def _motion_regression_6d(self, pnts, qt, t):
"""
Compute translational and rotational velocities and accelerations in
the inertial frame at the target time t.
[1] Sittel, Florian, Joerg Mueller, and Wolfram Burgard. Computing
velocities and accelerations from a pose time sequence in
three-dimensional space. Technical Report 272, University of
Freiburg, Department of Computer Science, 2013.
"""
lin_vel = np.zeros(3)
lin_acc = np.zeros(3)
q_d = np.zeros(4)
q_dd = np.zeros(4)
for i in range(3):
v, a = self._motion_regression_1d(
[(pnt['pos'][i], pnt['t']) for pnt in pnts], t)
lin_vel[i] = v
lin_acc[i] = a
for i in range(4):
v, a = self._motion_regression_1d(
[(pnt['rot'][i], pnt['t']) for pnt in pnts], t)
q_d[i] = v
q_dd[i] = a
# Keeping all velocities and accelerations in the inertial frame
ang_vel = 2 * quaternion_multiply(q_d, quaternion_conjugate(qt))
ang_acc = 2 * quaternion_multiply(q_dd, quaternion_conjugate(qt))
return np.hstack((lin_vel, ang_vel[0:3])), np.hstack((lin_acc, ang_acc[0:3]))
def generate_sigma_points(self, mean, covariance):
sigmas = []
sigmas.append(mean)
if not check_symmetry(covariance):
pdb.set_trace()
temp = pos_sem_def_sqrt(covariance)
if any(isnan(temp)):
rospy.logerr("Sqrt matrix contained a NaN. Matrix was %s",
covariance)
temp = temp * sqrt(self.n + self.kf_lambda)
for i in range(0,self.n):
#Must use columns in order to get the write thing out of the
#Cholesky decomposition
#(http://en.wikipedia.org/wiki/Cholesky_decomposition#Kalman_filters)
column = temp[:,i].reshape((self.n,1))
#Build the noise quaternion
noise_vec = column[0:3,0]
noise_quat = SF9DOF_UKF.build_noise_quat(noise_vec)
original_quat = SF9DOF_UKF.recover_quat(mean)
#Do the additive sample
perturbed_quat = tf_math.quaternion_multiply(noise_quat,original_quat)
#perturbed_quat = tf_math.unit_vector(perturbed_quat)
new_mean = mean + column
new_mean[0:3,0] = perturbed_quat[0:3,0]
sigmas.append(new_mean)
#Do the subtractive sample
conj_noise_quat = tf_math.quaternion_conjugate(noise_quat)
perturbed_quat = tf_math.quaternion_multiply(conj_noise_quat, original_quat)
#perturbed_quat = tf_math.unit_vector(perturbed_quat)
new_mean = mean - column
new_mean[0:3,0] = perturbed_quat[0:3,0]
sigmas.append(new_mean)
return sigmas
def generate_sigma_points(self, mean, covariance):
sigmas = []
sigmas.append(mean)
temp = numpy.linalg.cholesky(covariance)
temp = temp * sqrt(self.n + self.kf_lambda)
for i in range(0,self.n):
#Must use columns in order to get the write thing out of the
#Cholesky decomposition
#(http://en.wikipedia.org/wiki/Cholesky_decomposition#Kalman_filters)
column = temp[:,i].reshape((self.n,1))
#Build the noise quaternion
noise_vec = column[0:3,0]
noise_quat = SF9DOF_UKF.build_noise_quat(noise_vec)
original_quat = SF9DOF_UKF.recover_quat(mean)
#Do the additive sample
perturbed_quat = tf_math.quaternion_multiply(noise_quat,original_quat)
#perturbed_quat = tf_math.unit_vector(perturbed_quat)
new_mean = mean + column
new_mean[0:3,0] = perturbed_quat[0:3,0]
sigmas.append(new_mean)
#Do the subtractive sample
conj_noise_quat = tf_math.quaternion_conjugate(noise_quat)
perturbed_quat = tf_math.quaternion_multiply(conj_noise_quat, original_quat)
#perturbed_quat = tf_math.unit_vector(perturbed_quat)
new_mean = mean - column
new_mean[0:3,0] = perturbed_quat[0:3,0]
sigmas.append(new_mean)
return sigmas
def qv_mult(self):
# rotate vector v1 by quaternion q1
q1 = self.orientation_imu
q2 = list(
[self.gps_robot[0], self.gps_robot[1], self.gps_robot[2], 0.0])
return quaternion_multiply(quaternion_multiply(q1, q2),
quaternion_conjugate(q1))
def rotate(v, q):
"""
Rotate vector v according to quaternion q
"""
q2 = np.r_[v[0:3], 0.0]
return transformations.quaternion_multiply(
transformations.quaternion_multiply(q, q2),
transformations.quaternion_conjugate(q))[0:3]
def quat_vec_mult(q1, v1):
"""Rotate vector v1 by quaternion q1, and return the resulting vector.
