diff --git a/scripts/gt_exploration.ipynb b/scripts/gt_exploration.ipynb new file mode 100644 index 0000000..d3d5455 --- /dev/null +++ b/scripts/gt_exploration.ipynb @@ -0,0 +1,6101 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "## Imports ##\n", + "from pathlib import Path\n", + "from scipy.spatial.transform import Rotation\n", + "import matplotlib.pyplot as plt\n", + "import pandas as pd\n", + "import numpy as np\n", + "from xacrodoc import XacroDoc\n", + "from pytransform3d.urdf import UrdfTransformManager\n", + "from os import getenv" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "## Definitions ##\n", + "DATASET_PATH = getenv('ROSARIOV2')\n", + "if DATASET_PATH is not None:\n", + " MINS_OUTPUT_BASE_PATH = \\\n", + " DATASET_PATH + '/mins/'\n", + "else:\n", + " MINS_OUTPUT_BASE_PATH = '' # Input the path to the dataset\n", + "\n", + "DATASET_SESSIONS = [\n", + " '2023-12-22-13-14-16','2023-12-22-14-29-43', '2023-12-22-16-31-08',\n", + " '2023-12-26-13-39-43', '2023-12-26-15-10-15', '2023-12-26-15-48-38'\n", + "]\n", + "\n", + "MINS_OUTPUT_NAME_FORMAT = '{}_mins_tum.csv'\n", + "\n", + "MINS_OUTPUT_COLUMNS = ['timestamp', 'tx', 'ty', 'tz', 'qx', 'qy', 'qz', 'qw']" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-22-13-14-16_mins_tum.csv\n", + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-22-14-29-43_mins_tum.csv\n", + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-22-16-31-08_mins_tum.csv\n", + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-26-13-39-43_mins_tum.csv\n", + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-26-15-10-15_mins_tum.csv\n", + "/home/libonati/Documents/dataset_rosariov2/mins/2023-12-26-15-48-38_mins_tum.csv\n", + " timestamp tx ty tz qx qy \\\n", + "0 1.703262e+09 -0.004968 -0.003906 0.003764 -0.813162 -0.001252 \n", + "1 1.703262e+09 -0.004998 0.004367 0.006217 -0.812837 -0.000923 \n", + "2 1.703262e+09 -0.005554 0.013442 0.006977 -0.812549 -0.001057 \n", + "3 1.703262e+09 -0.006778 0.061402 0.008188 -0.812427 -0.001019 \n", + "4 1.703262e+09 0.326512 0.411635 -0.162961 -0.575789 0.573524 \n", + "... ... ... ... ... ... ... \n", + "8978 1.703263e+09 0.249570 0.252718 -0.178954 -0.561083 0.584360 \n", + "8979 1.703263e+09 0.249559 0.251659 -0.178811 -0.560927 0.584453 \n", + "8980 1.703263e+09 0.248620 0.250668 -0.178823 -0.561043 0.584330 \n", + "8981 1.703263e+09 0.248873 0.250176 -0.178883 -0.560971 0.584395 \n", + "8982 1.703263e+09 0.247641 0.248486 -0.179502 -0.560985 0.584375 \n", + "\n", + " qz qw \n", + "0 -0.002396 0.582032 \n", + "1 -0.002076 0.582487 \n", + "2 -0.001969 0.582888 \n", + "3 -0.002139 0.583058 \n", + "4 -0.413351 0.410705 \n", + "... ... ... \n", + "8978 -0.420069 0.408964 \n", + "8979 -0.420205 0.408905 \n", + "8980 -0.420082 0.409049 \n", + "8981 -0.420114 0.409020 \n", + "8982 -0.420006 0.409141 \n", + "\n", + "[8983 rows x 8 columns]\n" + ] + } + ], + "source": [ + "# Read in file\n", + "ground_truth_paths = []\n", + "for dataset_session in DATASET_SESSIONS:\n", + " gt_path = f'{MINS_OUTPUT_BASE_PATH}'+MINS_OUTPUT_NAME_FORMAT.format(dataset_session)\n", + " ground_truth_paths.append(gt_path)\n", + "print(*ground_truth_paths, sep='\\n')\n", + "\n", + "# For example, read the first sequence\n", + "sequence = 0\n", + "gt_data = pd.read_csv(\n", + " ground_truth_paths[sequence], sep=' ', header=None, names=MINS_OUTPUT_COLUMNS)\n", + "\n", + "print(gt_data)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Get the transforms\n", + "doc = XacroDoc.from_file(\"../data/config/rosario_v2.urdf.xacro\")\n", + "urdf_str = doc.to_urdf_string()\n", + "utm = UrdfTransformManager()\n", + "utm.load_urdf(urdf_str)" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "T_baselink_imu_xacro: \n", + " [[ 6.56342874e-04 -9.99992239e-01 3.88475703e-03 7.59575094e-03]\n", + " [-3.13776677e-01 -3.89450870e-03 -9.49488825e-01 1.78252115e+00]\n", + " [ 9.49496586e-01 -5.95755928e-04 -3.13776798e-01 -1.57067022e+00]\n", + " [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]\n" + ] + } + ], + "source": [ + "print(\"T_baselink_imu_xacro: \\n\", utm.get_transform(\"base_link\", \"realsense_imu\"))" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "T_baselink_imu_xacro = utm.get_transform(\"base_link\", \"realsense_imu\")\n", + "# print(\"T_baselink_imu_xacro: \\n\", T_baselink_imu_xacro)\n", + "\n", + "for i,row in gt_data.iterrows():\n", + " R_imu = Rotation.from_quat([row['qx'], row['qy'], row['qz'], row['qw']]).as_matrix()\n", + " t_imu = np.array([[row['tx'], row['ty'], row['tz']]])\n", + " T_imu = np.vstack((np.hstack((R_imu, t_imu.T)), [0, 0, 0, 1]))\n", + "\n", + " # T_baselink = T_imu @ T_imu_baselink\n", + " T_baselink = T_imu @ T_baselink_imu_xacro\n", + " q_baselink = Rotation.from_matrix(T_baselink[0:3, 0:3]).as_quat()\n", + " t_baselink = T_baselink[0:3, 3]\n", + "\n", + " gt_data.iloc[i, 1:4] = t_baselink\n", + " gt_data.iloc[i, 4:] = q_baselink\n", + "\n", + "# Calculate yaw\n", + "gt_data['yaw'] = np.arctan2(\n", + " 2.0 * (gt_data['qw'] * gt_data['qz'] - gt_data['qx'] * gt_data['qy']),\n", + " 1.0 - 2.0 * (gt_data['qy']**2 + gt_data['qz']**2))\n", + "\n", + "# downsample\n", + "gt_data = gt_data.iloc[::10, :]" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + 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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Plot trajectory and orientation\n", + "timestamps = gt_data['timestamp']\n", + "norm = plt.Normalize(timestamps.min(), timestamps.max())\n", + "colors = plt.cm.viridis(norm(timestamps)) # Using