------------------------------------------
+--------------------------------------------------------------------------------
+
+## Background
+
+[Provide the background information that is required in order to evaluate the
+proposed API changes. No controversial claims should be made here. If there are
+design constraints that need to be considered, they should be presented here
+**along with justification for those constraints**. Linking to other docs is
+good, but please keep the **pertinent information as self contained** as
+possible in this section.]
+
+## Proposed API Change (s)
+
+[Please clearly describe the API change(s) being proposed. If multiple changes,
+please keep them clearly distinguished. When possible, **use example code
+snippets to illustrate before-after API usages**. List pros-n-cons. Highlight
+the main questions that you want to be answered. Given the Abseil project compatibility requirements, describe why the API change is safe.]

ThirdParty/abseil-cpp-20220623.1/AUTHORS

@@ -0,0 +1,6 @@
+# This is the list of Abseil authors for copyright purposes.
+#
+# This does not necessarily list everyone who has contributed code, since in
+# some cases, their employer may be the copyright holder.  To see the full list
+# of contributors, see the revision history in source control.
+Google Inc.

ThirdParty/abseil-cpp-20220623.1/BUILD.bazel

@@ -0,0 +1,25 @@
+#
+# Copyright 2020 The Abseil Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+package(default_visibility = ["//visibility:public"])
+
+licenses(["notice"])  # Apache 2.0
+
+# Expose license for external usage through bazel.
+exports_files([
+    "AUTHORS",
+    "LICENSE",
+])