yp = ys * cos(f) + xs * sin(f)
pylab.plot(xp, yp, c = colors[i], label = vos[i].name())
#pylab.quiver(xp, yp, vo_u[i], vo_v[i], color = colors[i]) #, label = '_nolegend_')
#xk = [ x for j,x in enumerate(vo_x[i]) if j in vos[i].log_keyframes ]
#yk = [ y for j,y in enumerate(vo_y[i]) if j in vos[i].log_keyframes ]
#pylab.scatter(xk, yk, c = colors[i], label = '_nolegend_')
pylab.plot(oe_x, oe_y, c = 'green', label = 'wheel + IMU odometry')
xlim = pylab.xlim()
ylim = pylab.ylim()
xrange = xlim[1] - xlim[0]
yrange = ylim[1] - ylim[0]
r = max(xrange, yrange) * 1.5
mid = sum(xlim) / 2
pylab.xlim(mid - 0.5 * r, mid + 0.5 * r)
mid = sum(ylim) / 2
pylab.ylim(mid - 0.5 * r, mid + 0.5 * r)
pylab.legend()
pylab.show()
#pylab.savefig("foo.png", dpi=200)
for vo in vos:
print vo.name()
print "distance from start:", vo.pose.distance()
print "planarity", vo.planarity
print "pose", vo.pose.comparison(quality_pose)
vo.summarize_timers()
print vo.log_keyframes
print
class VODemo:
vo = None
frame = 0
def __init__(self, mode, library):
self.mode = mode
self.library = library
rospy.TopicSub('/videre/images', ImageArray, self.display_array)
rospy.TopicSub('/videre/cal_params', String, self.display_params)
rospy.TopicSub('/vo/tmo', Pose44, self.handle_corrections)
self.viz_pub = rospy.Publisher("/overlay", Lines)
self.vo_key_pub = rospy.Publisher("/vo/key", Frame)
self.Tmo = Pose()
self.mymarker1 = Marker(10)
self.mymarkertrail = [ Marker(11 + i) for i in range(10) ]
self.trail = []
self.vis = Vis()
def display_params(self, iar):
if not self.vo:
cam = camera.VidereCamera(iar.data)
print "cam.params", cam.params
self.vo = VisualOdometer(cam)
self.started = None
if self.mode == 'learn':
self.library = set()
self.previous_keyframe = None
self.know_state = 'lost'
self.best_show_pose = None
self.mymarker1.floor()
def handle_corrections(self, corrmsg):
print "GOT CORRECTION AT", time.time()
Tmo_pose = Pose()
Tmo_pose.fromlist(corrmsg.v)
self.Tmo = Tmo_pose
self.know_state = 'corrected'
def display_array(self, iar):
diag = ""
af = None
if self.vo:
if not self.started:
self.started = time.time()
imgR = imgAdapted(iar.images[0])
imgL = imgAdapted(iar.images[1])
af = SparseStereoFrame(imgL, imgR)
if 1:
if self.mode == 'play':
pose = self.vo.handle_frame(af)
if self.mode == 'learn':
pose = self.vo.handle_frame(af)
if (af.id != 0) and (self.vo.inl < 80):
print "*** LOST TRACK ***"
#sys.exit(1)
self.library.add(self.vo.keyframe)
else:
#diag = "best match %d from %d in library" % (max(probes)[0], len(self.library))
pass
diag = "%d/%d inliers, moved %.1f library size %d" % (self.vo.inl, len(af.kp), pose.distance(), len(self.library))
if self.mode == 'play':
kf = self.vo.keyframe
if kf != self.previous_keyframe:
f = Frame()
f.id = kf.id
f.pose = Pose44(kf.pose.tolist())
f.keypoints = [ Keypoint(x,y,d) for (x,y,d) in kf.kp ]
f.descriptors = [ Descriptor(d) for d in kf.descriptors ]
print "ASKING FOR MATCH AT", time.time()
self.vo_key_pub.publish(f)
self.previous_keyframe = kf
if kf.inl < 50 or self.vo.inl < 50:
self.know_state = 'lost'
else:
self.know_state = { 'lost':'lost', 'uncertain':'uncertain', 'corrected':'uncertain' }[self.know_state]
result_pose = af.pose
if self.mode == 'learn':
self.mymarker1.frompose(af.pose, self.vo.cam, (255,255,255))
else:
if self.best_show_pose and self.know_state == 'lost':
inmap = self.best_show_pose
else:
Top = af.pose
Tmo = self.Tmo
inmap = Tmo * Top
if self.know_state != 'lost':
