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
plotterAtt = Plotter(-1, [4,1],'Attitude Quaternion',['','','','time[s]'],['w[1]','x[1]','y[1]','z[1]'],10000)
if plotPos:
plotterPos = Plotter(-1, [3,1],'Position',['','','time[s]'],['x[m]','y[m]','z[m]'],10000)
if plotVel:
plotterVel = Plotter(-1, [3,1],'Robocentric Velocity',['','','time[s]'],['$v_x$[m/s]','$v_y$[m/s]','$v_z$[m/s]'],10000)
if plotRor:
plotterRor = Plotter(-1, [3,1],'Rotational Rate',['','','time[s]'],['$\omega_x$[rad/s]','$\omega_y$[rad/s]','$\omega_z$[rad/s]'],10000)
if plotYpr:
plotterYpr = Plotter(-1, [3,1],'Yaw-Pitch-Roll Decomposition',['','','time[s]'],['roll[rad]','pitch[rad]','yaw[rad]'],10000)
if plotExt:
plotterExt = Plotter(-1, [3,1],'Extrinsics Translational Part',['','','time[s]'],['x[m]','y[m]','z[m]'],10000)
if doRovio: # Rovio Timed Data
td_rovio = TimedData()
nFeatures = 25
td_rovio.addLabelingIncremental('pos',3)
td_rovio.addLabelingIncremental('att',4)
td_rovio.addLabelingIncremental('vel',3)
td_rovio.addLabelingIncremental('ror',3)
td_rovio.addLabelingIncremental('ron',1)
td_rovio.addLabelingIncremental('posCov',9)
td_rovio.addLabelingIncremental('attCov',9)
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)
-1, [3, 1], 'Rotational Rate', ['', '', 'time[s]'],
['$\omega_x$[rad/s]', '$\omega_y$[rad/s]', '$\omega_z$[rad/s]'],
10000)
if plotYpr:
plotterYpr = Plotter(-1, [3, 1], 'Yaw-Pitch-Roll Decomposition',
['', '', 'time[s]'],
['roll[rad]', 'pitch[rad]', 'yaw[rad]'], 10000)
if plotExt:
plotterExt = Plotter(-1, [3, 1], 'Extrinsics Translational Part',
['', '', 'time[s]'], ['x[m]', 'y[m]', 'z[m]'],
10000)
if doRovio: # Rovio Timed Data
td_rovio = TimedData()
nFeatures = 25
td_rovio.addLabelingIncremental('pos', 3)
td_rovio.addLabelingIncremental('att', 4)
td_rovio.addLabelingIncremental('vel', 3)
td_rovio.addLabelingIncremental('ror', 3)
td_rovio.addLabelingIncremental('ron', 1)
td_rovio.addLabelingIncremental('posCov', 9)
td_rovio.addLabelingIncremental('attCov', 9)
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)
timestampBag = '/home/michael/datasets/euroc/V1_03_difficult/okvis/okvis_paramest_V1_03_difficult.bag'
timestampTopic = '/okvis/okvis_node/okvis_odometry'
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')
