Functions | Variables
calibration_estimation::error_visualization Namespace Reference

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"))

Function Documentation

Definition at line 56 of file error_visualization.py.


Variable Documentation

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.

Definition at line 94 of file error_visualization.py.

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.

Definition at line 87 of file error_visualization.py.

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.

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.

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.

Definition at line 158 of file error_visualization.py.

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.

Definition at line 111 of file error_visualization.py.

Definition at line 80 of file error_visualization.py.

Definition at line 73 of file error_visualization.py.

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.

Definition at line 194 of file error_visualization.py.

Definition at line 116 of file error_visualization.py.

Definition at line 135 of file error_visualization.py.

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.

Definition at line 196 of file error_visualization.py.

Definition at line 197 of file error_visualization.py.

Definition at line 148 of file error_visualization.py.

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.

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.

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.



calibration_estimation
Author(s): Vijay Pradeep, Michael Ferguson
autogenerated on Sat Jun 8 2019 19:41:45