def xyz_quat_wxyz_to_se3_poses(
xyz: np.ndarray, quat: np.ndarray) -> typing.Sequence[np.ndarray]:
poses = [
lie.se3(lie.so3_from_se3(tr.quaternion_matrix(quat)), xyz)
for quat, xyz in zip(quat, xyz)
]
return poses
def process_data(self, data):
"""
Calculates the RPE on a batch of SE(3) poses from trajectories.
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
id_pairs = filters.id_pairs_from_delta(
traj_est.poses_se3, self.delta, self.delta_unit,
self.rel_delta_tol, all_pairs=self.all_pairs)
if not self.all_pairs:
# Store flat id list e.g. for plotting.
self.delta_ids = [j for i, j in id_pairs]
self.E = [
self.rpe_base(traj_ref.poses_se3[i], traj_ref.poses_se3[j],
traj_est.poses_se3[i], traj_est.poses_se3[j])
for i, j in id_pairs
]
logger.debug(
"Compared {} relative pose pairs, delta = {} ({}) {}".format(
len(self.E), self.delta, self.delta_unit.value,
("with all pairs." if self.all_pairs \
else "with consecutive pairs.")))
logger.debug("Calculating RPE for {} pose relation...".format(
self.pose_relation.value))
if self.pose_relation == PoseRelation.translation_part:
self.error = [np.linalg.norm(E_i[:3, 3]) for E_i in self.E]
elif self.pose_relation == PoseRelation.rotation_part:
# ideal: rot(E_i) = 3x3 identity
self.error = np.array([
np.linalg.norm(lie.so3_from_se3(E_i) - np.eye(3))
for E_i in self.E
])
elif self.pose_relation == PoseRelation.full_transformation:
# ideal: E_i = 4x4 identity
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array([
abs(lie.so3_log(E_i[:3, :3])) * 180 / np.pi for E_i in self.E
])
else:
raise MetricsException("unsupported pose_relation: ",
self.pose_relation)
def process_data(self, data, id_pairs=None):
"""
calculate relative poses on a batch of SE(3) poses
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
:param id_pairs: pre-computed pair indices if you know what you're doing (ignores delta)
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
if id_pairs is None:
id_pairs = id_pairs_from_delta(traj_est.poses_se3,
self.delta,
self.delta_unit,
self.rel_delta_tol,
all_pairs=self.all_pairs)
if not self.all_pairs:
self.delta_ids = [j for i, j in id_pairs
] # store flat id list e.g. for plotting
self.E = [
self.rpe_base(traj_ref.poses_se3[i], traj_ref.poses_se3[j],
traj_est.poses_se3[i], traj_est.poses_se3[j])
for i, j in id_pairs
]
logger.debug("compared " + str(len(self.E)) +
" relative pose pairs, delta = " + str(self.delta) +
" (" + str(self.delta_unit.value) + ") " +
("with all possible pairs" if self.
all_pairs else "with consecutive pairs"))
logger.debug("calculating RPE for " + str(self.pose_relation.value) +
" pose relation...")
if self.pose_relation == PoseRelation.translation_part:
self.error = [np.linalg.norm(E_i[:3, 3]) for E_i in self.E]
elif self.pose_relation == PoseRelation.rotation_part:
# ideal: rot(E_i) = 3x3 identity
self.error = np.array([
np.linalg.norm(lie.so3_from_se3(E_i) - np.eye(3))
for E_i in self.E
])
elif self.pose_relation == PoseRelation.full_transformation:
# ideal: E_i = 4x4 identity
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array([
abs(lie.so3_log(E_i[:3, :3])) * 180 / np.pi for E_i in self.E
])
else:
raise MetricsException("unsupported pose_relation: ",
self.pose_relation)
def process_data(self, data):
"""
Calculates the RPE on a batch of SE(3) poses from trajectories.
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
id_pairs = filters.id_pairs_from_delta(
traj_est.poses_se3, self.delta, self.delta_unit,
self.rel_delta_tol, all_pairs=self.all_pairs)
if not self.all_pairs:
# Store flat id list e.g. for plotting.
self.delta_ids = [j for i, j in id_pairs]
self.E = [self.rpe_base(traj_ref.poses_se3[i], traj_ref.poses_se3[j],
traj_est.poses_se3[i], traj_est.poses_se3[j])
for i, j in id_pairs]
logger.debug(
"Compared {} relative pose pairs, delta = {} ({}) {}".format(
len(self.E), self.delta, self.delta_unit.value,
("with all pairs." if self.all_pairs \
else "with consecutive pairs.")))
