diff --git a/Doxyfile b/Doxyfile index 85ddfe5..bda8a42 100644 --- a/Doxyfile +++ b/Doxyfile @@ -743,7 +743,7 @@ WARN_LOGFILE = # spaces. # Note: If this tag is empty the current directory is searched. -INPUT = ./doc/python/netconf.py +INPUT = # This tag can be used to specify the character encoding of the source files # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses @@ -810,7 +810,7 @@ FILE_PATTERNS = *.c \ # be searched for input files as well. # The default value is: NO. -RECURSIVE = YES +RECURSIVE = NO # The EXCLUDE tag can be used to specify files and/or directories that should be # excluded from the INPUT source files. This way you can easily exclude a @@ -819,7 +819,7 @@ RECURSIVE = YES # Note that relative paths are relative to the directory from which doxygen is # run. -EXCLUDE = +EXCLUDE = g2o/* # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or # directories that are symbolic links (a Unix file system feature) are excluded diff --git a/doc/html/annotated.html b/doc/html/annotated.html new file mode 100644 index 0000000..989f199 --- /dev/null +++ b/doc/html/annotated.html @@ -0,0 +1,119 @@ + + + + + + + +RAW-ROAM: Class List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Class List
+
+
+
Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 12]
+ + + + + + + + + + + + + + + + + +
 ▼NCoord
 CCartCoord
 CPolarCoord
 ▼NMapping
 CKeyframe
 CMap
 ▼NmotionDistortion
 CMotionDistortionSolver
 ▼NPoseGraphLib
 CBundleAdjustment
 CPoseGraphOptimization
 ▼NRawROAMSystem
 CRawROAMSystem
 ▼NTracker
 CTracker
 ▼NtrajectoryPlotting
 CTrajectory
+
+
+
+ + + + diff --git a/doc/html/annotated_dup.js b/doc/html/annotated_dup.js new file mode 100644 index 0000000..b231a5b --- /dev/null +++ b/doc/html/annotated_dup.js @@ -0,0 +1,27 @@ +var annotated_dup = +[ + [ "Coord", "namespace_coord.html", [ + [ "CartCoord", "class_coord_1_1_cart_coord.html", "class_coord_1_1_cart_coord" ], + [ "PolarCoord", "class_coord_1_1_polar_coord.html", "class_coord_1_1_polar_coord" ] + ] ], + [ "Mapping", "namespace_mapping.html", [ + [ "Keyframe", "class_mapping_1_1_keyframe.html", "class_mapping_1_1_keyframe" ], + [ "Map", "class_mapping_1_1_map.html", "class_mapping_1_1_map" ] + ] ], + [ "motionDistortion", "namespacemotion_distortion.html", [ + [ "MotionDistortionSolver", "classmotion_distortion_1_1_motion_distortion_solver.html", "classmotion_distortion_1_1_motion_distortion_solver" ] + ] ], + [ "PoseGraphLib", "namespace_pose_graph_lib.html", [ + [ "BundleAdjustment", "class_pose_graph_lib_1_1_bundle_adjustment.html", "class_pose_graph_lib_1_1_bundle_adjustment" ], + [ "PoseGraphOptimization", "class_pose_graph_lib_1_1_pose_graph_optimization.html", "class_pose_graph_lib_1_1_pose_graph_optimization" ] + ] ], + [ "RawROAMSystem", "namespace_raw_r_o_a_m_system.html", [ + [ "RawROAMSystem", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system" ] + ] ], + [ "Tracker", "namespace_tracker.html", [ + [ "Tracker", "class_tracker_1_1_tracker.html", "class_tracker_1_1_tracker" ] + ] ], + [ "trajectoryPlotting", "namespacetrajectory_plotting.html", [ + [ "Trajectory", "classtrajectory_plotting_1_1_trajectory.html", "classtrajectory_plotting_1_1_trajectory" ] + ] ] +]; \ No newline at end of file diff --git a/doc/html/class_coord_1_1_cart_coord-members.html b/doc/html/class_coord_1_1_cart_coord-members.html new file mode 100644 index 0000000..2dea5e1 --- /dev/null +++ b/doc/html/class_coord_1_1_cart_coord-members.html @@ -0,0 +1,116 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
CartCoord Member List
+
+
+ +

This is the complete list of members for CartCoord, including all inherited members.

