Classes
class	Error
Functions
def	apply_tf_to_matrix
def	apply_tf_to_vector
def	calc_dist
def	calc_dist_xyz
def	calc_errors
def	calc_time_vector
def	quaternion_from_rpy
def	rebase
def	sigmoid
def	to_transform
def	toRSTtable
def	trajectory_distances
Variables
list	angles = [-6, 6, -4, 4, -12, 12]
tuple	args = parser.parse_args()
tuple	ax0 = Axes3D(fig0)
tuple	ax1 = fig1.gca()
tuple	ax2 = fig2.gca()
tuple	ax3 = fig3.gca()
tuple	ax4 = fig4.gca()
tuple	ax5 = fig5.gca()
list	colors = ['g','r','b']
tuple	edges = pylab.loadtxt(args.graph_edges_file, delimiter=',', usecols=(3,4,5,10,11,12))
tuple	f = open(args.ground_truth_file)
tuple	fig0 = pylab.figure()
tuple	fig1 = pylab.figure()
tuple	fig2 = pylab.figure()
tuple	fig3 = pylab.figure()
tuple	fig4 = pylab.figure()
tuple	fig5 = pylab.figure()
tuple	first_gt_coincidence = to_transform(gt_rebased[0,:])
tuple	first_vertice = to_transform(vertices[0,:])
dictionary	font
tuple	gt = pylab.loadtxt(args.ground_truth_file, delimiter=',', comments='%', usecols=(0,5,6,7,8,9,10,11))
tuple	gt_corrected = apply_tf_to_vector(tf_correction, gt_moved)
tuple	gt_dist = trajectory_distances(gt_rb_corrected)
tuple	gt_moved = apply_tf_to_matrix(tf_delta, gt)
tuple	gt_rb_corrected = apply_tf_to_vector(tf_correction, gt_rb_moved)
tuple	gt_rb_moved = apply_tf_to_matrix(tf_delta, gt_rebased)
tuple	gt_rebased = rebase(vertices, gt)
list	header = [ "Input", "Data Points", "Traj. Distance (m)", "Trans. MAE (m)"]
string	help = 'file with ground truth'
tuple	lines = f.readlines()
float	linewidth = 3.0
tuple	odom = pylab.loadtxt(args.visual_odometry_file, delimiter=',', comments='%', usecols=(0,5,6,7,8,9,10,11))
tuple	odom_corrected = apply_tf_to_vector(tf_correction, odom_moved)
tuple	odom_dist = trajectory_distances(odom_rb_corrected)
tuple	odom_errors = calc_errors(gt_rb_corrected, odom_rb_corrected)
tuple	odom_mae = np.average(np.abs(odom_errors), 0)
tuple	odom_moved = apply_tf_to_matrix(tf_delta, odom)
tuple	odom_rb_corrected = apply_tf_to_vector(tf_correction, odom_rb_moved)
tuple	odom_rb_moved = apply_tf_to_matrix(tf_delta, odom_rebased)
tuple	odom_rebased = rebase(vertices, odom)
tuple	orb = pylab.loadtxt(args.orb_file, delimiter=',', usecols=(0,2,3,4,5,6,7,8))
tuple	orb_corrected = apply_tf_to_vector(tf_correction, orb_moved)
tuple	orb_dist = trajectory_distances(orb_rb_corrected)
tuple	orb_errors = calc_errors(gt_rb_corrected, orb_rb_corrected)
tuple	orb_mae = np.average(np.abs(orb_errors), 0)
tuple	orb_moved = apply_tf_to_matrix(tf_delta, orb)
tuple	orb_rb_corrected = apply_tf_to_vector(tf_correction, orb_rb_moved)
tuple	orb_rb_moved = apply_tf_to_matrix(tf_delta, orb_rebased)
tuple	orb_rebased = rebase(vertices, orb)
tuple	p = optimize.brute(sigmoid, rranges, args=(vertices, gt_rebased))
tuple	Param = collections.namedtuple('Param','roll pitch yaw')
tuple	parser
tuple	q = quaternion_from_rpy(roll, pitch, yaw)
list	rows = []
tuple	rranges = ((angles[0]np.pi/180, angles[1]np.pi/180, 0.04), (angles[2]np.pi/180, angles[3]np.pi/180, 0.02), (angles[4]np.pi/180, angles[5]np.pi/180, 0.04))
list	size = lines[1]
tuple	tf_correction = to_transform([0.0, 0.0, 0.0, 0.0, q[0], q[1], q[2], q[3]])
tuple	tf_delta = tf.concatenate_matrices(tf.inverse_matrix(first_gt_coincidence), first_vertice)
tuple	time = calc_time_vector(gt_rb_corrected)
list	vect = []
tuple	vertices = pylab.loadtxt(args.graph_vertices_file, delimiter=',', usecols=(0,2,3,4,5,6,7,8))
tuple	vertices_dist = trajectory_distances(vertices)
tuple	vertices_errors = calc_errors(gt_rb_corrected, vertices)
tuple	vertices_mae = np.average(np.abs(vertices_errors), 0)