the 'viridis' colormap\n", + "\n", + "plt.figure(figsize=(10, 10))\n", + "plt.scatter(gt_data['tx'], gt_data['ty'], color=colors, s=10, label='Position')\n", + "\n", + "arrow_length = 3\n", + "for i, row in gt_data.iterrows():\n", + " dx = arrow_length * np.cos(row['yaw'])\n", + " dy = arrow_length * np.sin(row['yaw'])\n", + " plt.arrow(\n", + " row['tx'], row['ty'], dx, dy, \n", + " head_width=0, head_length=0,\n", + " fc='r', ec='r')\n", + "\n", + "\n", + "# Labels and legend\n", + "plt.xlabel(\"X Position (m)\")\n", + "plt.ylabel(\"Y Position (m)\")\n", + "plt.title(\"Robot Trajectory with Orientation\")\n", + "plt.legend()\n", + "plt.axis(\"equal\")\n", + "plt.grid()\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [ + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "anchor": "tail", + "colorscale": [ + [ + 0, + "rgb(255,0,0)" + ], + [ + 1, + "rgb(255,0,0)" + ] + ], + "showscale": false, + "sizemode": "absolute", + "sizeref": 30, + "type": "cone", + "u": { + "bdata": 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5I8B9IgpAAv8jwKCdSoGw/iPACZqMAAn+I8AbKCN10PojwKnvkzis+yPAktV8HlP/I8BgbohAAf0jwFLvnFSA+yPAk5yGWCv/I8DNJX5SZP8jwFhBuvOp/iPA7z5cNKz8I8D+7xqQzPwjwIrgG+Rp+CPAr9MyW4b0I8DIWuajSusjwPnktqDx3yPANl8970bzI8Df1ldsdP8jwGbUAED3/yPAAJGzuVv8I8BZeLI4UP8jwAnbMqYD/iPAynETw///I8C5tEEFR/8jwKNIWI3n/CPA2froSy/4I8CE7xfRTPUjwMz/v/Ov/CPAtlkUeEj/I8DMwHRqhf4jwDZpUvN0/iPAfhZ8NWT6I8AZBzNlDfgjwGHtrwsk9iPAqHHfVPbqI8CusBF0Pf4jwN6CmVJM/yPARwJHYBL/I8Bq2l4x4P4jwHeygBnY9CPACgmJUb/yI8COTuziEPYjwAoC9def/yPAuy2V4eWlI8CLdNjQyvkiwIYD3KkU6iLAF2rpWdOaI8COSMW9PfQjwJbCweGttiLAJSNFfqzDH8BNE3UjpoEXwDzd+nvWiAfADme1S1aF5T/JgOAVyekSQKTv61dkTCBA2gDrTae6I0DyIPy0b80jQFSkDn3iwCNAySjbKX37I0BHS3lHs/0jQBxGg5XO+yNAe+S8iOH/I0AJgG5o9/8jQN44VXSw/yNAJQx0dyX/I0A3kOSN9/4jQHRwm3Z1/yNApvpJqfj/I0APxvHEvv8jQIMVQOqn/SNA774zEvT4I0C92D2vKv0jQG4K0Uga/SNAfBMOlH79I0CfVhOcOP8jQPKBpY2H/iNA0j9S+vT/I0D15vvVQ/4jQDgcp+V0/iNA5+vt493/I0A0HLWx5f4jQKecXQiA/SNAkE9UdTD8I0AbqVm5of4jQMy98Fj8/SNAQ6b3DCf+I0CjIVC4vP8jQI1HxyoR/yNAansJvv3/I0Cu9oaKmf8jQDVGU20S/iNAc4DG14P6I0CyXO1K2/UjQLa9IX9s4iNANYAMjubwI0DSO9fscf8jQGWMp8zv/yNAOQffbMr+I0ASgJL52f8jQH/BYwzy/yNAwcBZsf7/I0C66qfxr/8jQLOXB6Jx/SNAbp3XMRP3I0Cw2i/PzvEjQMSyjSGT/CNAURtFadj7I0BYQONqSP4jQO/KZc8E/SNAp/lDtKr3I0BlLgeLqf8jQCEaHiD+/yNANOIgjOD6I0CcPO/BqP4jQCYgrGh1/yNAtuPPap37I0B8F3OpcPUjQB3VpImh8yNAe0Jo1/30I0C7plKITvojQAON1UPI/yNAweVDdvT/I0D81uH/t/8jQDCS1mjB/yNAmyX9Ir38I0CUf+ZLk/0jQGIoxXlS/iNAPP4vlIT+I0B98Kgbj/4jQCQuNTue/SNAboVNeAf8I0DO/FZAafgjQFRePyAC9yNAX7kxKAL9I0A6I4D8/P8jQNgD9cG9/yNARFDljDT+I0DRWUZKcfojQL5RI/mb/yNATv7Tu/P+I0BSb0oRSP8jQDzCcpuH/iNA294r9oT+I0D8OJdGn/ojQNtv92Wc+CNA04atnJj+I0C0VYtuxvwjQAWoEMIt/iNAqO++XlT+I0Btyj+6f/wjQB73dkax/CNAnjbtUPD/I0Ap38kh/P8jQOm7yleH/iNAUaOpWSj7I0DkcvqkBvojQOPkyVjr/CNAk5mAs/r/I0Bdxmn0xP4jQAwP0G6S+CNAtJHv0YL/I0AubQ5VivojQAlH5Ebk+SNALvFs1nb6I0AhGG6OvPYjQE6/qnU5+yNA1RWBn9T/I0C/mxg2Qv8jQIB7E0Ux/yNAI6slZcr9I0AeW+Cf+v0jQBdY7hus/iNAwGidXvf/I0AkO8jwmP8jQFXuz3st/CNA/sxb9uz4I0ATiTdln/wjQPAiWoDP/SNA6p/Wzv7/I0DGe+UEX/4jQIZgygz1+yNAdDFTtrr6I0Cs7mg1TvgjQG95OYyz+CNALhBW3rD9I0DzIuXm9v0jQFKwa72N/iNAkKwXAOz/I0BCJIWPhP8jQOPoSYp3/CNApcusCRD1I0ArWkiPBvgjQHqqLzaV+yNA3PyteKT/I0CDe2oS+v4jQPx7veIM/yNAyPY8oXn6I0DWU5hbIPwjQDu4cCXe/SNAJ+NTNf77I0BhOmKbVf4jQMpGGg4B/SNAPw7Z7j/7I0AXZR0ch/sjQCLQn4Go9yNAMLtjoXnxI0A+x6LkLPkjQLXItBmc/SNAL1SZHN77I0CtKGcZLfsjQHF5ncZI/iNArsZVvTL5I0D72eEeo44jQKG2aOcL4SFAubMJyxx1HkB8lNliUhQYQIDfao5+/Q5Aim+6fsha9T+hZLO5uw70vzT7ztjcaxHAbX6rgnDlHMBKnN6Fiu0hwP7NaMG4pCPAaz/hLp7+I8CcvbkoXKsjwJSFGYyYQCPAqEeqpcp1I8Dav+8+ReojwE+KbUpr7SPAGDTuPl7/I8BgjPWYePwjwL+EhDJd/CPAfih3oHb/I8DHKVnfmP4jwMA2O7Tl/iPA3Cb/jB3+I8Ae1wmj/v8jwOv8K7b//yPADeowcXD8I8CnvBJDb/4jwDjTfLCb/yPAZnlFciL/I8C9LEE8w/4jwMOBdEz+/yPAwTTi4+/9I8ACRNSTuv4jwPxDPlD7/iPAq4lc9xz2I8DoNza3jf0jwCK9bWRO/SPAvplKiJ/9I8AKzNf3tPwjwFcZ4t31/yPABmttizn9I8AJhLkT/v8jwDaZBtyV/yPAspWUsr76I8B1hvNU9v8jwLWnHHIx9yPA9SiktY79I8A2CZfvkP8jwCZaic3//yPA7SDzeVL/I8D0auK04/ojwGDPmeSf/iPAe+lKY9j8I8CaWyY/BfwjwDDk1c6L+yPAekrvROv4I8Ar1DqFNvwjwIuOgiv9/SPAlANOlSz/I8B75VQLxf8jwL6W5sjS/yPAhITPean+I8B4+WF6IfwjwDvTNr618iPATwD/+hj8I8AS+x25Ef8jwK6NL+8A/iPAfJZ9/v//I8CDC0f2lP8jwFKjTUbq/yPAPGzwG9P/I8B8ofBvmP8jwAUGhvAc/yPAAwvL7/z8I8D/lbMzf/sjwASnQMJZ9CPAtgGUxHb1I8A/oRKxe/AjwHQpNiV//CPAb7vk9O7+I8ALYzNjtf4jwEF/1n3+/yPAQBMLvdP/I8BwRR2eyf4jwG8k5m9Y/iPANXWOho3+I8BnflZPFPsjwEM8zV/c+SPAEz2TffX3I8DhVQt7AvMjwNfgNo0s+SPAa09OgE75I8AtniXDO/gjwBIy8shr+SPA1H+vJGP6I8ANUnuEtfkjwGkDuiAF+SPAlih6Qlf5I8Di6IiJqfkjwBYjpgqS+SPAMsNv9CD1I8BsDrXqF/YjwNGwBuIr9yPAtEb7Axj5I8BqqqXAe/wjwMX0gvGt+yPAuD1qGNL5I8BaLzLNq/8jwFTn8UMa/yPAP6oX7A/9I8Bz2Efp2/gjwDzELKu39yPAk8Avdub3I8Agl2hY/PcjwF9VA/DX9CPAbjaaY6v+I8B8RmEpIf8jwO7K/7u6/yPADFizpyH/I8DfT7KrCv4jwHcAA9wx/SPADz+cmx33I8CakGbH3vQjwEDXZP468iPAngEUKy34I8BqksqQ9v4jwE6gvGOC/CPAN8yCz5n9I8DPBiWfp/ojwAwNTK6l+SPARIIHb0b9I8AjbrwEkvwjwABMoeMX/iPA+u8Oc+r+I8C1VCg7T/4jwLHGNK8//yPAIsg427/9I8D1nuker/4jwJjb7t1c/CPAIsO5kP37I8Bkzn4S9vYjwFPTvBDn9CPAgKYjj5/4I8CDdvpG1PojwEk9ULQh9SPAss+uzXv1I8DrLi4X8v4jwN9+ax4O/yPABqE9DLz/I8ASC9keeP8jwGDHU9ni/iPA7fwVZ4P9I8CC4oBMO/8jwCcpMNeL/yPAbE5AdiP8I8BmvxgsBvYjwLrY52Ze9iPAzPU/l8/3I8ApVmcDTvsjwKGu+NZB/SPAgm11stH5I8DRph6F9vojwBFAP/ZA9yPA7nrNnKb1I8AU+twMLPwjwArZBoTS+SPAC920j3r6I8DCHSMWDPsjwGSqD8Rv+yPA6QgjulH8I8DhL62pv/cjwKpoYSH//yPAt1Nvu7jeI8CuZ3+Gue0jwA/AIqRG1yPAuqF3KpxgIsDeYhyO2xofwDu5nLs49RbAcoym2E8jCMCiZDpryvi/P9NKZr5vzw5A1oDhiFerHEDTZ+o18dsiQLUOmPQE/CNAmiVKhxeNI0Am++3YLawjQBrmlM/t0SNA5NQk1+PzI0BS49TbfvojQFXGPQI07yNAdfmcj4btI0BEKpO12f8jQLg7wvq3+CNA0EYWkP//I0Ah4eAR7v8jQKyZI6PP/yNAw/FnAHT/I0CGB3QREP8jQPOHvDeV/yNAmz3Iks3/I0DtDUTWkf8jQNJCZB24/yNA2McsKKz/I0CMXPgikP8jQB/sm++H/yNAgbpZv3z/I0DmUzcud/8jQFYvvHJ5/yNABRvxboX/I0BJKPE3RP8jQI0XZjUu/yNAUYhAaOH+I0CAivDhvP0jQOuk7wq4/CNAzHn3e4P8I0AYkY8NmPwjQA==", 