def test_init_wrong_args(self):
# no args
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D()
# only quaternion
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D(
orientations_quat_wxyz=ex_tum_traj.orientations_quat_wxyz)
# only xyz
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D(positions_xyz=ex_tum_traj.positions_xyz)
def test_init_wrong_args(self):
path = helpers.fake_path(10)
# no args
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D()
# only quaternion
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D(
orientations_quat_wxyz=path.orientations_quat_wxyz)
# only xyz
with self.assertRaises(trajectory.TrajectoryException):
trajectory.PosePath3D(positions_xyz=path.positions_xyz)
def test_init_correct(self):
# only poses_se3
path = helpers.fake_path(10)
try:
trajectory.PosePath3D(poses_se3=path.poses_se3)
except trajectory.TrajectoryException:
self.fail("unexpected init failure with only poses_se3")
# xyz + quaternion
try:
trajectory.PosePath3D(path.positions_xyz,
path.orientations_quat_wxyz)
except trajectory.TrajectoryException:
self.fail("unexpected init failure with xyz + quaternion")
# all
try:
trajectory.PosePath3D(path.positions_xyz,
path.orientations_quat_wxyz, path.poses_se3)
except trajectory.TrajectoryException:
self.fail(
"unexpected init failure with xyz + quaternion + poses_se3")
def test_init_correct(self):
# only poses_se3
try:
trajectory.PosePath3D(poses_se3=ex_tum_traj.poses_se3)
except trajectory.TrajectoryException:
self.fail("unexpected init failure with only poses_se3")
# xyz + quaternion
try:
trajectory.PosePath3D(ex_tum_traj.positions_xyz,
ex_tum_traj.orientations_quat_wxyz)
except trajectory.TrajectoryException:
self.fail("unexpected init failure with xyz + quaternion")
# all
try:
trajectory.PosePath3D(ex_tum_traj.positions_xyz,
ex_tum_traj.orientations_quat_wxyz,
ex_tum_traj.poses_se3)
except trajectory.TrajectoryException:
self.fail(
"unexpected init failure with xyz + quaternion + poses_se3")
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)
