0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178, ] ) bodyTranslation = np.array([-0.0216401454975, -0.064676986768, 0.00981073058949]) bodyRotation = Quaternion.q_inverse(Quaternion.q_rotMatToQuat(R_BS)) inertialTranslation = None inertialRotation = None writeData = False # Load Odometry Data td.addLabelingIncremental("pos", 3) td.addLabelingIncremental("att", 4) td.reInit() RosDataAcquisition.rosBagLoadOdometry(odometryBag, odometryTopic, td, "pos", "att") # Load Timestamps into new td td_aligned.addLabelingIncremental("pos", 3) td_aligned.addLabelingIncremental("att", 4) td_aligned.reInit() RosDataAcquisition.rosBagLoadTimestampsOnly(timestampBag, timestampTopic, td_aligned) # Interpolate Data td.interpolateColumns(td_aligned, "pos", "pos") td.interpolateQuaternion(td_aligned, "att", "att") # Plotting plotterPos = Plotter(-1, [3, 1], "Position", ["", "", "time[s]"], ["x[m]", "y[m]", "z[m]"], 10000) plotterAtt = Plotter(-1, [4, 1], "Attitude", ["", "", "", "time[s]"], ["w", "x", "y", "z"], 10000)
td_rovio.addLabelingIncremental('posSp',3) td_rovio.addLabelingIncremental('posSm',3) td_rovio.addLabelingIncremental('ypr',3) td_rovio.addLabelingIncremental('yprCov',9) td_rovio.addLabelingIncremental('yprSp',3) td_rovio.addLabelingIncremental('yprSm',3) td_rovio.addLabelingIncremental('extPos',3) td_rovio.addLabelingIncremental('extPosCov',9) td_rovio.addLabelingIncremental('extPosSp',3) td_rovio.addLabelingIncremental('extPosSm',3) td_rovio.addLabelingIncremental('extAtt',4) td_rovio.addLabelingIncremental('extAttCov',9) td_rovio.addLabelingIncremental('feaPos',3,nFeatures) td_rovio.addLabelingIncremental('feaCov',9,nFeatures) td_rovio.addLabelingIncremental('feaIdx',1,nFeatures) td_rovio.reInit() if True: # Vicon Timed Data td_vicon = TimedData() td_vicon.addLabelingIncremental('pos',3) td_vicon.addLabelingIncremental('att',4) td_vicon.addLabelingIncremental('vel',3) td_vicon.addLabelingIncremental('ror',3) td_vicon.addLabelingIncremental('ron',1) td_vicon.addLabelingIncremental('ypr',3) td_vicon.reInit() if doOkvis: # Okvis Timed Data td_okvis = TimedData() td_okvis.addLabelingIncremental('pos',3) td_okvis.addLabelingIncremental('att',4)
td_rovio.addLabelingIncremental('posSp', 3) td_rovio.addLabelingIncremental('posSm', 3) td_rovio.addLabelingIncremental('ypr', 3) td_rovio.addLabelingIncremental('yprCov', 9) td_rovio.addLabelingIncremental('yprSp', 3) td_rovio.addLabelingIncremental('yprSm', 3) td_rovio.addLabelingIncremental('extPos', 3) td_rovio.addLabelingIncremental('extPosCov', 9) td_rovio.addLabelingIncremental('extPosSp', 3) td_rovio.addLabelingIncremental('extPosSm', 3) td_rovio.addLabelingIncremental('extAtt', 4) td_rovio.addLabelingIncremental('extAttCov', 9) td_rovio.addLabelingIncremental('feaPos', 3, nFeatures) td_rovio.addLabelingIncremental('feaCov', 9, nFeatures) td_rovio.addLabelingIncremental('feaIdx', 1, nFeatures) td_rovio.reInit() if True: # Vicon Timed Data td_vicon = TimedData() td_vicon.addLabelingIncremental('pos', 3) td_vicon.addLabelingIncremental('att', 4) td_vicon.addLabelingIncremental('vel', 3) td_vicon.addLabelingIncremental('ror', 3) td_vicon.addLabelingIncremental('ron', 1) td_vicon.addLabelingIncremental('ypr', 3) td_vicon.reInit() if doOkvis: # Okvis Timed Data td_okvis = TimedData() td_okvis.addLabelingIncremental('pos', 3) td_okvis.addLabelingIncremental('att', 4)
R_BS = np.array([ 0.0148655429818, -0.999880929698, 0.00414029679422, 0.999557249008, 0.0149672133247, 0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178 ]) bodyTranslation = np.array( [-0.0216401454975, -0.064676986768, 0.00981073058949]) bodyRotation = Quaternion.q_inverse(Quaternion.q_rotMatToQuat(R_BS)) inertialTranslation = None inertialRotation = None writeData = False # Load Odometry Data td.addLabelingIncremental('pos', 3) td.addLabelingIncremental('att', 4) td.reInit() RosDataAcquisition.rosBagLoadOdometry(odometryBag, odometryTopic, td, 'pos', 'att') # Load Timestamps into new td td_aligned.addLabelingIncremental('pos', 3) td_aligned.addLabelingIncremental('att', 4) td_aligned.reInit() RosDataAcquisition.rosBagLoadTimestampsOnly(timestampBag, timestampTopic, td_aligned) # Interpolate Data td.interpolateColumns(td_aligned, 'pos', 'pos') td.interpolateQuaternion(td_aligned, 'att', 'att') # Plotting