def plot(args, result, traj_ref, traj_est, traj_ref_full=None):
from evo.tools import plot
from evo.tools.settings import SETTINGS
import matplotlib.pyplot as plt
import numpy as np
logger.debug(SEP)
logger.debug("Plotting results... ")
plot_mode = plot.PlotMode(args.plot_mode)
# Plot the raw metric values.
fig1 = plt.figure(figsize=SETTINGS.plot_figsize)
if "seconds_from_start" in result.np_arrays:
seconds_from_start = result.np_arrays["seconds_from_start"]
else:
seconds_from_start = None
plot.error_array(fig1,
result.np_arrays["error_array"],
x_array=seconds_from_start,
statistics={
s: result.stats[s]
for s in SETTINGS.plot_statistics
if s not in ("min", "max")
},
name=result.info["label"],
title=result.info["title"],
xlabel="$t$ (s)" if seconds_from_start else "index")
# Plot the values color-mapped onto the trajectory.
fig2 = plt.figure(figsize=SETTINGS.plot_figsize)
ax = plot.prepare_axis(fig2, plot_mode)
if args.ros_map_yaml:
plot.ros_map(ax, args.ros_map_yaml, plot_mode)
plot.traj(ax,
plot_mode,
traj_ref_full if traj_ref_full else traj_ref,
style=SETTINGS.plot_reference_linestyle,
color=SETTINGS.plot_reference_color,
label='reference',
alpha=SETTINGS.plot_reference_alpha)
plot.draw_coordinate_axes(ax, traj_ref, plot_mode,
SETTINGS.plot_axis_marker_scale)
if args.plot_colormap_min is None:
args.plot_colormap_min = result.stats["min"]
if args.plot_colormap_max is None:
args.plot_colormap_max = result.stats["max"]
if args.plot_colormap_max_percentile is not None:
args.plot_colormap_max = np.percentile(
result.np_arrays["error_array"], args.plot_colormap_max_percentile)
plot.traj_colormap(ax,
traj_est,
result.np_arrays["error_array"],
plot_mode,
min_map=args.plot_colormap_min,
max_map=args.plot_colormap_max,
title="Error mapped onto trajectory")
plot.draw_coordinate_axes(ax, traj_est, plot_mode,
SETTINGS.plot_axis_marker_scale)
if SETTINGS.plot_pose_correspondences:
plot.draw_correspondence_edges(
ax,
traj_est,
traj_ref,
plot_mode,
style=SETTINGS.plot_pose_correspondences_linestyle,
color=SETTINGS.plot_reference_color,
alpha=SETTINGS.plot_reference_alpha)
fig2.axes.append(ax)
plot_collection = plot.PlotCollection(result.info["title"])
plot_collection.add_figure("raw", fig1)
plot_collection.add_figure("map", fig2)
if args.plot:
plot_collection.show()
if args.save_plot:
plot_collection.export(args.save_plot,
confirm_overwrite=not args.no_warnings)
if args.serialize_plot:
logger.debug(SEP)
plot_collection.serialize(args.serialize_plot,
confirm_overwrite=not args.no_warnings)
def run(args):
import sys
import numpy as np
import evo.core.lie_algebra as lie
from evo.core import trajectory
from evo.core.trajectory import PoseTrajectory3D
from evo.tools import file_interface, log
log.configure_logging(verbose=args.verbose,
silent=args.silent,
debug=args.debug,
local_logfile=args.logfile)
if args.debug:
import pprint
logger.debug(
"main_parser config:\n" +
pprint.pformat({arg: getattr(args, arg)
for arg in vars(args)}) + "\n")
logger.debug(SEP)
trajectories, ref_traj = load_trajectories(args)
if args.merge:
if args.subcommand == "kitti":
die("Can't merge KITTI files.")
if len(trajectories) == 0:
die("No trajectories to merge (excluding --ref).")
trajectories = {
"merged_trajectory": trajectory.merge(trajectories.values())
}
if args.transform_left or args.transform_right:
tf_type = "left" if args.transform_left else "right"
tf_path = args.transform_left \
if args.transform_left else args.transform_right
transform = file_interface.load_transform_json(tf_path)
logger.debug(SEP)
if not lie.is_se3(transform):
logger.warning("Not a valid SE(3) transformation!")