From https://answers.ros.org/question/196149/how-to-rotate-vector-by-quaternion-in-python/
"""
q2 = list(v1)
q2.append(0.0)
return quaternion_multiply(quaternion_multiply(q1, q2),
quaternion_conjugate(q1))[:3]
def rotate(v, q, inverse=False):
"""rotate vector v from world to body frame (with quaternion q)"""
cq = quaternion_conjugate(q)
if inverse:
z = quaternion_multiply(q, v)
return quaternion_multiply(z, cq)
else:
z = quaternion_multiply(v, q)
return quaternion_multiply(cq, z)
def odometry_callback(self, msg):
"""Handle updated measured velocity callback."""
if not bool(self.config):
return
p = msg.pose.pose.position
q = msg.pose.pose.orientation
p = numpy.array([p.x, p.y, p.z])
q = numpy.array([q.x, q.y, q.z, q.w])
if not self.initialized:
# If this is the first callback: Store and hold latest pose.
self.pos_des = p
self.quat_des = q
self.initialized = True
# Compute control output:
t = msg.header.stamp.to_sec()
# Position error
e_pos_world = self.pos_des - p
e_pos_body = trans.quaternion_matrix(q).transpose()[0:3,0:3].dot(e_pos_world)
# Error quaternion wrt body frame
e_rot_quat = trans.quaternion_multiply(trans.quaternion_conjugate(q), self.quat_des)
if numpy.linalg.norm(e_pos_world[0:2]) > 5.0:
# special case if we are far away from goal:
# ignore desired heading, look towards goal position
heading = math.atan2(e_pos_world[1],e_pos_world[0])
quat_des = numpy.array([0, 0, math.sin(0.5*heading), math.cos(0.5*heading)])
e_rot_quat = trans.quaternion_multiply(trans.quaternion_conjugate(q), quat_des)
# Error angles
e_rot = numpy.array(trans.euler_from_quaternion(e_rot_quat))
v_linear = self.pid_pos.regulate(e_pos_body, t)
v_angular = self.pid_rot.regulate(e_rot, t)
# Convert and publish vel. command:
cmd_vel = geometry_msgs.Twist()
cmd_vel.linear = geometry_msgs.Vector3(*v_linear)
cmd_vel.angular = geometry_msgs.Vector3(*v_angular)
self.pub_cmd_vel.publish(cmd_vel)
def _yaw_angle_between(qa, qb):
yaw = transformations.euler_from_quaternion(
transformations.quaternion_multiply(
qa, transformations.quaternion_conjugate(qb))
)[2]
if yaw > math.pi/2:
yaw -= math.pi
elif yaw < -math.pi/2:
yaw += math.pi
return yaw
def qv_mult(q1, v1):
'''
Rotates a vector by a unit quaternion
@param q1 - the quaternion to rotate the vector by. Tuple (x, y, z, w)
@param v1 - the vector to be rotated. Tuple (x, y, z)
@return the rotated vector
'''
q2 = v1 + (0.0, )
return quaternion_multiply(quaternion_multiply(q1, q2),
quaternion_conjugate(q1))[:3]
def trans_quat_to_transform((trans, quat)):
if trans is None or quat is None:
return None
# I think Jesse is confused with what is actually stored in the file
# because his quaternion_to_dcm seems to give the conjugate of the right quaternion
m = transformations.quaternion_matrix(transformations.quaternion_conjugate(quat))
m[0,3] = -trans[0]
m[1,3] = -trans[1]
m[2,3] = -trans[2]
return m
def qv_mult(quaternion, vector):
"""
Transforms a vector by a quaternion
:param quaternion: Quaternion
:type quaternion: list
:param vector: vector
:type vector: list
:return: transformed vector
:type: list
"""
q = quaternion
v = [vector[0], vector[1], vector[2], 0]
return quaternion_multiply(quaternion_multiply(q, v), quaternion_conjugate(q))[:-1]
def _motion_regression_6d(self, pnts, qt, t):
"""
Compute translational and rotational velocities and accelerations in
the inertial frame at the target time t.
[1] Sittel, Florian, Joerg Mueller, and Wolfram Burgard. Computing
velocities and accelerations from a pose time sequence in
three-dimensional space. Technical Report 272, University of
Freiburg, Department of Computer Science, 2013.