+ + + + + + + + + + + + + + + + +
__init__(self, float x, float y)CartCoord
__str__(self)CartCoord
add(self, float dx, float dy)CartCoord
addCoord(self, other)CartCoord
asTuple(self)CartCoord
getAngle(self, other)CartCoord
getDistance(self, other)CartCoord
getX(self)CartCoord
getY(self)CartCoord
scale(self, float scaleFactor)CartCoord
scaleX(self, float scaleFactor)CartCoord
scaleY(self, float scaleFactor)CartCoord
sub(self, float dx, float dy)CartCoord
xCartCoord
yCartCoord
+
+ + + + diff --git a/doc/html/class_coord_1_1_cart_coord.html b/doc/html/class_coord_1_1_cart_coord.html new file mode 100644 index 0000000..1377758 --- /dev/null +++ b/doc/html/class_coord_1_1_cart_coord.html @@ -0,0 +1,514 @@ + + + + + + + +RAW-ROAM: CartCoord Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
CartCoord Class Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, float x, float y)
 
def __str__ (self)
 
None addCoord (self, other)
 
None add (self, float dx, float dy)
 
None sub (self, float dx, float dy)
 
None scale (self, float scaleFactor)
 
None scaleX (self, float scaleFactor)
 
None scaleY (self, float scaleFactor)
 
float getX (self)
 
float getY (self)
 
float getDistance (self, other)
 
def getAngle (self, other)
 
tuple asTuple (self)
 
+ + + + + +

+Public Attributes

 x
 
 y
 
+

Detailed Description

+
Creates a point on a Cartesian coordinate plane with values x and y.

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def __init__ ( self,
float x,
float y 
)
+
+
Defines x and y variables
+
+
+

Member Function Documentation

+ +

◆ __str__()

+ +
+
+ + + + + + + + +
def __str__ ( self)
+
+ +
+
+ +

◆ add()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
None add ( self,
float dx,
float dy 
)
+
+ +
+
+ +

◆ addCoord()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None addCoord ( self,
 other 
)
+
+ +
+
+ +

◆ asTuple()

+ +
+
+ + + + + + + + +
tuple asTuple ( self)
+
+ +
+
+ +

◆ getAngle()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getAngle ( self,
 other 
)
+
+ +
+
+ +

◆ getDistance()

+ +
+
+ + + + + + + + + + + + + + + + + + +
float getDistance ( self,
 other 
)
+
+ +
+
+ +

◆ getX()

+ +
+
+ + + + + + + + +
float getX ( self)
+
+ +
+
+ +

◆ getY()

+ +
+
+ + + + + + + + +
float getY ( self)
+
+ +
+
+ +

◆ scale()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None scale ( self,
float scaleFactor 
)
+
+ +
+
+ +

◆ scaleX()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None scaleX ( self,
float scaleFactor 
)
+
+ +
+
+ +

◆ scaleY()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None scaleY ( self,
float scaleFactor 
)
+
+ +
+
+ +

◆ sub()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
None sub ( self,
float dx,
float dy 
)
+
+ +
+
+

