def evaluate_matches():
mapdata = np.load(
os.path.join(pynclt.resultdir,
get_globalmapname() + '.npz'))
polemap = mapdata['polemeans'][:, :2]
kdtree = scipy.spatial.cKDTree(polemap[:, :2], leafsize=10)
maxdist = 0.5
n_matches = np.zeros(len(pynclt.sessions))
n_all = np.zeros(len(pynclt.sessions))
for i, sessionname in enumerate(pynclt.sessions):
sessiondir = os.path.join(pynclt.resultdir, sessionname)
session = pynclt.session(sessionname)
maps = np.load(os.path.join(sessiondir, get_localmapfile()))['maps']
for map in maps:
n = map['poleparams'].shape[0]
n_all[i] += n
polepos_m = np.hstack(
[map['poleparams'][:, :2],
np.zeros([n, 1]),
np.ones([n, 1])]).T
T_w_m = session.T_w_r_gt_velo[map['imid']].dot(T_r_m)
polepos_w = T_w_m.dot(polepos_m)
plt.scatter(polemap[:, 0], polemap[:, 1], color='k')
plt.scatter(polepos_w[0, :], polepos_w[1, :], color='r')
plt.show()
dist, _ = kdtree.query(polepos_w[:2].T,
k=1,
distance_upper_bound=maxdist)
n_matches[i] += np.sum(np.isfinite(dist))
print('{}: {}'.format(sessionname,
np.true_divide(n_matches[i], n_all[i])))
def view_local_maps(sessionname):
sessiondir = os.path.join(pynclt.resultdir, sessionname)
session = pynclt.session(sessionname)
maps = np.load(os.path.join(sessiondir, get_localmapfile()))['maps']
for i, map in enumerate(maps):
print('Map #{}'.format(i))
mapboundsvis = util.create_wire_box(mapextent, [0.0, 0.0, 1.0])
mapboundsvis.transform(map['T_w_m'])
polevis = []
for poleparams in map['poleparams']:
x, y, zs, ze, a = poleparams[:5]
pole = util.create_wire_box([a, a, ze - zs], color=[1.0, 1.0, 0.0])
T_m_p = np.identity(4)
T_m_p[:3, 3] = [x - 0.5 * a, y - 0.5 * a, zs]
pole.transform(map['T_w_m'].dot(T_m_p))
polevis.append(pole)
accucloud = o3.geometry.PointCloud()
for j in range(map['istart'], map['iend']):
points, intensities = session.get_velo(j)
cloud = o3.geometry.PointCloud()
cloud.points = o3.utility.Vector3dVector(points)
cloud.colors = o3.utility.Vector3dVector(
util.intensity2color(intensities / 255.0))
cloud.transform(session.T_w_r_odo_velo[j])
accucloud.points.extend(cloud.points)
accucloud.colors.extend(cloud.colors)
o3.draw_geometries([accucloud, mapboundsvis] + polevis)
def plot_trajectories():
trajectorydir = os.path.join(
pynclt.resultdir,
'trajectories_est_{:.0f}_{:.0f}_{:.0f}'.format(n_mapdetections,
10 * poles.minscore,
poles.polesides[-1]))
# pgfdir = os.path.join(trajectorydir, 'pgf')
util.makedirs(trajectorydir)
# util.makedirs(pgfdir)
mapdata = np.load(
os.path.join(pynclt.resultdir,
get_globalmapname() + '.npz'))
polemap = mapdata['polemeans']
# plt.rcParams.update(params)
for sessionname in pynclt.sessions:
try:
session = pynclt.session(sessionname)
files = [file for file \
in os.listdir(os.path.join(pynclt.resultdir, sessionname)) \
if file.startswith(localization_name_start)]
for file in files:
T_w_r_est = np.load(
os.path.join(pynclt.resultdir, sessionname,
file))['T_w_r_est']
plt.clf()
landmarks = plt.scatter(polemap[:, 0],
polemap[:, 1],
s=1,
c='m',
marker='*',
label='Landmarks')
ground_truth = plt.plot(session.T_w_r_gt[::20, 0, 3],
session.T_w_r_gt[::20, 1, 3],
color=(0, 1, 0),
label='Ground truth',
linewidth=3.0)
pos_estimation = plt.plot(T_w_r_est[::20, 0, 3],
T_w_r_est[::20, 1, 3],
'r',
label='Estimated trajectory')
plt.ylabel('North (Unit:m)')
plt.xlabel('East (Unit:m)')
plt.legend()
plt.gcf().subplots_adjust(bottom=0.13,
top=0.98,
left=0.145,
