Functions | |
| def | usage |
Variables | |
| tuple | all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
| tuple | all_sensors_dict = est_helpers.build_sensor_defs(config[sensors_name]) |
| tuple | bag_filename = rospy.myargv() |
| list | cam_covs = [matrix(array(s.compute_cov(fk)) * kron(eye(s.get_residual_length()/2),ones([2,2]))) for s,fk in zip(cam_sensors, fk_points)] |
| list | cam_Js = [s.compute_expected_J(fk) for s,fk in zip(cam_sensors, fk_points)] |
| list | cam_sensors = [[s for s in ms.sensors if s.sensor_id == cur_loop['cam']][0] for ms in multisensors_pruned] |
| list | cb_points = [SingleTransform(pose).transform * system_def.checkerboards[ms.checkerboard].generate_points() for pose, ms in zip(cb_poses_pruned,multisensors_pruned)] |
| tuple | cb_poses = yaml.load(open(output_dir + "/" + cur_step["output_filename"] + "_poses.yaml")) |
| list | chain_sensors = [[s for s in ms.sensors if s.sensor_id == cur_loop['3d']][0] for ms in multisensors_pruned] |
| tuple | config = rospy.get_param(config_param_name) |
| string | config_param_name = "calibration_config" |
| tuple | cur_scatter = plt.scatter(array(r)[:,0], array(r)[:,1], **cur_loop['plot_ops']) |
| list | cur_step = step_list[-1] |
| tuple | e = error_calc.calculate_error(opt_all_vec) |
| tuple | error_calc = opt_runner.ErrorCalc(system_def, free_dict, multisensors_pruned, False) |
| tuple | error_cat = numpy.concatenate(error_list) |
| tuple | errors_dict = opt_runner.compute_errors_breakdown(error_calc, multisensors_pruned, numpy.array(cb_poses_pruned)) |
| list | fk_covs = [matrix(array(s.compute_cov(None)) * kron(eye(s.get_residual_length()/3),ones([3,3]))) for s in chain_sensors] |
| list | fk_points = [s.get_measurement() for s in chain_sensors] |
| tuple | free_dict = yaml.load(cur_step["free_params"]) |
| list | full_covs = [matrix(cam_J)*fk_cov*matrix(cam_J).T + cam_cov for cam_J, cam_cov, fk_cov in zip(cam_Js, cam_covs, fk_covs)] |
| int | i = 0 |
| tuple | label_list = list() |
| tuple | loop_list = yaml.load(open(loop_list_filename)) |
| tuple | loop_list_filename = rospy.myargv() |
| tuple | m = Marker() |
| int | marker_count = 0 |
| tuple | marker_pub = rospy.Publisher("calibration_error", Marker) |
| list | meas_points = [s.get_measurement() for s in cam_sensors] |
| tuple | multisensors = get_multisensors(bag_filename, sensor_defs, sample_skip_list) |
| tuple | opt_all_vec = opt_runner.build_opt_vector(system_def, free_dict, numpy.array(cb_poses_pruned)) |
| tuple | output_dir = rospy.myargv() |
| list | points_list_fk = [ geometry_msgs.msg.Point(cur_pt[0, 0], cur_pt[0, 1], cur_pt[0, 2]) for cur_pt in list(numpy.concatenate(fk_points,1).T)] |
| list | points_list_guess = [ geometry_msgs.msg.Point(cur_pt[0, 0], cur_pt[0, 1], cur_pt[0, 2]) for cur_pt in list(numpy.concatenate(cb_points,1).T)] |
| list | proj_points = [s.compute_expected(pts) for (s,pts) in zip(cam_sensors,fk_points)] |
| tuple | r = numpy.concatenate((r1,r2),axis=0) |
| tuple | r1 = numpy.concatenate(meas_points) |
| tuple | r2 = numpy.concatenate(proj_points) |
| tuple | rms_error = numpy.sqrt( numpy.mean(error**2) ) |
| tuple | robot_description = get_robot_description(bag_filename) |
| list | sample_ind = [k for k,ms in zip(range(len(multisensors)), multisensors) if len(ms.sensors) == 2] |
| tuple | sample_skip_list = rospy.get_param('calibration_skip_list', []) |
| list | scatter_list = [] |
| tuple | sensor_defs = est_helpers.load_requested_sensors(all_sensors_dict, [cur_loop['cam'], cur_loop['3d']]) |
| string | sensors_name = "sensors" |
| tuple | step_list = est_helpers.load_calibration_steps(config["cal_steps"]) |
| tuple | system_def = UrdfParams(robot_description, system_def_dict) |
| tuple | system_def_dict = yaml.load(open(output_dir + "/" + cur_step["output_filename"] + ".yaml")) |
Definition at line 56 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::all_sensor_types = list(set([x['sensor_type'] for x in all_sensors_dict.values()])) |
Definition at line 95 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::all_sensors_dict = est_helpers.build_sensor_defs(config[sensors_name]) |
Definition at line 94 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::bag_filename = rospy.myargv() |
Definition at line 71 of file error_visualization.py.
| list calibration_estimation::error_visualization::cam_covs = [matrix(array(s.compute_cov(fk)) * kron(eye(s.get_residual_length()/2),ones([2,2]))) for s,fk in zip(cam_sensors, fk_points)] |
Definition at line 188 of file error_visualization.py.
| list calibration_estimation::error_visualization::cam_Js = [s.compute_expected_J(fk) for s,fk in zip(cam_sensors, fk_points)] |
Definition at line 187 of file error_visualization.py.