"""
lin_vel = np.zeros(3)
ang_vel = np.zeros(4)
lin_acc = np.zeros(3)
ang_acc = np.zeros(4)
q_d = np.zeros(4)
q_dd = np.zeros(4)
for i in range(3):
v, a = self._motion_regression_1d([(pnt['pos'][i], pnt['t'])
for pnt in pnts], t)
lin_vel[i] = v
lin_acc[i] = a
for i in range(4):
v, a = self._motion_regression_1d([(pnt['rot'][i], pnt['t'])
for pnt in pnts], t)
q_d[i] = v
q_dd[i] = a
# Keeping all velocities and accelerations in the inertial frame
ang_vel = 2 * quaternion_multiply(q_d, quaternion_conjugate(qt))
ang_acc = 2 * quaternion_multiply(q_dd, quaternion_conjugate(qt))
return np.hstack((lin_vel, ang_vel[0:3])), np.hstack(
(lin_acc, ang_acc[0:3]))
def listen_imu_quaternion(self, imu):
"""Doesn't work b/c desired yaw is too far from possible yaw"""
current_orientation = np.array([imu.orientation.x,
imu.orientation.y,
imu.orientation.z,
imu.orientation.w])
# current_angular_speed = np.array([imu.angular_velocity.x,
# imu.angular_velocity.y,
# imu.angular_velocity.z])
diff_orientation = transformations.quaternion_multiply(
self.desired_orientation,
# Unit quaternion => inverse = conjugate / norm = congugate
transformations.quaternion_conjugate(current_orientation))
assert np.allclose(
transformations.quaternion_multiply(diff_orientation,
current_orientation),
self.desired_orientation)
# diff_r, diff_p, diff_y = transformations.euler_from_quaternion(
# diff_orientation)
# rospy.loginfo("Orientation error (quaternion): {}".format(diff_orientation))
# rospy.loginfo(
# "Orientation error (deg): {}".format(
# np.rad2deg([diff_r, diff_p, diff_y]))
# )
# out = self.pitch_controller(diff_p)
corrected_orientation = transformations.quaternion_multiply(
quaternion_power(diff_orientation, 1.5),
self.desired_orientation)
rospy.loginfo(
"Desired orientation (deg): {}".format(
np.rad2deg(transformations.euler_from_quaternion(
self.desired_orientation))))
rospy.loginfo(
"Corrected orientation (deg): {}".format(
np.rad2deg(transformations.euler_from_quaternion(
corrected_orientation))))
rospy.loginfo("Desired position: {}".format(
self.desired_position))
setpoint_pose = Pose(self.desired_position, corrected_orientation)
servo_angles = self.platform.ik(setpoint_pose)
rospy.logdebug(
"Servo angles (deg): {}".format(np.rad2deg(servo_angles)))
self.publish_servo_angles(servo_angles)
def measurement_update(current_state, dt, measurement):
predicted_measurement = zeros(measurement.shape)
orientation = SF9DOF_UKF.recover_quat(current_state)
#Calculate predicted magnetometer readings
h_vec = zeros((4,1))
h_vec[0:3,0] = current_state[12:15,0]
h_vec[3,0] = 0.
temp = tf_math.quaternion_multiply(orientation, h_vec)
result = tf_math.quaternion_multiply(temp, \
tf_math.quaternion_conjugate(orientation))
predicted_measurement[0:3,0] = result[0:3,0]
#Calculate the predicted gyro readings
temp_gyro = current_state[3:6,0] + current_state[9:12,0]
predicted_measurement[3:6,0] = temp_gyro
#Calculate the predicted accelerometer readings
g_vec = zeros((4,1))
g_vec[0:3,0] = current_state[15:18,0]
g_vec[3,0] = 0.
temp = tf_math.quaternion_multiply(orientation, g_vec)
result = tf_math.quaternion_multiply(temp, \
tf_math.quaternion_conjugate(orientation))
temp_accel = current_state[6:9,0] + result[0:3,0]
predicted_measurement[6:9,0] = temp_accel
return predicted_measurement
def rightMultiplyPose(pose0, pose1):
"""
Multiply pose0 with pose1 assuming pose0 is 7xn matrix and pose1 is 7
vector.
Returns: [7xn] pose matrix by multiplying pose0 x pose1
"""
p0 = pose0[:3, :]
q0 = pose0[3:, :]
q0_c = tf.quaternion_conjugate(q0)
p1 = pose1[:3]
q1 = pose1[3:]
p1_exp = np.hstack((p1, 0))
p1_rot = tf.quaternion_multiply(q0, tf.quaternion_multiply(p1_exp, q0_c))
q_out = tf.quaternion_multiply(q0, q1)
p_out = p0 + p1_rot[:3, :]
return np.vstack((p_out, q_out))
def moveToMarker(self):
try:
now=rospy.Time.now()
self.listener.waitForTransform('/map', self.marker, now, rospy.Duration(10))
trans, rot=self.listener.lookupTransform('/map', self.marker, now)
print "Have a TF frame"
self.move_base_client.wait_for_server()
g = MoveBaseGoal()
g.target_pose.header.frame_id = '/map'
g.target_pose.header.stamp=rospy.Time.now()
#Add offset so that the PR2 sits right in front of the tag instead of running it over or getting the navigation stack stuck
x=trans[0]-0.50
y=trans[1]
z=trans[2]
#Switch rotation around to be in the opposite direction
q1=np.array([rot[0], rot[1], rot[2], rot[3]])
q1_con=tft.quaternion_conjugate(q1) #get the conjugate
rot_y_axis=np.array([0.0*sin(pi/4), 1.0*sin(pi/4), 0.0*sin(pi/4), cos(pi/4)])
q3=tft.quaternion_multiply(q1_con, q1)
q4=tft.quaternion_multiply(rot_y_axis, q3)
q_fin=tft.quaternion_multiply(q1, q4)
g.target_pose.pose.position.x = x
g.target_pose.pose.position.y = y
g.target_pose.pose.position.z = z
g.target_pose.pose.orientation.x = q_fin[0]
g.target_pose.pose.orientation.y = q_fin[1]
g.target_pose.pose.orientation.z = q_fin[2]
g.target_pose.pose.orientation.w = q_fin[3]
self.move_base_client.send_goal(g)
print "Made it this far, sent goal"
success_to_box=self.move_base_client.wait_for_result()
if success_to_box:
print "Movement to box successful"
self.at_box=True
else:
print "Movement to box failed"
self.at_box=False
except(tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException, tf.Exception):
print "TF Exception, try again"
def main():
parser = argparse.ArgumentParser(description='Calibrate intrinsic parameters.')