self.best_show_pose = inmap
if self.know_state != 'lost' or not self.best_show_pose:
color = { 'lost' : (255,0,0), 'uncertain' : (127,127,0), 'corrected' : (0,255,0) }[self.know_state]
self.mymarker1.frompose(inmap, self.vo.cam, color)
if 0:
self.trail.append(inmap)
self.trail = self.trail[-10:]
for i,p in enumerate(self.trail):
self.mymarkertrail[i].frompose(p, color)
#print af.diff_pose.xform(0,0,0), af.pose.xform(0,0,0)
if self.frame > 5 and ((self.frame % 10) == 0):
inliers = self.vo.pe.inliers()
pts = [(1,int(x0),int(y0)) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
self.vis.show(iar.images[1].data, pts )
if False and self.vo.pairs != []:
ls = Lines()
inliers = self.vo.pe.inliers()
lr = "left_rectified"
ls.lines = [ Line(lr, 0,255,0,x0,y0-2,x0,y0+2) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
ls.lines += [ Line(lr, 0,255,0,x0-2,y0,x0+2,y0) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
rr = "right_rectified"
#ls.lines += [ Line(rr, 0,255,0,x0-d0,y0-2,x0-d0,y0+2) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
#ls.lines += [ Line(rr, 0,255,0,x0-2-d0,y0,x0+2-d0,y0) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
self.viz_pub.publish(ls)
if (self.frame % 30) == 0:
took = time.time() - self.started
print "%4d: %5.1f [%f fps]" % (self.frame, took, self.frame / took), diag
self.frame += 1
#print "got message", len(iar.images)
#print iar.images[0].width
if SEE:
right = ut.ros2cv(iar.images[0])
left = ut.ros2cv(iar.images[1])
hg.cvShowImage('channel L', left)
hg.cvShowImage('channel R', right)
hg.cvWaitKey(5)
def dump(self):
print
print self.vo.name()
self.vo.summarize_timers()
if self.mode == 'learn':
print "DUMPING LIBRARY", len(self.library)
f = open("library.pickle", "w")
pickle.dump(self.vo.cam, f)
db = [(af.id, af.pose, af.kp, af.descriptors) for af in self.library]
pickle.dump(db, f)
f.close()
print "DONE"
class VODemo:
vo = None
frame = 0
def __init__(self, mode, library):
self.mode = mode
self.library = library
rospy.TopicSub('/videre/images', ImageArray, self.display_array)
rospy.TopicSub('/videre/cal_params', String, self.display_params)
rospy.TopicSub('/vo/tmo', Pose44, self.handle_corrections)
self.viz_pub = rospy.Publisher("/overlay", Lines)
self.vo_key_pub = rospy.Publisher("/vo/key", Frame)
self.Tmo = Pose()
self.mymarker1 = Marker(10)
self.mymarkertrail = [Marker(11 + i) for i in range(10)]
self.trail = []
self.vis = Vis()
def display_params(self, iar):
if not self.vo:
cam = camera.VidereCamera(iar.data)
print "cam.params", cam.params
self.vo = VisualOdometer(cam)
self.started = None
if self.mode == 'learn':
self.library = set()
self.previous_keyframe = None
self.know_state = 'lost'
self.best_show_pose = None
self.mymarker1.floor()
def handle_corrections(self, corrmsg):
print "GOT CORRECTION AT", time.time()
Tmo_pose = Pose()
Tmo_pose.fromlist(corrmsg.v)
self.Tmo = Tmo_pose
self.know_state = 'corrected'
def display_array(self, iar):
diag = ""
af = None
if self.vo:
if not self.started:
self.started = time.time()
imgR = imgAdapted(iar.images[0])
imgL = imgAdapted(iar.images[1])
af = SparseStereoFrame(imgL, imgR)
if 1:
if self.mode == 'play':
pose = self.vo.handle_frame(af)
if self.mode == 'learn':
pose = self.vo.handle_frame(af)
if (af.id != 0) and (self.vo.inl < 80):
print "*** LOST TRACK ***"
#sys.exit(1)
self.library.add(self.vo.keyframe)
else:
#diag = "best match %d from %d in library" % (max(probes)[0], len(self.library))