Member Data Documentation

+ +

◆ x

+ +
+
+ + + + +
x
+
+ +
+
+ +

◆ y

+ +
+
+ + + + +
y
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_coord_1_1_cart_coord.js b/doc/html/class_coord_1_1_cart_coord.js new file mode 100644 index 0000000..acd1bdd --- /dev/null +++ b/doc/html/class_coord_1_1_cart_coord.js @@ -0,0 +1,18 @@ +var class_coord_1_1_cart_coord = +[ + [ "__init__", "class_coord_1_1_cart_coord.html#abccb4447212ff86e5d232682050b743c", null ], + [ "__str__", "class_coord_1_1_cart_coord.html#a23e8041ce1015febe4fdace3225714f9", null ], + [ "add", "class_coord_1_1_cart_coord.html#ac158a01135b092bd40f1f52f7ba606a0", null ], + [ "addCoord", "class_coord_1_1_cart_coord.html#abf0cffdf5d7c9541d7835543474cfb33", null ], + [ "asTuple", "class_coord_1_1_cart_coord.html#a089eb0274b6e3569800bc4df2c1856a5", null ], + [ "getAngle", "class_coord_1_1_cart_coord.html#a5116776fb71b488b73a26117a590e4f1", null ], + [ "getDistance", "class_coord_1_1_cart_coord.html#a52b0dfb6137418e667a29a3d6f38381f", null ], + [ "getX", "class_coord_1_1_cart_coord.html#ad53ca4fe02199dd659e4263dabedcbc2", null ], + [ "getY", "class_coord_1_1_cart_coord.html#aab0c980e953aa02722d5d985aeba649f", null ], + [ "scale", "class_coord_1_1_cart_coord.html#ab59c8af84ef521a147c726904703c8b0", null ], + [ "scaleX", "class_coord_1_1_cart_coord.html#af98adc2273ee467719863568b65d1294", null ], + [ "scaleY", "class_coord_1_1_cart_coord.html#a3eb779a8ba87a0bfcff18d97a54abed4", null ], + [ "sub", "class_coord_1_1_cart_coord.html#acc3259cd47f8262a8a3e65f59ee36acf", null ], + [ "x", "class_coord_1_1_cart_coord.html#a9336ebf25087d91c818ee6e9ec29f8c1", null ], + [ "y", "class_coord_1_1_cart_coord.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0", null ] +]; \ No newline at end of file diff --git a/doc/html/class_coord_1_1_polar_coord-members.html b/doc/html/class_coord_1_1_polar_coord-members.html new file mode 100644 index 0000000..d95f1fd --- /dev/null +++ b/doc/html/class_coord_1_1_polar_coord-members.html @@ -0,0 +1,110 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
PolarCoord Member List
+
+
+ +

This is the complete list of members for PolarCoord, including all inherited members.

+ + + + + + + + + + +
__init__(self, float r, float theta)PolarCoord
__str__(self)PolarCoord
asTuple(self)PolarCoord
getR(self)PolarCoord
getTheta(self)PolarCoord
rPolarCoord
scaleR(self, scaleFactor)PolarCoord
thetaPolarCoord
toCart(self)PolarCoord
+
+ + + + diff --git a/doc/html/class_coord_1_1_polar_coord.html b/doc/html/class_coord_1_1_polar_coord.html new file mode 100644 index 0000000..5b3e77d --- /dev/null +++ b/doc/html/class_coord_1_1_polar_coord.html @@ -0,0 +1,312 @@ + + + + + + + +RAW-ROAM: PolarCoord Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
PolarCoord Class Reference
+
+
+ + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, float r, float theta)
 
def __str__ (self)
 
float getR (self)
 
float getTheta (self)
 
None scaleR (self, scaleFactor)
 
CartCoord toCart (self)
 
tuple asTuple (self)
 
+ + + + + +

+Public Attributes

 r
 
 theta
 
+

Detailed Description

+
Creates a point on a Cartesian coordinate plane with values x and y.

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def __init__ ( self,
float r,
float theta 
)
+
+
Defines x and y variables
+
+
+

Member Function Documentation

+ +

◆ __str__()

+ +
+
+ + + + + + + + +
def __str__ ( self)
+
+ +
+
+ +

◆ asTuple()

+ +
+
+ + + + + + + + +
tuple asTuple ( self)
+
+ +
+
+ +

◆ getR()

+ +
+
+ + + + + + + + +
float getR ( self)
+
+ +
+
+ +

◆ getTheta()

+ +
+
+ + + + + + + + +
float getTheta ( self)
+
+ +
+
+ +

◆ scaleR()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None scaleR ( self,
 scaleFactor 
)
+
+ +
+
+ +

◆ toCart()