parser.add_argument('-d', '--dock_cam', dest='dock_cam', action='store_true', help='Calibrate dock camera.')
parser.add_argument('-v', '--verbose', dest='verbose', action='store_true', help='Verbose mode.')
parser.add_argument('robot', help='The name of the robot to configure (i.e., put p4d to edit p4d.config).')
parser.add_argument('intrinsics_bag', help='The bag file with intrinsics calibration data.')
parser.add_argument('extrinsics_bag', help='The bag file with extrinsics calibration data.')
args = parser.parse_args()
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
target_yaml = SCRIPT_DIR + '/data/granite_april_tag.yaml'
imu_yaml = SCRIPT_DIR + '/data/epson_g362p_imu.yaml'
config_file = SCRIPT_DIR + '/../../astrobee/config/robots/' + args.robot + '.config'
print 'Calibrating camera intrinsics...'
intrinsics_yaml = intrinsics_calibrate.calibrate_camera(args.intrinsics_bag, target_yaml,
dock_cam=args.dock_cam, verbose=args.verbose, model='pinhole-equi')
if intrinsics_yaml == None:
print >> sys.stderr, 'Failed to calibrate intrinsics.'
return
print 'Calibrating camera extrinsics...'
extrinsics_yaml = calibrate_extrinsics(args.extrinsics_bag, target_yaml,
intrinsics_yaml, imu_yaml, verbose=args.verbose)
if extrinsics_yaml == None:
print >> sys.stderr, 'Failed to calibrate extrinsics.'
return
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml)
if imu_to_camera is None:
print >> sys.stderr, 'Failed to read extrinsics from yaml file.'
return
body_to_imu = trans_quat_to_transform(lua_read_transform(config_file, 'imu_transform'))
if body_to_imu is None:
print >> sys.stderr, 'Failed to read imu transform.'
return
imu_to_body = np.linalg.inv(body_to_imu)
body_to_camera = np.linalg.inv(imu_to_body.dot(np.linalg.inv(imu_to_camera)))
q = transformations.quaternion_conjugate(transformations.quaternion_from_matrix(body_to_camera))
t = imu_to_body.dot(np.linalg.inv(imu_to_camera)[0:4,3])
print 'Translation: ', t
print 'Rotation quaternion: ', q
if lua_replace_transform(config_file, 'dock_cam_transform' if args.dock_cam else 'nav_cam_transform', (t, q)):
print >> sys.stderr, 'Failed to update config file.'
return
def leftMultiplyPose(pose0, pose1):
"""
Multiply pose0 with pose1 assuming pose1 is 7xn matrix. pose0 is 7
vector.
Returns: [7xn] pose matrix by multiplying pose0 on the left
"""
p0 = pose0[:3]
q0 = pose0[3:]
q0_c = tf.quaternion_conjugate(q0)
p1 = pose1[:3, :]
q1 = pose1[3:,:]
N = p1.shape[1]
#print pose1.shape
p1_exp = np.vstack((p1, np.zeros(N)))
p1_rot = tf.quaternion_multiply(q0, tf.quaternion_multiply(p1_exp, q0_c))
q_out = tf.quaternion_multiply(q0, q1)
p_out = np.expand_dims(p0, axis=1) + p1_rot[:3, :]
return np.vstack((p_out, q_out))
def qv_mult(q1, v1):
"""
Transforms a vector by a quaternion
:param q1: Quaternion
:type: Quaternion
:param v1: vector
:type: Point
:return: transformed vector
:type: Point
"""
q = q1
v = v1
if type(q1) is Quaternion:
q = (q1.x, q1.y, q1.z, q1.w)
if type(v1) is Point:
v = (v1.x, v1.y, v1.z, 0)
r = quaternion_multiply(quaternion_multiply(q, v), quaternion_conjugate(q))
return Point(r[0], r[1], r[2])
def qv_mult(q1, v1):
"""
Transforms a vector by a quaternion
:param q1: Quaternion
:type: Quaternion
:param v1: vector
:type: Point
:return: transformed vector
:type: Point
"""
q = q1
v = v1
if type(q1) is Quaternion:
q = (q1.x, q1.y, q1.z, q1.w)
if type(v1) is Point:
v = (v1.x, v1.y, v1.z, 0)
r = quaternion_multiply(quaternion_multiply(q, v), quaternion_conjugate(q))
return Point(r[0], r[1], r[2])
def get_data(self, t):
try:
sys.stdout = open(os.devnull, 'w') # supress stdout
(trans, rot) = self.t.lookupTransform(self.root_frame,
self.measured_frame,
rospy.Time(0))
except tf.LookupException as e:
sys.stdout = sys.__stdout__ # restore stdout
#print "Exception in metric '%s' %s %s"%(self.name, type(e), e)
return None
except tf.ExtrapolationException as e:
sys.stdout = sys.__stdout__ # restore stdout
#print "Exception in metric '%s' %s %s"%(self.name, type(e), e)
return None
except tf.ConnectivityException as e:
sys.stdout = sys.__stdout__ # restore stdout
#print "Exception in metric '%s' %s %s"%(self.name, type(e), e)
return None
except Exception as e:
sys.stdout = sys.__stdout__ # restore stdout
print("general exeption in metric '%s':" % self.name, type(e), e)
return None
sys.stdout = sys.__stdout__ # restore stdout
if self.time_old == None:
self.trans_old = trans
self.rot_old = rot
self.time_old = t
return None
diff_q = transformations.quaternion_multiply(
rot, transformations.quaternion_conjugate(self.rot_old))
diff_e = transformations.euler_from_quaternion(diff_q)
path_increment = sum([axis**2 for axis in diff_e])**0.5
self.trans_old = trans
self.rot_old = rot
self.time_old = t
return path_increment
def odometry_callback(self, msg):
"""Handle updated measured velocity callback."""