pass
diag = "%d/%d inliers, moved %.1f library size %d" % (
self.vo.inl, len(af.kp), pose.distance(), len(
self.library))
if self.mode == 'play':
kf = self.vo.keyframe
if kf != self.previous_keyframe:
f = Frame()
f.id = kf.id
f.pose = Pose44(kf.pose.tolist())
f.keypoints = [
Keypoint(x, y, d) for (x, y, d) in kf.kp
]
f.descriptors = [Descriptor(d) for d in kf.descriptors]
print "ASKING FOR MATCH AT", time.time()
self.vo_key_pub.publish(f)
self.previous_keyframe = kf
if kf.inl < 50 or self.vo.inl < 50:
self.know_state = 'lost'
else:
self.know_state = {
'lost': 'lost',
'uncertain': 'uncertain',
'corrected': 'uncertain'
}[self.know_state]
result_pose = af.pose
if self.mode == 'learn':
self.mymarker1.frompose(af.pose, self.vo.cam,
(255, 255, 255))
else:
if self.best_show_pose and self.know_state == 'lost':
inmap = self.best_show_pose
else:
Top = af.pose
Tmo = self.Tmo
inmap = Tmo * Top
if self.know_state != 'lost':
self.best_show_pose = inmap
if self.know_state != 'lost' or not self.best_show_pose:
color = {
'lost': (255, 0, 0),
'uncertain': (127, 127, 0),
'corrected': (0, 255, 0)
}[self.know_state]
self.mymarker1.frompose(inmap, self.vo.cam, color)
if 0:
self.trail.append(inmap)
self.trail = self.trail[-10:]
for i, p in enumerate(self.trail):
self.mymarkertrail[i].frompose(p, color)
#print af.diff_pose.xform(0,0,0), af.pose.xform(0,0,0)
if self.frame > 5 and ((self.frame % 10) == 0):
inliers = self.vo.pe.inliers()
pts = [(1, int(x0), int(y0))
for ((x0, y0, d0), (x1, y1, d1)) in inliers]
self.vis.show(iar.images[1].data, pts)
if False and self.vo.pairs != []:
ls = Lines()
inliers = self.vo.pe.inliers()
lr = "left_rectified"
ls.lines = [
Line(lr, 0, 255, 0, x0, y0 - 2, x0, y0 + 2)
for ((x0, y0, d0), (x1, y1, d1)) in inliers
]
ls.lines += [
Line(lr, 0, 255, 0, x0 - 2, y0, x0 + 2, y0)
for ((x0, y0, d0), (x1, y1, d1)) in inliers
]
rr = "right_rectified"
#ls.lines += [ Line(rr, 0,255,0,x0-d0,y0-2,x0-d0,y0+2) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
#ls.lines += [ Line(rr, 0,255,0,x0-2-d0,y0,x0+2-d0,y0) for ((x0,y0,d0), (x1,y1,d1)) in inliers]
self.viz_pub.publish(ls)
if (self.frame % 30) == 0:
took = time.time() - self.started
print "%4d: %5.1f [%f fps]" % (self.frame, took,
self.frame / took), diag
self.frame += 1
#print "got message", len(iar.images)
#print iar.images[0].width
if SEE:
right = ut.ros2cv(iar.images[0])
left = ut.ros2cv(iar.images[1])
hg.cvShowImage('channel L', left)
hg.cvShowImage('channel R', right)
hg.cvWaitKey(5)
def dump(self):
print
print self.vo.name()
self.vo.summarize_timers()
if self.mode == 'learn':
print "DUMPING LIBRARY", len(self.library)
f = open("library.pickle", "w")
pickle.dump(self.vo.cam, f)
db = [(af.id, af.pose, af.kp, af.descriptors)
for af in self.library]
pickle.dump(db, f)
f.close()
print "DONE"
pylab.ion()
if ploton and len(vo.log_keyframes) > initfig:
ploton -= 1
if initfig == 0:
pylab.ion()
pylab.figure(figsize=(10, 10))
initfig = len(vo.log_keyframes)
xs = numpy.array(vo_x[0])
ys = numpy.array(vo_y[0])
# xs -= 4.5 * 1e-3
f = -0.06
f = 0.0
xp = xs * cos(f) - ys * sin(f)
yp = ys * cos(f) + xs * sin(f)
pylab.plot(xp, yp, c='blue', label=vo.name())
xk = [
x for j, x in enumerate(vo_x[0]) if j in vo.log_keyframes
]
yk = [
y for j, y in enumerate(vo_y[0]) if j in vo.log_keyframes
]
pylab.scatter(xk, yk, c='red', label='_nolegend_')
pylab.axis('equal')
pylab.draw()
inliers.append(vo.inl)
else:
print framecounter
