From cfbecdab8469a5d85e74433f33d24267dff5f66a Mon Sep 17 00:00:00 2001 From: Idril Geer <igeer@iri.upc.edu> Date: Thu, 10 Feb 2022 18:35:13 +0100 Subject: [PATCH] work on matlab scripts --- bag/analysys/compare.asv | 44 - bag/analysys/compare.m | 11 +- bag/analysys/extractGT.asv | 39 - bag/analysys/geterror.m | 12 + bag/analysys/groundtruth_trajectory_lab2.csv | 4034 ----------------- bag/analysys/matchaxes.asv | 24 - bag/analysys/matchaxes.m | 11 +- bag/analysys/matchaxes2.m | 33 + yaml/trajectory_analysys/E-0_1.yaml | 157 + .../{hold/E-0_1.yaml => E-0_5.yaml} | 0 .../trajectory_analysys/{hold => }/G-0_1.yaml | 4 +- yaml/trajectory_analysys/G-0_5.yaml | 115 + 12 files changed, 336 insertions(+), 4148 deletions(-) delete mode 100644 bag/analysys/compare.asv delete mode 100644 bag/analysys/extractGT.asv create mode 100644 bag/analysys/geterror.m delete mode 100644 bag/analysys/groundtruth_trajectory_lab2.csv delete mode 100644 bag/analysys/matchaxes.asv create mode 100644 bag/analysys/matchaxes2.m create mode 100644 yaml/trajectory_analysys/E-0_1.yaml rename yaml/trajectory_analysys/{hold/E-0_1.yaml => E-0_5.yaml} (100%) rename yaml/trajectory_analysys/{hold => }/G-0_1.yaml (98%) create mode 100644 yaml/trajectory_analysys/G-0_5.yaml diff --git a/bag/analysys/compare.asv b/bag/analysys/compare.asv deleted file mode 100644 index 0f21731..0000000 --- a/bag/analysys/compare.asv +++ /dev/null @@ -1,44 +0,0 @@ -clc; clear; clearvars; close all; - -CSVFolder = '../CSV/transp/'; -if ~isfolder(CSVFolder) - errorMessage = sprintf('Error: The following folder does not exist:\n%s\nPlease specify a new folder.', myFolder); - uiwait(warndlg(errorMessage)); - myFolder = uigetdir(); % Ask for a new one. - if myFolder == 0 - % User clicked Cancel - return; - end -end -Gvec = []; -Evec = []; -myFiles = dir(fullfile(CSVFolder,'*.csv')); %gets all csv files in struct -for k = 1:length(myFiles) - baseFileName = myFiles(k).name; - fullFileName = fullfile(CSVFolder, baseFileName); - fprintf('Now reading file %s\n', baseFileName); - Table = readtable(fullFileName,'PreserveVariableNames',true); - if baseFileName(1) == 'G' - [Gx, Gy, Gz, Gang, Gt, Gts] = extractGT(Table); - Gvec = [Gvec, {baseFileName, Gx, Gy, Gz, Gang, Gt, Gts}']; - elseif baseFileName(1) == 'E' - [Ex, Ey, Ez, Eang, Et, Ets] = extractdata(Table); - Evec = [Evec, {baseFileName, Ex, Ey, Ez, Eang, Et, Ets}']; - end - -% -% t10 = linspace(0,min(Gt(end),gt10(end))-1,1e6); -% ts0 = resample(Gts, t10); -% ts1 = resample(gts10, t10); -% ploterrs(ts0, ts1) -% -% GC20 = readtable('trajectory_ana_lab_2_exp_20_transp.csv','PreserveVariableNames',true); -% [gx20, gy20, gz20, gth20, gt20, gts20] = extractdata(GC20); -% -% t20 = linspace(0,min(Gt(end),gt20(end))-1,1e6); -% ts0 = resample(Gts, t20); -% ts2 = resample(gts20, t20); -% ploterrs(ts0, ts2) -end - -[Edata, Gdata] = matchaxes(Gvec{7,1}, Evec{7,1}, 1, 2); diff --git a/bag/analysys/compare.m b/bag/analysys/compare.m index f1a596d..5697734 100644 --- a/bag/analysys/compare.m +++ b/bag/analysys/compare.m @@ -40,6 +40,11 @@ for k = 1:length(myFiles) % ts2 = resample(gts20, t20); % ploterrs(ts0, ts2) end - -[Edata, Gdata] = matchaxes(Gvec{7,1}, Evec{7,1}, 2, 3); -error = vecnorm(Edata(end,:)-Gdata(end,:)) \ No newline at end of file +ERRORS=[]; +min_len = 99999999999999999999999999999999999999999999999999999999999999999999999999999999999999999; +for i = 1:size(Gvec,2) + [perrors, angerrors] = geterror(Gvec{7,i}, Evec{7,i}); + Initial_RMSE = [sqrt(mean(perrors.