Classes
class	Error
Functions
def	apply_tf_to_matrix
def	apply_tf_to_vector
def	calc_errors
def	calc_time_vector
def	quaternion_from_rpy
def	rebase
def	sigmoid
Variables
list	angles = [-6, 6, -4, 4, -12, 12]
tuple	args = parser.parse_args()
tuple	ax = Axes3D(fig)
tuple	ax1 = fig1.gca()
tuple	ax2 = fig2.gca()
list	colors = ['g','r','b']
tuple	edges = pylab.loadtxt(args.graph_edges_file, delimiter=',', skiprows=0, usecols=(1,2,3,4,5,6))
tuple	f = open(args.ground_truth_file)
tuple	fig = pylab.figure(1)
tuple	fig1 = pylab.figure()
tuple	fig2 = pylab.figure()
tuple	first_gt_coincidence = utils.to_transform(gt_rebased[0,:])
tuple	first_vertice = utils.to_transform(vertices[0,:])
tuple	gt = pylab.loadtxt(args.ground_truth_file, delimiter=',', skiprows=1, usecols=(0,5,6,7,8,9,10,11))
tuple	gt_corrected = apply_tf_to_vector(tf_correction, gt_moved)
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()
tuple	odom = pylab.loadtxt(args.visual_odometry_file, delimiter=',', skiprows=1, usecols=(0,5,6,7,8,9,10,11))
tuple	odom_corrected = apply_tf_to_vector(tf_correction, odom_moved)
tuple	odom_dist = utils.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	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 = utils.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=',', skiprows=0, usecols=(0,5,6,7,8,9,10,11))
tuple	vertices_dist = utils.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 32 of file slam_evaluation.py.

def slam_evaluation.apply_tf_to_vector	(	tf_delta,
		data
	)

Definition at line 42 of file slam_evaluation.py.

def slam_evaluation.calc_errors	(	vector_1,
		vector_2
	)

Definition at line 83 of file slam_evaluation.py.

def slam_evaluation.calc_time_vector ( data )

Definition at line 91 of file slam_evaluation.py.

def slam_evaluation.quaternion_from_rpy	(	roll,
		pitch,
		yaw
	)

Definition at line 53 of file slam_evaluation.py.

def slam_evaluation.rebase	(	base_vector,
		rebased_vector
	)

Definition at line 16 of file slam_evaluation.py.

def slam_evaluation.sigmoid	(	p,
		vertices,
		gt_rebased
	)

Definition at line 62 of file slam_evaluation.py.

Variable Documentation

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

Definition at line 113 of file slam_evaluation.py.

tuple slam_evaluation::args = parser.parse_args()

Definition at line 111 of file slam_evaluation.py.

tuple slam_evaluation::ax = Axes3D(fig)

Definition at line 120 of file slam_evaluation.py.

tuple slam_evaluation::ax1 = fig1.gca()

Definition at line 214 of file slam_evaluation.py.

tuple slam_evaluation::ax2 = fig2.gca()

Definition at line 223 of file slam_evaluation.py.

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

Definition at line 112 of file slam_evaluation.py.

tuple slam_evaluation::edges = pylab.loadtxt(args.graph_edges_file, delimiter=',', skiprows=0, usecols=(1,2,3,4,5,6))

Definition at line 149 of file slam_evaluation.py.

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

Definition at line 129 of file slam_evaluation.py.

tuple slam_evaluation::fig = pylab.figure(1)

Definition at line 119 of file slam_evaluation.py.

tuple slam_evaluation::fig1 = pylab.figure()

Definition at line 213 of file slam_evaluation.py.

tuple slam_evaluation::fig2 = pylab.figure()

Definition at line 222 of file slam_evaluation.py.

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

Definition at line 163 of file slam_evaluation.py.

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

Definition at line 162 of file slam_evaluation.py.

tuple slam_evaluation::gt = pylab.loadtxt(args.ground_truth_file, delimiter=',', skiprows=1, usecols=(0,5,6,7,8,9,10,11))

Definition at line 135 of file slam_evaluation.py.

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

Definition at line 184 of file slam_evaluation.py.

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

Definition at line 167 of file slam_evaluation.py.

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

Definition at line 185 of file slam_evaluation.py.

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

Definition at line 168 of file slam_evaluation.py.

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

Definition at line 158 of file slam_evaluation.py.

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

Definition at line 204 of file slam_evaluation.py.

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

Definition at line 104 of file slam_evaluation.py.

tuple slam_evaluation::lines = f.readlines()

Definition at line 130 of file slam_evaluation.py.

tuple slam_evaluation::odom = pylab.loadtxt(args.visual_odometry_file, delimiter=',', skiprows=1, usecols=(0,5,6,7,8,9,10,11))

Definition at line 141 of file slam_evaluation.py.

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

Definition at line 186 of file slam_evaluation.py.

tuple slam_evaluation::odom_dist = utils.trajectory_distances(odom_rb_corrected)

Definition at line 191 of file slam_evaluation.py.

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

Definition at line 193 of file slam_evaluation.py.

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

Definition at line 196 of file slam_evaluation.py.

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

Definition at line 169 of file slam_evaluation.py.

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

Definition at line 187 of file slam_evaluation.py.

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

Definition at line 170 of file slam_evaluation.py.

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

Definition at line 159 of file slam_evaluation.py.

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

Definition at line 175 of file slam_evaluation.py.

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

Definition at line 173 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 100 of file slam_evaluation.py.

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

Definition at line 180 of file slam_evaluation.py.

list slam_evaluation::rows = []

Definition at line 199 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 174 of file slam_evaluation.py.

list slam_evaluation::size = lines[1]

Definition at line 132 of file slam_evaluation.py.