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Posyaw align subtrajectories using n positions. #35

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Posyaw align subtrajectories using n positions. #35

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3a013c8
Posyaw align subtrajectories using n positions.
gcioffi Nov 3, 2020
9a6bd35
Select positions for alignment using 10% of distance instead of time.
gcioffi Nov 10, 2020
153e71d
minor fix.
gcioffi Nov 11, 2020
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42 changes: 39 additions & 3 deletions src/rpg_trajectory_evaluation/compute_trajectory_errors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

def compute_relative_error(p_es, q_es, p_gt, q_gt, T_cm, dist, max_dist_diff,
accum_distances=[],
scale=1.0, method='pos_yaw_align', debug=False):
scale=1.0, method='pos_yaw_align_use_n_pos', debug=True):

if len(accum_distances) == 0:
accum_distances = tu.get_distance_from_start(p_gt)
Expand Down Expand Up @@ -58,23 +58,59 @@ def compute_relative_error(p_es, q_es, p_gt, q_gt, T_cm, dist, max_dist_diff,
gt_al0 = np.dot(np.linalg.inv(T_m1)[:3, :3], p_gt_i.T) + np.linalg.inv(T_m1)[:3, 3].reshape([3, 1])
es_al0 = np.dot(np.linalg.inv(T_c1)[:3, :3], p_es_i.T) + np.linalg.inv(T_c1)[:3, 3].reshape([3, 1])

else:
assert method == 'pos_yaw_align'
elif method == 'pos_yaw_align':
# IPython.embed()
s, R_gt_es, t_gt_es = align_utils.alignTrajectory(p_es_i, p_gt_i, q_es_i, q_gt_i, method='posyaw')
assert s == 1.
p_es_i_aligned = (np.dot(R_gt_es, p_es_i.T) + t_gt_es.reshape((3, 1))).T
T_error_dummy = np.eye(4)
e_trans_vec = p_gt_i - p_es_i_aligned

a = np.sqrt(np.mean(np.sum(e_trans_vec**2, 1)))
print('a = %f' % a)

T_error_dummy[0, 3] = np.sqrt(np.mean(np.sum(e_trans_vec**2, 1)))

print("T_error_dummy")
print(T_error_dummy)

errors.append(T_error_dummy)

if debug:
T_m1 = tu.get_rigid_body_trafo(q_gt[idx, :], p_gt[idx, :])
gt_al0 = np.dot(np.linalg.inv(T_m1)[:3, :3], p_gt_i.T) + np.linalg.inv(T_m1)[:3, 3].reshape([3, 1])
es_al0 = np.dot(np.linalg.inv(T_m1)[:3, :3], p_es_i_aligned.T) + np.linalg.inv(T_m1)[:3, 3].reshape([3, 1])

elif method == 'pos_yaw_align_use_n_pos':
# IPython.embed()
frac_pos_to_align = 0.1
accum_distances_sub_traj = tu.get_distance_from_start(p_gt_i)
max_dist = frac_pos_to_align*accum_distances_sub_traj[-1]
num_pos_to_align = 0
for i, d in enumerate(accum_distances_sub_traj):
if d > max_dist:
num_pos_to_align = i
break

p_es_i_to_align = p_es_i[0:num_pos_to_align, :]
p_gt_i_to_align = p_gt_i[0:num_pos_to_align, :]
q_es_i_to_align = q_es_i[0:num_pos_to_align, :]
q_gt_i_to_align = q_gt_i[0:num_pos_to_align, :]

s, R_gt_es, t_gt_es = align_utils.alignTrajectory(p_es_i_to_align, p_gt_i_to_align,
q_es_i_to_align, q_gt_i_to_align, method='posyaw')
assert s == 1.
p_es_i_aligned = (np.dot(R_gt_es, p_es_i.T) + t_gt_es.reshape((3, 1))).T

T_error = np.eye(4)
e_trans_vec = p_gt_i[-1, :] - p_es_i_aligned[-1, :]
T_error[0:3, 3] = e_trans_vec
errors.append(T_error)

if debug:
T_m1 = tu.get_rigid_body_trafo(q_gt[idx, :], p_gt[idx, :])
gt_al0 = np.dot(np.linalg.inv(T_m1)[:3, :3], p_gt_i.T) + np.linalg.inv(T_m1)[:3, 3].reshape([3, 1])
es_al0 = np.dot(np.linalg.inv(T_m1)[:3, :3], p_es_i_aligned.T) + np.linalg.inv(T_m1)[:3, 3].reshape([3, 1])

if debug:
plt.figure(0, figsize=(15, 5))
Expand Down