right=0.98)
plt.grid(color=(0.5, 0.5, 0.5), linestyle='-', linewidth=1)
filename = sessionname + file[18:-4]
plt.savefig(os.path.join(trajectorydir, filename + '.svg'))
plt.savefig(os.path.join(trajectorydir, filename + '.png'))
# plt.savefig(os.path.join(pgfdir, filename + '.pgf'))
except:
pass
def save_local_maps(sessionname, visualize=False):
print(sessionname)
session = pynclt.session(sessionname)
util.makedirs(session.dir)
istart, imid, iend = get_map_indices(session)
maps = []
with progressbar.ProgressBar(max_value=len(iend)) as bar:
for i in range(len(iend)):
scans = []
for idx, val in enumerate(range(istart[i], iend[i])):
xyz, _ = session.get_velo(val)
scan = o3.geometry.PointCloud()
scan.points = o3.utility.Vector3dVector(xyz)
scans.append(scan)
T_w_mc = util.project_xy(
session.T_w_r_odo_velo[imid[i]].dot(T_r_mc))
T_w_m = T_w_mc.dot(T_mc_m)
T_m_w = util.invert_ht(T_w_m)
T_w_r = session.T_w_r_odo_velo[istart[i]:iend[i]]
T_m_r = np.matmul(T_m_w, T_w_r)
occupancymap = mapping.occupancymap(scans, T_m_r, mapshape,
mapsize)
poleparams = poles.detect_poles(occupancymap, mapsize)
if visualize:
cloud = o3.geometry.PointCloud()
for T, scan in zip(T_w_r, scans):
s = copy.copy(scan)
s.transform(T)
cloud.points.extend(s.points)
mapboundsvis = util.create_wire_box(mapextent, [0.0, 0.0, 1.0])
mapboundsvis.transform(T_w_m)
polevis = []
for j in range(poleparams.shape[0]):
x, y, zs, ze, a = poleparams[j, :5]
pole = util.create_wire_box([a, a, ze - zs],
color=[1.0, 1.0, 0.0])
T_m_p = np.identity(4)
T_m_p[:3, 3] = [x - 0.5 * a, y - 0.5 * a, zs]
pole.transform(T_w_m.dot(T_m_p))
polevis.append(pole)
o3.draw_geometries(polevis + [cloud, mapboundsvis])
map = {
'poleparams': poleparams,
'T_w_m': T_w_m,
'istart': istart[i],
'imid': imid[i],
'iend': iend[i]
}
maps.append(map)
bar.update(i)
np.savez(os.path.join(session.dir, get_localmapfile()), maps=maps)
def evaluate():
stats = []
for sessionname in pynclt.sessions:
files = [file for file \
in os.listdir(os.path.join(pynclt.resultdir, sessionname)) \
if file.startswith(localization_name_start)]
# if file.startswith(get_locfileprefix())]
files.sort()
session = pynclt.session(sessionname)
cumdist = np.hstack([
0.0,
np.cumsum(
np.linalg.norm(np.diff(session.T_w_r_gt[:, :3, 3], axis=0),
axis=1))
])
t_eval = scipy.interpolate.interp1d(cumdist, session.t_gt)(np.arange(
0.0, cumdist[-1], 1.0))
T_w_r_gt = np.stack([util.project_xy(
session.get_T_w_r_gt(t).dot(T_r_mc)).dot(T_mc_r) \
for t in t_eval])
T_gt_est = []
for file in files:
T_w_r_est = np.load(
os.path.join(pynclt.resultdir, sessionname, file))['T_w_r_est']
T_w_r_est_interp = np.empty([len(t_eval), 4, 4])
iodo = 1
for ieval in range(len(t_eval)):
while session.t_relodo[iodo] < t_eval[ieval]:
iodo += 1
T_w_r_est_interp[ieval] = util.interpolate_ht(
T_w_r_est[iodo - 1:iodo + 1],
session.t_relodo[iodo - 1:iodo + 1], t_eval[ieval])
T_gt_est.append(
np.matmul(util.invert_ht(T_w_r_gt), T_w_r_est_interp))
T_gt_est = np.stack(T_gt_est)
lonerror = np.mean(np.mean(np.abs(T_gt_est[..., 0, 3]), axis=-1))
laterror = np.mean(np.mean(np.abs(T_gt_est[..., 1, 3]), axis=-1))
poserrors = np.linalg.norm(T_gt_est[..., :2, 3], axis=-1)
poserror = np.mean(np.mean(poserrors, axis=-1))
posrmse = np.mean(np.sqrt(np.mean(poserrors**2, axis=-1)))
angerrors = np.degrees(
np.abs(np.array([util.ht2xyp(T)[:, 2] for T in T_gt_est])))
angerror = np.mean(np.mean(angerrors, axis=-1))