if not bool(self.config):
return
p = msg.pose.pose.position
q = msg.pose.pose.orientation
p = numpy.array([p.x, p.y, p.z])
q = numpy.array([q.x, q.y, q.z, q.w])
if not self.initialized:
# If this is the first callback: Store and hold latest pose.
self.pos_des = p
self.quat_des = q
self.initialized = True
# Compute control output:
t = msg.header.stamp.to_sec()
# Position error wrt. body frame
e_pos = trans.quaternion_matrix(q).transpose()[0:3,
0:3].dot(self.pos_des -
p)
# Error quaternion wrt body frame
e_rot_quat = trans.quaternion_multiply(trans.quaternion_conjugate(q),
self.quat_des)
# Error angles
e_rot = numpy.array(trans.euler_from_quaternion(e_rot_quat))
v_linear = self.pid_pos.regulate(e_pos, t)
v_angular = self.pid_rot.regulate(e_rot, t)
# Convert and publish vel. command:
cmd_vel = geometry_msgs.Twist()
cmd_vel.linear = geometry_msgs.Vector3(*v_linear)
cmd_vel.angular = geometry_msgs.Vector3(*v_angular)
self.pub_cmd_vel.publish(cmd_vel)
def calcRelativeCoordinate(
pose, point
): # (geometry_msgs::Point point_msg, geometry_msgs::Pose current_pose)
worldCarR_q = np.array([
pose.orientation.x, pose.orientation.y, pose.orientation.z,
pose.orientation.w
])
worldCarT_v = np.array(
[pose.position.x, pose.position.y, pose.position.z, 1.0])
carWorldR_m = ttf.quaternion_matrix(ttf.quaternion_conjugate(worldCarR_q))
carWorldT_v = -np.dot(carWorldR_m, worldCarT_v)
carWorld_m = carWorldR_m
carWorld_m[:3, 3] = carWorldT_v[:3]
point_world = np.array([point.x, point.y, point.z, 1.0])
point_car = np.dot(carWorld_m, point_world)
p = geometry_msgs.msg.Point()
p.x, p.y, p.z, _ = point_car
# print(t)
# print(p)
# print(tf2_geometry_msgs.do_transform_point(p, t))
# assert False ," hh"
return p
def test_quaternion_diff(self, q1, q2):
q3 = quaternion_multiply(quaternion_conjugate(q1), q2)
q4 = w.compile_and_execute(w.quaternion_diff, [q1, q2])
self.assertTrue(np.isclose(q3, q4).all() or np.isclose(q3, -q4).all(), msg='{} != {}'.format(q1, q4))
def vectorRotateQuaternion(self, q, v):
'''return qvq^-1. q(x, y, z, w) '''
#t = tf.transformations
qua_mul = t.quaternion_multiply
q_c = t.quaternion_conjugate(q)
return qua_mul(qua_mul(q, v), q_c)
def test_quaternion_conjugate(self, q):
r1 = w.compile_and_execute(w.quaternion_conjugate, [q])
r2 = quaternion_conjugate(q)
self.assertTrue(np.isclose(r1, r2).all() or np.isclose(r1, -r2).all(), msg='{} != {}'.format(r1, r2))
def quatRotatePoint(q, p, o=Vec(0, 0, 0)):
"""returns point p rotated around quaternion q with the origin o (default (0,0,0)"""
return quatMult(quatMult(q, numpy.append(p - o, (0, ))),
quaternion_conjugate(q))[:3] + o
def main():
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
default_calibration_target = SCRIPT_DIR + "/config/granite_april_tag.yaml"
parser = argparse.ArgumentParser(
description="Calibrate extrinsics parameters.")