logger.debug("Calculating RPE for {} pose relation...".format(
self.pose_relation.value))
if self.pose_relation == PoseRelation.translation_part:
self.error = [np.linalg.norm(E_i[:3, 3]) for E_i in self.E]
elif self.pose_relation == PoseRelation.rotation_part:
# ideal: rot(E_i) = 3x3 identity
self.error = np.array(
[np.linalg.norm(
lie.so3_from_se3(E_i) - np.eye(3)) for E_i in self.E])
elif self.pose_relation == PoseRelation.full_transformation:
# ideal: E_i = 4x4 identity
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array(
[abs(
lie.so3_log(E_i[:3, :3])) * 180 / np.pi for E_i in self.E])
else:
raise MetricsException(
"unsupported pose_relation: ", self.pose_relation)
def process_data(self, data: PathPair) -> None:
"""
Calculates the APE on a batch of SE(3) poses from trajectories.
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
if self.pose_relation == PoseRelation.translation_part:
# don't require full SE(3) matrices for faster computation
self.E = traj_est.positions_xyz - traj_ref.positions_xyz
elif self.pose_relation == PoseRelation.z:
self.E = traj_est.positions_xyz - traj_ref.positions_xyz
elif self.pose_relation == PoseRelation.xy:
self.E = traj_est.positions_xyz - traj_ref.positions_xyz
else:
self.E = [
self.ape_base(x_t, x_t_star) for x_t, x_t_star in zip(
traj_est.poses_se3, traj_ref.poses_se3)
]
logger.debug("Compared {} absolute pose pairs.".format(len(self.E)))
logger.debug("Calculating APE for {} pose relation...".format(
(self.pose_relation.value)))
if self.pose_relation == PoseRelation.translation_part:
# E is an array of position vectors only in this case
self.error = np.array([np.linalg.norm(E_i) for E_i in self.E])
elif self.pose_relation == PoseRelation.z:
self.error = np.array([E_i[2] for E_i in self.E])
elif self.pose_relation == PoseRelation.xy:
self.error = np.array([np.linalg.norm(E_i[0:2]) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_part:
self.error = np.array([
np.linalg.norm(lie.so3_from_se3(E_i) - np.eye(3))
for E_i in self.E
])
elif self.pose_relation == PoseRelation.full_transformation:
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array([
abs(lie.so3_log(E_i[:3, :3])) * 180 / np.pi for E_i in self.E
])
else:
raise MetricsException("unsupported pose_relation")
def load_transform_json(json_path):
"""
load a transformation stored in xyz + quaternion format in a .json file
:param json_path: path to the .json file
:return: t (SE(3) matrix), xyz (position), quat (orientation quaternion)
"""
with open(json_path, 'r') as tf_file:
data = json.load(tf_file)
keys = ("x", "y", "z", "qx", "qy", "qz", "qw")
if not all(key in data for key in keys):
raise FileInterfaceException(
"invalid transform file - expected keys " + str(keys))
xyz = np.array([data["x"], data["y"], data["z"]])
quat = np.array([data["qw"], data["qx"], data["qy"], data["qz"]])
t = lie.se3(lie.so3_from_se3(tr.quaternion_matrix(quat)), xyz)
return t, xyz, quat
def process_data(self, data):
"""
Calculates the APE on a batch of SE(3) poses from trajectories.
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
if self.pose_relation == PoseRelation.translation_part:
# don't require full SE(3) matrices for faster computation
self.E = traj_est.positions_xyz - traj_ref.positions_xyz
else:
self.E = [self.ape_base(x_t, x_t_star) for x_t, x_t_star in
zip(traj_est.poses_se3, traj_ref.poses_se3)]
logger.debug("Compared {} absolute pose pairs.".format(len(self.E)))
logger.debug("Calculating APE for {} pose relation...".format(
(self.pose_relation.value)))
if self.pose_relation == PoseRelation.translation_part:
# E is an array of position vectors only in this case
self.error = [np.linalg.norm(E_i) for E_i in self.E]
elif self.pose_relation == PoseRelation.rotation_part:
self.error = np.array(
[np.linalg.norm(
lie.so3_from_se3(E_i) - np.eye(3)) for E_i in self.E])
elif self.pose_relation == PoseRelation.full_transformation:
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) * 180 / np.pi for E_i in self.E])
else:
raise MetricsException("unsupported pose_relation")
def test_so3_from_se3(self):
p = lie.random_se3()
r = lie.so3_from_se3(p)
self.assertTrue(lie.is_so3(r))
def xyz_quat_wxyz_to_se3_poses(xyz, quat):
poses = [
lie.se3(lie.so3_from_se3(tr.quaternion_matrix(quat)), xyz)
for quat, xyz in zip(quat, xyz)
]
return poses
def xyz_quat_wxyz_to_se3_poses(xyz, quat):
poses = [lie.se3(lie.so3_from_se3(tr.quaternion_matrix(quat)), xyz)
for quat, xyz in zip(quat, xyz)]
return poses
def process_data(self, data: PathPair) -> None:
"""
Calculates the RPE on a batch of SE(3) poses from trajectories.