angrmse = np.mean(np.sqrt(np.mean(angerrors**2, axis=-1)))
stats.append({
'session': sessionname,
'lonerror': lonerror,
'laterror': laterror,
'poserror': poserror,
'posrmse': posrmse,
'angerror': angerror,
'angrmse': angrmse,
'T_gt_est': T_gt_est
})
np.savez(os.path.join(pynclt.resultdir, get_evalfile()), stats=stats)
mapdata = np.load(
os.path.join(pynclt.resultdir,
get_globalmapname() + '.npz'))
print('session \t f\te_pos \trmse_pos \te_ang \te_rmse')
row = '{session} \t{f} \t{poserror} \t{posrmse} \t{angerror} \t{angrmse}'
for i, stat in enumerate(stats):
print(
row.format(session=stat['session'],
f=mapdata['mapfactors'][i] * 100.0,
poserror=stat['poserror'],
posrmse=stat['posrmse'],
angerror=stat['angerror'],
angrmse=stat['angrmse']))
def localize(sessionname, visualize=False):
print(sessionname)
mapdata = np.load(
os.path.join(pynclt.resultdir,
get_globalmapname() + '.npz'))
polemap = mapdata['polemeans'][:, :2]
polevar = 1.50
session = pynclt.session(sessionname)
figuresdir = os.path.join(
pynclt.resultdir, session.dir,
'Figures_{:.0f}_{:.0f}_{:.0f}'.format(n_mapdetections,
10 * poles.minscore,
poles.polesides[-1]))
util.makedirs(figuresdir)
locdata = np.load(os.path.join(session.dir, get_localmapfile()),
allow_pickle=True)['maps']
polepos_m = []
polepos_w = []
for i in range(len(locdata)):
n = locdata[i]['poleparams'].shape[0]
pad = np.hstack([np.zeros([n, 1]), np.ones([n, 1])])
polepos_m.append(np.hstack([locdata[i]['poleparams'][:, :2], pad]).T)
polepos_w.append(locdata[i]['T_w_m'].dot(polepos_m[i]))
istart = 0
T_w_r_start = util.project_xy(
session.get_T_w_r_gt(session.t_relodo[istart]).dot(T_r_mc)).dot(T_mc_r)
filter = particlefilter.particlefilter(5000,
T_w_r_start,
2.5,
np.radians(5.0),
polemap,
polevar,
T_w_o=T_mc_r)
filter.estimatetype = 'best'
filter.minneff = 0.5
if visualize:
plt.ion()
figure = plt.figure()
nplots = 1
mapaxes = figure.add_subplot(nplots, 1, 1)
mapaxes.set_aspect('equal')
mapaxes.scatter(polemap[:, 0], polemap[:, 1], s=10, c='b', marker='s')
x_gt, y_gt = session.T_w_r_gt[::20, :2, 3].T
mapaxes.plot(x_gt, y_gt, 'g')
particles = mapaxes.scatter([], [], s=1, c='r')
arrow = mapaxes.arrow(0.0,
0.0,
4.0,
0.0,
length_includes_head=True,
head_width=1.2,
head_length=1.5,
color='k')
arrowdata = np.hstack(
[arrow.get_xy(), np.zeros([8, 1]),
np.ones([8, 1])]).T
locpoles = mapaxes.scatter([], [], s=30, c='y', marker='^')
viewoffset = 25.0
imap = 0
while imap < locdata.shape[0] - 1 and \
session.t_velo[locdata[imap]['iend']] < session.t_relodo[istart]:
imap += 1
T_w_r_est = np.full([session.t_relodo.size, 4, 4], np.nan)
with progressbar.ProgressBar(max_value=session.t_relodo.size) as bar:
for i in range(istart, session.t_relodo.size):
relodocov = np.empty([3, 3])
relodocov[:2, :2] = session.relodocov[i, :2, :2]
relodocov[:, 2] = session.relodocov[i, [0, 1, 5], 5]
relodocov[2, :] = session.relodocov[i, 5, [0, 1, 5]]
filter.update_motion(session.relodo[i], relodocov * 2.0**2)
T_w_r_est[i] = filter.estimate_pose()
t_now = session.t_relodo[i]
if imap < locdata.shape[0]:
t_end = session.t_velo[locdata[imap]['iend']]
if t_now >= t_end:
imaps = range(imap, np.clip(imap - n_localmaps, -1, None),
-1)
xy = np.hstack([polepos_w[j][:2] for j in imaps]).T
a = np.vstack([ld['poleparams'][:, [4]] \
for ld in locdata[imaps]])
boxes = np.hstack([xy - 0.5 * a, xy + 0.5 * a])
ipoles = set(range(polepos_w[imap].shape[1]))