parser.add_argument(
"robot",
help=
"The name of the robot to configure (i.e., put p4d to edit p4d.config).",
)
parser.add_argument("intrinsics_yaml",
help="The yaml file with intrinsics calibration data.")
parser.add_argument("extrinsics_bag",
help="The bag file with extrinsics calibration data.")
parser.add_argument(
"-d",
"--dock_cam",
dest="dock_cam",
action="store_true",
help="Calibrate dock camera.",
)
parser.add_argument(
"-f",
"--from",
dest="from_time",
help="Use the bag data starting at this time, in seconds.",
)
parser.add_argument(
"-t",
"--to",
dest="to_time",
help="Use the bag data until this time, in seconds.",
)
parser.add_argument(
"--timeoffset-padding",
dest="padding",
help=
"Maximum range in which the timeoffset may change during estimation, in seconds. See readme.md for more info. (default: 0.01)",
)
parser.add_argument(
"--calibration_target",
dest="calibration_target",
help=
"Use this yaml file to desribe the calibration target, overriding the default: "
+ default_calibration_target,
)
parser.add_argument("-v",
"--verbose",
dest="verbose",
action="store_true",
help="Verbose mode.")
args = parser.parse_args()
if args.calibration_target is None:
args.calibration_target = default_calibration_target
imu_yaml = SCRIPT_DIR + "/config/imu.yaml"
config_file = SCRIPT_DIR + "/../../astrobee/config/robots/" + args.robot + ".config"
# Sanity check
has_dock = has_dock_topic(args.intrinsics_yaml)
if has_dock and (not args.dock_cam):
print(
"File " + args.intrinsics_yaml + " + has a dock topic, " +
" yet the --dock-cam flag was not used.",
file=sys.stderr,
)
return
print("Calibrating camera extrinsics...")
extrinsics_yaml = calibrate_extrinsics(
args.extrinsics_bag,
args.calibration_target,
args.intrinsics_yaml,
imu_yaml,
args.from_time,
args.to_time,
args.padding,
verbose=args.verbose,
)
if extrinsics_yaml == None:
print("Failed to calibrate extrinsics.", file=sys.stderr)
return
two_cams = has_two_cameras(extrinsics_yaml)
if two_cams:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ["cam0", "cam1"])
else:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ["cam0"])
if not imu_to_camera:
print("Failed to read extrinsics from yaml file.", file=sys.stderr)
return
body_to_imu = trans_quat_to_transform(
lua_read_transform(config_file, "imu_transform"))
if body_to_imu is None:
print("Failed to read imu transform.", file=sys.stderr)
return
imu_to_body = np.linalg.inv(body_to_imu)
body_to_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[0])))
q = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_camera))
t = imu_to_body.dot(np.linalg.inv(imu_to_camera[0])[0:4, 3])
print("Cam0:")
print("Translation: ", t)
print("Rotation quaternion: ", q)
if two_cams:
# Modify the transform for the second camera, that is the depth one
body_to_depth_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[1])))
q_depth = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_depth_camera))
t_depth = imu_to_body.dot(np.linalg.inv(imu_to_camera[1])[0:4, 3])
print("Cam1:")
print("Translation: ", t_depth)
print("Rotation quaternion: ", q_depth)
if lua_replace_transform(
config_file,
"perch_cam_transform"
if args.dock_cam else "haz_cam_transform",
(t_depth, q_depth),
):
print(
"Failed to update config file with depth camera parameters.",
file=sys.stderr,
)
return
has_depth = has_depth_topic(args.intrinsics_yaml)
if has_depth and (not two_cams):
# Only the depth camera is present, so the first transform corresponds to the depth camera
if lua_replace_transform(
config_file,
"perch_cam_transform"
if args.dock_cam else "haz_cam_transform",
(t, q),
):
print(
"Failed to update config file with depth camera parameters",
file=sys.stderr,
)
return
else:
# Either both cameras are present, or only the HD cam, so the first transform
# corresponds to the HD camera
if lua_replace_transform(
config_file,
"dock_cam_transform" if args.dock_cam else "nav_cam_transform",
(t, q),
):
print(
"Failed to update config file with HD camera parameters",
file=sys.stderr,
)
return
def quaternion_rotate(quaternion, vector): # type: (np.ndarray, np.ndarray) -> np.ndarray
q = quaternion
v = np.concatenate((vector, [0]))
qc = transformations.quaternion_conjugate(quaternion)
return transformations.quaternion_multiply(transformations.quaternion_multiply(q, v), qc)
def qv_mult(q1, v1):
q2 = np.append(v1, 0.0)
return tfs.quaternion_multiply(tfs.quaternion_multiply(q1, q2),
tfs.quaternion_conjugate(q1))[:3]
def inverse(self):
q_congugate = quaternion_conjugate(self.q)
return CompactTransform(-rotationMatrix(q_congugate) * self.p,
q_congugate)