^2)), sqrt(mean(angerrors.^2))]; + ERRORS = [ERRORS, {strcat(Gvec{1,i},' ', Evec{1,i}), Initial_RMSE, perrors, angerrors}'] + min_len = min(min_len, length(perrors)); +end \ No newline at end of file diff --git a/bag/analysys/extractGT.asv b/bag/analysys/extractGT.asv deleted file mode 100644 index b5467a2..0000000 --- a/bag/analysys/extractGT.asv +++ /dev/null @@ -1,39 +0,0 @@ -function [Gx, Gy, Gz, Gth, Gt, Gts] = extractGT(GT) - t0 = GT(6,2).Var2; - GT(1,2).Var2 = (GT(1,2).Var2 - t0)*1e-9; - GT(3,2).Var2 = (GT(3,2).Var2 - t0)*1e-9; - texpr = 'field.poses\d{1,4}.header.stamp'; - xexpr = 'field.poses\d{1,4}.pose.position.x'; - yexpr = 'field.poses\d{1,4}.pose.position.y'; - zexpr = 'field.poses\d{1,4}.pose.position.z'; - thexpr = 'field.poses\d{1,4}.pose.orientation.x'; - - Gt = []; - Gx = []; - Gy = []; - Gz = []; - Gth = []; - for i=1:height(GT) - if (size(regexp(GT(i,1).Var1{1,1}, texpr)) > 0) - GT(i,2).Var2 = (GT(i, 2).Var2 - t0)*1e-9; - Gt = [Gt, GT(i,2).Var2]; - end - if (size(regexp(GT(i,1).Var1{1,1}, xexpr)) > 0) - Gx = [Gx, GT(i,2).Var2]; - end - if (size(regexp(GT(i,1).Var1{1,1}, yexpr)) > 0) - Gy = [Gy, GT(i,2).Var2]; - end - if (size(regexp(GT(i,1).Var1{1,1}, zexpr)) > 0) - Gz = [Gz, GT(i,2).Var2]; - end - if (size(regexp(GT(i,1).Var1{1,1}, thexpr)) > 0) - [r1 r2 r3] = quat2angle([GT(i+3,2).Var2 GT(i,2).Var2 GT(i+1,2).Var2 GT(i+2,2).Var2]); - Gth = [Gth, r1]; - end - end - - Gts = timeseries([Gx' Gy' Gz' Gth'], Gt, 'name', 'groundtruth'); - Gts.TimeInfo.Units='seconds'; - -end \ No newline at end of file diff --git a/bag/analysys/geterror.m b/bag/analysys/geterror.m new file mode 100644 index 0000000..ec1394b --- /dev/null +++ b/bag/analysys/geterror.m @@ -0,0 +1,12 @@ +function [Poserror, Angerror] = geterror(GT, TS) + npairs = length(GT.Time)-1; + + Poserror = zeros(1, npairs); + Angerror = zeros(1, npairs); + for i = 1:npairs + [pe, ae] = matchaxes2(GT, TS, i, i+1); + Poserror(i) = pe; + Angerror(i) = ae; + end + +end \ No newline at end of file diff --git a/bag/analysys/groundtruth_trajectory_lab2.csv b/bag/analysys/groundtruth_trajectory_lab2.csv deleted file mode 100644 index 0ef9d26..0000000 --- a/bag/analysys/groundtruth_trajectory_lab2.csv +++ /dev/null @@ -1,4034 +0,0 @@ -%time,1620124328920440479 -field.header.seq,376 -field.header.stamp,1620124328920440479 -field.header.frame_id,map -field.poses0.header.seq,0 -field.poses0.header.stamp,1620123952214157104 -field.poses0.header.frame_id,map 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-field.poses402.header.stamp,1620124317125945091 -field.poses402.header.frame_id,map -field.poses402.pose.position.x,0.461253233717 -field.poses402.pose.position.y,-2.79613793024 -field.poses402.pose.position.z,0.0 -field.poses402.pose.orientation.x,0.0 -field.poses402.pose.orientation.y,0.0 -field.poses402.pose.orientation.z,0.994601784165 -field.poses402.pose.orientation.w,0.103765557556 diff --git a/bag/analysys/matchaxes.asv b/bag/analysys/matchaxes.asv deleted file mode 100644 index 96b92d3..0000000 --- a/bag/analysys/matchaxes.asv +++ /dev/null @@ -1,24 +0,0 @@ -function matchaxes(GT, TS, t0, t1) - [GTpos TSpos] = synchronize(GT.pos, TS.pos, 'Intersection'); - [GTang TSang] = synchronize(GT.ang, TS.ang, 'Union'); - GT = tscollection({GTpos GTang}); - TS = tscollection({TSpos TSang}); - Gpos = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).pos.Data; - Tpos = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).pos.Data; - Tt = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).Time; - Gt = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).Time; - Grot = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).ang.Data; - Trot = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).ang.Data; - - rotangles = Grot(1,:)-Trot(1,:) - rotmatrix = eul2rotm(rotangles) - Tpos_at_origin = (Tpos - Tpos(1,:)); - Tpos_rotated_at_origin = Tpos_at_origin*rotmatrix; - Tpos_at_Gpos_origin = Tpos_rotated_at_origin + Gpos(1,:); - - figure - plot(Gt, Gpos) - hold on - plot(Tt, Tpos_at_Gpos_origin) - -end \ No newline at end of file diff --git a/bag/analysys/matchaxes.m b/bag/analysys/matchaxes.m index 98fccce..59fbcba 100644 --- a/bag/analysys/matchaxes.m +++ b/bag/analysys/matchaxes.m @@ -1,21 +1,28 @@ function [Tpos_at_Gpos_origin, Gdata] = matchaxes(GT, TS, t0, t1) + %Get Positions of timeseries and synchronize them Gpos = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).pos; Tpos = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).pos; [Gpos, Tpos] = synchronize(Gpos, Tpos, 'Union', 'KeepOriginalTimes',true); + %Get Angles of axes of timeseries and synchronize them Grot = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).ang; Trot = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).ang; [Grot, Trot] = synchronize(Grot, Trot, 'Union', 'KeepOriginalTimes',true'); Tt = Tpos.Time; Gt = Gpos.Time; - - + + %Get Rotation matrix such that the initial position's axes coincide + %with GT rotangles = Grot.Data(1,:)-Trot.Data(1,:); rotmatrix = eul2rotm(rotangles); + + %Set Axes at origin to apply rotation Tpos_at_origin = (Tpos.Data - Tpos.Data(1,:)); Tpos_rotated_at_origin = Tpos_at_origin*rotmatrix; + %Set rotated points so that the initial position is at origin of GT + %initial position Tpos_at_Gpos_origin = Tpos_rotated_at_origin + Gpos.Data(1,:); Gdata = Gpos.Data; diff --git a/bag/analysys/matchaxes2.m b/bag/analysys/matchaxes2.m new file mode 100644 index 0000000..54e4c4c --- /dev/null +++ b/bag/analysys/matchaxes2.m @@ -0,0 +1,33 @@ +function [epos, eang] = matchaxes2(GT, TS, t0, t1) + %Get Positions of timeseries and synchronize them + Gpos = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).pos; + Tpos = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).pos; + [Gpos, Tpos] = synchronize(Gpos, Tpos, 'Union', 'KeepOriginalTimes',true); + + %Get Angles of axes of timeseries and synchronize them + Grot = getsampleusingtime(GT, GT.Time(t0), GT.Time(t1)).ang; + Trot = getsampleusingtime(TS, GT.Time(t0), GT.Time(t1)).ang; + [Grot, Trot] = synchronize(Grot, Trot, 'Union', 'KeepOriginalTimes',true'); + + Tt = Tpos.Time; + Gt = Gpos.Time; + + %Get quaternions to work + Gq0 = eul2quat(Grot.Data(1,:)); + Gq1 = eul2quat(Grot.Data(end,:)); + Tq0 = eul2quat(Trot.Data(1,:)); + Tq1 = eul2quat(Trot.Data(end,:)); + + %Position vectors of end frame in initial frame + dpG = quatrotate(quatinv(Gq0), (Gpos.Data(end,:) - Gpos.Data(1,:))); + dpT = quatrotate(quatinv(Tq0), (Tpos.Data(end,:) - Tpos.Data(1,:))); + + %Orientation quaternions of end frame in initial frame + dqG = quatmultiply(Gq0,quatconj(Gq1)); + dqT = quatmultiply(Tq0,quatconj(Tq1)); + + %Errors + epos = norm(dpT-dpG); + eang = norm(quat2eul(quatmultiply(quatinv(dqT),dqG))); + +end \ No newline at end of file diff --git a/yaml/trajectory_analysys/E-0_1.yaml