+ +
+
+ + + + + + + + +
CartCoord toCart ( self)
+
+ +
+
+

Member Data Documentation

+ +

◆ r

+ +
+
+ + + + +
r
+
+ +
+
+ +

◆ theta

+ +
+
+ + + + +
theta
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_coord_1_1_polar_coord.js b/doc/html/class_coord_1_1_polar_coord.js new file mode 100644 index 0000000..7d82098 --- /dev/null +++ b/doc/html/class_coord_1_1_polar_coord.js @@ -0,0 +1,12 @@ +var class_coord_1_1_polar_coord = +[ + [ "__init__", "class_coord_1_1_polar_coord.html#a0304e8d786206153c1e8280834562d07", null ], + [ "__str__", "class_coord_1_1_polar_coord.html#a23e8041ce1015febe4fdace3225714f9", null ], + [ "asTuple", "class_coord_1_1_polar_coord.html#a089eb0274b6e3569800bc4df2c1856a5", null ], + [ "getR", "class_coord_1_1_polar_coord.html#a825c5e22cef04b24de421e2aa38e783f", null ], + [ "getTheta", "class_coord_1_1_polar_coord.html#ad54274926ee132aa66a6a883d9bc15cf", null ], + [ "scaleR", "class_coord_1_1_polar_coord.html#a6c67b38af655d81a01450f9aa2575153", null ], + [ "toCart", "class_coord_1_1_polar_coord.html#a174b43f651e4e95e432fddb5b4183829", null ], + [ "r", "class_coord_1_1_polar_coord.html#a514f1b439f404f86f77090fa9edc96ce", null ], + [ "theta", "class_coord_1_1_polar_coord.html#aebf487f5d315cb61f0bd86455edff1fd", null ] +]; \ No newline at end of file diff --git a/doc/html/class_mapping_1_1_keyframe-members.html b/doc/html/class_mapping_1_1_keyframe-members.html new file mode 100644 index 0000000..f1830e8 --- /dev/null +++ b/doc/html/class_mapping_1_1_keyframe-members.html @@ -0,0 +1,115 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Keyframe Member List
+
+
+ +

This is the complete list of members for Keyframe, including all inherited members.

+ + + + + + + + + + + + + + + +
__init__(self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity)Keyframe
convertFeaturesLocalToGlobal(self, np.ndarray featurePointsLocal)Keyframe
copyFromOtherKeyframe(self, keyframe)Keyframe
featurePointsLocalKeyframe
featurePointsLocalUndistortedKeyframe
getPrunedFeaturesGlobalPosition(self)Keyframe
pointCloudKeyframe
poseKeyframe
prunedFeaturePointsKeyframe
prunedUndistortedLocalsKeyframe
pruneFeaturePoints(self, np.ndarray corrStatus)Keyframe
radarPolarImgKeyframe
updateInfo(self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity)Keyframe
velocityKeyframe
+
+ + + + diff --git a/doc/html/class_mapping_1_1_keyframe.html b/doc/html/class_mapping_1_1_keyframe.html new file mode 100644 index 0000000..b101ae8 --- /dev/null +++ b/doc/html/class_mapping_1_1_keyframe.html @@ -0,0 +1,470 @@ + + + + + + + +RAW-ROAM: Keyframe Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
Keyframe Class Reference
+
+
+ + + + + + + + + + + + + + +

+Public Member Functions

None __init__ (self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity)
 
None updateInfo (self, np.ndarray globalPose, np.ndarray featurePointsLocal, np.ndarray radarPolarImg, np.ndarray velocity)
 
None copyFromOtherKeyframe (self, keyframe)
 
np.ndarray convertFeaturesLocalToGlobal (self, np.ndarray featurePointsLocal)
 
np.ndarray getPrunedFeaturesGlobalPosition (self)
 
None pruneFeaturePoints (self, np.ndarray corrStatus)
 
+ + + + + + + + + + + + + + + + + +

+Public Attributes

 pose
 
 radarPolarImg
 
 featurePointsLocal
 
 prunedFeaturePoints
 
 pointCloud
 
 velocity
 
 featurePointsLocalUndistorted
 
 prunedUndistortedLocals
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None __init__ ( self,
np.ndarray globalPose,
np.ndarray featurePointsLocal,
np.ndarray radarPolarImg,
np.ndarray velocity 
)
+
+
@brief Keyframe class. Contains pose, feature points and point cloud information
+@param[in] globalPose           (3 x 1) Pose information [x, y, th] in global coordinates, 
+                                                units of [m, m, rad] # TODO: Confirm these units
+@param[in] featurePointsLocal   (K x 2) Tracked feature points from previous keyframe,
+                                        in local coordinates (pixels)
+@param[in] radarPolarImg        (M x N) Radar polar (range-azimuth) image
+
+@see updateInfo() 
+
+
+
+

Member Function Documentation

+ +

◆ convertFeaturesLocalToGlobal()

