cnspy_relative_pose_evaluation

A python3 package for evaluating uncertain relative pose measurements between the spatial frame of sensors to other sensors or static objects in order to assess the accuracy. The baseline (ground truth) relative pose can be computed from two recorded 3D trajectories of the moving bodies and known extrinsics to the sensors. These can be specified in a single configuration file, see config.yaml

The relative measurements can be either provided as CSV files or in ROS1 bagfile in PoseWithCovarianceArrayStamped msgs. The true relative pose measurements can be either provided as CSV files or can be computed from measured true pose of the BODY reference frame and a provided pose in a ROS1 bagfile (geometry_msgs/PoseStamped, geometry_msgs/TransformStamped) between the BODY reference and the SENSOR reference frame (specified in the configuration file) .

The following evaluations can be conducted:

Describtion	Images
Pose Plot (left: measured, right: gt)
Pose Error Plot (left: position, right: orientation, top: meas, middle: error, bottom: nees)
Range (gt vs. measured) outliers removed
Range Sorted (gt vs. measured) outliers removed
Range Error (measured-gt) outliers removed
Range Error Histogram (filtered) and distribution
Angle (gt vs. measured) outliers set to zero
Angle Error (measured-gt) outliers removed
Angle Error Histogram (filtered) and distribution
Statistics	statistics.yaml

Installation

Python 3.6 or greater is required. Inside this repo's directory, you may run

pip3 install .

or pip3 install -e . which installs the package in-place, allowing you make changes to the code without having to reinstall every time.

Note that the ROS1 message definitions from the mrs_uav_system need to be installed:

curl https://ctu-mrs.github.io/ppa-stable/add_ppa.sh | bash
sudo apt install ros-noetic-mrs-msgs

This package is still in development. Once stable it should be sufficient to run:

pip3 install cnspy_relative_pose_evaluation

Run different tools from the terminal

• RelPoseMeasEvaluationTool
• RelPoseMeasEvaluation
• RelPose_ROSBag2CSV
• ROSBag_TrueRelPoses
• ROSBag_Poses2RelPose
• ROSBag_ModifyRelPoses
• ROSBag_Pose2AbsPoses
• ROSBag_MeasObjPoses

YAML configuration file

YAML configuration file is in the form of:

# relative pose of the moving sensors with respect to the body frame (pose from BODY to SENSOR)
sensor_positions: {0:[0, 0, 0], 1:[0, 0, 0], 2:[0, 0, 0]}
sensor_orientations: {0:[1.0, 0, 0, 0], 1:[1.0, 0, 0, 0], 2:[1.0, 0, 0, 0]}
# static pose of stationary objects with respect to the GLOBAL frame
object_positions: {10:[1, 0, 0], 11:[2, 0, 0], 12:[3, 0, 0]}
object_orientations: {10:[1.0, 0, 0, 0], 11:[1.0, 0, 0, 0], 12:[1.0, 0, 0, 0]}
# true pose of the BODY (geometry_msgs/PoseStamped, geometry_msgs/TransformStamped) with respect to the GLOBAL frame
true_pose_topics: {0: "/uav10/vrpn_client/raw_pose", 1: "/uav11/vrpn_client/raw_pose", 2: "/uav12/vrpn_client/raw_pose"}
# topics of the relative pose measurement (mrs_msgs/PoseWithCovarianceArrayStamped)
relpose_topics: {0: "/uav10/data_handler/uvdar_fcu", 1: "/uav11/data_handler/uvdar_fcu", 2: "/uav12/data_handler/uvdar_fcu"}
# topics of the synthetic relative pose measurement (mrs_msgs/PoseWithCovarianceArrayStamped) to be stored in a "clean" rosbag file
new_relpose_topics: {0: "/uav10/data_handler/uvdar_fcu_syn", 1: "/uav11/data_handler/uvdar_fcu_syn", 2: "/uav12/data_handler/uvdar_fcu_syn"}
# for ROSBag_MeasObjPoses: specified topic names for measured object poses with respect to the GLOBAL frame.
meas_object_pose_topics: {10: "/object1", 11: "/object2", 12: "/object3"}

Note that the IDs need to be unique and match with the IDs in the messages of the relpose_topics. The RelPoseMeasEvaluationTool checks if the specified topics are contained in the provided bagfile and if the IDs in the cfg file are unique.

Important notes for the NEES computation

The covariance of the measurements are assumed to represent the position uncertainty in meters and the orientation uncertainty in radians. Currently, three perturbation types are supported EstimationErrorType.type1, EstimationErrorType.type2, or EstimationErrorType.type5.

type1:

type2:

type5:

For more details, please read: ErrorRepresentationType and EstimationErrorType

Usage

usage: RelPoseMeasEvaluationTool [-h] [--result_dir RESULT_DIR] [--bagfile BAGFILE] --cfg CFG [--save_plot] [--show_plot] [--verbose] [--extra_plots] [--keep_outliers] [--filter_histogram] [--max_range MAX_RANGE] [--max_angle MAX_ANGLE] [--interpolation_type {cubic,linear}] [--min_dt MIN_DT]
                                 [--pose_error_type {type1,type2,type3,type4,type5,type6,none}]

RelPoseMeasEvaluationTool: evaluation the measured relative poses

optional arguments:
  -h, --help            show this help message and exit
  --result_dir RESULT_DIR
                        directory to store results [otherwise bagfile name will be a directory]
  --bagfile BAGFILE     input bag file
  --cfg CFG             YAML configuration file describing the setup: {sensor_positions:{<id>:[x,y,z], ...}, sensor_orientations:{<id>:[w,x,y,z], ...}, relpose_topics:{<id>:<topic_name>, ...}, true_pose_topics:{<id>:<topic_name>, ...}
  --save_plot           saves all plots in the result_dir
  --show_plot           blocks the evaluation, for inspecting individual plots, continuous after closing
  --verbose
  --extra_plots         plots: timestamps, ranges + angles (sorted + unsorted + error),
  --keep_outliers       do not apply the max. thresholds on the error
  --filter_histogram    filters the error histogram, such that the fitted normal distribution is computed on the best bins only
  --max_range MAX_RANGE
                        max. range that classifies them as outlier (0 disables feature).
  --max_angle MAX_ANGLE
                        max. range that classifies them as outlier (0 disables feature)
  --interpolation_type {cubic,linear}
                        Trajectory interpolation type
  --min_dt MIN_DT       temporal displacement of cubic spline control points
  --pose_error_type {type1,type2,type3,type4,type5,type6,none}
                        Covariance perturbation type (space) of relative pose measurements

Other tools:

• RelPoseMeasEvaluation,
• RelPose_ROSBag2CSV,
• ROSBag_TrueRelPoses,
• ROSBag_Poses2RelPoses,
• ROSBag_ModifyRelPoses,
• ROSBag_Pose2AbsPoses

License

Software License Agreement (GNU GPLv3 License), refer to the LICENSE file.

Sharing is caring! - Roland Jung