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poseError.py
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poseError.py
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import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits import mplot3d
import math
def rotate_origin_only(xy, radians):
"""Only rotate a point around the origin (0, 0)."""
x, y = xy
xx = x * math.cos(radians) - y * math.sin(radians)
yy = x * math.sin(radians) + y * math.cos(radians)
return xx, yy
gt = open("09_gt.txt",'r')
zline = []
xline = []
yline = []
gt_4x4 = []
for idx, line in enumerate(gt):
splitted = line.split(" ")
if idx == 0:
gt_x_first = float(splitted[3])
gt_y_first = float(splitted[7])
gt_z_first = float(splitted[11])
gt_x = float(splitted[3]) - gt_x_first
gt_y = float(splitted[7]) - gt_y_first
gt_z = float(splitted[11]) - gt_z_first
# print(gt_x)
xline.append(gt_x*10)
yline.append(gt_y*10)
zline.append(gt_z*10)
gt_4x4.append( [(splitted[0], splitted[1], splitted[2], gt_x*100),
(splitted[4], splitted[5], splitted[6], gt_y*100),
(splitted[8], splitted[9], splitted[10],gt_z*100),
( 0, 0, 0, 1) ] )
pred = open("09_pred.txt",'r')
pos_pred_cum_x = []
pos_pred_cum_y = []
pos_pred_cum_z = []
zline_est = []
xline_est = []
yline_est = []
pred_4x4 = []
for idx, line in enumerate(pred):
splitted = line.split(" ")
if idx == 0:
pred_x_first = float(splitted[3])
pred_y_first = float(splitted[7])
pred_z_first = float(splitted[11])
xx, zz = rotate_origin_only( (float(splitted[3]),float(splitted[11])), 0*math.pi/180 )
xx, yy = rotate_origin_only( (float(splitted[3]),float(splitted[7])), 0*math.pi/180 )
yy, zz = rotate_origin_only( (float(splitted[7]),float(splitted[11])), 0*math.pi/180 )
yline_est.append((xx-pred_x_first)*10)
xline_est.append((yy-pred_y_first)*10)
zline_est.append((zz-pred_z_first)*10)
pred_4x4.append( [(splitted[0], splitted[1], splitted[2], (xx-pred_x_first)*10),
(splitted[4], splitted[5], splitted[6], (yy-pred_y_first)*10),
(splitted[8], splitted[9], splitted[10],(zz-pred_z_first)*10),
( 0, 0, 0, 1) ] )
fig = plt.figure()
ax = plt.axes(projection='3d')
ax.plot3D(xline, yline, zline, 'blue', label='Ground Truth')
# ax.view_init(azim=135, elev=30)
ax.view_init(azim=45, elev=60)
ax.plot3D(xline_est, yline_est, zline_est, 'red', label='Predicted')
ax.set_xlabel('x [cm]', fontsize=16)#, rotation=150)
ax.set_ylabel('y [cm]', fontsize=16)
ax.set_zlabel('z [cm]', fontsize=16)
ax.tick_params(labelsize=12)
ax.legend(fontsize=18)
plt.savefig('posgraph_txt_colon_1.eps', format='eps')
plt.show()
error_ate = np.zeros(len(xline))
errors = []
gt_xyz = np.array([xline,yline,zline])
pred_xyz = np.array([xline_est,yline_est,zline_est])
# print(gt_xyz)
for i in range(len(pred_xyz[0,:])):
# print(i)
align_err = gt_xyz[:,i] - pred_xyz[:,i]
error_ate[i] = (np.sqrt(np.sum(align_err ** 2)))
# error_ate[i] = error_ate[i]**2
errors.append(np.sqrt(np.sum(align_err ** 2)))
ate_mean1 = np.sqrt(np.mean(np.asarray(errors) ** 2))
ate_mean2 = error_ate.mean()
gt_4x4 = np.array(gt_4x4)