if args.invert_transform:
transform = lie.se3_inverse(transform)
logger.debug("Applying a {}-multiplicative transformation:\n{}".format(
tf_type, transform))
for traj in trajectories.values():
traj.transform(transform,
right_mul=args.transform_right,
propagate=args.propagate_transform)
if args.t_offset:
logger.debug(SEP)
for name, traj in trajectories.items():
if type(traj) is trajectory.PosePath3D:
die("{} doesn't have timestamps - can't add time offset.".
format(name))
logger.info("Adding time offset to {}: {} (s)".format(
name, args.t_offset))
traj.timestamps += args.t_offset
if args.n_to_align != -1 and not (args.align or args.correct_scale):
die("--n_to_align is useless without --align or/and --correct_scale")
# TODO: this is fugly, but is a quick solution for remembering each synced
# reference when plotting pose correspondences later...
synced = (args.subcommand == "kitti" and ref_traj) or any(
(args.sync, args.align, args.correct_scale, args.align_origin))
synced_refs = {}
if synced:
from evo.core import sync
if not args.ref:
logger.debug(SEP)
die("Can't align or sync without a reference! (--ref) *grunt*")
for name, traj in trajectories.items():
if args.subcommand == "kitti":
ref_traj_tmp = ref_traj
else:
logger.debug(SEP)
ref_traj_tmp, trajectories[name] = sync.associate_trajectories(
ref_traj,
traj,
max_diff=args.t_max_diff,
first_name="reference",
snd_name=name)
if args.align or args.correct_scale:
logger.debug(SEP)
logger.debug("Aligning {} to reference.".format(name))
trajectories[name].align(ref_traj_tmp,
correct_scale=args.correct_scale,
correct_only_scale=args.correct_scale
and not args.align,
n=args.n_to_align)
if args.align_origin:
logger.debug(SEP)
logger.debug("Aligning {}'s origin to reference.".format(name))
trajectories[name].align_origin(ref_traj_tmp)
if SETTINGS.plot_pose_correspondences:
synced_refs[name] = ref_traj_tmp
print_compact_name = not args.subcommand == "bag"
for name, traj in trajectories.items():
print_traj_info(name, traj, args.verbose, args.full_check,
print_compact_name)
if args.ref:
print_traj_info(args.ref, ref_traj, args.verbose, args.full_check,
print_compact_name)
if args.plot or args.save_plot or args.serialize_plot:
import numpy as np
from evo.tools import plot
import matplotlib.pyplot as plt
import matplotlib.cm as cm
plot_collection = plot.PlotCollection("evo_traj - trajectory plot")
fig_xyz, axarr_xyz = plt.subplots(3,
sharex="col",
figsize=tuple(SETTINGS.plot_figsize))
fig_rpy, axarr_rpy = plt.subplots(3,
sharex="col",
figsize=tuple(SETTINGS.plot_figsize))
fig_traj = plt.figure(figsize=tuple(SETTINGS.plot_figsize))
plot_mode = plot.PlotMode[args.plot_mode]
ax_traj = plot.prepare_axis(fig_traj, plot_mode)
# for x-axis alignment starting from 0 with --plot_relative_time
start_time = None
if args.ref:
if isinstance(ref_traj, trajectory.PoseTrajectory3D) \
and args.plot_relative_time:
start_time = ref_traj.timestamps[0]
short_traj_name = os.path.splitext(os.path.basename(args.ref))[0]
if SETTINGS.plot_usetex:
short_traj_name = short_traj_name.replace("_", "\\_")
plot.traj(ax_traj,
plot_mode,
ref_traj,
style=SETTINGS.plot_reference_linestyle,
color=SETTINGS.plot_reference_color,
label=short_traj_name,
alpha=SETTINGS.plot_reference_alpha)
plot.draw_coordinate_axes(ax_traj, ref_traj, plot_mode,
SETTINGS.plot_axis_marker_scale)
plot.traj_xyz(axarr_xyz,
ref_traj,
style=SETTINGS.plot_reference_linestyle,
color=SETTINGS.plot_reference_color,
label=short_traj_name,
alpha=SETTINGS.plot_reference_alpha,
start_timestamp=start_time)
plot.traj_rpy(axarr_rpy,
ref_traj,
style=SETTINGS.plot_reference_linestyle,
color=SETTINGS.plot_reference_color,
label=short_traj_name,