b/yaml/trajectory_analysys/E-0_1.yaml new file mode 100644 index 0000000..8bd4d30 --- /dev/null +++ b/yaml/trajectory_analysys/E-0_1.yaml @@ -0,0 +1,157 @@ +config: + debug: + profiling: true + profiling_file: "~/profiling/wolf_demo_profiling_E-0_1.txt" + print_problem: false + print_period: 2 + print_depth: 4 + print_constr_by: false + print_metric: true + print_state_blocks: true + problem: + tree_manager: + type: "none" + frame_structure: "POV" + dimension: 2 + prior: + mode: "fix" + $state: + P: [0,0] + O: [0] + V: [0,0] + time_tolerance: 0.1 + node_rate: 100 + map: + type: "MapBase" + plugin: "core" + + solver: + follow: "parameters/solver.yaml" + + + sensors: + - + type: "SensorLaser2d" + name: "scanner_front_left" + plugin: "laser" + follow: "parameters/test_laser_params.yaml" + - + type: "SensorImu2d" + name: "bno" + plugin: "imu" + follow: "parameters/test_imu_params_bno.yaml" + - + type: "SensorImu2d" + name: "microstrain" + plugin: "imu" + follow: "parameters/test_imu_params_microstrain.yaml" + + processors: + - + type: "ProcessorOdomIcp" + name: "processorodomicp" + sensor_name: "scanner_front_left" + plugin: "laser" + keyframe_vote: + voting_active: true + min_features_for_keyframe: 10 + min_dist: 999 + min_angle: 999 + min_time: 0.1 + min_error: 999 + max_points: 0 + follow: "parameters/test_laser_processor.yaml" + #- + # type: "ProcessorLoopClosureIcp" + # name: "processorloopclosureicp" + # sensor_name: "scanner_front_left" + # plugin: "laser" + # time_tolerance: 0.1 + # apply_loss_function: true + # keyframe_vote: + # voting_active: false + # recent_frames_ignored: 10 + # frames_ignored_after_loop: 0 + # max_error_threshold: 0.02 + # min_points_percent: 40 + # max_loops: 1 + # max_candidates: 5 + # max_attempts: 5 + # candidate_generation: "random" # 'random' or 'tree' + # icp: + # follow: "parameters/csm.yaml" + - + type: "ProcessorImu2d" + name: "processorimu2dbno" + sensor_name: "bno" + plugin: "imu" + follow: "parameters/test_imu_processor_bno.yaml" + - + type: "ProcessorImu2d" + name: "processorimu2dmicro" + sensor_name: "microstrain" + plugin: "imu" + follow: "parameters/test_imu_processor_microstrain.yaml" + + ROS subscriber: + - + package: "wolf_ros_laser" + type: "SubscriberLaser2d" + topic: "/ana/sensors/scan" + sensor_name: "scanner_front_left" + load_params_from_msg: true + #- + # package: "wolf_ros_imu" + # type: "SubscriberImuEnableable" + # topic: "/ana/sensors/bno055_imu/imumal" + # sensor_name: "bno" + # follow: "parameters/test_imu_subscriber_bno.yaml" + - + package: "wolf_ros_imu" + type: "SubscriberImuEnableable" + topic: "/ana/imu/data" + sensor_name: "microstrain" + follow: "parameters/test_imu_subscriber_microstrain.yaml" + + ROS publisher: + - + package: "wolf_ros_node" + type: "PublisherTf" + topic: " " + period: 0.1 + follow: "parameters/test_publisher_ros_node.yaml" + - + package: "wolf_ros_node" + type: "PublisherGraph" + topic: "graph" + period: 0.1 + viz_overlapped_factors: true + - + package: "wolf_ros_node" + type: "PublisherTrajectory" + topic: "trajectory" + period: 0.1 + frame_id: "map" + - + package: "wolf_ros_node" + type: "PublisherPose" + topic: "pose" + extrinsics: false + period: 0.005 + frame_id: "map" + - + package: "wolf_ros_laser" + type: "PublisherLaserMap" + topic: "map" + period: 1 + map_frame_id: "map" + update_dist_th: 0.05 + update_angle_th: 0.05 + max_n_cells: 1000000 + grid_size: 0.1 + p_free: 0.3 + p_obst: 