From dbf7fe8a9919a3af5434914a2409bc03fcbc90e7 Mon Sep 17 00:00:00 2001 From: Robert Date: Fri, 29 Mar 2024 17:31:45 +0100 Subject: [PATCH 1/9] feat(#229): way less complex and easier to understand --- code/perception/src/sensor_filter_debug.py | 634 ++++++++------------- 1 file changed, 235 insertions(+), 399 deletions(-) diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index b43b240f..21a17fbc 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -19,7 +19,8 @@ from std_msgs.msg import Float32MultiArray from xml.etree import ElementTree as eTree import rospy - +import threading +import carla # remove when publishing to leaderboard! GPS_RUNNING_AVG_ARGS: int = 10 DATA_SAVING_MAX_TIME: int = 45 @@ -36,25 +37,39 @@ def __init__(self): :return: """ - super(SensorFilterDebugNode, self).__init__('ekf_translation') + super(SensorFilterDebugNode, self).__init__('sensor_filter_debug_node') - self.loginfo("Sensor Filter Debug node started") + # basic info + self.role_name = self.get_param("role_name", "hero") + self.control_loop_rate = self.get_param("control_loop_rate", "0.05") + + # carla attributes + CARLA_HOST = os.environ.get('CARLA_HOST', 'paf23-carla-simulator-1') + CARLA_PORT = int(os.environ.get('CARLA_PORT', '2000')) + self.client = carla.Client(CARLA_HOST, CARLA_PORT) + self.world = self.client.get_world() + self.world.wait_for_tick() + self.carla_car = None + + self.set_carla_attributes() - self.kalman_pos = PoseStamped() - self.kalman_pos_debug_data = Float32MultiArray() - self.kalman_heading = Float32() - self.kalman_heading_debug_data = Float32() + # Tracked Attributes for Debugging self.current_pos = PoseStamped() self.current_pos_debug_data = Float32MultiArray() self.current_heading = Float32() self.current_heading_debug_data = Float32() - self.ideal_current_pos = PoseStamped() self.carla_current_pos = PoseStamped() - self.ideal_heading = Float32() self.unfiltered_pos = PoseStamped() self.unfiltered_pos_debug_data = Float32MultiArray() - # csv file attributes + # test_filter attributes for any new filter to be tested + # default is kalman filter + self.test_filter_pos = PoseStamped() + self.test_filter_pos_debug_data = Float32MultiArray() + self.test_filter_heading = Float32() + self.test_filter_heading_debug_data = Float32() + + # csv file attributes/ flags for plots self.csv_x_created = False self.csv_file_path_x = '' self.csv_y_created = False @@ -62,250 +77,247 @@ def __init__(self): self.csv_heading_created = False self.csv_file_path_heading = '' - self.loginfo("position_heading_publisher_node started") - - # basic info - self.role_name = self.get_param("role_name", "hero") - self.control_loop_rate = self.get_param("control_loop_rate", "0.05") - - self.transformer = None - - # Subscriber START - self.map_sub = self.new_subscription( - String, - "/carla/" + self.role_name + "/OpenDRIVE", - self.get_geoRef, - qos_profile=1) + self.loginfo("Sensor Filter Debug node started") - self.imu_subscriber = self.new_subscription( - Imu, - "/carla/" + self.role_name + "/Ideal_IMU", - self.update_imu_data, - qos_profile=1) - - self.gps_subscriber = self.new_subscription( - NavSatFix, - "/carla/" + self.role_name + "/Ideal_GPS", - self.update_gps_data, - qos_profile=1) + # region Subscriber START # Current_pos subscriber: self.current_pos_subscriber = self.new_subscription( PoseStamped, f"/paf/{self.role_name}/current_pos", - self.update_location_error, + self.set_current_pos, qos_profile=1) # Current_heading subscriber: self.current_heading_subscriber = self.new_subscription( Float32, f"/paf/{self.role_name}/current_heading", - self.update_heading_error, + self.set_current_heading, qos_profile=1) - # Kalman_pos subscriber: - self.kalman_pos_subscriber = self.new_subscription( + # test_filter_pos subscriber: + self.test_filter_pos_subscriber = self.new_subscription( PoseStamped, f"/paf/{self.role_name}/kalman_pos", - self.kalman_pos_debug, + self.set_test_filter_pos, qos_profile=1) - self.kalman_heading_subscriber = self.new_subscription( + # test_filter_heading subscriber: + self.test_filter_heading_subscriber = self.new_subscription( Float32, f"/paf/{self.role_name}/kalman_heading", - self.kalman_heading_debug, + self.set_test_filter_heading, qos_profile=1) # Unfiltered_pos subscriber: self.unfiltered_pos_subscriber = self.new_subscription( PoseStamped, f"/paf/{self.role_name}/unfiltered_pos", - self.unfiltered_pos_debug, + self.set_unfiltered_pos, qos_profile=1) - # Subscriber END + # endregion Subscriber END - # Publisher START - # 2D Odometry (Maybe Speedometer?) - self.ekf_odom_publisher = self.new_publisher( - Odometry, - "/ideal_odom", - qos_profile=1) + # region Publisher START - # IMU - self.ekf_imu_publisher = self.new_publisher( - Imu, - "/ideal_imu_data", - qos_profile=1) - - self.avg_xyz = np.zeros((GPS_RUNNING_AVG_ARGS, 3)) - self.avg_gps_counter: int = 0 - # 3D Odometry (GPS) - self.cur_pos_publisher = self.new_publisher( - PoseStamped, - f"/paf/{self.role_name}/ideal_current_pos", - qos_profile=1) - - self.__heading: float = 0 - self.__heading_publisher = self.new_publisher( + # ideal carla publisher for easier debug with rqt_plot + self.carla_heading_publisher = self.new_publisher( Float32, - f"/paf/{self.role_name}/ideal_current_heading", + f"/paf/{self.role_name}/carla_current_heading", qos_profile=1) - # Publish the carla location self.carla_pos_publisher = self.new_publisher( PoseStamped, f"/paf/{self.role_name}/carla_current_pos", qos_profile=1) # Error Publisher - """publish error distance between - current_pos and ideal_corrent_pos, - current_pos and carla_current_pos: - # current_pos and ideal_corrent_pos in location_error[0] - # current_pos and carla_current_pos in location_error[1] - """ - self.location_error_publisher = self.new_publisher( + self.position_debug_publisher = self.new_publisher( Float32MultiArray, - f"/paf/{self.role_name}/location_error", + f"/paf/{self.role_name}/position_debug", qos_profile=1) - # publish the error between current_heading and ideal_heading - self.heading_error_publisher = self.new_publisher( - Float32, - f"/paf/{self.role_name}/heading_error", - qos_profile=1) - - # Publish x and y coordinates of ideal_GPS and carla_pos - self.ideal_x_publisher = self.new_publisher( - Float32MultiArray, - f"/paf/{self.role_name}/ideal_x", - qos_profile=1) - self.ideal_y_publisher = self.new_publisher( + self.heading_debug_publisher = self.new_publisher( Float32MultiArray, - f"/paf/{self.role_name}/ideal_y", + f"/paf/{self.role_name}/heading_debug", qos_profile=1) - # Kalman Debug Publisher - self.kalman_debug_publisher = self.new_publisher( - Float32MultiArray, - f"/paf/{self.role_name}/kalman_debug", - qos_profile=1) - # Current_pos Debug Publisher - self.current_pos_debug_publisher = self.new_publisher( - Float32MultiArray, - f"/paf/{self.role_name}/current_pos_debug", - qos_profile=1) - # Unfiltered_pos Debug Publisher - self.unfiltered_pos_debug_publisher = self.new_publisher( - Float32MultiArray, - f"/paf/{self.role_name}/unfiltered_pos_debug", - qos_profile=1) + # endregion Publisher END + + def set_carla_attributes(self): + """ + This method sets the carla attributes. + """ + for actor in self.world.get_actors(): + if actor.attributes.get('role_name') == "hero": + self.carla_car = actor + break + if self.carla_car is None: + self.logwarn("Carla Hero car still none!") + return + else: + self.carla_current_pos = self.carla_car.get_location() + self.carla_current_heading = ( + self.carla_car.get_transform() + .rotation.yaw + ) + + def position_debug(self): + """ + This method is called every loop_rate. + It publishes and saves: + carla_current_pos.x, + carla_current_pos.y, + current_pos.x, + current_pos.y, + test_filter_pos.x + test_filter_pos.y + + It publishes and saves error distances between: + carla_current_pos.x and current_pos.x, + carla_current_pos.y and current_pos.y + carla_current_pos and current_pos + carla_current_pos.x and test_filter_pos.x, + carla_current_pos.y and test_filter_pos.y + carla_current_pos and test_filter_pos + + # carla_current_pos.x in debug.data[0] + # carla_current_pos.y in debug.data[1] + # current_pos.x in debug.data[2] + # current_pos.y in debug.data[3] + # test_filter_pos.x in debug.data[4] + # test_filter_pos.y in debug.data[5] + # carla_current_pos.x - current_pos.x in debug.data[6] + # carla_current_pos.y - current_pos.y in debug.data[7] + # sqrt[(carla_current_pos - current_pos)^2] in debug.data[8] + # carla_current_pos.x - test_filter_pos.x in debug.data[9] + # carla_current_pos.y - test_filter_pos.y in debug.data[10] + # sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[11] + """ - # Publisher END + if self.carla_car is None: + self.logwarn("""Carla Hero car still none! + Can not record data for position_debug yet.""") + return - def unfiltered_pos_debug(self, data: PoseStamped): + debug = Float32MultiArray() + + debug.data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + + # all x and y coordinates + debug.data[0] = self.carla_current_pos.x + debug.data[1] = self.carla_current_pos.y + debug.data[2] = self.current_pos.pose.position.x + debug.data[3] = self.current_pos.pose.position.y + debug.data[4] = self.test_filter_pos.pose.position.x + debug.data[5] = self.test_filter_pos.pose.position.y + + # error between carla_current_pos and current_pos + debug.data[6] = (self.carla_current_pos.x + - self.current_pos.pose.position.x) + debug.data[7] = (self.carla_current_pos.y + - self.current_pos.pose.position.y) + debug.data[8] = math.sqrt((self.carla_current_pos.x + - self.current_pos.pose.position.x)**2 + + (self.carla_current_pos.y + - self.current_pos.pose.position.y)**2) + + # error between carla_current_pos and test_filter_pos + debug.data[9] = (self.carla_current_pos.x + - self.test_filter_pos.pose.position.x) + debug.data[10] = (self.carla_current_pos.y + - self.test_filter_pos.pose.position.y) + debug.data[11] = math.sqrt((self.carla_current_pos.x + - self.test_filter_pos.pose.position.x)**2 + + (self.carla_current_pos.y + - self.test_filter_pos.pose.position.y)**2) + + self.position_debug_data = debug + self.position_debug_publisher.publish(debug) + # for easier debugging with rqt_plot + self.carla_pos_publisher.publish(self.carla_current_pos) + + def heading_debug(self): + """ + This method is called every loop_rate. + It publishes and saves: + carla_current_heading, + current_heading, + test_filter_heading + + It also publishes and saves heading differences between + carla_current_heading and current_heading, + carla_current_heading and test_filter_heading + to make filters comparable. + + # carla_current_heading in debug.data[0] + # current_heading in debug.data[1] + # test_filter_heading in debug.data[2] + # carla_current_heading - current_heading in debug.data[3] + # carla_current_heading - test_filter_heading in debug.data[4] + """ + + if self.carla_car is None: + self.logwarn("""Carla Hero car still none! + Can not record data for heading_debug yet.""") + return + + debug = Float32MultiArray() + + debug.data = [0, 0, 0, 0, 0] + + # all heading values + debug.data[0] = self.carla_current_heading + debug.data[1] = self.current_heading.data + debug.data[2] = self.test_filter_heading.data + + # error between carla_current_heading and current_heading + debug.data[0] = (self.carla_current_heading + - self.current_heading.data) + + # error between carla_current_heading and test_filter_heading + debug.data[1] = (self.carla_current_heading + - self.test_filter_heading.data) + + self.heading_debug_data = debug + self.heading_debug_publisher.publish(debug) + + # for easier debugging with rqt_plot + self.carla_heading_publisher.publish(self.carla_current_heading) + + # region Subscriber Callbacks + def set_unfiltered_pos(self, data: PoseStamped): """ This method is called when new unfiltered_pos data is received. - It also publishes error distances between - unfiltered_pos.x and ideal_pos.x, - unfiltered_pos.y and ideal_pos.y - unfiltered_pos and ideal_pos: - # unfiltered_pos and ideal_pos.x in debug.data[0] - # unfiltered_pos and ideal_pos.y in debug.data[1] - # unfiltered_pos and ideal_pos in debug.data[2] """ self.unfiltered_pos = data - debug = Float32MultiArray() - debug.data = [0, 0, 0] - debug.data[0] = (self.ideal_current_pos.pose.position.x - - self.unfiltered_pos.pose.position.x) - debug.data[1] = (self.ideal_current_pos.pose.position.y - - self.unfiltered_pos.pose.position.y) - debug.data[2] = math.sqrt(( - self.unfiltered_pos.pose.position.x - - self.ideal_current_pos.pose.position.x)**2 - + (self.unfiltered_pos.pose.position.y - - self.ideal_current_pos.pose.position.y)**2) - - self.unfiltered_pos_debug_data = debug - self.unfiltered_pos_debug_publisher.publish(debug) - - def current_pos_debug(self): + def set_current_pos(self, data: PoseStamped): """ This method is called when new current_pos data is received. - It also publishes error distances between - current_pos.x and ideal_pos.x, - current_pos.y and ideal_pos.y - current_pos and ideal_pos: - # current_pos and ideal_pos.x in debug.data[0] - # current_pos and ideal_pos.y in debug.data[1] - # current_pos and ideal_pos in debug.data[2] """ - debug = Float32MultiArray() + self.current_pos = data - debug.data = [0, 0, 0] - debug.data[0] = (self.ideal_current_pos.pose.position.x - - self.current_pos.pose.position.x) - debug.data[1] = (self.ideal_current_pos.pose.position.y - - self.current_pos.pose.position.y) - debug.data[2] = math.sqrt(( - self.current_pos.pose.position.x - - self.ideal_current_pos.pose.position.x)**2 - + (self.current_pos.pose.position.y - - self.ideal_current_pos.pose.position.y)**2) - - self.current_pos_debug_data = debug - self.current_pos_debug_publisher.publish(debug) - - def kalman_heading_debug(self, data: Float32): + def set_current_heading(self, data: Float32): """ - This method is called when new kalman_heading data is received. + This method is called when new current_heading data is received. """ - self.kalman_heading = data - self.loginfo("kalman_heading: " + str(data)) - debug = Float32() - - debug.data = self.ideal_heading.data - data.data + self.current_heading = data - self.kalman_heading_debug_data = debug - self.save_heading_errors() - # self.kalman_debug_publisher.publish(debug) + def set_test_filter_pos(self, data: PoseStamped): + """ + This method is called when new test_filter_pos data is received. + """ + self.test_filter_pos = data - def kalman_pos_debug(self, data: PoseStamped): + def set_test_filter_heading(self, data: Float32): """ - This method is called when new kalman_pos data is received. - It also publishes error distances between - kalman_pos.x and ideal_pos.x, - kalman_pos.y and ideal_pos.y, - kalman_pos and ideal_pos: - # kalman_pos.x and ideal_pos.x in debug.data[0] - # kalman_pos.y and ideal_pos.y in debug.data[1] - # kalman_pos and ideal_pos in debug.data[2] + This method is called when new test_filter_heading data is received. """ - self.kalman_pos = data - debug = Float32MultiArray() + self.test_filter_heading = data - debug.data = [0, 0, 0] - debug.data[0] = (self.ideal_current_pos.pose.position.x - - self.kalman_pos.pose.position.x) - debug.data[1] = (self.ideal_current_pos.pose.position.y - - self.kalman_pos.pose.position.y) - debug.data[2] = math.sqrt(( - self.kalman_pos.pose.position.x - - self.ideal_current_pos.pose.position.x)**2 - + (self.kalman_pos.pose.position.y - - self.ideal_current_pos.pose.position.y)**2) - - # TODO: make it more clean! - self.kalman_pos_debug_data = debug - self.current_pos_debug() - self.kalman_debug_publisher.publish(debug) - - # save data in paf23/doc/06_perception/00_Experiments/kalman_datasets - # for debugging with matplotlib: - self.save_location_errors() - - def save_location_errors(self): + # endregion Subscriber Callbacks + + # region CSV data save methods + def save_position_errors(self): """ This method saves the current location errors in a csv file. in the folders of @@ -388,217 +400,41 @@ def save_heading_errors(self): self.kalman_heading_debug_data.data, self.current_heading_debug_data.data]) - def update_heading_error(self, data: Float32): - """ - This method is called when new current_heading data is received. - """ - self.current_heading = data - self.loginfo("current_heading: " + str(data)) - - heading_error = Float32() - - # calculate the error between ideal_imu and imu - heading_error.data = (self.ideal_heading.data - - self.current_heading.data) - self.heading_error_publisher.publish(heading_error) - - # for savnig data in csv file: - self.current_heading_debug_data = heading_error - - def update_location_error(self, data: PoseStamped): - """ - This method is called when new current_pos data is received. - It handles all necessary updates and publishes the error. - :param data: new current_pos measurement - :return: - """ - self.current_pos = data - error = Float32MultiArray() - - error.data = [0, 0] - # calculate the error between ideal_current_pos and current_pos - error.data[0] = math.sqrt(( - self.ideal_current_pos.pose.position.x - data.pose.position.x)**2 - + (self.ideal_current_pos.pose.position.y - data.pose.position.y)**2) - # calculate the error between carla_current_pos and current_pos - error.data[1] = math.sqrt(( - self.carla_current_pos.pose.position.x - data.pose.position.x)**2 - + (self.carla_current_pos.pose.position.y - data.pose.position.y)**2) - - self.location_error_publisher.publish(error) - - def get_geoRef(self, opendrive: String): - """_summary_ - Reads the reference values for lat and lon from the carla OpenDriveMap - Args: - opendrive (String): OpenDrive Map from carla - """ - root = eTree.fromstring(opendrive.data) - header = root.find("header") - geoRefText = header.find("geoReference").text - - latString = "+lat_0=" - lonString = "+lon_0=" - - indexLat = geoRefText.find(latString) - indexLon = geoRefText.find(lonString) - - indexLatEnd = geoRefText.find(" ", indexLat) - indexLonEnd = geoRefText.find(" ", indexLon) - - latValue = float(geoRefText[indexLat + len(latString):indexLatEnd]) - lonValue = float(geoRefText[indexLon + len(lonString):indexLonEnd]) - - CoordinateTransformer.la_ref = latValue - CoordinateTransformer.ln_ref = lonValue - CoordinateTransformer.ref_set = True - self.transformer = CoordinateTransformer() - - def update_gps_data(self, data: NavSatFix): - """ - This method is called when new GNSS data is received. - The function calculates the average position and then publishes it. - Measurements are also transformed to global xyz-coordinates - :param data: GNSS measurement - :return: - """ - lat = data.latitude - lon = data.longitude - alt = data.altitude - - if self.transformer is None: - self.transformer = CoordinateTransformer() - x, y, z = self.transformer.gnss_to_xyz(lat, lon, alt) - # find reason for discrepancy - # x *= 0.998 - # y *= 1.003 - - # self.avg_xyz = np.roll(self.avg_xyz, -1, axis=0) - # self.avg_xyz[-1] = np.matrix([x, y, z]) - - # avg_x, avg_y, avg_z = np.mean(self.avg_xyz, axis=0) - - cur_pos = PoseStamped() - - cur_pos.header.stamp = data.header.stamp - cur_pos.header.frame_id = "global" - - cur_pos.pose.position.x = x - cur_pos.pose.position.y = y - cur_pos.pose.position.z = z - - cur_pos.pose.orientation.x = 0 - cur_pos.pose.orientation.y = 0 - cur_pos.pose.orientation.z = 1 - cur_pos.pose.orientation.w = 0 - - self.cur_pos_publisher.publish(cur_pos) - self.ideal_current_pos = cur_pos - - # TODO check if still needed - # also update carla_car_position: - # if self.vehicle is None: - # for actor in self.world.get_actors(): - # if actor.attributes.get('role_name') == self.role_name: - # self.vehicle = actor - # break - - # carla_pos = PoseStamped() - # carla_pos.header.stamp = data.header.stamp - # carla_pos.header.frame_id = "global" - - # pos = self.vehicle.get_location() - # carla_pos.pose.position.x = pos.x - # carla_pos.pose.position.y = -pos.y - # carla_pos.pose.position.z = pos.z - - # carla_pos.pose.orientation.x = 0 - # carla_pos.pose.orientation.y = 0 - # carla_pos.pose.orientation.z = 1 - # carla_pos.pose.orientation.w = 0 - - # self.carla_pos_publisher.publish(carla_pos) - # self.carla_current_pos = carla_pos - - # get x and y coordinates of ideal_GPS and carla_pos - # publish errors between ideal_x and carla_pos.x - # and ideal_y and carla_pos.y - # ideal_x = Float32MultiArray() - # ideal_y = Float32MultiArray() - # x_error = ( - # self.ideal_current_pos.pose.position.x - # - self.carla_current_pos.pose.position.x - # ) - # y_error = ( - # self.ideal_current_pos.pose.position.y - # - self.carla_current_pos.pose.position.y - # ) - # ideal_x.data = [self.ideal_current_pos.pose.position.x, - # self.carla_current_pos.pose.position.x, - # x_error] - # ideal_y.data = [self.ideal_current_pos.pose.position.y, - # self.carla_current_pos.pose.position.y, - # y_error] - - # self.ideal_x_publisher.publish(ideal_x) - # self.ideal_y_publisher.publish(ideal_y) - - def update_imu_data(self, data: Imu): - """ - This method is called when new IMU data is received. - The function calculates the average position and then publishes it. - :param data: IMU measurement - :return: - """ - imu_data = Imu() - - imu_data.header.stamp = data.header.stamp - imu_data.header.frame_id = "hero" - - imu_data.orientation.x = data.orientation.x - imu_data.orientation.y = data.orientation.y - imu_data.orientation.z = data.orientation.z - imu_data.orientation.w = data.orientation.w - imu_data.orientation_covariance = [0, 0, 0, - 0, 0, 0, - 0, 0, 0] - - imu_data.angular_velocity.x = data.angular_velocity.x - imu_data.angular_velocity.y = data.angular_velocity.y - imu_data.angular_velocity.z = data.angular_velocity.z - imu_data.angular_velocity_covariance = [0, 0, 0, - 0, 0, 0, - 0, 0, 0] - - imu_data.linear_acceleration.x = data.linear_acceleration.x - imu_data.linear_acceleration.y = data.linear_acceleration.y - imu_data.linear_acceleration.z = data.linear_acceleration.z - imu_data.linear_acceleration_covariance = [0, 0, 0, - 0, 0, 0, - 0, 0, 0] - - self.ekf_imu_publisher.publish(imu_data) - - # Calculate the heading based on the orientation given by the IMU - data_orientation_q = [data.orientation.x, - data.orientation.y, - data.orientation.z, - data.orientation.w] - - heading = quat_to_heading(data_orientation_q) - - self.__heading = heading - self.__heading_publisher.publish(self.__heading) - - self.loginfo("heading: " + str(heading)) - - self.ideal_heading = Float32(heading) + # endregion CSV data save methods def run(self): """ - Control loop + Main loop of the node: + - updates carla attributes + - publishes position_debug and heading_debug + - saves position and heading errors in csv files (if uncommented) :return: """ + def loop(): + """ + Loop for the data gathering + """ + while True: + # update carla attributes + self.set_carla_attributes() + + # if carla_car still not found -> skip + if self.carla_car is None: + self.logwarn("""Carla Hero car still none! + Can not record data for debug yet.""") + continue + + # update & publish pos debug and heading debug + self.position_debug() + self.heading_debug() + + # save debug data in csv files + self.save_position_errors() + self.save_heading_errors() + + rospy.sleep(self.control_loop_rate) + + threading.Thread(target=loop).start() self.spin() From 6374872a6ac523df7f70cf1fd519f77a428ba88d Mon Sep 17 00:00:00 2001 From: Robert Date: Fri, 29 Mar 2024 17:40:14 +0100 Subject: [PATCH 2/9] fix: added unfiltered heading --- code/perception/src/sensor_filter_debug.py | 24 +++++++++++----------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/sensor_filter_debug.py index 21a17fbc..9a49b2d1 100755 --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/sensor_filter_debug.py @@ -10,9 +10,7 @@ import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode from geometry_msgs.msg import PoseStamped -from sensor_msgs.msg import NavSatFix, Imu -from nav_msgs.msg import Odometry -from std_msgs.msg import Float32, String +from std_msgs.msg import Float32 from coordinate_transformation import CoordinateTransformer from coordinate_transformation import quat_to_heading # from tf.transformations import euler_from_quaternion @@ -55,19 +53,15 @@ def __init__(self): # Tracked Attributes for Debugging self.current_pos = PoseStamped() - self.current_pos_debug_data = Float32MultiArray() self.current_heading = Float32() - self.current_heading_debug_data = Float32() self.carla_current_pos = PoseStamped() self.unfiltered_pos = PoseStamped() - self.unfiltered_pos_debug_data = Float32MultiArray() + self.unfiltered_heading = Float32() # test_filter attributes for any new filter to be tested # default is kalman filter self.test_filter_pos = PoseStamped() - self.test_filter_pos_debug_data = Float32MultiArray() self.test_filter_heading = Float32() - self.test_filter_heading_debug_data = Float32() # csv file attributes/ flags for plots self.csv_x_created = False @@ -79,7 +73,7 @@ def __init__(self): self.loginfo("Sensor Filter Debug node started") - # region Subscriber START + # region Subscriber START # Current_pos subscriber: self.current_pos_subscriber = self.new_subscription( @@ -114,10 +108,16 @@ def __init__(self): f"/paf/{self.role_name}/unfiltered_pos", self.set_unfiltered_pos, qos_profile=1) + # Unfiltered_heading subscriber: + self.unfiltered_heading_subscriber = self.new_subscription( + Float32, + f"/paf/{self.role_name}/unfiltered_heading", + self.set_unfiltered_heading, + qos_profile=1) - # endregion Subscriber END + # endregion Subscriber END - # region Publisher START + # region Publisher START # ideal carla publisher for easier debug with rqt_plot self.carla_heading_publisher = self.new_publisher( @@ -140,7 +140,7 @@ def __init__(self): f"/paf/{self.role_name}/heading_debug", qos_profile=1) - # endregion Publisher END + # endregion Publisher END def set_carla_attributes(self): """ From 43fa8f1fad81ed9197e800cfd221a1c19f59a425 Mon Sep 17 00:00:00 2001 From: Robert Date: Fri, 29 Mar 2024 18:44:55 +0100 Subject: [PATCH 3/9] feat(#229) changed name and finished file --- .../plots/data_26_MAE_Boxed.png | Bin .../plots/data_26_MSE_Boxed.png | Bin .../plots/data_26_RMSPE_Boxed.png | Bin .../viz.py | 0 .../kalman_datasets/heading_error/data_00.csv | 476 ---------- .../kalman_datasets/heading_error/data_01.csv | 487 ----------- .../kalman_datasets/heading_error/data_02.csv | 482 ----------- .../kalman_datasets/heading_error/data_03.csv | 457 ---------- .../kalman_datasets/heading_error/data_04.csv | 256 ------ .../kalman_datasets/heading_error/data_05.csv | 465 ---------- .../kalman_datasets/heading_error/data_06.csv | 453 ---------- .../kalman_datasets/heading_error/data_07.csv | 178 ---- .../kalman_datasets/heading_error/data_08.csv | 797 ----------------- 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-import numpy as np import ros_compatibility as roscomp from ros_compatibility.node import CompatibleNode from geometry_msgs.msg import PoseStamped from std_msgs.msg import Float32 -from coordinate_transformation import CoordinateTransformer -from coordinate_transformation import quat_to_heading # from tf.transformations import euler_from_quaternion from std_msgs.msg import Float32MultiArray -from xml.etree import ElementTree as eTree import rospy import threading -import carla # remove when publishing to leaderboard! +import carla GPS_RUNNING_AVG_ARGS: int = 10 DATA_SAVING_MAX_TIME: int = 45 +FOLDER_PATH: str = "Position_Heading_Datasets" -class SensorFilterDebugNode(CompatibleNode): +class position_heading_filter_debug_node(CompatibleNode): """ Node publishes a filtered gps signal. This is achieved using a rolling average. @@ -35,7 +32,8 @@ def __init__(self): :return: """ - super(SensorFilterDebugNode, self).__init__('sensor_filter_debug_node') + super(position_heading_filter_debug_node, self).__init__( + 'sensor_filter_debug_node') # basic info self.role_name = self.get_param("role_name", "hero") @@ -58,6 +56,9 @@ def __init__(self): self.unfiltered_pos = PoseStamped() self.unfiltered_heading = Float32() + self.position_debug_data = Float32MultiArray() + self.heading_debug_data = Float32MultiArray() + # test_filter attributes for any new filter to be tested # default is kalman filter self.test_filter_pos = PoseStamped() @@ -142,6 +143,182 @@ def __init__(self): # endregion Publisher END + # region Subscriber Callbacks + def set_unfiltered_pos(self, data: PoseStamped): + """ + This method is called when new unfiltered_pos data is received. + """ + self.unfiltered_pos = data + + def set_current_pos(self, data: PoseStamped): + """ + This method is called when new current_pos data is received. + """ + self.current_pos = data + + def set_current_heading(self, data: Float32): + """ + This method is called when new current_heading data is received. + """ + self.current_heading = data + + def set_test_filter_pos(self, data: PoseStamped): + """ + This method is called when new test_filter_pos data is received. + """ + self.test_filter_pos = data + + def set_test_filter_heading(self, data: Float32): + """ + This method is called when new test_filter_heading data is received. + """ + self.test_filter_heading = data + + # endregion Subscriber Callbacks + + # region CSV data save methods + # main saving method for position data + def save_position_data(self): + """ + This method saves the current location errors in a csv file. + in the folders of + paf23/doc/06_perception/00_Experiments/kalman_datasets + It does this for a limited amount of time. + """ + # stop saving data when max is reached + if rospy.get_time() > DATA_SAVING_MAX_TIME: + self.logwarn("STOPPED SAVING LOCATION DATA") + return + + # Specify the path to the folder where you want to save the data + base_path = ('/workspace/code/perception/' + 'src/00_Experiments/' + FOLDER_PATH) + folder_path_x = base_path + 'x_error' + folder_path_y = base_path + 'y_error' + # Ensure the directories exist + os.makedirs(folder_path_x, exist_ok=True) + os.makedirs(folder_path_y, exist_ok=True) + + # Create the csv files ONCE if it does not exist + if self.csv_x_created is False: + self.csv_file_path_x = create_file(folder_path_x) + self.csv_x_created = True + if self.csv_y_created is False: + self.csv_file_path_y = create_file(folder_path_y) + self.csv_y_created = True + + self.write_csv_x() + self.write_csv_y() + + # main saving method for heading data + def save_heading_data(self): + """ + This method saves the current heading errors in a csv file. + in the folders of + paf23/doc/06_perception/00_Experiments/kalman_datasets + It does this for a limited amount of time. + """ + # if rospy.get_time() > 45 stop saving data: + if rospy.get_time() > DATA_SAVING_MAX_TIME: + self.logwarn("STOPPED SAVING HEADING DATA") + return + + # Specify the path to the folder where you want to save the data + base_path = ('/workspace/code/perception/' + 'src/00_Experiments' + FOLDER_PATH) + folder_path_heading = base_path + 'heading_error' + + # Ensure the directories exist + os.makedirs(folder_path_heading, exist_ok=True) + + # Create the csv file ONCE if it does not exist + if self.csv_heading_created is False: + self.csv_file_path_heading = create_file(folder_path_heading) + self.csv_heading_created = True + + # Save the data into the csv file + self.write_csv_heading() + + # helper methods for writing into csv files + def write_csv_heading(self): + with open(self.csv_file_path_heading, 'a', newline='') as file: + writer = csv.writer(file) + # Check if file is empty + if os.stat(self.csv_file_path_heading).st_size == 0: + writer.writerow([ + "Time", + "Unfiltered", + "Ideal(Carla)", + "Current", + "Test Filter", + "Unfiltered Error", + "Current Error" + "Test Filter Error", + ]) + writer.writerow([rospy.get_time(), + self.unfiltered_heading.data, + self.carla_current_heading, + self.current_heading.data, + self.test_filter_heading.data, + self.heading_debug_data.data[0], + self.heading_debug_data.data[1], + self.heading_debug_data.data[2] + ]) + + def write_csv_x(self): + with open(self.csv_file_path_x, 'a', newline='') as file: + writer = csv.writer(file) + # Check if file is empty and add first row + if os.stat(self.csv_file_path_x).st_size == 0: + writer.writerow([ + "Time", + "Unfiltered", + "Ideal (Carla)", + "Current", + "Test Filter", + "Unfiltered Error", + "Current Error", + "Test Filter Error" + ]) + writer.writerow([ + rospy.get_time(), + self.unfiltered_pos.pose.position.x, + self.carla_current_pos.x, + self.current_pos.pose.position.x, + self.test_filter_pos.pose.position.x, + self.position_debug_data.data[8], + self.position_debug_data.data[11], + self.position_debug_data.data[14] + ]) + + def write_csv_y(self): + with open(self.csv_file_path_y, 'a', newline='') as file: + writer = csv.writer(file) + # Check if file is empty and add first row + if os.stat(self.csv_file_path_y).st_size == 0: + writer.writerow([ + "Time", + "Unfiltered", + "Ideal (Carla)", + "Current", + "Test Filter", + "Unfiltered Error", + "Current Error", + "Test Filter Error" + ]) + writer.writerow([ + rospy.get_time(), + self.unfiltered_pos.pose.position.y, + self.carla_current_pos.y, + self.current_pos.pose.position.y, + self.test_filter_pos.pose.position.y, + self.position_debug_data.data[9], + self.position_debug_data.data[12], + self.position_debug_data.data[15] + ]) + + # endregion CSV data save methods + def set_carla_attributes(self): """ This method sets the carla attributes. @@ -163,7 +340,10 @@ def set_carla_attributes(self): def position_debug(self): """ This method is called every loop_rate. + It publishes and saves: + unfiltered_pos.x, + unfiltered_pos.y, carla_current_pos.x, carla_current_pos.y, current_pos.x, @@ -172,25 +352,34 @@ def position_debug(self): test_filter_pos.y It publishes and saves error distances between: + carla_current_pos.x and unfiltered_pos.x, + carla_current_pos.y and unfiltered_pos.y carla_current_pos.x and current_pos.x, carla_current_pos.y and current_pos.y - carla_current_pos and current_pos carla_current_pos.x and test_filter_pos.x, carla_current_pos.y and test_filter_pos.y carla_current_pos and test_filter_pos - # carla_current_pos.x in debug.data[0] - # carla_current_pos.y in debug.data[1] - # current_pos.x in debug.data[2] - # current_pos.y in debug.data[3] - # test_filter_pos.x in debug.data[4] - # test_filter_pos.y in debug.data[5] - # carla_current_pos.x - current_pos.x in debug.data[6] - # carla_current_pos.y - current_pos.y in debug.data[7] - # sqrt[(carla_current_pos - current_pos)^2] in debug.data[8] - # carla_current_pos.x - test_filter_pos.x in debug.data[9] - # carla_current_pos.y - test_filter_pos.y in debug.data[10] - # sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[11] + # unfiltered_pos.x in debug.data[0] + # unfiltered_pos.y in debug.data[1] + # carla_current_pos.x in debug.data[2] + # carla_current_pos.y in debug.data[3] + # current_pos.x in debug.data[4] + # current_pos.y in debug.data[5] + # test_filter_pos.x in debug.data[6] + # test_filter_pos.y in debug.data[7] + + # carla_current_pos.x - unfiltered_pos.x in debug.data[8] + # carla_current_pos.y - unfiltered_pos.y in debug.data[9] + # sqrt[(carla_current_pos - unfiltered_pos)^2] in debug.data[10] + + # carla_current_pos.x - current_pos.x in debug.data[11] + # carla_current_pos.y - current_pos.y in debug.data[12] + # sqrt[(carla_current_pos - current_pos)^2] in debug.data[13] + + # carla_current_pos.x - test_filter_pos.x in debug.data[14] + # carla_current_pos.y - test_filter_pos.y in debug.data[15] + # sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[16] """ if self.carla_car is None: @@ -200,32 +389,44 @@ def position_debug(self): debug = Float32MultiArray() - debug.data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] + debug.data = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] # all x and y coordinates - debug.data[0] = self.carla_current_pos.x - debug.data[1] = self.carla_current_pos.y - debug.data[2] = self.current_pos.pose.position.x - debug.data[3] = self.current_pos.pose.position.y - debug.data[4] = self.test_filter_pos.pose.position.x - debug.data[5] = self.test_filter_pos.pose.position.y + debug.data[0] = self.unfiltered_pos.pose.position.x + debug.data[1] = self.unfiltered_pos.pose.position.y + debug.data[2] = self.carla_current_pos.x + debug.data[3] = self.carla_current_pos.y + debug.data[4] = self.current_pos.pose.position.x + debug.data[5] = self.current_pos.pose.position.y + debug.data[6] = self.test_filter_pos.pose.position.x + debug.data[7] = self.test_filter_pos.pose.position.y + + # error between carla_current_pos and unfiltered_pos + debug.data[8] = (self.carla_current_pos.x + - self.unfiltered_pos.pose.position.x) + debug.data[9] = (self.carla_current_pos.y + - self.unfiltered_pos.pose.position.y) + debug.data[10] = math.sqrt((self.carla_current_pos.x + - self.unfiltered_pos.pose.position.x)**2 + + (self.carla_current_pos.y + - self.unfiltered_pos.pose.position.y)**2) # error between carla_current_pos and current_pos - debug.data[6] = (self.carla_current_pos.x - - self.current_pos.pose.position.x) - debug.data[7] = (self.carla_current_pos.y - - self.current_pos.pose.position.y) - debug.data[8] = math.sqrt((self.carla_current_pos.x - - self.current_pos.pose.position.x)**2 - + (self.carla_current_pos.y - - self.current_pos.pose.position.y)**2) + debug.data[11] = (self.carla_current_pos.x + - self.current_pos.pose.position.x) + debug.data[12] = (self.carla_current_pos.y + - self.current_pos.pose.position.y) + debug.data[13] = math.sqrt((self.carla_current_pos.x + - self.current_pos.pose.position.x)**2 + + (self.carla_current_pos.y + - self.current_pos.pose.position.y)**2) # error between carla_current_pos and test_filter_pos - debug.data[9] = (self.carla_current_pos.x - - self.test_filter_pos.pose.position.x) - debug.data[10] = (self.carla_current_pos.y + debug.data[14] = (self.carla_current_pos.x + - self.test_filter_pos.pose.position.x) + debug.data[15] = (self.carla_current_pos.y - self.test_filter_pos.pose.position.y) - debug.data[11] = math.sqrt((self.carla_current_pos.x + debug.data[16] = math.sqrt((self.carla_current_pos.x - self.test_filter_pos.pose.position.x)**2 + (self.carla_current_pos.y - self.test_filter_pos.pose.position.y)**2) @@ -239,20 +440,24 @@ def heading_debug(self): """ This method is called every loop_rate. It publishes and saves: + unfiltered_heading, carla_current_heading, current_heading, test_filter_heading - It also publishes and saves heading differences between + It also publishes and saves heading differences between: + carla_current_heading and unfiltered_heading, carla_current_heading and current_heading, carla_current_heading and test_filter_heading to make filters comparable. - # carla_current_heading in debug.data[0] - # current_heading in debug.data[1] - # test_filter_heading in debug.data[2] - # carla_current_heading - current_heading in debug.data[3] - # carla_current_heading - test_filter_heading in debug.data[4] + # unfiltered_heading in debug.data[0] + # carla_current_heading in debug.data[1] + # current_heading in debug.data[2] + # test_filter_heading in debug.data[3] + # carla_current_heading - unfiltered_heading in debug.data[4] + # carla_current_heading - current_heading in debug.data[5] + # carla_current_heading - test_filter_heading in debug.data[6] """ if self.carla_car is None: @@ -262,19 +467,24 @@ def heading_debug(self): debug = Float32MultiArray() - debug.data = [0, 0, 0, 0, 0] + debug.data = [0, 0, 0, 0, 0, 0, 0, 0] # all heading values - debug.data[0] = self.carla_current_heading - debug.data[1] = self.current_heading.data - debug.data[2] = self.test_filter_heading.data + debug.data[0] = self.unfiltered_heading.data + debug.data[1] = self.carla_current_heading + debug.data[2] = self.current_heading.data + debug.data[3] = self.test_filter_heading.data + + # error between carla_current_heading and unfiltered_heading + debug.data[4] = (self.carla_current_heading + - self.unfiltered_heading.data) # error between carla_current_heading and current_heading - debug.data[0] = (self.carla_current_heading + debug.data[5] = (self.carla_current_heading - self.current_heading.data) # error between carla_current_heading and test_filter_heading - debug.data[1] = (self.carla_current_heading + debug.data[6] = (self.carla_current_heading - self.test_filter_heading.data) self.heading_debug_data = debug @@ -283,125 +493,7 @@ def heading_debug(self): # for easier debugging with rqt_plot self.carla_heading_publisher.publish(self.carla_current_heading) - # region Subscriber Callbacks - def set_unfiltered_pos(self, data: PoseStamped): - """ - This method is called when new unfiltered_pos data is received. - """ - self.unfiltered_pos = data - - def set_current_pos(self, data: PoseStamped): - """ - This method is called when new current_pos data is received. - """ - self.current_pos = data - - def set_current_heading(self, data: Float32): - """ - This method is called when new current_heading data is received. - """ - self.current_heading = data - - def set_test_filter_pos(self, data: PoseStamped): - """ - This method is called when new test_filter_pos data is received. - """ - self.test_filter_pos = data - - def set_test_filter_heading(self, data: Float32): - """ - This method is called when new test_filter_heading data is received. - """ - self.test_filter_heading = data - - # endregion Subscriber Callbacks - - # region CSV data save methods - def save_position_errors(self): - """ - This method saves the current location errors in a csv file. - in the folders of - paf23/doc/06_perception/00_Experiments/kalman_datasets - It does this for a limited amount of time. - """ - # if rospy.get_time() > 45 stop saving data: - if rospy.get_time() > DATA_SAVING_MAX_TIME: - self.loginfo("STOPPED SAVING LOCATION DATA") - return - - # Specify the path to the folder where you want to save the data - base_path = ('/workspace/code/perception/' - 'src/00_Experiments/kalman_datasets/') - folder_path_x = base_path + 'x_error' - folder_path_y = base_path + 'y_error' - # Ensure the directories exist - os.makedirs(folder_path_x, exist_ok=True) - os.makedirs(folder_path_y, exist_ok=True) - - if self.csv_x_created is False: - self.csv_file_path_x = create_file(folder_path_x) - self.csv_x_created = True - if self.csv_y_created is False: - self.csv_file_path_y = create_file(folder_path_y) - self.csv_y_created = True - - with open(self.csv_file_path_x, 'a', newline='') as file: - writer = csv.writer(file) - writer.writerow([rospy.get_time(), - self.ideal_current_pos.pose.position.x, - self.kalman_pos.pose.position.x, - self.current_pos.pose.position.x, - self.unfiltered_pos.pose.position.x, - self.kalman_pos_debug_data.data[0], - self.current_pos_debug_data.data[0], - self.unfiltered_pos_debug_data.data[0]]) - - with open(self.csv_file_path_y, 'a', newline='') as file: - writer = csv.writer(file) - writer.writerow([rospy.get_time(), - self.ideal_current_pos.pose.position.y, - self.kalman_pos.pose.position.y, - self.current_pos.pose.position.y, - self.unfiltered_pos.pose.position.y, - self.kalman_pos_debug_data.data[1], - self.current_pos_debug_data.data[1], - self.unfiltered_pos_debug_data.data[1]]) - - def save_heading_errors(self): - """ - This method saves the current heading errors in a csv file. - in the folders of - paf23/doc/06_perception/00_Experiments/kalman_datasets - It does this for a limited amount of time. - """ - # if rospy.get_time() > 45 stop saving data: - if rospy.get_time() > DATA_SAVING_MAX_TIME: - self.loginfo("STOPPED SAVING HEADING DATA") - return - - # Specify the path to the folder where you want to save the data - base_path = ('/workspace/code/perception/' - 'src/00_Experiments/kalman_datasets/') - folder_path_heading = base_path + 'heading_error' - - # Ensure the directories exist - os.makedirs(folder_path_heading, exist_ok=True) - - if self.csv_heading_created is False: - self.csv_file_path_heading = create_file(folder_path_heading) - self.csv_heading_created = True - - with open(self.csv_file_path_heading, 'a', newline='') as file: - writer = csv.writer(file) - writer.writerow([rospy.get_time(), - self.ideal_heading.data, - self.kalman_heading.data, - self.current_heading.data, - self.kalman_heading_debug_data.data, - self.current_heading_debug_data.data]) - - # endregion CSV data save methods - + # Main method of the node def run(self): """ Main loop of the node: @@ -429,8 +521,9 @@ def loop(): self.heading_debug() # save debug data in csv files - self.save_position_errors() - self.save_heading_errors() + # (uncomment if not needed -> solely debugging with rqt_plot) + self.save_position_data() + self.save_heading_data() rospy.sleep(self.control_loop_rate) @@ -463,7 +556,7 @@ def main(args=None): roscomp.init("position_heading_publisher_node_2", args=args) try: - node = SensorFilterDebugNode() + node = position_heading_filter_debug_node() node.run() except KeyboardInterrupt: pass From 0255cfb88464217606aa03d013e1abc3c9015e15 Mon Sep 17 00:00:00 2001 From: Robert Date: Fri, 29 Mar 2024 19:31:52 +0100 Subject: [PATCH 4/9] feat(#229) only needs better md and viz md and final test --- code/perception/launch/perception.launch | 2 +- .../Position_Heading_Datasets/viz.py | 505 +++++------------- ... => position_heading_filter_debug_node.py} | 32 +- ... 