cnspy-relative-pose-evaluation 0.1.0

Evaluation of relative pose measurements.

cnspy_relative_pose_evaluation

A python3 package for evaluating relative pose measurements between two spatial frames 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 following evaluations can be conducted:

Describtion	Images
Pose Error Plot (left: measured, right: error)
Range (gt vs. measured) outliers set to zero
Angle (gt vs. measured) outliers set to zero
Range Error Histogram (filtered) and distribution
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.

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

pip3 install cnspy_relative_pose_evaluation

Run from terminal

• RelPoseMeasEvaluationTool
• RelPoseMeasEvaluation
• RelPose_ROSBag2CSV
• ROSBag_TrueRelPoses
• ROSBag_Poses2RelPose

YAML configuration file

YAML configuration file is in the form of:

# relative pose of the moving sensors
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]}
# true pose of the body
sensor_topics: {0: "/uav10/vrpn_client/raw_pose", 1: "/uav11/vrpn_client/raw_pose", 2: "/uav12/vrpn_client/raw_pose"}
# topcis of the relative pose measurement
relpose_topics: {0: "/uav10/data_handler/uvdar_fcu", 1: "/uav11/data_handler/uvdar_fcu", 2: "/uav12/data_handler/uvdar_fcu"}

License

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

Sharing is caring! - Roland Jung