0.8 + p_free_th: 0.2 + p_obst_th: 0.9 + discard_max_range: true + diff --git a/yaml/trajectory_analysys/hold/E-0_1.yaml b/yaml/trajectory_analysys/E-0_5.yaml similarity index 100% rename from yaml/trajectory_analysys/hold/E-0_1.yaml rename to yaml/trajectory_analysys/E-0_5.yaml diff --git a/yaml/trajectory_analysys/hold/G-0_1.yaml b/yaml/trajectory_analysys/G-0_1.yaml similarity index 98% rename from yaml/trajectory_analysys/hold/G-0_1.yaml rename to yaml/trajectory_analysys/G-0_1.yaml index 0d39fd8..6a6cd0d 100644 --- a/yaml/trajectory_analysys/hold/G-0_1.yaml +++ b/yaml/trajectory_analysys/G-0_1.yaml @@ -90,13 +90,13 @@ config: package: "wolf_ros_node" type: "PublisherGraph" topic: "graph" - period: 1 + period: 0.1 viz_overlapped_factors: true - package: "wolf_ros_node" type: "PublisherTrajectory" topic: "trajectory" - period: 1 + period: 0.1 frame_id: "map" - package: "wolf_ros_laser" diff --git a/yaml/trajectory_analysys/G-0_5.yaml b/yaml/trajectory_analysys/G-0_5.yaml new file mode 100644 index 0000000..dda79ab --- /dev/null +++ b/yaml/trajectory_analysys/G-0_5.yaml @@ -0,0 +1,115 @@ +config: + debug: + profiling: true + profiling_file: "~/profiling/wolf_demo_profiling_G-0_5.txt" + print_problem: false + print_period: 2 + print_depth: 4 + print_constr_by: false + print_metric: true + print_state_blocks: true + problem: + tree_manager: + type: "none" + frame_structure: "POV" + dimension: 2 + prior: + mode: "fix" + $state: + P: [0,0] + O: [0] + V: [0,0] + time_tolerance: 0.1 + node_rate: 100 + map: + type: "MapBase" + plugin: "core" + + solver: + follow: "parameters/solver.yaml" + + sensors: + - + type: "SensorLaser2d" + name: "scanner_front_left" + plugin: "laser" + follow: "parameters/test_laser_params.yaml" + + processors: + - + type: "ProcessorOdomIcp" + name: "processorodomicp" + sensor_name: "scanner_front_left" + plugin: "laser" + keyframe_vote: + voting_active: true + min_features_for_keyframe: 10 + min_dist: 999 + min_angle: 999 + min_time: 0.5 + min_error: 999 + max_points: 0 + follow: "parameters/test_laser_processor.yaml" + #- + # type: "ProcessorLoopClosureIcp" + # name: "processorloopclosureicp" + # sensor_name: "scanner_front_left" + # plugin: "laser" + # time_tolerance: 0.1 + # apply_loss_function: true + # keyframe_vote: + # voting_active: false + # recent_frames_ignored: 3 + # frames_ignored_after_loop: 0 + # max_error_threshold: 0.02 + # min_points_percent: 40 + # max_loops: 3 + # max_candidates: 5 + # max_attempts: 15 + # candidate_generation: "random" # 'random' or 'tree' + # icp: + # follow: "parameters/csm.yaml" + + + ROS subscriber: + - + package: "wolf_ros_laser" + type: "SubscriberLaser2d" + topic: "/ana/sensors/scan" + sensor_name: "scanner_front_left" + load_params_from_msg: true + + ROS publisher: + - + package: "wolf_ros_node" + type: "PublisherTf" + topic: " " + period: 0.1 + follow: "parameters/test_publisher_ros_node.yaml" + - + package: "wolf_ros_node" + type: "PublisherGraph" + topic: "graph" + period: 1 + viz_overlapped_factors: true + - + package: "wolf_ros_node" + type: "PublisherTrajectory" + topic: "trajectory" + period: 0.5 + frame_id: "map" + - + package: "wolf_ros_laser" + type: "PublisherLaserMap" + topic: "map" + period: 1 + map_frame_id: "map" + update_dist_th: 0.05 + update_angle_th: 0.05 + max_n_cells: 1000000 + grid_size: 0.1 + p_free: 0.3 + p_obst: 0.8 + p_free_th: 0.2 + p_obst_th: 0.9 + discard_max_range: true -- GitLab