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f9c42e5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 | #!/usr/bin/env python2
import os
import numpy as np
import umi.traj_eval.trajectory_utils as tu
import umi.traj_eval.transformations as tf
def compute_relative_error(
p_es, q_es, p_gt, q_gt, T_cm, dist, max_dist_diff, accum_distances=[], scale=1.0
):
if len(accum_distances) == 0:
accum_distances = tu.get_distance_from_start(p_gt)
comparisons = tu.compute_comparison_indices_length(
accum_distances, dist, max_dist_diff
)
n_samples = len(comparisons)
print("number of samples = {0} ".format(n_samples))
if n_samples < 2:
print("Too few samples! Will not compute.")
return (
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
)
T_mc = np.linalg.inv(T_cm)
errors = []
for idx, c in enumerate(comparisons):
if not c == -1:
T_c1 = tu.get_rigid_body_trafo(q_es[idx, :], p_es[idx, :])
T_c2 = tu.get_rigid_body_trafo(q_es[c, :], p_es[c, :])
T_c1_c2 = np.dot(np.linalg.inv(T_c1), T_c2)
T_c1_c2[:3, 3] *= scale
T_m1 = tu.get_rigid_body_trafo(q_gt[idx, :], p_gt[idx, :])
T_m2 = tu.get_rigid_body_trafo(q_gt[c, :], p_gt[c, :])
T_m1_m2 = np.dot(np.linalg.inv(T_m1), T_m2)
T_m1_m2_in_c1 = np.dot(T_cm, np.dot(T_m1_m2, T_mc))
T_error_in_c2 = np.dot(np.linalg.inv(T_m1_m2_in_c1), T_c1_c2)
T_c2_rot = np.eye(4)
T_c2_rot[0:3, 0:3] = T_c2[0:3, 0:3]
T_error_in_w = np.dot(
T_c2_rot, np.dot(T_error_in_c2, np.linalg.inv(T_c2_rot))
)
errors.append(T_error_in_w)
error_trans_norm = []
error_trans_perc = []
error_yaw = []
error_gravity = []
e_rot = []
e_rot_deg_per_m = []
for e in errors:
tn = np.linalg.norm(e[0:3, 3])
error_trans_norm.append(tn)
error_trans_perc.append(tn / dist * 100)
ypr_angles = tf.euler_from_matrix(e, "rzyx")
e_rot.append(tu.compute_angle(e))
error_yaw.append(abs(ypr_angles[0]) * 180.0 / np.pi)
error_gravity.append(
np.sqrt(ypr_angles[1] ** 2 + ypr_angles[2] ** 2) * 180.0 / np.pi
)
e_rot_deg_per_m.append(e_rot[-1] / dist)
return (
errors,
np.array(error_trans_norm),
np.array(error_trans_perc),
np.array(error_yaw),
np.array(error_gravity),
np.array(e_rot),
np.array(e_rot_deg_per_m),
)
def compute_temporal_relative_error(
p_es, q_es, p_gt, q_gt, T_cm, window_steps, scale=1.0
):
all_idxs = np.arange(len(p_gt))
comparisons = list()
for i in range(1, window_steps):
comparisons.append(np.stack([all_idxs[:-i], all_idxs[i:]]).T)
comparisons = np.concatenate(comparisons, axis=0)
n_samples = len(comparisons)
print("number of samples = {0} ".format(n_samples))
if n_samples < 2:
print("Too few samples! Will not compute.")
return (
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
np.array([]),
)
T_mc = np.linalg.inv(T_cm)
errors = []
# for idx, c in enumerate(comparisons):
for idx, c in comparisons:
if not c == -1:
T_c1 = tu.get_rigid_body_trafo(q_es[idx, :], p_es[idx, :])
T_c2 = tu.get_rigid_body_trafo(q_es[c, :], p_es[c, :])
T_c1_c2 = np.dot(np.linalg.inv(T_c1), T_c2)
T_c1_c2[:3, 3] *= scale
T_m1 = tu.get_rigid_body_trafo(q_gt[idx, :], p_gt[idx, :])
T_m2 = tu.get_rigid_body_trafo(q_gt[c, :], p_gt[c, :])
T_m1_m2 = np.dot(np.linalg.inv(T_m1), T_m2)
T_m1_m2_in_c1 = np.dot(T_cm, np.dot(T_m1_m2, T_mc))
T_error_in_c2 = np.dot(np.linalg.inv(T_m1_m2_in_c1), T_c1_c2)
T_c2_rot = np.eye(4)
T_c2_rot[0:3, 0:3] = T_c2[0:3, 0:3]
T_error_in_w = np.dot(
T_c2_rot, np.dot(T_error_in_c2, np.linalg.inv(T_c2_rot))
)
errors.append(T_error_in_w)
error_trans_norm = []
error_yaw = []
error_gravity = []
e_rot = []
for e in errors:
tn = np.linalg.norm(e[0:3, 3])
error_trans_norm.append(tn)
ypr_angles = tf.euler_from_matrix(e, "rzyx")
e_rot.append(tu.compute_angle(e))
error_yaw.append(abs(ypr_angles[0]) * 180.0 / np.pi)
error_gravity.append(
np.sqrt(ypr_angles[1] ** 2 + ypr_angles[2] ** 2) * 180.0 / np.pi
)
return (
errors,
np.array(error_trans_norm),
np.array(error_yaw),
np.array(error_gravity),
np.array(e_rot),
)
def compute_absolute_error(p_es_aligned, q_es_aligned, p_gt, q_gt):
e_trans_vec = p_gt - p_es_aligned
e_trans = np.sqrt(np.sum(e_trans_vec**2, 1))
# orientation error
e_rot = np.zeros(
(
len(
e_trans,
)
)
)
e_ypr = np.zeros(np.shape(p_es_aligned))
for i in range(np.shape(p_es_aligned)[0]):
R_we = tf.matrix_from_quaternion(q_es_aligned[i, :])
R_wg = tf.matrix_from_quaternion(q_gt[i, :])
e_R = np.dot(R_we, np.linalg.inv(R_wg))
e_ypr[i, :] = tf.euler_from_matrix(e_R, "rzyx")
e_rot[i] = np.rad2deg(np.linalg.norm(tf.logmap_so3(e_R[:3, :3])))
# scale drift
motion_gt = np.diff(p_gt, 0)
motion_es = np.diff(p_es_aligned, 0)
dist_gt = np.sqrt(np.sum(np.multiply(motion_gt, motion_gt), 1))
dist_es = np.sqrt(np.sum(np.multiply(motion_es, motion_es), 1))
e_scale_perc = np.abs((np.divide(dist_es, dist_gt) - 1.0) * 100)
return e_trans, e_trans_vec, e_rot, e_ypr, e_scale_perc
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