| list calibration_estimation::error_visualization::cam_sensors = [[s for s in ms.sensors if s.sensor_id == cur_loop['cam']][0] for ms in multisensors_pruned] |
Definition at line 157 of file error_visualization.py.
| list calibration_estimation::error_visualization::cb_points = [SingleTransform(pose).transform * system_def.checkerboards[ms.checkerboard].generate_points() for pose, ms in zip(cb_poses_pruned,multisensors_pruned)] |
Definition at line 159 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::cb_poses = yaml.load(open(output_dir + "/" + cur_step["output_filename"] + "_poses.yaml")) |
Definition at line 105 of file error_visualization.py.
| list calibration_estimation::error_visualization::chain_sensors = [[s for s in ms.sensors if s.sensor_id == cur_loop['3d']][0] for ms in multisensors_pruned] |
Definition at line 156 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::config = rospy.get_param(config_param_name) |
Definition at line 87 of file error_visualization.py.
| string calibration_estimation::error_visualization::config_param_name = "calibration_config" |
Definition at line 83 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::cur_scatter = plt.scatter(array(r)[:,0], array(r)[:,1], **cur_loop['plot_ops']) |
Definition at line 202 of file error_visualization.py.
Definition at line 100 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::e = error_calc.calculate_error(opt_all_vec) |
Definition at line 136 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::error_calc = opt_runner.ErrorCalc(system_def, free_dict, multisensors_pruned, False) |
Definition at line 134 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::error_cat = numpy.concatenate(error_list) |
Definition at line 151 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::errors_dict = opt_runner.compute_errors_breakdown(error_calc, multisensors_pruned, numpy.array(cb_poses_pruned)) |
Definition at line 139 of file error_visualization.py.
| list calibration_estimation::error_visualization::fk_covs = [matrix(array(s.compute_cov(None)) * kron(eye(s.get_residual_length()/3),ones([3,3]))) for s in chain_sensors] |
Definition at line 189 of file error_visualization.py.
| list calibration_estimation::error_visualization::fk_points = [s.get_measurement() for s in chain_sensors] |
Definition at line 158 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::free_dict = yaml.load(cur_step["free_params"]) |
Definition at line 106 of file error_visualization.py.
| list calibration_estimation::error_visualization::full_covs = [matrix(cam_J)*fk_cov*matrix(cam_J).T + cam_cov for cam_J, cam_cov, fk_cov in zip(cam_Js, cam_covs, fk_covs)] |
Definition at line 191 of file error_visualization.py.
Definition at line 145 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::label_list = list() |
Definition at line 111 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::loop_list = yaml.load(open(loop_list_filename)) |
Definition at line 80 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::loop_list_filename = rospy.myargv() |
Definition at line 73 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::m = Marker() |
Definition at line 164 of file error_visualization.py.
Definition at line 110 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::marker_pub = rospy.Publisher("calibration_error", Marker) |
Definition at line 64 of file error_visualization.py.
| list calibration_estimation::error_visualization::meas_points = [s.get_measurement() for s in cam_sensors] |
Definition at line 194 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::multisensors = get_multisensors(bag_filename, sensor_defs, sample_skip_list) |
Definition at line 116 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::opt_all_vec = opt_runner.build_opt_vector(system_def, free_dict, numpy.array(cb_poses_pruned)) |
Definition at line 135 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::output_dir = rospy.myargv() |
Definition at line 72 of file error_visualization.py.
| list calibration_estimation::error_visualization::points_list_fk = [ geometry_msgs.msg.Point(cur_pt[0, 0], cur_pt[0, 1], cur_pt[0, 2]) for cur_pt in list(numpy.concatenate(fk_points,1).T)] |
Definition at line 161 of file error_visualization.py.
| list calibration_estimation::error_visualization::points_list_guess = [ geometry_msgs.msg.Point(cur_pt[0, 0], cur_pt[0, 1], cur_pt[0, 2]) for cur_pt in list(numpy.concatenate(cb_points,1).T)] |
Definition at line 162 of file error_visualization.py.
| list calibration_estimation::error_visualization::proj_points = [s.compute_expected(pts) for (s,pts) in zip(cam_sensors,fk_points)] |
Definition at line 193 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::r = numpy.concatenate((r1,r2),axis=0) |
Definition at line 198 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::r1 = numpy.concatenate(meas_points) |
Definition at line 196 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::r2 = numpy.concatenate(proj_points) |
Definition at line 197 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::rms_error = numpy.sqrt( numpy.mean(error**2) ) |
Definition at line 148 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::robot_description = get_robot_description(bag_filename) |
Definition at line 81 of file error_visualization.py.
| list calibration_estimation::error_visualization::sample_ind = [k for k,ms in zip(range(len(multisensors)), multisensors) if len(ms.sensors) == 2] |
Definition at line 125 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::sample_skip_list = rospy.get_param('calibration_skip_list', []) |
Definition at line 108 of file error_visualization.py.
Definition at line 109 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::sensor_defs = est_helpers.load_requested_sensors(all_sensors_dict, [cur_loop['cam'], cur_loop['3d']]) |
Definition at line 115 of file error_visualization.py.
| string calibration_estimation::error_visualization::sensors_name = "sensors" |
Definition at line 90 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::step_list = est_helpers.load_calibration_steps(config["cal_steps"]) |
Definition at line 98 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::system_def = UrdfParams(robot_description, system_def_dict) |
Definition at line 104 of file error_visualization.py.
| tuple calibration_estimation::error_visualization::system_def_dict = yaml.load(open(output_dir + "/" + cur_step["output_filename"] + ".yaml")) |
Definition at line 103 of file error_visualization.py.