iactive = set()
for ci in cluster.cluster_boxes(boxes):
if len(ci) >= n_locdetections:
iactive |= set(ipoles) & ci
iactive = list(iactive)
if iactive:
t_mid = session.t_velo[locdata[imap]['imid']]
T_w_r_mid = util.project_xy(
session.get_T_w_r_odo(t_mid).dot(T_r_mc)).dot(
T_mc_r)
T_w_r_now = util.project_xy(
session.get_T_w_r_odo(t_now).dot(T_r_mc)).dot(
T_mc_r)
T_r_now_r_mid = util.invert_ht(T_w_r_now).dot(
T_w_r_mid)
polepos_r_now = T_r_now_r_mid.dot(T_r_m).dot(
polepos_m[imap][:, iactive])
filter.update_measurement(polepos_r_now[:2].T)
T_w_r_est[i] = filter.estimate_pose()
if visualize:
polepos_w_est = T_w_r_est[i].dot(polepos_r_now)
locpoles.set_offsets(polepos_w_est[:2].T)
imap += 1
if visualize:
particles.set_offsets(filter.particles[:, :2, 3])
arrow.set_xy(T_w_r_est[i].dot(arrowdata)[:2].T)
x, y = T_w_r_est[i, :2, 3]
mapaxes.set_xlim(left=x - viewoffset, right=x + viewoffset)
mapaxes.set_ylim(bottom=y - viewoffset, top=y + viewoffset)
# Save figures for generating GIF
if i % 25 == 0:
filename = sessionname + '_' + str(i) + '_'
figure.savefig(os.path.join(figuresdir, filename + '.png'))
figure.canvas.draw_idle()
figure.canvas.flush_events()
bar.update(i)
filename = os.path.join(session.dir, get_locfileprefix() \
+ datetime.datetime.now().strftime('_%Y-%m-%d_%H-%M-%S.npz'))
np.savez(filename, T_w_r_est=T_w_r_est)
def save_global_map():
globalmappos = np.empty([0, 2])
mapfactors = np.full(len(pynclt.sessions), np.nan)
poleparams = np.empty([0, 6])
for isession, s in enumerate(pynclt.sessions):
print(s)
session = pynclt.session(s)
istart, imid, iend = get_map_indices(session)
localmappos = session.T_w_r_gt_velo[imid, :2, 3]
if globalmappos.size == 0:
imaps = range(localmappos.shape[0])
else:
imaps = []
for imap in range(localmappos.shape[0]):
distance = np.linalg.norm(localmappos[imap] - globalmappos,
axis=1).min()
if distance > remapdistance:
imaps.append(imap)
globalmappos = np.vstack([globalmappos, localmappos[imaps]])
mapfactors[isession] = np.true_divide(len(imaps), len(imid))
with progressbar.ProgressBar(max_value=len(imaps)) as bar:
for iimap, imap in enumerate(imaps):
scans = []
for iscan in range(istart[imap], iend[imap]):
xyz, _ = session.get_velo(iscan)
scan = o3.PointCloud()
scan.points = o3.Vector3dVector(xyz)
scans.append(scan)
T_w_mc = np.identity(4)
T_w_mc[:3, 3] = session.T_w_r_gt_velo[imid[imap], :3, 3]
T_w_m = T_w_mc.dot(T_mc_m)
T_m_w = util.invert_ht(T_w_m)
T_m_r = np.matmul(
T_m_w, session.T_w_r_gt_velo[istart[imap]:iend[imap]])
occupancymap = mapping.occupancymap(scans, T_m_r, mapshape,
mapsize)
localpoleparams = poles.detect_poles(occupancymap, mapsize)
localpoleparams[:, :2] += T_w_m[:2, 3]
poleparams = np.vstack([poleparams, localpoleparams])
bar.update(iimap)
xy = poleparams[:, :2]
a = poleparams[:, [4]]
boxes = np.hstack([xy - 0.5 * a, xy + 0.5 * a])
clustermeans = np.empty([0, 5])
scores = []
for ci in cluster.cluster_boxes(boxes):
ci = list(ci)
if len(ci) < n_mapdetections:
continue
clustermeans = np.vstack([
clustermeans,
np.average(poleparams[ci, :-1], axis=0, weights=poleparams[ci, -1])
])
scores.append(np.mean(poleparams[ci, -1]))
clustermeans = np.hstack([clustermeans, np.array(scores).reshape([-1, 1])])
globalmapfile = os.path.join(pynclt.resultdir,
get_globalmapname() + '.npz')
np.savez(globalmapfile,
polemeans=clustermeans,
mapfactors=mapfactors,
mappos=globalmappos)
plot_global_map(globalmapfile)