07_position_heading_filter_debug_node.md} | 10 +- doc/06_perception/Readme.md | 2 +- 5 files changed, 162 insertions(+), 389 deletions(-) rename code/perception/src/{sensor_filter_debug.py => position_heading_filter_debug_node.py} (96%) mode change 100755 => 100644 rename doc/06_perception/{07_sensor_filter_debug.md => 07_position_heading_filter_debug_node.md} (89%) diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index 555b8bda..82426b35 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -4,7 +4,7 @@ - diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py index 70ea1ad8..9ee0111f 100644 --- a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py +++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py @@ -14,9 +14,11 @@ # region PLOTS +# DONE def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): """ - Berechnet den Error Typ für x oder y Daten. + Calculates the best tuned file by type and error type using a specific + check type. Parameters: type (str): The type of data to read. Either 'x' or 'y'. (default 'x') @@ -36,47 +38,44 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): else: file_name = "data_" + str(i) + ".csv" - ideal, kalman, running_avg, unfiltered = ( + ideal, test_filter, current, unfiltered = ( get_x_or_y_from_csv_file(file_name, type)) if error_type == 'MSE': # Calculate the MSE for each method - val_kalman, kalman_list = calculate_mse_x_or_y(ideal, kalman) - val_running_avg, running_avg_list = calculate_mse_x_or_y( + val_test_filter, test_filter_list = calculate_mse_x_or_y( + ideal, + test_filter) + val_current, current_list = calculate_mse_x_or_y( ideal, - running_avg) + current) val_unfiltered, unfiltered_list = calculate_mse_x_or_y( ideal, unfiltered) elif error_type == 'MAE': # Calculate the MAE for each method - val_kalman, kalman_list = calculate_mae_x_or_y(ideal, kalman) - val_running_avg, running_avg_list = calculate_mae_x_or_y( + val_test_filter, test_filter_list = calculate_mae_x_or_y( + ideal, + test_filter) + val_current, current_list = calculate_mae_x_or_y( ideal, - running_avg) + current) val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal, unfiltered) - elif error_type == 'RMSPE': - # Calculate the RMSPE for each method - val_kalman, kalman_list = calculate_RMSPE_x_or_y(ideal, - kalman) - val_running_avg, running_avg_list = calculate_RMSPE_x_or_y( - ideal, running_avg) - val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y( - ideal, unfiltered) - - vals = [val_kalman, val_running_avg, val_unfiltered] - # error_lists = (kalman_list, running_avg_list, unfiltered_list) + + vals = [val_test_filter, val_current, val_unfiltered] + # error_lists = (test_filter_list, current_list, unfiltered_list) if check_type == 'IQR': - q3, q1 = np.percentile(kalman_list, [80, 0]) + q3, q1 = np.percentile(test_filter_list, [80, 0]) iqr = q3 - q1 if i == FILE_START: best_val = iqr best_file = file_name # best_error_data = error_lists else: - # compare the vals of the kalman filter that is tuned the best + # compare the vals of the test_filter filter that + # is tuned the best if abs(iqr) < abs(best_val): best_val = iqr best_file = file_name @@ -87,7 +86,8 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): best_file = file_name # best_error_data = error_lists else: - # compare the vals of the kalman filter that is tuned the best + # compare the vals of the test_filter filter that + # is tuned the best if abs(vals[0]) < abs(best_val): best_val = vals[0] best_file = file_name @@ -98,10 +98,10 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): print(best_file) print(best_val) - +# DONE def plot_best_tuned_file(): """ - Berechnet den Mean Squared Error (MSE) für Positionsdaten. + Plots the best tuned file Parameters: true_positions (numpy.ndarray): Die tatsächlichen Positionen. @@ -119,18 +119,19 @@ def plot_best_tuned_file(): else: file_name = "data_" + str(i) + ".csv" - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( get_positions_from_csv_file(file_name)) # Calculate the Error for each method by error_type - val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos) - val_running_avg, running_avg_list = calculate_mse(ideal_pos, - running_avg_pos) + val_test_filter, test_filter_list = calculate_mse(ideal_pos, + test_filter_pos) + val_current, current_list = calculate_mse(ideal_pos, + current_pos) val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, unfiltered_pos) - mses = [val_kalman, val_running_avg, val_unfiltered] - # error_lists = (kalman_list, running_avg_list, unfiltered_list) + mses = [val_test_filter, val_current, val_unfiltered] + # error_lists = (test_filter_list, current_list, unfiltered_list) # Show the plot # plt.show() @@ -138,7 +139,7 @@ def plot_best_tuned_file(): best_mse = mses best_file = file_name else: - # compare the mses of the kalman filter that is tuned the best + # compare the mses of the test_filter filter that is tuned the best if mses[0] < best_mse[0]: best_mse = mses best_file = file_name @@ -150,60 +151,54 @@ def plot_best_tuned_file(): print(best_mse) +# DONE def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): """ - Berechnet den Mean Squared Error (MSE) für Positionsdaten. + Calculates and plots the error of x or y data for any given error type. Parameters: file_name (str): The name of the CSV file. type (str): The type of data to read. Either 'x' or 'y'. (default 'x') - error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or - 'RMSPE'. (default 'MSE') + error_type (str): The type of error to calculate. + 'MSE', 'MAE' (default 'MSE') Returns: """ if type == 'x': - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( get_x_or_y_from_csv_file(file_name, 'x')) elif type == 'y': - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( get_x_or_y_from_csv_file(file_name, 'y')) if error_type == 'MSE': # Calculate the MSE for each method - val_kalman, kalman_list = calculate_mse_x_or_y(ideal_pos, kalman_pos) - val_running_avg, running_avg_list = calculate_mse_x_or_y( + val_test_filter, test_filter_list = calculate_mse_x_or_y(ideal_pos, + test_filter_pos) + val_current, current_list = calculate_mse_x_or_y( ideal_pos, - running_avg_pos) + current_pos) val_unfiltered, unfiltered_list = calculate_mse_x_or_y( ideal_pos, unfiltered_pos) elif error_type == 'MAE': # Calculate the MAE for each method - val_kalman, kalman_list = calculate_mae_x_or_y(ideal_pos, kalman_pos) - val_running_avg, running_avg_list = calculate_mae_x_or_y( + val_test_filter, test_filter_list = calculate_mae_x_or_y(ideal_pos, + test_filter_pos) + val_current, current_list = calculate_mae_x_or_y( ideal_pos, - running_avg_pos) + current_pos) val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal_pos, unfiltered_pos) - elif error_type == 'RMSPE': - # Calculate the RMSPE for each method - val_kalman, kalman_list = calculate_RMSPE_x_or_y( - ideal_pos, - kalman_pos) - val_running_avg, running_avg_list = calculate_RMSPE_x_or_y( - ideal_pos, running_avg_pos) - val_unfiltered, unfiltered_list = calculate_RMSPE_x_or_y( - ideal_pos, unfiltered_pos) # Create a new figure fig, ax = plt.subplots() # Create a list of all positions - pos_error_list = [kalman_list, running_avg_list, unfiltered_list] + pos_error_list = [test_filter_list, current_list, unfiltered_list] # Create a box plot with notches boxplot = ax.boxplot(pos_error_list, notch=True, - labels=['Kalman', 'Running Avg', 'Unfiltered'], + labels=['Test Filter', 'Current', 'Unfiltered'], patch_artist=True) # fill with colors and put median vals in the boxes @@ -212,7 +207,7 @@ def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): tuple = zip(boxplot['boxes'], colors, boxplot['medians'], boxplot['whiskers'][::2]) - for i, (box, color, median, whisker) in enumerate(tuple): + for i, (box, color, median) in enumerate(tuple): box.set_facecolor(color) median_val = median.get_ydata()[1] ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', @@ -239,6 +234,7 @@ def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): plt.show() +# DONE def get_positions_from_csv_file(file_name): """ Reads position data from CSV files and returns them as numpy arrays. @@ -248,12 +244,10 @@ def get_positions_from_csv_file(file_name): Returns: tuple: A tuple containing four numpy arrays representing the positions. - - ideal_pos: The ideal positions. - - kalman_pos: The positions estimated using Kalman filtering. - - running_avg_pos: The positions calculated using a running - average. - unfiltered_pos: The unfiltered positions. - + - ideal_pos: The ideal positions. + - test_filter_pos: The positions estimated using test filter. + - current_pos: The positions estimated using current filter. Raises: FileNotFoundError: If the specified CSV file does not exist. """ @@ -264,29 +258,24 @@ def get_positions_from_csv_file(file_name): df_x = pd.read_csv(file_path_x) df_y = pd.read_csv(file_path_y) - # rename the columns - df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', - 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', - 'unfiltered_debug_x'] - df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y', - 'unfiltered_y', 'kalman_debug_y', 'current_debug_y', - 'unfiltered_debug_y'] - # Set the first column (time) as the index of the DataFrames df_x.set_index(df_x.columns[0], inplace=True) df_y.set_index(df_y.columns[0], inplace=True) # create pos tuples of the x and y data and store them as numpy arrays - ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y']))) - kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y']))) - running_avg_pos = np.array(list(zip(df_x['running_avg_x'], - df_y['running_avg_y']))) - unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'], - df_y['unfiltered_y']))) + ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'], + df_y['Ideal (Carla) Y']))) + test_filter_pos = np.array(list(zip(df_x['Test Filter X'], + df_y['Test Filter Y']))) + current_pos = np.array(list(zip(df_x['Current X'], + df_y['Current Y']))) + unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'], + df_y['Unfiltered Y']))) - return ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos + return ideal_pos, test_filter_pos, current_pos, unfiltered_pos +# DONE def get_x_or_y_from_csv_file(file_name, type='x'): """ Reads x or y data from CSV files and returns them as numpy arrays. @@ -298,8 +287,8 @@ def get_x_or_y_from_csv_file(file_name, type='x'): Returns: tuple: A tuple containing four numpy arrays representing the positions. - ideal: The ideal positions. - - kalman: The positions estimated using Kalman filtering. - - running_avg: The positions calculated using a running + - test_filter: The positions estimated using test_filter filtering. + - current: The positions calculated using a running average. - unfiltered: The unfiltered positions. """ @@ -311,101 +300,55 @@ def get_x_or_y_from_csv_file(file_name, type='x'): # Read the CSV file into a DataFrame df = pd.read_csv(file_path, skiprows=8) - # rename the columns - df.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', - 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', - 'unfiltered_debug_x'] - # Set the first column (time) as the index of the DataFrames df.set_index(df.columns[0], inplace=True) - # store x as numpy arrays - ideal = np.array(df['ideal_x']) - kalman = np.array(df['kalman_x']) - running_avg = np.array(df['running_avg_x']) - unfiltered = np.array(df['unfiltered_x']) - - return ideal, kalman, running_avg, unfiltered - - -def plot_RMSPE_notched_box(file_name): - """ - Berechnet den Root Mean Squared Percentage Error (RMSPE) - für Positionsdaten. - - Parameters: - String: file_name - - Returns: - """ - - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( - get_positions_from_csv_file(file_name)) - - # Calculate the RMSPE for each method - rmspe_kalman, kalman_list = calculate_RMSPE(ideal_pos, kalman_pos) - rmspe_running_avg, running_avg_list = calculate_RMSPE(ideal_pos, - running_avg_pos) - rmspe_unfiltered, unfiltered_list = calculate_RMSPE(ideal_pos, - unfiltered_pos) - - # Create a new figure - fig, ax = plt.subplots() - - # Create a list of all positions - pos_rmspe_list = [kalman_list, running_avg_list, unfiltered_list] - # Create a box plot with notches - boxplot = ax.boxplot(pos_rmspe_list, notch=True, - labels=['Kalman', 'Running Avg', 'Unfiltered'], - patch_artist=True) - - # fill with colors and put median vals in the boxes - colors = ['pink', 'lightblue', 'lightgreen'] - for i, (box, color, median) in enumerate(zip(boxplot['boxes'], colors, - boxplot['medians'])): - box.set_facecolor(color) - median_val = median.get_ydata()[1] - ax.text(i+1, median_val, f'Median: {median_val:.2f}', va='center', - ha='center', backgroundcolor='white') + if type == 'x': + # store x as numpy arrays + ideal = np.array(df['Ideal (Carla) X']) + test_filter = np.array(df['Test Filter X']) + current = np.array(df['Current X']) + unfiltered = np.array(df['Unfiltered X']) + elif type == 'y': + # store y as numpy arrays + ideal = np.array(df['Ideal (Carla) Y']) + test_filter = np.array(df['Test Filter Y']) + current = np.array(df['Current Y']) + unfiltered = np.array(df['Unfiltered Y']) - # Set the labels - ax.set_xlabel('Method') - ax.set_ylabel('RMSPE') - ax.set_title('RMSPE for different methods') - ax.yaxis.grid(True) - # Show the plot - plt.show() + return ideal, test_filter, current, unfiltered +# DONE def plot_MSE_notched_box(file_name): """ - Berechnet den Mean Squared Error (MSE) für Positionsdaten. + Calculates the Mean Squared Error (MSE) for position data. Parameters: - true_positions (numpy.ndarray): Die tatsächlichen Positionen. - estimated_positions (numpy.ndarray): Die geschätzten Positionen. + true_positions (numpy.ndarray): actual positions. + estimated_positions (numpy.ndarray): estimated positions. Returns: - float: Der Mean Squared Error (MSE). + float: Mean Squared Error (MSE). """ - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( get_positions_from_csv_file(file_name)) # Calculate the MSE for each method - val_kalman, kalman_list = calculate_mse(ideal_pos, kalman_pos) - val_running_avg, running_avg_list = calculate_mse(ideal_pos, - running_avg_pos) + val_test_filter, test_filter_list = calculate_mse(ideal_pos, test_filter_pos) + val_current, current_list = calculate_mse(ideal_pos, + current_pos) val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, unfiltered_pos) # Create a new figure fig, ax = plt.subplots() # Create a list of all positions - pos_mse_list = [kalman_list, running_avg_list, unfiltered_list] + pos_mse_list = [test_filter_list, current_list, unfiltered_list] # Create a box plot with notches boxplot = ax.boxplot(pos_mse_list, notch=True, - labels=['Kalman', 'Running Avg', 'Unfiltered'], + labels=['Test Filter', 'Current', 'Unfiltered'], patch_artist=True) # fill with colors and put median vals in the boxes @@ -427,35 +370,37 @@ def