alpha=SETTINGS.plot_reference_alpha,
start_timestamp=start_time)
if args.ros_map_yaml:
plot.ros_map(ax_traj, args.ros_map_yaml, plot_mode)
cmap_colors = None
if SETTINGS.plot_multi_cmap.lower() != "none":
cmap = getattr(cm, SETTINGS.plot_multi_cmap)
cmap_colors = iter(cmap(np.linspace(0, 1, len(trajectories))))
for name, traj in trajectories.items():
if cmap_colors is None:
color = next(ax_traj._get_lines.prop_cycler)['color']
else:
color = next(cmap_colors)
if print_compact_name:
short_traj_name = os.path.splitext(os.path.basename(name))[0]
else:
short_traj_name = name
if SETTINGS.plot_usetex:
short_traj_name = short_traj_name.replace("_", "\\_")
plot.traj(ax_traj,
plot_mode,
traj,
SETTINGS.plot_trajectory_linestyle,
color,
short_traj_name,
alpha=SETTINGS.plot_trajectory_alpha)
plot.draw_coordinate_axes(ax_traj, traj, plot_mode,
SETTINGS.plot_axis_marker_scale)
if ref_traj and synced and SETTINGS.plot_pose_correspondences:
plot.draw_correspondence_edges(
ax_traj,
traj,
synced_refs[name],
plot_mode,
color=color,
style=SETTINGS.plot_pose_correspondences_linestyle,
alpha=SETTINGS.plot_trajectory_alpha)
plot.traj_xyz(axarr_xyz,
traj,
SETTINGS.plot_trajectory_linestyle,
color,
short_traj_name,
alpha=SETTINGS.plot_trajectory_alpha,
start_timestamp=start_time)
plot.traj_rpy(axarr_rpy,
traj,
SETTINGS.plot_trajectory_linestyle,
color,
short_traj_name,
alpha=SETTINGS.plot_trajectory_alpha,
start_timestamp=start_time)
if not SETTINGS.plot_usetex:
fig_rpy.text(0.,
0.005,
"euler_angle_sequence: {}".format(
SETTINGS.euler_angle_sequence),
fontsize=6)
plot_collection.add_figure("trajectories", fig_traj)
plot_collection.add_figure("xyz_view", fig_xyz)
plot_collection.add_figure("rpy_view", fig_rpy)
if args.plot:
plot_collection.show()
if args.save_plot:
logger.info(SEP)
plot_collection.export(args.save_plot,
confirm_overwrite=not args.no_warnings)
if args.serialize_plot:
logger.info(SEP)
plot_collection.serialize(args.serialize_plot,
confirm_overwrite=not args.no_warnings)
if args.save_as_tum:
logger.info(SEP)
for name, traj in trajectories.items():
dest = to_filestem(name, args) + ".tum"
file_interface.write_tum_trajectory_file(
dest, traj, confirm_overwrite=not args.no_warnings)
if args.ref:
dest = to_filestem(args.ref, args) + ".tum"
file_interface.write_tum_trajectory_file(
dest, ref_traj, confirm_overwrite=not args.no_warnings)
if args.save_as_kitti:
logger.info(SEP)
for name, traj in trajectories.items():
dest = to_filestem(name, args) + ".kitti"
file_interface.write_kitti_poses_file(
dest, traj, confirm_overwrite=not args.no_warnings)
if args.ref:
dest = to_filestem(args.ref, args) + ".kitti"
file_interface.write_kitti_poses_file(
dest, ref_traj, confirm_overwrite=not args.no_warnings)
if args.save_as_bag:
import datetime
import rosbag
dest_bag_path = str(
datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S")) + ".bag"
logger.info(SEP)
logger.info("Saving trajectories to " + dest_bag_path + "...")
bag = rosbag.Bag(dest_bag_path, 'w')
try:
for name, traj in trajectories.items():
dest_topic = to_topic_name(name, args)
frame_id = traj.meta[
"frame_id"] if "frame_id" in traj.meta else ""
file_interface.write_bag_trajectory(bag, traj, dest_topic,
frame_id)
if args.ref:
dest_topic = to_topic_name(args.ref, args)
frame_id = ref_traj.meta[
"frame_id"] if "frame_id" in ref_traj.meta else ""
file_interface.write_bag_trajectory(bag, ref_traj, dest_topic,
frame_id)
finally:
bag.close()
if args.save_table:
from evo.tools import pandas_bridge
logger.debug(SEP)
df = pandas_bridge.trajectories_stats_to_df(trajectories)
pandas_bridge.save_df_as_table(df,
args.save_table,
confirm_overwrite=not args.no_warnings)