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", + "dtype": "f8" + }, + "w": { + "bdata": "                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        ", + "dtype": "f8" + }, + "x": { + "bdata": 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", 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", 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", 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", 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"linecolor": "white", + "ticks": "" + }, + "bgcolor": "#E5ECF6", + "radialaxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + } + }, + "scene": { + "xaxis": { + "backgroundcolor": "#E5ECF6", + "gridcolor": "white", + "gridwidth": 2, + "linecolor": "white", + "showbackground": true, + "ticks": "", + "zerolinecolor": "white" + }, + "yaxis": { + "backgroundcolor": "#E5ECF6", + "gridcolor": "white", + "gridwidth": 2, + "linecolor": "white", + "showbackground": true, + "ticks": "", + "zerolinecolor": "white" + }, + "zaxis": { + "backgroundcolor": "#E5ECF6", + "gridcolor": "white", + "gridwidth": 2, + "linecolor": "white", + "showbackground": true, + "ticks": "", + "zerolinecolor": "white" + } + }, + "shapedefaults": { + "line": { + "color": "#2a3f5f" + } + }, + "ternary": { + "aaxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + }, + "baxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + }, + "bgcolor": "#E5ECF6", + "caxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + } + }, + "title": { + "x": 0.05 + }, + "xaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + }, + "yaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + } + } + }, + "title": { + "text": "Robot 3D Trajectory" + } + } + } + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "import plotly.graph_objects as go\n", + "import numpy as np\n", + "\n", + "gt_copy = gt_data\n", + "\n", + "def floatsec_to_time(ft):\n", + " ft = ft - gt_data['timestamp'].iloc[0]\n", + " int_sec = int(ft)\n", + " return \"sec:\" + str(int_sec)\n", + "\n", + "time_offset = gt_copy['timestamp'].map(floatsec_to_time) # To display the timestamp on the hover text\n", + "\n", + "tickvals = [\n", + " gt_data['timestamp'].iloc[0],\n", + " gt_data['timestamp'].iloc[len(gt_data['timestamp'])//4],\n", + " gt_data['timestamp'].iloc[len(gt_data['timestamp'])//2],\n", + " gt_data['timestamp'].iloc[len(gt_data['timestamp'])*3//4],\n", + " gt_data['timestamp'].iloc[-1]\n", + "]\n", + "ticktext = [floatsec_to_time(t) for t in tickvals] # To display the timestamp on the color bar\n", + "\n", + "# Create 3D plot\n", + "\n", + "# Points trace\n", + "points = go.Scatter3d(\n", + " x=gt_data['tx'], y=gt_data['ty'], z=gt_data['tz'],\n", + " mode='lines+markers',\n", + " marker=dict(\n", + " size=6,\n", + " color=gt_data['timestamp'],\n", + " colorscale='Viridis',\n", + " showscale=True,\n", + " colorbar=dict(\n", + " title=\"Time from start\",\n", + " tickvals=tickvals,\n", + " ticktext=ticktext,\n", + " tickmode=\"array\"\n", + " )\n", + " ),\n", + " line=dict(color='darkblue', width=2),\n", + " text=time_offset\n", + ")\n", + "\n", + "# Cones to show direction\n", + "cone_size = 10\n", + "row_count = gt_data.shape[0]\n", + "u = np.empty(row_count)\n", + "v = np.empty(row_count)\n", + "for index, (i, row) in enumerate(gt_data.iterrows()):\n", + " dx = cone_size * np.cos(row['yaw'])\n", + " dy = cone_size * np.sin(row['yaw'])\n", + " u[index] = dx\n", + " v[index] = dy\n", + " \n", + "\n", + "cones = go.Cone(\n", + " x=gt_data['tx'], y=gt_data['ty'], z=gt_data['tz'],\n", + " u=u, v=v, w=np.zeros_like(u),\n", + " sizemode=\"absolute\",\n", + " sizeref=30,\n", + " anchor=\"tail\",\n", + " showscale=False,\n", + " colorscale=[[0,\"rgb(255,0,0)\"],[1,\"rgb(255,0,0)\"]]\n", + ")\n", + "\n", + "fig = go.Figure(data=[cones, points])\n", + "\n", + "# Update layout for better visualization\n", + "fig.update_layout(\n", + " scene=dict(\n", + " xaxis_title='X Path',\n", + " yaxis_title='Y Path',\n", + " zaxis_title='Z Path',\n", + " aspectmode='data', # Scale the axis equally\n", + " ),\n", + " title=\"Robot 3D Trajectory\"\n", + ")\n", + "fig.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Creating HTML\n" + ] + } + ], + "source": [ + "# HTML to show the plot on the rosariov2 page\n", + "path = \"gt_exploration_plot_\" + DATASET_SESSIONS[sequence] + \".html\"\n", + "if not Path(path).exists():\n", + " print(\"Creating HTML\")\n", + " fig.write_html(path)" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "\n", + "\n", + "
\n", + "
\n", + "\n", + "" + ], + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "from IPython.display import HTML, display\n", + "\n", + "# Display the HTML to see if it worked\n", + "display(HTML(filename=path))" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "venv (3.12.3)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.3" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/scripts/gt_exploration_plot_2023-12-22-13-14-16.html b/scripts/gt_exploration_plot_2023-12-22-13-14-16.html new file mode 100644 index 0000000..7995dc8 --- /dev/null +++ b/scripts/gt_exploration_plot_2023-12-22-13-14-16.html @@ -0,0 +1,3888 @@ + + + +
+
+ + \ No newline at end of file diff --git a/scripts/requirements.txt b/scripts/requirements.txt new file mode 100644 index 0000000..f1072fe --- /dev/null +++ b/scripts/requirements.txt @@ -0,0 +1,5 @@ +xacrodoc +pytransform3d +pandas +numpy +matplotlib \ No newline at end of file