plot_MSE_notched_box(file_name): plt.show() +# DONE def plot_MAE_notched_box(file_name): """ - Berechnet den Mean Absolute Error (MAE) für Positionsdaten. + Calculates the Mean Absolute Error (MAE) for position data. Parameters: - true_positions (numpy.ndarray): Die tatsächlichen Positionen. - estimated_positions (numpy.ndarray): Die geschätzten Positionen. + true_positions (numpy.ndarray): Actual positions. + estimated_positions (numpy.ndarray): estimated positions. Returns: - float: Der Mean Absolute Error (MAE). + float: Mean Absolute Error (MAE). """ - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos = ( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( get_positions_from_csv_file(file_name)) # Calculate the MAE for each method - mae_kalman, kalman_list = calculate_mae(ideal_pos, kalman_pos) - mae_running_avg, running_avg_list = calculate_mae(ideal_pos, - running_avg_pos) + mae_test_filter, test_filter_list = calculate_mae(ideal_pos, + test_filter_pos) + mae_current, current_list = calculate_mae(ideal_pos, + current_pos) mae_unfiltered, unfiltered_list = calculate_mae(ideal_pos, unfiltered_pos) # Create a new figure fig, ax = plt.subplots() # Create a list of all positions - pos_mae_list = [kalman_list, running_avg_list, unfiltered_list] + pos_mae_list = [test_filter_list, current_list, unfiltered_list] # Create a box plot with notches boxplot = ax.boxplot(pos_mae_list, notch=True, - labels=['Kalman', 'Running Avg', 'Unfiltered'], + labels=['Test Filter', 'Current', 'Unfiltered'], patch_artist=True) # fill with colors and put median vals in the boxes @@ -477,9 +422,10 @@ def plot_MAE_notched_box(file_name): plt.show() +# DONE def plot_CEP(file_name): """ - Berechnet den Circular Error Probable (CEP) für Positionsdaten. + Plots the CEP as error circles of different colors in the x-y plane. Parameters: String: file_name @@ -493,52 +439,47 @@ def plot_CEP(file_name): df_x = pd.read_csv(file_path_x) df_y = pd.read_csv(file_path_y) - # rename the columns - df_x.columns = ['time', 'ideal_x', 'kalman_x', 'running_avg_x', - 'unfiltered_x', 'kalman_debug_x', 'current_debug_x', - 'unfiltered_debug_x'] - df_y.columns = ['time', 'ideal_y', 'kalman_y', 'running_avg_y', - 'unfiltered_y', 'kalman_debug_y', 'current_debug_y', - 'unfiltered_debug_y'] - # Set the first column (time) as the index of the DataFrames df_x.set_index(df_x.columns[0], inplace=True) df_y.set_index(df_y.columns[0], inplace=True) # create pos tuples of the x and y data and store them as numpy arrays - ideal_pos = np.array(list(zip(df_x['ideal_x'], df_y['ideal_y']))) - kalman_pos = np.array(list(zip(df_x['kalman_x'], df_y['kalman_y']))) - running_avg_pos = np.array(list(zip(df_x['running_avg_x'], - df_y['running_avg_y']))) - unfiltered_pos = np.array(list(zip(df_x['unfiltered_x'], - df_y['unfiltered_y']))) + ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'], + df_y['Ideal (Carla) Y']))) + test_filter_pos = np.array(list(zip(df_x['Test Filter X'], + df_y['Test Filter Y']))) + current_pos = np.array(list(zip(df_x['Current X'], + df_y['Current Y']))) + unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'], + df_y['Unfiltered Y']))) # create CEP for each method - cep_kalman, cep_running_avg, cep_unfiltered = calculate_cep( - ideal_pos, kalman_pos, running_avg_pos, unfiltered_pos) + cep_test_filter, cep_current, cep_unfiltered = calculate_cep( + ideal_pos, test_filter_pos, current_pos, unfiltered_pos) # plot the cep as error circles of different colors in the x-y plane # Create a new figure fig, ax = plt.subplots() # Create circles with the given radii - circle_kalman = plt.Circle((0, 0), cep_kalman, fill=False, label='Kalman', + circle_test_filter = plt.Circle((0, 0), cep_test_filter, fill=False, + label='Test Filter', color='r') - circle_running_avg = plt.Circle((0, 0), cep_running_avg, fill=False, - label='Running Avg', color='g') + circle_current = plt.Circle((0, 0), cep_current, fill=False, + label='Current', color='g') circle_unfiltered = plt.Circle((0, 0), cep_unfiltered, fill=False, label='Unfiltered', color='b') # Add the circles to the plot - ax.add_artist(circle_kalman) - ax.add_artist(circle_running_avg) + ax.add_artist(circle_test_filter) + ax.add_artist(circle_current) ax.add_artist(circle_unfiltered) # Set the limits of the plot to show all circles - ax.set_xlim(-max(cep_kalman, cep_running_avg, cep_unfiltered), - max(cep_kalman, cep_running_avg, cep_unfiltered)) - ax.set_ylim(-max(cep_kalman, cep_running_avg, cep_unfiltered), - max(cep_kalman, cep_running_avg, cep_unfiltered)) + ax.set_xlim(-max(cep_test_filter, cep_current, cep_unfiltered), + max(cep_test_filter, cep_current, cep_unfiltered)) + ax.set_ylim(-max(cep_test_filter, cep_current, cep_unfiltered), + max(cep_test_filter, cep_current, cep_unfiltered)) # Add a legend plt.legend() @@ -553,106 +494,7 @@ def plot_CEP(file_name): plt.xlabel('Distance in Meters') -def plot_csv(file_path, type): - # Read the CSV file into a DataFrame - df = pd.read_csv(file_path) - - # Set the first column (time) as the index of the DataFrame - df.set_index(df.columns[0], inplace=True) - - # Select the last three columns along with the index - df_to_plot = df[df.columns[-3:-1]] - - # Rename the columns - if type == 'x': - df_to_plot.columns = ['kalman_x_error', 'current_x_error'] - elif type == 'y': - df_to_plot.columns = ['kalman_y_error', 'current_y_error'] - - # Plot the DataFrame - df_to_plot.plot() - - # Add a grid - plt.grid(True) - - # Set the y-axis label to 'Meters' - plt.ylabel('Distance to Ideal in meters') - - # Set the x-axis label to 'Time' - plt.xlabel('Time in seconds') - - # Separate the positive and negative vals - positive_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0] - negative_kalman_error = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0] - - positive_current_error = df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1] - negative_current_error = df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1] - - # Calculate the average overshoot into the positive - avg_positive_kalman_error = positive_kalman_error.mean() - avg_positive_current_error = positive_current_error.mean() - - # Calculate the average overshoot into the negative - avg_negative_kalman_error = negative_kalman_error.mean() - avg_negative_current_error = negative_current_error.mean() - - # Add a horizontal line at the average val - plt.axhline(y=avg_positive_kalman_error, color='b', linestyle='--') - plt.axhline(y=avg_negative_kalman_error, color='b', linestyle='--') - plt.axhline(y=avg_positive_current_error, color='r', linestyle='--') - plt.axhline(y=avg_negative_current_error, color='r', linestyle='--') - # plt.axhline(y=avg_kalman_error, color='r', linestyle='--') - # plt.axhline(y=avg_current_error, color='b', linestyle='--') - - -def plot_csv_heading(file_path): - # Read the CSV file into a DataFrame - df = pd.read_csv(file_path) - - # Set the first column (time) as the index of the DataFrame - df.set_index(df.columns[0], inplace=True) - - # Select the last two columns along with the index - df_to_plot = df[df.columns[-2:-1]] - - # Rename the columns - df_to_plot.columns = ['kalman_heading'] - - # Plot the DataFrame - df_to_plot.plot() - - # Add a grid - plt.grid(True) - - # Set the y-axis label to 'Radians' - plt.ylabel('Heading in Radians') - - # Set the x-axis label to 'Time' - plt.xlabel('Time in seconds') - - # Separate the positive and negative vals - positive_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] > 0].iloc[:, 0] - negative_kalman_heading = df_to_plot[df_to_plot.iloc[:, 0] < 0].iloc[:, 0] - # positive_current_heading = - # df_to_plot[df_to_plot.iloc[:, 1] > 0].iloc[:, 1] - # negative_current_heading = - # df_to_plot[df_to_plot.iloc[:, 1] < 0].iloc[:, 1] - - # Calculate the average overshoot into the positive - avg_positive_k_heading = positive_kalman_heading.mean() - # avg_positive_c_heading = positive_current_heading.mean() - - # Calculate the average overshoot into the negative - avg_negative_k_heading = negative_kalman_heading.mean() - # avg_negative_c_heading = negative_current_heading.mean() - - # Add a horizontal line at the average val - plt.axhline(y=avg_positive_k_heading, color='b', linestyle='--') - plt.axhline(y=avg_negative_k_heading, color='b', linestyle='--') - # plt.axhline(y=avg_positive_c_heading, color='r', linestyle='--') - # plt.axhline(y=avg_negative_c_heading, color='r', linestyle='--') - - +# DONE def plot_csv_heading2(file_path): # Read the CSV file into a DataFrame df = pd.read_csv(file_path) @@ -663,16 +505,13 @@ def plot_csv_heading2(file_path): # Select the first three columns df_to_plot = df[df.columns[:3]] - # Rename the columns - df_to_plot.columns = ['ideal_heading', 'kalman_heading', 'current_heading'] - - # Plot the 'kalman_heading' and 'current_heading' columns with default + # Plot the 'test_filter_heading' and 'current_heading' columns with default # line style - plt.plot(df_to_plot['kalman_heading'], label='kalman_heading') - plt.plot(df_to_plot['current_heading'], label='current_heading') + plt.plot(df_to_plot['Test Filter'], label='Test Filter Heading') + plt.plot(df_to_plot['Current'], label='Current Heading') # Plot the 'ideal_heading' column with a blue dotted line - plt.plot(df_to_plot['ideal_heading'], 'r:', label='ideal_heading') + plt.plot(df_to_plot['Ideal (Carla)'], 'r:', label='Ideal Heading') # Display the legend plt.legend() # Plot the DataFrame @@ -688,7 +527,7 @@ def plot_csv_heading2(file_path): plt.xlabel('Time in seconds') # endregion PLOTS - +# DONE # region CALCUATIONS def calculate_mae(ideal, estimated): """ @@ -770,15 +609,16 @@ def calculate_mse_x_or_y(ideal, estimated): return mse, error -def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=90): +def calculate_cep(ideal, test_filter, current, unfiltered, percentile=90): """ Calculates the Circular Error Probable (CEP) for position data. Parameters: ideal (numpy.ndarray): The ideal positions. - kalman (numpy.ndarray): The positions estimated using Kalman filtering. - running_avg (numpy.ndarray): The positions calculated using a running - average. + test_filter (numpy.ndarray): The positions estimated using test_filter + filtering. + current (numpy.ndarray): The positions calculated using the current + filter. unfiltered (numpy.ndarray): The unfiltered positions. percentile (int): The percentile to use when calculating the CEP. @@ -786,87 +626,20 @@ def calculate_cep(ideal, kalman, running_avg, unfiltered, percentile=90): tuple: A tuple containing the CEP for each method. """ # Calculate the errors - error_kalman = np.sqrt(np.sum((kalman - ideal)**2, axis=1)) - error_running_avg = np.sqrt(np.sum((running_avg - ideal)**2, axis=1)) + error_test_filter = np.sqrt(np.sum((test_filter - ideal)**2, axis=1)) + error_current = np.sqrt(np.sum((current - ideal)**2, axis=1)) error_unfiltered = np.sqrt(np.sum((unfiltered - ideal)**2, axis=1)) # Calculate the CEP for each method - cep_kalman = np.percentile(error_kalman, percentile) - cep_running_avg = np.percentile(error_running_avg, percentile) + cep_test_filter = np.percentile(error_test_filter, percentile) + cep_current = np.percentile(error_current, percentile) cep_unfiltered = np.percentile(error_unfiltered, percentile) - return cep_kalman, cep_running_avg, cep_unfiltered - - -def calculate_RMSPE_x_or_y(ideal, estimated): - """ - Calculates the Root Mean Squared Percentage Error (RMSPE) - for x or y data. - - Parameters: - ideal (numpy.ndarray): The ideal x or y positions. - estimated (numpy.ndarray): The estimated x or y positions. - - Returns: - Tuple: A tuple containing the RMSPE and the error for each position. - """ - - # Replace zeros in 'ideal' array with a small number to avoid - # division by zero - ideal_no_zero = np.where(ideal == 0, 1e-10, ideal) - # Calculate the errors - error = ((ideal_no_zero - estimated) / ideal_no_zero) ** 2 - - # Calculate the RMSPE - rmspe = np.sqrt(np.mean(error)) + return cep_test_filter, cep_current, cep_unfiltered - return rmspe, error - - -# TODO macht nicht viel Sinn -> entfernen -def calculate_RMSPE(ideal, estimated): - """ - Calculates the Root Mean Squared Percentage Error (RMSPE) - for position data. - - Parameters: - ideal (numpy.ndarray): The ideal positions. - estimated (numpy.ndarray): The estimated positions. - - Returns: - Tuple: A tuple containing the RMSPE and the error for each position. - """ - # Calculate the errors - errors = np.sqrt(np.sum((ideal - estimated)**2, axis=1)) - - # Calculate the RMSPE - rmspe = np.sqrt(np.mean(errors**2)) - - return rmspe, errors # endregion CALCUATIONS -# plot_csv(file_path_x, 'x') -# plot_csv(file_path_y, 'y') - - -# plot_csv_heading(file_path_heading) -# plot_MSE_0() - -# plot_best_tuned_file() -# plot_csv_heading2(file_path_heading) -# Show the plot -# plot_best_tuned_file_by_type('x', 'MSE') -# plot_best_tuned_file_by_type('y', 'MSE') -# plot_best_tuned_file_by_type('x', 'MAE') -# plot_best_tuned_file_by_type('y', 'MAE') -# plot_best_tuned_file_by_type('x', 'RMSPE') -# plot_best_tuned_file_by_type('y', 'RMSPE') - -# plot_x_or_y_notched_box("data_26.csv", type='x', error_type='MSE') -# plot_x_or_y_notched_box("data_25.csv", type='x', error_type='MSE') -# plot_x_or_y_notched_box("data_25.csv", type='y', error_type='MSE') -# plot_x_or_y_notched_box("data_26.csv", type='y', error_type='MSE') # # plot_RMSPE_notched_box("data_26.csv") # plot_CEP("data_25.csv") # plot_CEP("data_26.csv") diff --git a/code/perception/src/sensor_filter_debug.py b/code/perception/src/position_heading_filter_debug_node.py old mode 100755 new mode 100644 similarity index 96% rename from code/perception/src/sensor_filter_debug.py rename to code/perception/src/position_heading_filter_debug_node.py index fb0e1ba5..cd1d073d --- a/code/perception/src/sensor_filter_debug.py +++ b/code/perception/src/position_heading_filter_debug_node.py @@ -33,7 +33,7 @@ def __init__(self): """ super(position_heading_filter_debug_node, self).