evaluate_ate Namespace Reference

Functions
def	align (model, data)
def	plot_traj (ax, stamps, traj, style, color, label)

Variables
	action
	args = parser.parse_args()
	ax = fig.add_subplot(111)
	default
	dpi
	fig = plt.figure()
	file = open(args.save_associations,"w")
	first_list = associate.read_file_list(args.first_file)
	first_stamps = first_list.keys()
	first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()
	first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()
	format
	help
	matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference))
	parser = argparse.ArgumentParser(description=)
	plot
	rot
	second_list = associate.read_file_list(args.second_file)
	second_stamps = second_list.keys()
	second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()
	second_xyz_aligned = rot * second_xyz + trans
	second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()
	second_xyz_full_aligned = rot * second_xyz_full + trans
	trans
	trans_error

Function Documentation

align()

def evaluate_ate.align	(		model,
			data
	)

Align two trajectories using the method of Horn (closed-form).

Input:
model -- first trajectory (3xn)
data -- second trajectory (3xn)

Output:
rot -- rotation matrix (3x3)
trans -- translation vector (3x1)
trans_error -- translational error per point (1xn)

Definition at line 47 of file evaluate_ate.py.

plot_traj()

def evaluate_ate.plot_traj	(		ax,
			stamps,
			traj,
			style,
			color,
			label
	)

Plot a trajectory using matplotlib.

Input:
ax -- the plot
stamps -- time stamps (1xn)
traj -- trajectory (3xn)
style -- line style
color -- line color
label -- plot legend

Definition at line 81 of file evaluate_ate.py.

Variable Documentation

action

evaluate_ate.action

Definition at line 126 of file evaluate_ate.py.

args

evaluate_ate.args = parser.parse_args()

Definition at line 127 of file evaluate_ate.py.

ax

evaluate_ate.ax = fig.add_subplot(111)

Definition at line 181 of file evaluate_ate.py.

default

evaluate_ate.default

Definition at line 120 of file evaluate_ate.py.

dpi

evaluate_ate.dpi

Definition at line 194 of file evaluate_ate.py.

fig

evaluate_ate.fig = plt.figure()

Definition at line 180 of file evaluate_ate.py.

file

evaluate_ate.file = open(args.save_associations,"w")

Definition at line 165 of file evaluate_ate.py.

first_list

evaluate_ate.first_list = associate.read_file_list(args.first_file)

Definition at line 129 of file evaluate_ate.py.

first_stamps

evaluate_ate.first_stamps = first_list.keys()

Definition at line 143 of file evaluate_ate.py.

first_xyz

evaluate_ate.first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()

Definition at line 137 of file evaluate_ate.py.

first_xyz_full

evaluate_ate.first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()

Definition at line 145 of file evaluate_ate.py.

format

evaluate_ate.format

Definition at line 194 of file evaluate_ate.py.

help

evaluate_ate.help

Definition at line 118 of file evaluate_ate.py.

matches

evaluate_ate.matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference))

Definition at line 132 of file evaluate_ate.py.

parser

evaluate_ate.parser = argparse.ArgumentParser(description=)

Definition at line 115 of file evaluate_ate.py.

plot

evaluate_ate.plot

Definition at line 194 of file evaluate_ate.py.

rot

evaluate_ate.rot

Definition at line 139 of file evaluate_ate.py.

second_list

evaluate_ate.second_list = associate.read_file_list(args.second_file)

Definition at line 130 of file evaluate_ate.py.

second_stamps

evaluate_ate.second_stamps = second_list.keys()

Definition at line 147 of file evaluate_ate.py.

second_xyz

evaluate_ate.second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()

Definition at line 138 of file evaluate_ate.py.

second_xyz_aligned

evaluate_ate.second_xyz_aligned = rot * second_xyz + trans

Definition at line 141 of file evaluate_ate.py.

second_xyz_full

evaluate_ate.second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()

Definition at line 149 of file evaluate_ate.py.

second_xyz_full_aligned

evaluate_ate.second_xyz_full_aligned = rot * second_xyz_full + trans

Definition at line 150 of file evaluate_ate.py.

trans

evaluate_ate.trans

Definition at line 139 of file evaluate_ate.py.

trans_error

evaluate_ate.trans_error

Definition at line 139 of file evaluate_ate.py.