import numpy as np
vel = np.genfromtxt('/home/harish/RRC/ICRA_2019/baseline_2/aaaaa/New_method/x_y_z_translations/baseline_2_velocities_single_1.txt', delimiter=' ')
pose = np.genfromtxt('/home/harish/RRC/ICRA_2019/baseline_2/aaaaa/New_method/x_y_z_translations/baseline_2_exp_indi.txt',delimiter=' ')
pose1 = np.zeros_like(pose)
pose1[0,:] = pose[0,:]
for i in range(pose.shape[0]-1):
ti = pose1[i,:3]
qi = pose1[i,3:]
#vt = np.array([vel[i,0]*(-0.1),vel[i,1]*(-0.0988),vel[i,2]*(0.01)])
#wt = np.array([vel[i,3]*1,vel[i,4]*(-1),vel[i,5]*2])
vt = np.array([vel[i,0],vel[i,1],vel[i,2]])
wt = np.array([vel[i,3],vel[i,4],vel[i,5]])
td = vt
qd = tft.quaternion_from_euler(wt[0],wt[1],wt[2],'sxyz')
qi1 = tft.quaternion_multiply(qd, qi) #quaternion_multiply(q_rot, q_orig)
#rotating vector around quat equivivalent of ri*Td(1:3,4)+ti
tdh = np.hstack([td,0])
ti1 = tft.quaternion_multiply(tft.quaternion_multiply(qi, tdh), tft.quaternion_conjugate(qi))[:3] + ti
pose1[i+1,:] = np.hstack([ti1,qi1])
np.savetxt('/home/yvsharish/working/aaaaa_2/baseline_2_after_change.txt', pose1,delimiter=' ')
def main():
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
default_calibration_target = SCRIPT_DIR + '/config/granite_april_tag.yaml'
parser = argparse.ArgumentParser(
description='Calibrate extrinsics parameters.')
parser.add_argument(
'robot',
help=
'The name of the robot to configure (i.e., put p4d to edit p4d.config).'
)
parser.add_argument('intrinsics_yaml',
help='The yaml file with intrinsics calibration data.')
parser.add_argument('extrinsics_bag',
help='The bag file with extrinsics calibration data.')
parser.add_argument('-d',
'--dock_cam',
dest='dock_cam',
action='store_true',
help='Calibrate dock camera.')
parser.add_argument(
'-f',
'--from',
dest='from_time',
help='Use the bag data starting at this time, in seconds.')
parser.add_argument('-t',
'--to',
dest='to_time',
help='Use the bag data until this time, in seconds.')
parser.add_argument(
'--timeoffset-padding',
dest='padding',
help=
'Maximum range in which the timeoffset may change during estimation, in seconds. See readme.md for more info. (default: 0.01)'
)
parser.add_argument(
'--calibration_target',
dest='calibration_target',
help=
'Use this yaml file to desribe the calibration target, overriding the default: '
+ default_calibration_target)
parser.add_argument('-v',
'--verbose',
dest='verbose',
action='store_true',
help='Verbose mode.')
args = parser.parse_args()
if args.calibration_target is None:
args.calibration_target = default_calibration_target
imu_yaml = SCRIPT_DIR + '/config/imu.yaml'
config_file = SCRIPT_DIR + '/../../astrobee/config/robots/' + args.robot + '.config'
# Sanity check
has_dock = has_dock_topic(args.intrinsics_yaml)
if has_dock and (not args.dock_cam):
print >> sys.stderr, 'File ' + args.intrinsics_yaml + ' + has a dock topic, ' + \
' yet the --dock-cam flag was not used.'
return
print 'Calibrating camera extrinsics...'
extrinsics_yaml = calibrate_extrinsics(args.extrinsics_bag,
args.calibration_target,
args.intrinsics_yaml,
imu_yaml,
args.from_time,
args.to_time,
args.padding,
verbose=args.verbose)
if extrinsics_yaml == None:
print >> sys.stderr, 'Failed to calibrate extrinsics.'
return
two_cams = has_two_cameras(extrinsics_yaml)
if two_cams:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ['cam0', 'cam1'])
else:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ['cam0'])
if not imu_to_camera:
print >> sys.stderr, 'Failed to read extrinsics from yaml file.'
return
body_to_imu = trans_quat_to_transform(
lua_read_transform(config_file, 'imu_transform'))
if body_to_imu is None:
print >> sys.stderr, 'Failed to read imu transform.'
return
imu_to_body = np.linalg.inv(body_to_imu)
body_to_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[0])))
q = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_camera))
t = imu_to_body.dot(np.linalg.inv(imu_to_camera[0])[0:4, 3])
print 'Cam0:'
print 'Translation: ', t
print 'Rotation quaternion: ', q
if two_cams:
# Modify the transform for the second camera, that is the depth one
body_to_depth_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[1])))
q_depth = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_depth_camera))
t_depth = imu_to_body.dot(np.linalg.inv(imu_to_camera[1])[0:4, 3])
print 'Cam1:'
print 'Translation: ', t_depth
print 'Rotation quaternion: ', q_depth
if lua_replace_transform(
config_file, 'perch_cam_transform'
if args.dock_cam else 'haz_cam_transform', (t_depth, q_depth)):
print >> sys.stderr, 'Failed to update config file with depth camera parameters.'