Function Documentation

def slam_evaluation.apply_tf_to_matrix	(	tf_delta,
		data
	)

Definition at line 56 of file slam_evaluation.py.

def slam_evaluation.apply_tf_to_vector	(	tf_delta,
		data
	)

Definition at line 66 of file slam_evaluation.py.

def slam_evaluation.calc_dist	(	data_point1,
		data_point2
	)

Definition at line 30 of file slam_evaluation.py.

def slam_evaluation.calc_dist_xyz	(	data_point1,
		data_point2
	)

Definition at line 24 of file slam_evaluation.py.

def slam_evaluation.calc_errors	(	vector_1,
		vector_2
	)

Definition at line 107 of file slam_evaluation.py.

def slam_evaluation.calc_time_vector ( data )

Definition at line 115 of file slam_evaluation.py.

def slam_evaluation.quaternion_from_rpy	(	roll,
		pitch,
		yaw
	)

Definition at line 77 of file slam_evaluation.py.

def slam_evaluation.rebase	(	base_vector,
		rebased_vector
	)

Definition at line 41 of file slam_evaluation.py.

def slam_evaluation.sigmoid	(	p,
		vertices,
		gt_rebased
	)

Definition at line 86 of file slam_evaluation.py.

def slam_evaluation.to_transform ( data_point )

Definition at line 34 of file slam_evaluation.py.

def slam_evaluation.toRSTtable	(	rows,
		header = `True`,
		vdelim = `" "`,
		padding = `1`,
		justify = `'right'`
	)

Outputs a list of lists as a Restructured Text Table
- rows - list of lists
- header - if True the first row is treated as a table header
- vdelim - vertical delimiter between columns
- padding - nr. of spaces are left around the longest element in the column
- justify - may be left, center, right

Definition at line 122 of file slam_evaluation.py.

def slam_evaluation.trajectory_distances ( data )

Definition at line 17 of file slam_evaluation.py.

Variable Documentation

list slam_evaluation::angles = [-6, 6, -4, 4, -12, 12]

Definition at line 171 of file slam_evaluation.py.

tuple slam_evaluation::args = parser.parse_args()

Definition at line 169 of file slam_evaluation.py.

tuple slam_evaluation::ax0 = Axes3D(fig0)

Definition at line 185 of file slam_evaluation.py.

tuple slam_evaluation::ax1 = fig1.gca()

Definition at line 192 of file slam_evaluation.py.

tuple slam_evaluation::ax2 = fig2.gca()

Definition at line 198 of file slam_evaluation.py.

tuple slam_evaluation::ax3 = fig3.gca()

Definition at line 204 of file slam_evaluation.py.

tuple slam_evaluation::ax4 = fig4.gca()

Definition at line 210 of file slam_evaluation.py.

tuple slam_evaluation::ax5 = fig5.gca()

Definition at line 346 of file slam_evaluation.py.

list slam_evaluation::colors = ['g','r','b']

Definition at line 170 of file slam_evaluation.py.

tuple slam_evaluation::edges = pylab.loadtxt(args.graph_edges_file, delimiter=',', usecols=(3,4,5,10,11,12))

Definition at line 318 of file slam_evaluation.py.

tuple slam_evaluation::f = open(args.ground_truth_file)

Definition at line 217 of file slam_evaluation.py.

tuple slam_evaluation::fig0 = pylab.figure()

Definition at line 184 of file slam_evaluation.py.

tuple slam_evaluation::fig1 = pylab.figure()

Definition at line 191 of file slam_evaluation.py.

tuple slam_evaluation::fig2 = pylab.figure()

Definition at line 197 of file slam_evaluation.py.

tuple slam_evaluation::fig3 = pylab.figure()

Definition at line 203 of file slam_evaluation.py.

tuple slam_evaluation::fig4 = pylab.figure()

Definition at line 209 of file slam_evaluation.py.

tuple slam_evaluation::fig5 = pylab.figure()

Definition at line 345 of file slam_evaluation.py.

tuple slam_evaluation::first_gt_coincidence = to_transform(gt_rebased[0,:])

Definition at line 246 of file slam_evaluation.py.

tuple slam_evaluation::first_vertice = to_transform(vertices[0,:])

Definition at line 245 of file slam_evaluation.py.

dictionary slam_evaluation::font

Initial value:

00001 {'family' : 'Sans',
00002           'weight' : 'normal',
00003           'size'   : 35}

Definition at line 174 of file slam_evaluation.py.

tuple slam_evaluation::gt = pylab.loadtxt(args.ground_truth_file, delimiter=',', comments='%', usecols=(0,5,6,7,8,9,10,11))

Definition at line 223 of file slam_evaluation.py.

tuple slam_evaluation::gt_corrected = apply_tf_to_vector(tf_correction, gt_moved)

Definition at line 269 of file slam_evaluation.py.

tuple slam_evaluation::gt_dist = trajectory_distances(gt_rb_corrected)

Definition at line 278 of file slam_evaluation.py.

tuple slam_evaluation::gt_moved = apply_tf_to_matrix(tf_delta, gt)

Definition at line 250 of file slam_evaluation.py.