__init__( - 'sensor_filter_debug_node') + 'position_heading_filter_debug_node') # basic info self.role_name = self.get_param("role_name", "hero") @@ -72,7 +72,7 @@ def __init__(self): self.csv_heading_created = False self.csv_file_path_heading = '' - self.loginfo("Sensor Filter Debug node started") + self.loginfo("Position Heading Filter Debug node started") # region Subscriber START @@ -272,13 +272,13 @@ def write_csv_x(self): if os.stat(self.csv_file_path_x).st_size == 0: writer.writerow([ "Time", - "Unfiltered", - "Ideal (Carla)", - "Current", - "Test Filter", - "Unfiltered Error", - "Current Error", - "Test Filter Error" + "Unfiltered X", + "Ideal (Carla) X", + "Current X", + "Test Filter X", + "Unfiltered X Error", + "Current X Error", + "Test Filter X Error" ]) writer.writerow([ rospy.get_time(), @@ -298,13 +298,13 @@ def write_csv_y(self): if os.stat(self.csv_file_path_y).st_size == 0: writer.writerow([ "Time", - "Unfiltered", - "Ideal (Carla)", - "Current", - "Test Filter", - "Unfiltered Error", - "Current Error", - "Test Filter Error" + "Unfiltered Y", + "Ideal (Carla) Y", + "Current Y", + "Test Filter Y", + "Unfiltered Y Error", + "Current Y Error", + "Test Filter Y Error" ]) writer.writerow([ rospy.get_time(), diff --git a/doc/06_perception/07_sensor_filter_debug.md b/doc/06_perception/07_position_heading_filter_debug_node.md similarity index 89% rename from doc/06_perception/07_sensor_filter_debug.md rename to doc/06_perception/07_position_heading_filter_debug_node.md index d3ab8932..3d78463d 100644 --- a/doc/06_perception/07_sensor_filter_debug.md +++ b/doc/06_perception/07_position_heading_filter_debug_node.md @@ -1,8 +1,8 @@ -# sensor_filter_debug.py +# position_heading_filter_debug_node.py -**Summary:** [sensor_filter_debug.py](../../code/perception/src/sensor_filter_debug.py): +**Summary:** [position_heading_filter_debug_node.py](../../code/perception/src/position_heading_filter_debug_node.py): -The sensor_filter_debug node is responsible for collecting sensor data from the IMU and GNSS and process the data in such a way, that it shows the errors between the real is-state and the measured state. +The position_heading_filter_debug_node node is responsible for collecting sensor data from the IMU and GNSS and process the data in such a way, that it shows the errors between the real is-state and the measured state. The data is the shown in multiple rqt_plots. --- @@ -19,7 +19,7 @@ Robert Fischer --- -- [sensor\_filter\_debug.py](#sensor_filter_debugpy) +- [sensor\_filter\_debug.py](#position_heading_filter_debugpy) - [Author](#author) - [Date](#date) - [Prerequisite](#prerequisite) @@ -33,7 +33,7 @@ Robert Fischer ## Getting started -Uncomment the sensor_filter_debug.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node. +Uncomment the position_heading_filter_debug_node.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node. You can also uncomment the rqt_plots that seem useful to you, or create your own ones from the data published. You have to add the following sensors to the sensors inside the [dev_objects.json](../../code/agent/config/dev_objects.json): diff --git a/doc/06_perception/Readme.md b/doc/06_perception/Readme.md index 8ed03282..3cbf81b6 100644 --- a/doc/06_perception/Readme.md +++ b/doc/06_perception/Readme.md @@ -16,7 +16,7 @@ This folder contains further documentation of the perception components. ## 6. [Vision Node](./06_vision_node.md) -## 7. [sensor_filter_debug.py](./07_sensor_filter_debug.md) +## 7. [Position Heading Filter Debug Node](./07_position_heading_filter_debug_node.md) ## 8. [Kalman Filter](./08_kalman_filter.md) From 09b6b29ecc81c7683edbd2d2f9f297fb994b0331 Mon Sep 17 00:00:00 2001 From: Robert Date: Fri, 29 Mar 2024 19:32:53 +0100 Subject: [PATCH 5/9] fix: linter --- .../src/00_Experiments/Position_Heading_Datasets/viz.py | 1 + 1 file changed, 1 insertion(+) diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py index 9ee0111f..9043e177 100644 --- a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py +++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py @@ -98,6 +98,7 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): print(best_file) print(best_val) + # DONE def plot_best_tuned_file(): """ From 0977c5c23d4f672d5b90a318a2f8526e6c00266c Mon Sep 17 00:00:00 2001 From: Robert Date: Sun, 31 Mar 2024 13:49:39 +0200 Subject: [PATCH 6/9] feat(#229) Cleaned up and made viz better --- .../Position_Heading_Datasets/viz.py | 578 ++++++++++-------- 1 file changed, 327 insertions(+), 251 deletions(-) diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py index 9043e177..93a5d0e6 100644 --- a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py +++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py @@ -2,36 +2,44 @@ import matplotlib.pyplot as plt import numpy as np -FILE_START = 15 -FILE_END = 33 +# FILE START and END are only needed for the range +# of files you want to search for the best tuned file +FILE_START = 0 +FILE_END = 20 -file_name = "data_26.csv" +FILE_NUM = 26 # Change this to plot your wanted file # + + +# current file_name to plot the data of one file! +file_name = "data_" + str(FILE_NUM) + ".csv" + +# folder paths/ file paths folder_path_x = "./x_error/" folder_path_y = "./y_error/" -file_path_x = folder_path_x + file_name -file_path_y = folder_path_y + file_name -file_path_heading = "./heading_error/" + file_name +folder_path_heading = "./heading_error/" # region PLOTS -# DONE + def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): """ Calculates the best tuned file by type and error type using a specific check type. Parameters: - type (str): The type of data to read. Either 'x' or 'y'. (default 'x') + type (str): The type of data to read. Either 'x', 'y' or 'h'. (default 'x') error_type (str): The type of error to calculate. Either 'MSE', 'MAE' or - 'RMSPE'. (default 'MSE') + 'RMSPE'. (default 'MSE') check_type (str): The type of error to calculate. Either 'IQR' or 'default' + IQR: Lower IQR is better + default: lowest MSE/MAE is better + Both are helpful to find the best tuned config. Returns: """ best_file = "" best_val = [] - # best_error_data = () for i in range(FILE_START, FILE_END): if i < 10: file_name = "data_0" + str(i) + ".csv" @@ -39,33 +47,35 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): file_name = "data_" + str(i) + ".csv" ideal, test_filter, current, unfiltered = ( - get_x_or_y_from_csv_file(file_name, type)) + get_x_or_y_or_h_from_csv_file(file_name, type)) + # calculate the error for each method by error_type if error_type == 'MSE': # Calculate the MSE for each method - val_test_filter, test_filter_list = calculate_mse_x_or_y( + val_test_filter, test_filter_list = calculate_mse_x_or_y_or_h( ideal, test_filter) - val_current, current_list = calculate_mse_x_or_y( + val_current, current_list = calculate_mse_x_or_y_or_h( ideal, current) - val_unfiltered, unfiltered_list = calculate_mse_x_or_y( + val_unfiltered, unfiltered_list = calculate_mse_x_or_y_or_h( ideal, unfiltered) elif error_type == 'MAE': # Calculate the MAE for each method - val_test_filter, test_filter_list = calculate_mae_x_or_y( + val_test_filter, test_filter_list = calculate_mae_x_or_y_or_h( ideal, test_filter) - val_current, current_list = calculate_mae_x_or_y( + val_current, current_list = calculate_mae_x_or_y_or_h( ideal, current) - val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal, - unfiltered) + val_unfiltered, unfiltered_list = calculate_mae_x_or_y_or_h( + ideal, + unfiltered) vals = [val_test_filter, val_current, val_unfiltered] - # error_lists = (test_filter_list, current_list, unfiltered_list) + # evaluate the best tuned file by check_type if check_type == 'IQR': q3, q1 = np.percentile(test_filter_list, [80, 0]) iqr = q3 - q1 @@ -79,12 +89,10 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): if abs(iqr) < abs(best_val): best_val = iqr best_file = file_name - # best_error_data = error_lists elif check_type == 'default': if i == FILE_START: best_val = vals[0] best_file = file_name - # best_error_data = error_lists else: # compare the vals of the test_filter filter that # is tuned the best @@ -94,111 +102,65 @@ def plot_best_tuned_file_by_type(type='x', error_type='MSE', check_type='IQR'): # best_error_data = error_lists # plot the best file - plot_x_or_y_notched_box(best_file, type=type, error_type=error_type) + plot_x_or_y_or_h_notched_box(best_file, type=type, error_type=error_type) print(best_file) print(best_val) + return -# DONE -def plot_best_tuned_file(): +def plot_x_or_y_or_h_notched_box(file_name, type='x', error_type='MSE'): """ - Plots the best tuned file - - Parameters: - true_positions (numpy.ndarray): Die tatsächlichen Positionen. - estimated_positions (numpy.ndarray): Die geschätzten Positionen. - - Returns: - tuple: best file as a String and the MSE's of the best file. - """ - best_file = "" - best_mse = [] - # best_error_data = () - for i in range(FILE_START, FILE_END): - if i < 10: - file_name = "data_0" + str(i) + ".csv" - else: - file_name = "data_" + str(i) + ".csv" - - ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( - get_positions_from_csv_file(file_name)) - - # Calculate the Error for each method by error_type - val_test_filter, test_filter_list = calculate_mse(ideal_pos, - test_filter_pos) - val_current, current_list = calculate_mse(ideal_pos, - current_pos) - val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, - unfiltered_pos) - - mses = [val_test_filter, val_current, val_unfiltered] - # error_lists = (test_filter_list, current_list, unfiltered_list) - - # Show the plot - # plt.show() - if i == 2: - best_mse = mses - best_file = file_name - else: - # compare the mses of the test_filter filter that is tuned the best - if mses[0] < best_mse[0]: - best_mse = mses - best_file = file_name - # best_error_data = error_lists - - # plot the best file - plot_MSE_notched_box(best_file) - print(best_file) - print(best_mse) - - -# DONE -def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): - """ - Calculates and plots the error of x or y data for any given error type. + Calculates and plots the error of x, y or heading data for any given + error type. Parameters: file_name (str): The name of the CSV file. - type (str): The type of data to read. Either 'x' or 'y'. (default 'x') + type (str): The type of data to read. Either 'x','y' or 'h'. (default 'x') error_type (str): The type of error to calculate. - 'MSE', 'MAE' (default 'MSE') + 'MSE', 'MAE' (default 'MSE') Returns: """ if type == 'x': - ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( - get_x_or_y_from_csv_file(file_name, 'x')) + ideal, test_filter, current, unfiltered = ( + get_x_or_y_or_h_from_csv_file(file_name, 'x')) elif type == 'y': - ideal_pos, test_filter_pos, current_pos, unfiltered_pos = ( - get_x_or_y_from_csv_file(file_name, 'y')) + ideal, test_filter, current, unfiltered = ( + get_x_or_y_or_h_from_csv_file(file_name, 'y')) + elif type == 'h': + ideal, test_filter, current, unfiltered = ( + get_x_or_y_or_h_from_csv_file(file_name, 'h')) if error_type == 'MSE': # Calculate the MSE for each method - val_test_filter, test_filter_list = calculate_mse_x_or_y(ideal_pos, - test_filter_pos) - val_current, current_list = calculate_mse_x_or_y( - ideal_pos, - current_pos) - val_unfiltered, unfiltered_list = calculate_mse_x_or_y( - ideal_pos, - unfiltered_pos) + val_test_filter, test_filter_list = calculate_mse_x_or_y_or_h( + ideal, + test_filter) + val_current, current_list = calculate_mse_x_or_y_or_h( + ideal, + current) + val_unfiltered, unfiltered_list = calculate_mse_x_or_y_or_h( + ideal, + unfiltered) elif error_type == 'MAE': # Calculate the MAE for each method - val_test_filter, test_filter_list = calculate_mae_x_or_y(ideal_pos, - test_filter_pos) - val_current, current_list = calculate_mae_x_or_y( - ideal_pos, - current_pos) - val_unfiltered, unfiltered_list = calculate_mae_x_or_y(ideal_pos, - unfiltered_pos) + val_test_filter, test_filter_list = calculate_mae_x_or_y_or_h( + ideal, + test_filter) + val_current, current_list = calculate_mae_x_or_y_or_h( + ideal, + current) + val_unfiltered, unfiltered_list = calculate_mae_x_or_y_or_h( + ideal, + unfiltered) # Create a new figure fig, ax = plt.subplots() - # Create a list of all positions - pos_error_list = [test_filter_list, current_list, unfiltered_list] + # Create a list of all errors + error_list = [test_filter_list, current_list, unfiltered_list] # Create a box plot with notches - boxplot = ax.boxplot(pos_error_list, notch=True, + boxplot = ax.boxplot(error_list, notch=True, labels=['Test Filter', 'Current', 'Unfiltered'], patch_artist=True) @@ -215,7 +177,7 @@ def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): ha='center', backgroundcolor='white') # Calculate IQR - q3, q1 = np.percentile(pos_error_list[i], [75, 0]) + q3, q1 = np.percentile(error_list[i], [75, 0]) iqr = q3 - q1 # Get the y position for the IQR text @@ -235,93 +197,6 @@ def plot_x_or_y_notched_box(file_name, type='x', error_type='MSE'): plt.show() -# DONE -def get_positions_from_csv_file(file_name): - """ - Reads position data from CSV files and returns them as numpy arrays. - - Args: - file_name (str): The name of the CSV file. - - Returns: - tuple: A tuple containing four numpy arrays representing the positions. - - unfiltered_pos: The unfiltered positions. - - ideal_pos: The ideal positions. - - test_filter_pos: The positions estimated using test filter. - - current_pos: The positions estimated using current filter. - Raises: - FileNotFoundError: If the specified CSV file does not exist. - """ - file_path_x = folder_path_x + file_name - file_path_y = folder_path_y + file_name - - # Read the CSV file into a DataFrame - df_x = pd.read_csv(file_path_x) - df_y = pd.read_csv(file_path_y) - - # Set the first column (time) as the index of the DataFrames - df_x.set_index(df_x.columns[0], inplace=True) - df_y.set_index(df_y.columns[0], inplace=True) - - # create pos tuples of the x and y data and store them as numpy arrays - ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'], - df_y['Ideal (Carla) Y']))) - test_filter_pos = np.array(list(zip(df_x['Test Filter X'], - df_y['Test Filter Y']))) - current_pos = np.array(list(zip(df_x['Current X'], - df_y['Current Y']))) - unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'], - df_y['Unfiltered Y']))) - - return ideal_pos, test_filter_pos, current_pos, unfiltered_pos - - -# DONE -def get_x_or_y_from_csv_file(file_name, type='x'): - """ - Reads x or y data from CSV files and returns them as numpy arrays. - - Args: - file_name (str): The name of the CSV file. - type (str): The type of data to read. Either 'x' or 'y'. (default 'x') - - Returns: - tuple: A tuple containing four numpy arrays representing the positions. - - ideal: The ideal positions. - - test_filter: The positions estimated using test_filter filtering. - - current: The positions calculated using a running - average. - - unfiltered: The unfiltered positions. """ - - if type == 'x': - file_path = folder_path_x + file_name - elif type == 'y': - file_path = folder_path_y + file_name - - # Read the CSV file into a DataFrame - df = pd.read_csv(file_path, skiprows=8) - - # Set the first column (time) as the index of the DataFrames - df.set_index(df.columns[0], inplace=True) - - if type == 'x': - # store x as numpy arrays - ideal = np.array(df['Ideal (Carla) X']) - test_filter = np.array(df['Test Filter X']) - current = np.array(df['Current X']) - unfiltered = np.array(df['Unfiltered X']) - elif type == 'y': - # store y as numpy arrays - ideal = np.array(df['Ideal (Carla) Y']) - test_filter = np.array(df['Test Filter Y']) - current = np.array(df['Current Y']) - unfiltered = np.array(df['Unfiltered Y']) - - - return ideal, test_filter, current, unfiltered - - -# DONE def plot_MSE_notched_box(file_name): """ Calculates the Mean Squared Error (MSE) for position data. @@ -337,10 +212,12 @@ def plot_MSE_notched_box(file_name): get_positions_from_csv_file(file_name)) # Calculate the MSE for each method - val_test_filter, test_filter_list = calculate_mse(ideal_pos, test_filter_pos) - val_current, current_list = calculate_mse(ideal_pos, - current_pos) - val_unfiltered, unfiltered_list = calculate_mse(ideal_pos, unfiltered_pos) + val_test_filter, test_filter_list = calculate_mse_pos(ideal_pos, + test_filter_pos) + val_current, current_list = calculate_mse_pos(ideal_pos, + current_pos) + val_unfiltered, unfiltered_list = calculate_mse_pos(ideal_pos, + unfiltered_pos) # Create a new figure fig, ax = plt.subplots() @@ -371,7 +248,6 @@ def plot_MSE_notched_box(file_name): plt.show() -# DONE def plot_MAE_notched_box(file_name): """ Calculates the Mean Absolute Error (MAE) for position data. @@ -387,11 +263,12 @@ def plot_MAE_notched_box(file_name): get_positions_from_csv_file(file_name)) # Calculate the MAE for each method - mae_test_filter, test_filter_list = calculate_mae(ideal_pos, - test_filter_pos) - mae_current, current_list = calculate_mae(ideal_pos, - current_pos) - mae_unfiltered, unfiltered_list = calculate_mae(ideal_pos, unfiltered_pos) + mae_test_filter, test_filter_list = calculate_mae_pos(ideal_pos, + test_filter_pos) + mae_current, current_list = calculate_mae_pos(ideal_pos, + current_pos) + mae_unfiltered, unfiltered_list = calculate_mae_pos(ideal_pos, + unfiltered_pos) # Create a new figure fig, ax = plt.subplots() @@ -423,7 +300,6 @@ def plot_MAE_notched_box(file_name): plt.show() -# DONE def plot_CEP(file_name): """ Plots the CEP as error circles of different colors in the x-y plane. @@ -464,10 +340,10 @@ def plot_CEP(file_name): # Create circles with the given radii circle_test_filter = plt.Circle((0, 0), cep_test_filter, fill=False, - label='Test Filter', - color='r') + label='Test Filter', + color='r') circle_current = plt.Circle((0, 0), cep_current, fill=False, - label='Current', color='g') + label='Current', color='g') circle_unfiltered = plt.Circle((0, 0), cep_unfiltered, fill=False, label='Unfiltered', color='b') @@ -495,28 +371,70 @@ def plot_CEP(file_name): plt.xlabel('Distance in Meters') -# DONE -def plot_csv_heading2(file_path): +def plot_csv_x_or_y(file_name, type='x'): + """ + Plots the x or y data from a CSV file. + + Parameters: + file_name (str): The name of the CSV file. + """ + if type == 'x': + file_path = folder_path_x + file_name + elif type == 'y': + file_path = folder_path_y + file_name + # Read the CSV file into a DataFrame df = pd.read_csv(file_path) - # Set the first column (time) as the index of the DataFrame - df.set_index(df.columns[0], inplace=True) + # Plot the 'test_filter' (blue) and 'current' (green) + plt.plot(df['Test Filter'], 'b-', label='Test Filter') + plt.plot(df['Current'], 'g-', label='Current') + + # Plot the 'ideal' column with a red dotted line + plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal') + + # Display the legend + plt.legend() + # Plot the DataFrame + df.plot() + + # Add a grid + plt.grid(True) + + # Set the y- + # axis label to 'Distance in Meters' + plt.ylabel('Distance in Meters') - # Select the first three columns - df_to_plot = df[df.columns[:3]] + # Set the x-axis label to 'Time' + plt.xlabel('Time in seconds') + + plt.title(type + ' Positions in Meters') + + +def plot_csv_heading(file_name): + """ + Plots the heading data from a CSV file. + + Parameters: + file_name (str): The name of the CSV file. - # Plot the 'test_filter_heading' and 'current_heading' columns with default + Returns: + """ + file_path_heading = folder_path_heading + file_name + # Read the CSV file into a DataFrame + df = pd.read_csv(file_path_heading) + + # Plot the 'test_filter_heading' (blue) and 'current_heading' (green) # line style - plt.plot(df_to_plot['Test Filter'], label='Test Filter Heading') - plt.plot(df_to_plot['Current'], label='Current Heading') + plt.plot(df['Test Filter'], 'b-', label='Test Filter Heading') + plt.plot(df['Current'], 'g-', label='Current Heading') # Plot the 'ideal_heading' column with a blue dotted line - plt.plot(df_to_plot['Ideal (Carla)'], 'r:', label='Ideal Heading') + plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal Heading') # Display the legend plt.legend() # Plot the DataFrame - # df_to_plot.plot() + df.plot() # Add a grid plt.grid(True) @@ -526,43 +444,65 @@ def plot_csv_heading2(file_path): # Set the x-axis label to 'Time' plt.xlabel('Time in seconds') -# endregion PLOTS -# DONE -# region CALCUATIONS -def calculate_mae(ideal, estimated): + +def plot_csv_positions(file_name): """ - Calculates the Mean Absolute Error (MAE) for position data. + Plots the x AND y data from a CSV file. Parameters: - ideal (numpy.ndarray): The ideal positions. - estimated (numpy.ndarray): The estimated positions. + file_name (str): The name of the CSV file. Returns: - Tuple: A tuple containing the MAE and the error for each position. """ - # Calculate the errors - error = np.linalg.norm(ideal - estimated, axis=1) + # Read the CSV file into a DataFrame + ideal, test_filter, current, unfiltered = ( + get_positions_from_csv_file(file_name)) - # Calculate the MAE - mae = np.mean(error) + ideal_x, ideal_y = zip(*ideal) + test_filter_x, test_filter_y = zip(test_filter) + current_x, current_y = zip(current) + unfiltered_x, unfiltered_y = zip(unfiltered) - return mae, error + plt.plot(ideal_x, ideal_y, marker=',', + color='red', label='Ideal') + plt.plot(test_filter_x, test_filter_y, marker='.', + color='blue', label='Test Filter') + plt.plot(current_x, current_y, marker='.', + color='green', label='Current') + plt.plot(unfiltered_x, unfiltered_y, marker='.', + color='purple', label='Unfiltered') + + # Display the legend + plt.legend() + + # Add a grid + plt.grid(True) + + # Set the y-axis label to 'Y Position in Meters' + plt.ylabel('Y Position in Meters') + # Set the x-axis label to 'X Position in Meters' + plt.xlabel('X Position in Meters') -def calculate_mae_x_or_y(ideal, estimated): + plt.title('X and Y Positions in Meters') +# endregion PLOTS + + +# region CALCUATIONS +def calculate_mae_pos(ideal, estimated): """ - Calculates the Mean Absolute Error (MAE) for x or y data. + Calculates the Mean Absolute Error (MAE) for position data. Parameters: - ideal (numpy.ndarray): The ideal x or y positions. - estimated (numpy.ndarray): The estimated x or y positions. + ideal (numpy.ndarray): The ideal positions. + estimated (numpy.ndarray): The estimated positions. Returns: Tuple: A tuple containing the MAE and the error for each position. """ # Calculate the errors - error = np.abs(ideal - estimated) + error = np.linalg.norm(ideal - estimated, axis=1) # Calculate the MAE mae = np.mean(error) @@ -570,7 +510,7 @@ def calculate_mae_x_or_y(ideal, estimated): return mae, error -def calculate_mse(ideal, estimated): +def calculate_mse_pos(ideal, estimated): """ Calculates the Mean Squared Error (MSE) for position data. @@ -590,16 +530,38 @@ def calculate_mse(ideal, estimated): return mse, error -def calculate_mse_x_or_y(ideal, estimated): +def calculate_mae_x_or_y_or_h(ideal, estimated): """ - Calculates the Mean Squared Error (MSE) for x or y data. + Calculates the Mean Absolute Error (MAE) for x or y or heading data. Parameters: - ideal (numpy.ndarray): The ideal x or y positions. - estimated (numpy.ndarray): The estimated x or y positions. + ideal (numpy.ndarray): The ideal x or y positions or heading. + estimated (numpy.ndarray): The estimated x or y positions or heading. Returns: - Tuple: A tuple containing the MSE and the error for each position. + Tuple: A tuple containing the MAE and the error for each position + or heading. + """ + # Calculate the errors + error = np.abs(ideal - estimated) + + # Calculate the MAE + mae = np.mean(error) + + return mae, error + + +def calculate_mse_x_or_y_or_h(ideal, estimated): + """ + Calculates the Mean Squared Error (MSE) for x or y or heading data. + + Parameters: + ideal (numpy.ndarray): The ideal x or y positions oe heading. + estimated (numpy.ndarray): The estimated x or y positions or heading. + + Returns: + Tuple: A tuple containing the MSE and the error for each position + or heading. """ # Calculate the errors error = (ideal - estimated)**2 @@ -613,13 +575,15 @@ def calculate_mse_x_or_y(ideal, estimated): def calculate_cep(ideal, test_filter, current, unfiltered, percentile=90): """ Calculates the Circular Error Probable (CEP) for position data. + Comparable to the Error Circle that Google Maps shows for position + uncertainty. Parameters: ideal (numpy.ndarray): The ideal positions. test_filter (numpy.ndarray): The positions estimated using test_filter - filtering. + filtering. current (numpy.ndarray): The positions calculated using the current - filter. + filter. unfiltered (numpy.ndarray): The unfiltered positions. percentile (int): The percentile to use when calculating the CEP. @@ -641,14 +605,126 @@ def calculate_cep(ideal, test_filter, current, unfiltered, percentile=90): # endregion CALCUATIONS -# # plot_RMSPE_notched_box("data_26.csv") -# plot_CEP("data_25.csv") -# plot_CEP("data_26.csv") -data = "data_50.csv" -plot_CEP(data) -plot_x_or_y_notched_box(data, type='x', error_type='MSE') -plot_x_or_y_notched_box(data, type='x', error_type='MAE') -# plot_x_or_y_notched_box(data, type='y', error_type='MSE') -# plot_x_or_y_notched_box(data, type='y', error_type='MAE') +# region helper methods: +def get_positions_from_csv_file(file_name, file_name_y=file_name): + """ + Reads position data from CSV files and returns them as numpy arrays. -plt.show() + Args: + file_name (str): The name of the CSV file + file_name_y (str): The name of the CSV file for the y data. + (default file_name; should be the same) + + Returns: + tuple: A tuple containing four numpy arrays representing the positions. + - unfiltered_pos: The unfiltered positions. + - ideal_pos: The ideal positions. + - test_filter_pos: The positions estimated using test filter. + - current_pos: The positions estimated using current filter. + Raises: + FileNotFoundError: If the specified CSV file does not exist. + """ + file_path_x = folder_path_x + file_name + file_path_y = folder_path_y + file_name + + # Read the CSV file into a DataFrame + df_x = pd.read_csv(file_path_x) + df_y = pd.read_csv(file_path_y) + + # Set the first column (time) as the index of the DataFrames + df_x.set_index(df_x.columns[0], inplace=True) + df_y.set_index(df_y.columns[0], inplace=True) + + # create pos tuples of the x and y data and store them as numpy arrays + ideal_pos = np.array(list(zip(df_x['Ideal (Carla) X'], + df_y['Ideal (Carla) Y']))) + test_filter_pos = np.array(list(zip(df_x['Test Filter X'], + df_y['Test Filter Y']))) + current_pos = np.array(list(zip(df_x['Current X'], + df_y['Current Y']))) + unfiltered_pos = np.array(list(zip(df_x['Unfiltered X'], + df_y['Unfiltered Y']))) + + return ideal_pos, test_filter_pos, current_pos, unfiltered_pos + + +def get_x_or_y_or_h_from_csv_file(file_name, type='x'): + """ + Reads x,y or heading data from CSV files and returns them as numpy arrays. + + Args: + file_name (str): The name of the CSV file. + type (str): The type of data to read. Either 'x','y' or 'h'. + (default 'x') + + Returns: + tuple: A tuple containing four numpy arrays representing the positions. + - ideal: The ideal data. + - test_filter: The data estimated using test_filter filtering. + - current: The data calculated using a running + average. + - unfiltered: The unfiltered data. """ + + if type == 'x': + file_path = folder_path_x + file_name + elif type == 'y': + file_path = folder_path_y + file_name + elif type == 'h': + file_path = folder_path_heading + file_name + + # Read the CSV file into a DataFrame + # (skip the first couple rows because of wrong measurements) + df = pd.read_csv(file_path, skiprows=8) + + # Set the first column (time) as the index of the DataFrames + df.set_index(df.columns[0], inplace=True) + + if type == 'x': + # store x as numpy arrays + ideal = np.array(df['Ideal (Carla) X']) + test_filter = np.array(df['Test Filter X']) + current = np.array(df['Current X']) + unfiltered = np.array(df['Unfiltered X']) + elif type == 'y': + # store y as numpy arrays + ideal = np.array(df['Ideal (Carla) Y']) + test_filter = np.array(df['Test Filter Y']) + current = np.array(df['Current Y']) + unfiltered = np.array(df['Unfiltered Y']) + elif type == 'h': + # store heading as numpy arrays + ideal = np.array(df['Ideal (Carla)']) + test_filter = np.array(df['Test Filter']) + current = np.array(df['Current']) + unfiltered = np.array(df['Unfiltered']) + + return ideal, test_filter, current, unfiltered +# endregion helper methods + + +# main: +if __name__ == "__main__": + # file_name can be changed by changing the FILE_NUM variable + data = file_name + plot_CEP(data) + + plot_x_or_y_or_h_notched_box(data, type='x', error_type='MSE') + plot_x_or_y_or_h_notched_box(data, type='x', error_type='MAE') + + # plot_x_or_y_or_h_notched_box(data, type='y', error_type='MSE') + # plot_x_or_y_or_h_notched_box(data, type='y', error_type='MAE') + + # plot_x_or_y_or_h_notched_box(data, type='h', error_type='MSE') + # plot_x_or_y_or_h_notched_box(data, type='h', error_type='MAE') + + # plot_best_tuned_file_by_type(type='x',error_type='MSE',check_type='IQR') + # plot_best_tuned_file_by_type(type='y',error_type='MSE',check_type='IQR') + # plot_best_tuned_file_by_type(type='h',error_type='MSE',check_type='IQR') + + # plot_csv_x_or_y(data, type='x') + # plot_csv_x_or_y(data, type='y') + # plot_csv_heading(data) + # plot_csv_positions(data) + + # always use plt.show() to show the plots + plt.show() From f83ba8789a8388f72be4053059e53167c1aeb0f0 Mon Sep 17 00:00:00 2001 From: Robert Date: Sun, 31 Mar 2024 15:51:30 +0200 Subject: [PATCH 7/9] feat(#229): final commit --- code/perception/launch/perception.launch | 10 +- .../Position_Heading_Datasets/viz.py | 8 +- .../src/position_heading_filter_debug_node.py | 2 +- .../perception/sensor_debug_change.png | Bin 0 -> 163719 bytes .../perception/sensor_debug_data_saving.png | Bin 0 -> 120790 bytes .../perception/sensor_debug_viz_config.png | Bin 0 -> 168618 bytes .../07_position_heading_filter_debug_node.md | 241 +++++++++++------- 7 files changed, 164 insertions(+), 97 deletions(-) create mode 100644 doc/00_assets/perception/sensor_debug_change.png create mode 100644 doc/00_assets/perception/sensor_debug_data_saving.png create mode 100644 doc/00_assets/perception/sensor_debug_viz_config.png diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch index 82426b35..82c7e56c 100644 --- a/code/perception/launch/perception.launch +++ b/code/perception/launch/perception.launch @@ -3,15 +3,13 @@ - + - - + + diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py index 93a5d0e6..d80d1682 100644 --- a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py +++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py @@ -2,6 +2,12 @@ import matplotlib.pyplot as plt import numpy as np +""" +The documentation on how to use this file can be found in +docs/perception/07_perception_heading_filter_debug_node.md +since it is used to visualize the data of the heading filter debug node. +""" + # FILE START and END are only needed for the range # of files you want to search for the best tuned file FILE_START = 0 @@ -625,7 +631,7 @@ def get_positions_from_csv_file(file_name, file_name_y=file_name): FileNotFoundError: If the specified CSV file does not exist. """ file_path_x = folder_path_x + file_name - file_path_y = folder_path_y + file_name + file_path_y = folder_path_y + file_name_y # Read the CSV file into a DataFrame df_x = pd.read_csv(file_path_x) diff --git a/code/perception/src/position_heading_filter_debug_node.py b/code/perception/src/position_heading_filter_debug_node.py index cd1d073d..5b11171d 100644 --- a/code/perception/src/position_heading_filter_debug_node.py +++ b/code/perception/src/position_heading_filter_debug_node.py @@ -521,7 +521,7 @@ def loop(): self.heading_debug() # save debug data in csv files - # (uncomment if not needed -> solely debugging with rqt_plot) + # (uncomment if not needed -> solely debugging with rqt_plot) self.save_position_data() self.save_heading_data() diff --git a/doc/00_assets/perception/sensor_debug_change.png b/doc/00_assets/perception/sensor_debug_change.png new file mode 100644 index 0000000000000000000000000000000000000000..0f9d76fa64517ca8f30fdc97f60aa7b435cdd8af GIT binary patch literal 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z_e!JqUlmXewG`O#8Q}GZC~UNYH1-Eu6xOLu(m4$+`Y*q#aLBdQ_D-HPrrNJtRKV{h zB%2T_ryz{%XpJq|6OLkvR8FOd$20TOUFRMLmloY$famHf)huT7r>SBS(P+<%WCq)m zjpRct+j5_*JxdjIOtC7oVAf!