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
id_pairs = id_pairs_from_delta(traj_est.poses_se3,
self.delta,
self.delta_unit,
self.rel_delta_tol,
all_pairs=self.all_pairs)
# Store flat id list e.g. for plotting.
self.delta_ids = [j for i, j in id_pairs]
if self.pose_relation in (PoseRelation.point_distance,
PoseRelation.point_distance_error_ratio):
# Only compares the magnitude of the point distance instead of
# doing the full vector comparison of 'translation_part'.
# Can be directly calculated on positions instead of full poses.
ref_distances = np.array([
np.linalg.norm(traj_ref.positions_xyz[i] -
traj_ref.positions_xyz[j]) for i, j in id_pairs
])
est_distances = np.array([
np.linalg.norm(traj_est.positions_xyz[i] -
traj_est.positions_xyz[j]) for i, j in id_pairs
])
self.error = np.abs(ref_distances - est_distances)
if self.pose_relation == PoseRelation.point_distance_error_ratio:
nonzero = ref_distances.nonzero()[0]
if nonzero.size != ref_distances.size:
logger.warning(
f"Ignoring {ref_distances.size - nonzero.size} zero "
"divisions in ratio calculations.")
self.delta_ids = [self.delta_ids[i] for i in nonzero]
self.error = np.divide(self.error[nonzero],
ref_distances[nonzero]) * 100
else:
# All other pose relations require the full pose error.
self.E = [
self.rpe_base(traj_ref.poses_se3[i], traj_ref.poses_se3[j],
traj_est.poses_se3[i], traj_est.poses_se3[j])
for i, j in id_pairs
]
logger.debug(
"Compared {} relative pose pairs, delta = {} ({}) {}".format(
len(self.E), self.delta, self.delta_unit.value,
("with all pairs." if self.all_pairs \
else "with consecutive pairs.")))
logger.debug("Calculating RPE for {} pose relation...".format(
self.pose_relation.value))
if self.pose_relation in (PoseRelation.point_distance,
PoseRelation.point_distance_error_ratio):
# Already computed, see above.
pass
elif self.pose_relation == PoseRelation.translation_part:
self.error = [np.linalg.norm(E_i[:3, 3]) for E_i in self.E]
elif self.pose_relation == PoseRelation.rotation_part:
# ideal: rot(E_i) = 3x3 identity
self.error = np.array([
np.linalg.norm(lie.so3_from_se3(E_i) - np.eye(3))
for E_i in self.E
])
elif self.pose_relation == PoseRelation.full_transformation:
# ideal: E_i = 4x4 identity
self.error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
self.error = np.array(
[abs(lie.so3_log_angle(E_i[:3, :3])) for E_i in self.E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
self.error = np.array(
[abs(lie.so3_log_angle(E_i[:3, :3], True)) for E_i in self.E])
else:
raise MetricsException("unsupported pose_relation: ",
self.pose_relation)
def process_data(self,
data: PathPair,
align=False,
align_origin=False,
align_odom=False) -> None:
"""
Calculate the APE of segments from a batch of SE(3) poses from trajectories
:param data: tuple (traj_ref, traj_est) with:
traj_ref: reference evo.trajectory.PosePath or derived
traj_est: estimated evo.trajectory.PosePath or derived
"""
if len(data) != 2:
raise MetricsException(
"please provide data tuple as: (traj_ref, traj_est)")
traj_ref, traj_est = data
if traj_ref.num_poses != traj_est.num_poses:
raise MetricsException(
"trajectories must have same number of poses")
step_size = 10
i = 0
for first_pose in range(0, traj_ref.num_poses, step_size):
print('processing segment ', i)
i = i + 1
last_pose = self.last_pose_from_segment_length(
traj_ref, first_pose)
if (last_pose == -1):
break
traj_ref_segment = trajectory.PosePath3D(
poses_se3=traj_ref.poses_se3[first_pose:last_pose])
traj_est_segment = trajectory.PosePath3D(
poses_se3=traj_est.poses_se3[first_pose:last_pose])
# if align or correct_scale:
if align:
alignment_transformation = lie.sim3(*traj_est_segment.align(
traj_ref_segment, False, False, -1))
elif align_origin:
print('align origin: ', align_origin)
alignment_transformation = traj_est_segment.align_origin(
traj_ref_segment)
elif align_odom:
alignment_transformation = traj_est_segment.align_odom(
traj_ref_segment)
self.segment_index.append([first_pose, last_pose])
if i == 1:
print('starting idx: ', first_pose)
print('ending idx: ', last_pose)
# print('origin 0 position: ', traj_est_segment.poses_se3[0])
# print('origin 1 position: ', traj_est_segment.poses_se3[1])
# print('ref 0 position: ', traj_ref_segment.poses_se3[0])
# print('results 1 position: ', traj_ref_segment.poses_se3[1])
fig = plt.figure()
plot_option = '3D'
if plot_option == '2D':
ax = fig.add_subplot() #projection="3d"
elif plot_option == '3D':
ax = fig.add_subplot(projection="3d")
x_ref = traj_ref_segment.positions_xyz[:, 0]
y_ref = traj_ref_segment.positions_xyz[:, 1]
z_ref = traj_ref_segment.positions_xyz[:, 2]
front_vector_origin = np.array([1, 0, 0, 1])
f_vecs = np.array([
(np.dot(pose, front_vector_origin) - pose[:, 3]) * 10
for pose in traj_ref_segment.poses_se3
])
if plot_option == '2D':
ax.plot(x_ref, y_ref) #, z_ref)
# plt.quiver(x_ref, y_ref, f_vecs[:,0], f_vecs[:,1], color='g')#, arrow_length_ratio=0.05)
elif plot_option == '3D':
ax.plot(x_ref, y_ref, z_ref)
plt.quiver(x_ref,
y_ref,
z_ref,
f_vecs[:, 0],
f_vecs[:, 1],
f_vecs[:, 2],
color='g',
arrow_length_ratio=0.05)
x_est = traj_est_segment.positions_xyz[:, 0]
y_est = traj_est_segment.positions_xyz[:, 1]
z_est = traj_est_segment.positions_xyz[:, 2]
f_vecs = np.array([
(np.dot(pose, front_vector_origin) - pose[:, 3]) * 10
for pose in traj_est_segment.poses_se3
])
if plot_option == '2D':
ax.plot(x_est, y_est, color='r')
# plt.quiver(x_est, y_est, f_vecs[:,0], f_vecs[:,1], color='b')
elif plot_option == '3D':
ax.plot(x_est, y_est, z_est, color='r')
plt.quiver(x_est,
y_est,
z_est,
f_vecs[:, 0],
f_vecs[:, 1],
f_vecs[:, 2],
color='b',
arrow_length_ratio=0.05)
plt.title('segment_length: ' + str(self.segment_length) + 'm')
plt.savefig('first_segment_aligned.png')
if self.plot_show:
plt.show()
if self.pose_relation == PoseRelation.translation_part:
segment_E = traj_est_segment.positions_xyz - traj_ref_segment.positions_xyz
elif self.pose_relation == PoseRelation.z:
segment_E = traj_est_segment.positions_xyz - traj_ref_segment.positions_xyz
elif self.pose_relation == PoseRelation.xy:
segment_E = traj_est_segment.positions_xyz - traj_ref_segment.positions_xyz
else:
segment_E = [
self.ape_base(x_t, x_t_star) for x_t, x_t_star in zip(
traj_est_segment.poses_se3, traj_ref_segment.poses_se3)
]
logger.debug("Compared {} absolute pose pairs.".format(len(
self.E)))
logger.debug("Calculating APE for {} pose relation...".format(
(self.pose_relation.value)))
if self.pose_relation == PoseRelation.translation_part:
segment_error = np.array(
[np.linalg.norm(E_i) for E_i in segment_E])
elif self.pose_relation == PoseRelation.z:
segment_error = np.array([E_i[2] for E_i in segment_E])
elif self.pose_relation == PoseRelation.xy:
segment_error = np.array(
[np.linalg.norm(E_i[0:2]) for E_i in segment_E])
elif self.pose_relation == PoseRelation.rotation_part:
segment_error = np.array([
np.linalg.norm(lie.so3_from_se3(E_i) - np.eye(3))
for E_i in segment_E
])
elif self.pose_relation == PoseRelation.full_transformation:
segment_error = np.array(
[np.linalg.norm(E_i - np.eye(4)) for E_i in segment_E])
elif self.pose_relation == PoseRelation.rotation_angle_rad:
segment_error = np.array(
[abs(lie.so3_log(E_i[:3, :3])) for E_i in segment_E])
elif self.pose_relation == PoseRelation.rotation_angle_deg:
segment_error = np.array([
abs(lie.so3_log(E_i[:3, :3])) * 180 / np.pi
for E_i in segment_E
])
else:
raise MetricsException("unsupported pose_relation")
self.E.append(segment_E)
self.seg_error.append(segment_error)