tuple slam_evaluation::gt_rb_corrected = apply_tf_to_vector(tf_correction, gt_rb_moved)

Definition at line 270 of file slam_evaluation.py.

tuple slam_evaluation::gt_rb_moved = apply_tf_to_matrix(tf_delta, gt_rebased)

Definition at line 251 of file slam_evaluation.py.

tuple slam_evaluation::gt_rebased = rebase(vertices, gt)

Definition at line 240 of file slam_evaluation.py.

list slam_evaluation::header = [ "Input", "Data Points", "Traj. Distance (m)", "Trans. MAE (m)"]

Definition at line 296 of file slam_evaluation.py.

string slam_evaluation::help = 'file with ground truth'

Definition at line 160 of file slam_evaluation.py.

tuple slam_evaluation::lines = f.readlines()

Definition at line 218 of file slam_evaluation.py.

float slam_evaluation::linewidth = 3.0

Definition at line 178 of file slam_evaluation.py.

tuple slam_evaluation::odom = pylab.loadtxt(args.visual_odometry_file, delimiter=',', comments='%', usecols=(0,5,6,7,8,9,10,11))

Definition at line 229 of file slam_evaluation.py.

tuple slam_evaluation::odom_corrected = apply_tf_to_vector(tf_correction, odom_moved)

Definition at line 271 of file slam_evaluation.py.

tuple slam_evaluation::odom_dist = trajectory_distances(odom_rb_corrected)

Definition at line 279 of file slam_evaluation.py.

tuple slam_evaluation::odom_errors = calc_errors(gt_rb_corrected, odom_rb_corrected)

Definition at line 282 of file slam_evaluation.py.

tuple slam_evaluation::odom_mae = np.average(np.abs(odom_errors), 0)

Definition at line 286 of file slam_evaluation.py.

tuple slam_evaluation::odom_moved = apply_tf_to_matrix(tf_delta, odom)

Definition at line 252 of file slam_evaluation.py.

tuple slam_evaluation::odom_rb_corrected = apply_tf_to_vector(tf_correction, odom_rb_moved)

Definition at line 272 of file slam_evaluation.py.

tuple slam_evaluation::odom_rb_moved = apply_tf_to_matrix(tf_delta, odom_rebased)

Definition at line 253 of file slam_evaluation.py.

tuple slam_evaluation::odom_rebased = rebase(vertices, odom)

Definition at line 241 of file slam_evaluation.py.

tuple slam_evaluation::orb = pylab.loadtxt(args.orb_file, delimiter=',', usecols=(0,2,3,4,5,6,7,8))

Definition at line 237 of file slam_evaluation.py.

tuple slam_evaluation::orb_corrected = apply_tf_to_vector(tf_correction, orb_moved)

Definition at line 273 of file slam_evaluation.py.

tuple slam_evaluation::orb_dist = trajectory_distances(orb_rb_corrected)

Definition at line 281 of file slam_evaluation.py.

tuple slam_evaluation::orb_errors = calc_errors(gt_rb_corrected, orb_rb_corrected)

Definition at line 284 of file slam_evaluation.py.

tuple slam_evaluation::orb_mae = np.average(np.abs(orb_errors), 0)

Definition at line 288 of file slam_evaluation.py.

tuple slam_evaluation::orb_moved = apply_tf_to_matrix(tf_delta, orb)

Definition at line 254 of file slam_evaluation.py.

tuple slam_evaluation::orb_rb_corrected = apply_tf_to_vector(tf_correction, orb_rb_moved)

Definition at line 274 of file slam_evaluation.py.

tuple slam_evaluation::orb_rb_moved = apply_tf_to_matrix(tf_delta, orb_rebased)

Definition at line 255 of file slam_evaluation.py.

tuple slam_evaluation::orb_rebased = rebase(vertices, orb)

Definition at line 242 of file slam_evaluation.py.

tuple slam_evaluation::p = optimize.brute(sigmoid, rranges, args=(vertices, gt_rebased))

Definition at line 260 of file slam_evaluation.py.

tuple slam_evaluation::Param = collections.namedtuple('Param','roll pitch yaw')

Definition at line 258 of file slam_evaluation.py.

tuple slam_evaluation::parser

Initial value:

00001 argparse.ArgumentParser(
00002           description='Plot 3D graphics of SLAM.',
00003           formatter_class=argparse.ArgumentDefaultsHelpFormatter)

Definition at line 156 of file slam_evaluation.py.

tuple slam_evaluation::q = quaternion_from_rpy(roll, pitch, yaw)

Definition at line 265 of file slam_evaluation.py.

list slam_evaluation::rows = []

Definition at line 290 of file slam_evaluation.py.

tuple slam_evaluation::rranges = ((angles[0]*np.pi/180, angles[1]*np.pi/180, 0.04), (angles[2]*np.pi/180, angles[3]*np.pi/180, 0.02), (angles[4]*np.pi/180, angles[5]*np.pi/180, 0.04))

Definition at line 259 of file slam_evaluation.py.

list slam_evaluation::size = lines[1]

Definition at line 220 of file slam_evaluation.py.