return
has_depth = has_depth_topic(args.intrinsics_yaml)
if has_depth and (not two_cams):
# Only the depth camera is present, so the first transform corresponds to the depth camera
if lua_replace_transform(
config_file, 'perch_cam_transform'
if args.dock_cam else 'haz_cam_transform', (t, q)):
print >> sys.stderr, 'Failed to update config file with depth camera parameters'
return
else:
# Either both cameras are present, or only the HD cam, so the first transform
# corresponds to the HD camera
if lua_replace_transform(
config_file,
'dock_cam_transform' if args.dock_cam else 'nav_cam_transform',
(t, q)):
print >> sys.stderr, 'Failed to update config file with HD camera parameters'
return
def qv_mult(q1, v1):
# https: // answers.ros.org / question / 196149 / how - to - rotate - vector - by - quaternion - in -python /
v1 = unit_vector(v1)
q2 = list(v1) + [0.0]
return quaternion_multiply(quaternion_multiply(q1, q2),
quaternion_conjugate(q1))[:3]
def main():
parser = argparse.ArgumentParser(
description='Calibrate extrinsics parameters.')
parser.add_argument('-d',
'--dock_cam',
dest='dock_cam',
action='store_true',
help='Calibrate dock camera.')
parser.add_argument('-v',
'--verbose',
dest='verbose',
action='store_true',
help='Verbose mode.')
parser.add_argument(
'robot',
help=
'The name of the robot to configure (i.e., put p4d to edit p4d.config).'
)
parser.add_argument('intrinsics_yaml',
help='The bag file with intrinsics calibration data.')
parser.add_argument('extrinsics_bag',
help='The bag file with extrinsics calibration data.')
args = parser.parse_args()
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
target_yaml = SCRIPT_DIR + '/data/granite_april_tag.yaml'
imu_yaml = SCRIPT_DIR + '/data/imu.yaml'
config_file = SCRIPT_DIR + '/../../astrobee/config/robots/' + args.robot + '.config'
print 'Calibrating camera extrinsics...'
extrinsics_yaml = calibrate_extrinsics(args.extrinsics_bag,
target_yaml,
intrinsics_yaml,
imu_yaml,
verbose=args.verbose)
if extrinsics_yaml == None:
print >> sys.stderr, 'Failed to calibrate extrinsics.'
return
depth = has_depth_cam(extrinsics_yaml)
if depth:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ['cam0', 'cam1'])
else:
imu_to_camera = read_yaml_extrinsics(extrinsics_yaml, ['cam0'])
if not imu_to_camera:
print >> sys.stderr, 'Failed to read extrinsics from yaml file.'
return
body_to_imu = trans_quat_to_transform(
lua_read_transform(config_file, 'imu_transform'))
if body_to_imu is None:
print >> sys.stderr, 'Failed to read imu transform.'
return
imu_to_body = np.linalg.inv(body_to_imu)
body_to_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[0])))
q = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_camera))
t = imu_to_body.dot(np.linalg.inv(imu_to_camera[0])[0:4, 3])
print 'Cam0:'
print 'Translation: ', t
print 'Rotation quaternion: ', q
#if args.depth_cam:
if depth:
body_to_depth_camera = np.linalg.inv(
imu_to_body.dot(np.linalg.inv(imu_to_camera[1])))
q_depth = transformations.quaternion_conjugate(
transformations.quaternion_from_matrix(body_to_depth_camera))
t_depth = imu_to_body.dot(np.linalg.inv(imu_to_camera[1])[0:4, 3])
print 'Cam1:'
print 'Translation: ', t_depth
print 'Rotation quaternion: ', q_depth
if lua_replace_transform(
config_file, 'perch_cam_transform'
if args.dock_cam else 'haz_cam_transform', (t_depth, q_depth)):
print >> sys.stderr, 'Failed to update config file with depth camera parameters.'
return
if lua_replace_transform(
config_file,
'dock_cam_transform' if args.dock_cam else 'nav_cam_transform',
(t, q)):
print >> sys.stderr, 'Failed to update config file with cam0 parameters'
return
def __sub__(self, other):
return CompactTransform(
self.p - other.p,
quaternion_multiply(self.q, quaternion_conjugate(other.q)))
def qv_mult(q, v):
v = v + (0.0,)
q_conj = transformations.quaternion_conjugate(q)
return transformations.quaternion_multiply(transformations.quaternion_multiply(q,v), q_conj)[:-1]
def qinv(q):
""" Quaternion Inverse (Conjugate, Unit) """
# no normalization, assume unit
#va, ra = q[:3], q[-1]
#return np.concatenate([va, [-ra]], axis=-1)
return tx.quaternion_conjugate(q)
def qv_mult(q1, v1):
q2 = (0.0,) + v1
q3 = tft.quaternion_multiply(q1, q2)
return tft.quaternion_multiply(q3, tft.quaternion_conjugate(q1))[1:]