gt_4x4 = gt_4x4.astype(np.float)
pred_4x4 = np.array(pred_4x4)
pred_4x4 = pred_4x4.astype(np.float)
# print(pred_4x4)
totalDisp = 0
for i in range(len(gt_xyz[0,:])):
if i == 0:
continue
# print(i)
displacement = gt_xyz[:,i] - gt_xyz[:,i-1]
totalDisp += np.sqrt(np.sum(displacement ** 2))
print("Trajectory Length [m]: ", totalDisp/100)
dataLen = len(gt_xyz[0,:])
# print(dataLen)
def compute_ATE(gt, pred):
"""Compute RMSE of ATE
Args:
gt (4x4 array dict): ground-truth poses
pred (4x4 array dict): predicted poses
"""
errors = []
# idx_0 = list(pred.keys())[0]
idx_0 = 0
gt_0 = gt[idx_0]
pred_0 = pred[idx_0]
for i in range(dataLen):
# cur_gt = np.linalg.inv(gt_0) @ gt[i]
cur_gt = gt[i]
gt_xyz = cur_gt[:3, 3]
# cur_pred = np.linalg.inv(pred_0) @ pred[i]
cur_pred = pred[i]
pred_xyz = cur_pred[:3, 3]
align_err = gt_xyz - pred_xyz
# print('i: ', i)
# print("gt: ", gt_xyz)
# print("pred: ", pred_xyz)
# input("debug")
errors.append(np.sqrt(np.sum(align_err ** 2)))
ate_mean = np.sqrt(np.mean(np.asarray(errors) ** 2))
ate_std = np.sqrt(np.std(np.asarray(errors) ** 2))
return ate_mean, ate_std
def compute_RPE(gt, pred):
"""Compute RPE
Args:
gt (4x4 array dict): ground-truth poses
pred (4x4 array dict): predicted poses
Returns:
rpe_trans
rpe_rot
"""
trans_errors = []
rot_errors = []
# for i in list(pred.keys())[:-1]:
for i in range(len(gt_xyz[0,:])-1):
gt1 = gt[i]
gt2 = gt[i+1]
gt_rel = np.linalg.inv(gt1) @ gt2
pred1 = pred[i]
pred2 = pred[i+1]
pred_rel = np.linalg.inv(pred1) @ pred2
rel_err = np.linalg.inv(gt_rel) @ pred_rel
trans_errors.append(translation_error(rel_err))
rot_errors.append(rotation_error(rel_err))
# rpe_trans = np.sqrt(np.mean(np.asarray(trans_errors) ** 2))
# rpe_rot = np.sqrt(np.mean(np.asarray(rot_errors) ** 2))
rpe_trans_mean = np.mean(np.asarray(trans_errors))
rpe_trans_std = np.std(np.asarray(trans_errors))
rpe_rot_mean = np.mean(np.asarray(rot_errors))
rpe_rot_std = np.std(np.asarray(rot_errors))
return rpe_trans_mean, rpe_trans_std, rpe_rot_mean, rpe_rot_std
def translation_error(pose_error):
"""Compute translation error
Args:
pose_error (4x4 array): relative pose error
Returns:
trans_error (float): translation error
"""
dx = pose_error[0, 3]
dy = pose_error[1, 3]
dz = pose_error[2, 3]
trans_error = np.sqrt(dx**2+dy**2+dz**2)
return trans_error
def rotation_error(pose_error):
"""Compute rotation error
Args:
pose_error (4x4 array): relative pose error
Returns:
rot_error (float): rotation error
"""
a = pose_error[0, 0]
b = pose_error[1, 1]
c = pose_error[2, 2]
d = 0.5*(a+b+c-1.0)
rot_error = np.arccos(max(min(d, 1.0), -1.0))
return rot_error
print("ATE mean [m]: ", compute_ATE(gt_4x4, pred_4x4)[0]/100)
print("ATE std [m]: ", compute_ATE(gt_4x4, pred_4x4)[1]/100)
print("RPE trans mean [m]: ", compute_RPE(gt_4x4,pred_4x4)[0]/100)
print("RPE trans std [m]: ", compute_RPE(gt_4x4,pred_4x4)[1]/100)
print("RPE rot mean [deg]: ", compute_RPE(gt_4x4,pred_4x4)[2] * 180 / np.pi)
print("RPE rot std [deg]: ", compute_RPE(gt_4x4,pred_4x4)[3] * 180 / np.pi)