|)TLFn&9D-hd6}M&#nG|9Lcsb~{V8Ha9oU^aEV6o^un+L8DA4I_}vAZuM_lrL0faGH^~i%?L%Aw$Zx=0U71-2MD+<9S3=(+aX0 zcMNCqQ0Ux-#4FlizI5fARt_S6+2V+6q&7^JzN%B1tI0U6K0FFIw>m7>hi@i|L2CQhI8} zBe5es*6-`vLtyZ+R+*Y;i+9S-Ds7^lYeW2v+4V;`YwWIV6I`LcE~jWOX1)^wE05%L zbHY@i3W{&06;XdC<_fpqbY>ejdYHf4I~8Ndf -- [sensor\_filter\_debug.py](#position_heading_filter_debugpy) +- [position\_heading\_filter\_debug\_node.py](#position_heading_filter_debug_nodepy) - [Author](#author) - [Date](#date) - [Prerequisite](#prerequisite) @@ -27,6 +33,7 @@ Robert Fischer - [Description](#description) - [Inputs](#inputs) - [Outputs](#outputs) + - [Visualization](#visualization) --- @@ -35,113 +42,169 @@ Robert Fischer Uncomment the position_heading_filter_debug_node.py node in the [perception.launch](../../code/perception/launch/perception.launch) to start the node. You can also uncomment the rqt_plots that seem useful to you, or create your own ones from the data published. -You have to add the following sensors to the sensors inside the [dev_objects.json](../../code/agent/config/dev_objects.json): - -```json -{ - "type": "sensor.other.gnss", - "id": "Ideal_GPS", - "spawn_point": { - "x": 0.0, - "y": 0.0, - "z": 1.60 - }, - "noise_alt_stddev": 0.0, - "noise_lat_stddev": 0.0, - "noise_lon_stddev": 0.0, - "noise_alt_bias": 0.0, - "noise_lat_bias": 0.0, - "noise_lon_bias": 0.0 - }, - { - "type": "sensor.other.imu", - "id": "Ideal_IMU", - "spawn_point": { - "x": 0.7, - "y": 0.4, - "z": 1.60, - "roll": 0.0, - "pitch": 0.0, - "yaw": 0.0 - }, - "noise_accel_stddev_x": 0.0, - "noise_accel_stddev_y": 0.0, - "noise_accel_stddev_z": 0.0, - "noise_gyro_stddev_x": 0.0, - "noise_gyro_stddev_y": 0.0, - "noise_gyro_stddev_z": 0.0 - }, - { - "type": "sensor.other.radar", - "id": "Ideal_RADAR", - "spawn_point": { - "x": 0.7, - "y": 0.4, - "z": 1.60, - "roll": 0.0, - "pitch": 0.0, - "yaw": 45.0 - }, - "horizontal_fov": 30.0, - "vertical_fov": 30.0, - "points_per_second": 1500, - "range": 100.0 - } -``` -You also have to launch it in dev mode, otherwise the added ideal sensors won't work. -No extra installation needed. +If you are trying to implement a new position/ heading filter and want to tune it using this node, you will have to do the following things: + +1. Create a new Filter Node class (if not already done) AND publish a paf/hero/filter_name_pos AND/OR filter_name_heading +2. Change the topic of the test_filter_subscribers to your topic (currently kalman) + +![Subscriber Change](/doc/00_assets/perception/sensor_debug_change.png) + +If you want to save the debug in csv files for better debugging you should uncomment +that part in the main loop of the file: + +![Save Files as CSV](/doc/00_assets/perception/sensor_debug_data_saving.png) --- ## Description -Running the node provides you with ideal Sensor topics that can be used to debug your sensor filters by giving you ideal values you should aim for. -Right now only the IMU and the GNSS sensor are available for debug. -Debug for the RADAR and LIDAR hasn't been implemented yet. +Running the node provides you with ideal position and heading topics that can be used to debug your sensor filters by giving you ideal values you should aim for. -An Example of Location Error Output can be seen here: +It also provides you with helpful data saving methods for plotting your data (with regards to ideal values) by using the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file, which is a lot more customizable and nicer to use than rqt plots. +If you want to know more about how to use that, you can go on to [Visualization](#visualization) + +An Example of rqt plot Output can be seen here: ![Distance from current_pos to ideal_gps_pos (blue) and to carla_pos (red)](../00_assets/gnss_ohne_rolling_average.png) +The file is using a main loop with a fixed refresh rate, that can be changed in the perception launch file. +In this loop it does the following things: + +1. Refresh the Ideal Position and Heading (using the Carla API) +2. Update & Publish the Position & Heading Debug Values (see [Outputs](#outputs) for more info) +3. Save the debug data in CSV files in the corresponding folder in code/perception/00_Experiments + + (can be outcommented if only working with rqt graphs is enough for you) + +If activated it automatically saves the csv data in numerically ordered "data_##.csv" format. + +The CSV files columns are formatted in the following style: + + +**X csv file example:** +| Time | Unfiltered | Ideal(Carla) | Current | Test Filter | Unfiltered Error | Current Error | Test Filter Error | +| ---- | ---------- | ------------ | ------- | ----------- | ---------------- | ------------- | ----------------- | +| 0.1 | 10.0 | 10.1 | 10.2 | 10.3 | 0.1 | 0.2 | 0.3 | +| 0.2 | 20.0 | 20.1 | 20.2 | 20.3 | 0.1 | 0.2 | 0.3 | + +**Y csv file example:** +| Time | Unfiltered Y | Ideal (Carla) Y | Current Y | Test Filter Y | Unfiltered Y Error | Current Y Error | Test Filter Y Error | +| ---- | ------------ | --------------- | --------- | ------------- | ------------------ | --------------- | -------------------- | +| 0.1 | 10.0 | 10.1 | 10.2 | 10.3 | 0.1 | 0.2 | 0.3 | +| 0.2 | 20.0 | 20.1 | 20.2 | 20.3 | 0.1 | 0.2 | 0.3 | + +**heading csv file example:** +| Time | Unfiltered | Ideal(Carla) | Current | Test Filter | Unfiltered Error | Current Error | Test Filter Error | +| ---- | ---------- | ------------ | ------- | ----------- | ---------------- | ------------- | ----------------- | +| 0.1 | 10.0 | 10.1 | 10.2 | 10.3 | 0.1 | 0.2 | 0.3 | +| 0.2 | 20.0 | 20.1 | 20.2 | 20.3 | 0.1 | 0.2 | 0.3 | + ### Inputs This node subscribes to the following needed topics: -- OpenDrive Map: - - `/carla/{role_name}/OpenDRIVE` ([String](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) or `/carla/world_info` ([CarlaWorldInfo](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_msgs/#carlaworldinfomsg)) -- Ideal_IMU: - - `/carla/{role_name}/Ideal_IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html)) -- Ideal_GPS: - - `/carla/{role_name}/Ideal_GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) - current agent position: - `/paf/{role_name}/current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) - current agent heading: - `/paf/{role_name}/current_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)) -- [Carla_API](https://carla.readthedocs.io/en/latest/python_api/) +- [Carla_API Position](https://carla.readthedocs.io/en/latest/python_api/) - `get_location` - +- [Carla_API Heading](https://carla.readthedocs.io/en/latest/python_api/) + - `get_transform().rotation.yaw` +- test filter position: + - `/paf/{role_name}/test_filter_name_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) +- test filter heading: + - `/paf/{role_name}/test_filter_name_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)) +- unfiltered position: + - `/paf/{role_name}/unfiltered_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) +- unfiltered heading: + - `/paf/{role_name}/unfiltered_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)) + ### Outputs This node publishes the following topics: -- Ideal_IMU: - - `/carla/{role_name}/Ideal_IMU` ([IMU](https://docs.ros.org/en/api/sensor_msgs/html/msg/Imu.html)) -- Ideal_GPS: - - `/carla/{role_name}/Ideal_GPS` ([NavSatFix](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/String.html)) -- Ideal Odometry: - - `/ideal_odom` ([Odometry](https://docs.ros.org/en/api/nav_msgs/html/msg/Odometry.html)) -- Ideal current agent position (calculated from ideal GPS): - - `/paf/{role_name}/idealcurrent_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) -- Ideal current agent heading (calculated from ideal IMU): - - `/paf/{role_name}/current_heading` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) - Carla Position: - `/paf/{self.role_name}/carla_current_pos` ([PoseStamped](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) -- Location Error: - - `/paf/{self.role_name}/location_error` ([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html)) -- Heading Error: - - `/paf/{self.role_name}/heading_error` ([Float32](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) -- Ideal Coordinate Publisher (used to debug [#105](https://github.com/una-auxme/paf23/issues/105)) - - Ideal X Publisher: - - `/paf/{self.role_name}/ideal_x`([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html)) - - Ideal Y Publisher: - - `/paf/{self.role_name}/ideal_y`([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html)) +- Carla Heading: + - `/paf/{role_name}/carla_current_heading` ([Float32](https://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)) +- Position Debug: + - `/paf/{self.role_name}/position_debug` ([Float32MultiArray](http://docs.ros.org/en/melodic/api/std_msgs/html/msg/Float32MultiArray.html)) + - The Data is ordered in the following way: + +```Python + """ + unfiltered_pos.x in debug.data[0] + unfiltered_pos.y in debug.data[1] + carla_current_pos.x in debug.data[2] + carla_current_pos.y in debug.data[3] + current_pos.x in debug.data[4] + current_pos.y in debug.data[5] + test_filter_pos.x in debug.data[6] + test_filter_pos.y in debug.data[7] + + carla_current_pos.x - unfiltered_pos.x in debug.data[8] + carla_current_pos.y - unfiltered_pos.y in debug.data[9] + sqrt[(carla_current_pos - unfiltered_pos)^2] in debug.data[10] + + carla_current_pos.x - current_pos.x in debug.data[11] + carla_current_pos.y - current_pos.y in debug.data[12] + sqrt[(carla_current_pos - current_pos)^2] in debug.data[13] + + carla_current_pos.x - test_filter_pos.x in debug.data[14] + carla_current_pos.y - test_filter_pos.y in debug.data[15] + sqrt[(carla_current_pos - test_filter_pos)^2] in debug.data[16] + """ +``` + +- Heading Debug: + - `/paf/{self.role_name}/heading_debug` ([Float32](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html)) + - The Data is ordered in the following way: + +```Python + """ + unfiltered_heading in debug.data[0] + carla_current_heading in debug.data[1] + current_heading in debug.data[2] + test_filter_heading in debug.data[3] + carla_current_heading - unfiltered_heading in debug.data[4] + carla_current_heading - current_heading in debug.data[5] + carla_current_heading - test_filter_heading in debug.data[6] + """ +``` + +## Visualization + +The visualisation of the saved csv data is a really useful tool for debugging and tuning filters. + +To be able to save data in csv files you just need to uncomment the saving methods in the main loop as stated in the [Getting Started](#getting-started) chapter. + +To use the [viz.py](../../code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py) file you will have to: + +1. Configure the main method to your likings inside the viz.py: ![picture](/doc/00_assets/perception/sensor_debug_viz_config.png) +2. Open up the b5 shell typing ```b5 shell``` into the terminal +3. Navigate to the code/perception/src/00_Experiments/Position_Heading folder using ```cd``` +4. run the viz.py using ```python viz.py``` + +With this file you can plot: + +- Notched Box Graphs + - For X, Y and Headings + - using MAE, MSE error types +- CEP Graphs + - For Position Errors +- X,Y Point Coordinate Graph +- Time Graphs: + - for X, Y and Heading + +All of which compare the test filter, with the ideal filter and currently running filter. + +You can also find the "best tuned" file using the ```plot_best_tuned_file_by_type``` method within a specified file range that you want to compare each file with. This can be useful if you try to tune your filter +doing multiple runs and of course saving multiple files. + +The deciding factor for a best tuned file is the lowest IQR or the lowest MSE (Degault) which can also be set as an argument. + +To use this method you have to change the ```FILE_START``` and +```FILE_END``` values to the range of data you want to compare. + +Of course you can add more plots and other methods to this visualization file if needed. From 17e9bdcc181fd09c8fa7e96bbefe6ac34c819421 Mon Sep 17 00:00:00 2001 From: Robert Date: Sun, 31 Mar 2024 16:38:02 +0200 Subject: [PATCH 8/9] fix: linter --- doc/06_perception/07_position_heading_filter_debug_node.md | 1 - 1 file changed, 1 deletion(-) diff --git a/doc/06_perception/07_position_heading_filter_debug_node.md b/doc/06_perception/07_position_heading_filter_debug_node.md index cac1a7f5..e57835bf 100644 --- a/doc/06_perception/07_position_heading_filter_debug_node.md +++ b/doc/06_perception/07_position_heading_filter_debug_node.md @@ -80,7 +80,6 @@ If activated it automatically saves the csv data in numerically ordered "data_## The CSV files columns are formatted in the following style: - **X csv file example:** | Time | Unfiltered | Ideal(Carla) | Current | Test Filter | Unfiltered Error | Current Error | Test Filter Error | | ---- | ---------- | ------------ | ------- | ----------- | ---------------- | ------------- | ----------------- | From 21502e32fb0c38d6d0bdc5db155d002be3ec4597 Mon Sep 17 00:00:00 2001 From: Robert Date: Sun, 31 Mar 2024 16:41:00 +0200 Subject: [PATCH 9/9] fix: linter --- .../src/00_Experiments/Position_Heading_Datasets/viz.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py index d80d1682..cbe95be5 100644 --- a/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py +++ b/code/perception/src/00_Experiments/Position_Heading_Datasets/viz.py @@ -397,7 +397,7 @@ def plot_csv_x_or_y(file_name, type='x'): plt.plot(df['Current'], 'g-', label='Current') # Plot the 'ideal' column with a red dotted line - plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal') + plt.plot(df['Ideal (Carla)'], 'r:', label='Ideal') # Display the legend plt.legend()