+ +
+
+ + + + + + + + + + + + + + + + + + +
np.ndarray convertFeaturesLocalToGlobal ( self,
np.ndarray featurePointsLocal 
)
+
+
@brief Local feature points to convert into global coordinates, given internal pose
+@param[in] featurePointsLocal   (K x 2) Tracked feature points from previous keyframe,
+                                in local coordinates (pixels)
+@return featurePointsGlobal     (K x 2) Feature points in global coordinates, meters
+
+
+
+ +

◆ copyFromOtherKeyframe()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None copyFromOtherKeyframe ( self,
 keyframe 
)
+
+ +
+
+ +

◆ getPrunedFeaturesGlobalPosition()

+ +
+
+ + + + + + + + +
np.ndarray getPrunedFeaturesGlobalPosition ( self)
+
+
@brief Get global position of pruned features (stored internally)
+@return Global position of pruned features (K x 2)
+
+
+
+ +

◆ pruneFeaturePoints()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None pruneFeaturePoints ( self,
np.ndarray corrStatus 
)
+
+
@brief Prune feature points based on correspondence status
+@param[in] corrStatus 
+@note In place changing of `self.prunedFeaturePoints` function, which aims to track and prune away the feature points that are part of this keyframe
+
+
+
+ +

◆ updateInfo()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None updateInfo ( self,
np.ndarray globalPose,
np.ndarray featurePointsLocal,
np.ndarray radarPolarImg,
np.ndarray velocity 
)
+
+
@brief Update internal information: pose, feature points and point cloud information
+@param[in] globalPose           (3 x 1) Pose information [x, y, th] in global coordinates, 
+                                                units of [m, m, rad] # TODO: Confirm these units
+@param[in] featurePointsLocal   (K x 2) Tracked feature points from previous keyframe,
+                                        in local coordinates (pixels)
+@param[in] radarPolarImg        (M x N) Radar polar (range-azimuth) image 
+
+
+
+

Member Data Documentation

+ +

◆ featurePointsLocal

+ +
+
+ + + + +
featurePointsLocal
+
+ +
+
+ +

◆ featurePointsLocalUndistorted

+ +
+
+ + + + +
featurePointsLocalUndistorted
+
+ +
+
+ +

◆ pointCloud

+ +
+
+ + + + +
pointCloud
+
+ +
+
+ +

◆ pose

+ +
+
+ + + + +
pose
+
+ +
+
+ +

◆ prunedFeaturePoints

+ +
+
+ + + + +
prunedFeaturePoints
+
+ +
+
+ +

◆ prunedUndistortedLocals

+ +
+
+ + + + +
prunedUndistortedLocals
+
+ +
+
+ +

◆ radarPolarImg

+ +
+
+ + + + +
radarPolarImg
+
+ +
+
+ +

◆ velocity

+ +
+
+ + + + +
velocity
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_mapping_1_1_keyframe.js b/doc/html/class_mapping_1_1_keyframe.js new file mode 100644 index 0000000..d1b0678 --- /dev/null +++ b/doc/html/class_mapping_1_1_keyframe.js @@ -0,0 +1,17 @@ +var class_mapping_1_1_keyframe = +[ + [ "__init__", "class_mapping_1_1_keyframe.html#ab50c2d12f6ba6f7013e2e09dc7104cea", null ], + [ "convertFeaturesLocalToGlobal", "class_mapping_1_1_keyframe.html#a415d52be7be81fd08afe59b1f5d5f9d0", null ], + [ "copyFromOtherKeyframe", "class_mapping_1_1_keyframe.html#a90e0f7f754575a4561f5485033860a1d", null ], + [ "getPrunedFeaturesGlobalPosition", "class_mapping_1_1_keyframe.html#a303cd2587f0d363c0cb55441f9e300bd", null ], + [ "pruneFeaturePoints", "class_mapping_1_1_keyframe.html#a796d47daedb509f711f32670dcc56204", null ], + [ "updateInfo", "class_mapping_1_1_keyframe.html#ae98897aae59622e52c1e12f602c6893f", null ], + [ "featurePointsLocal", "class_mapping_1_1_keyframe.html#ae336e904e1abb473dc7527fd2e48d8bb", null ], + [ "featurePointsLocalUndistorted", "class_mapping_1_1_keyframe.html#a05e8255630d01c3245aee8388687031e", null ], + [ "pointCloud", "class_mapping_1_1_keyframe.html#aa8c7a28ed457095b58a6fc21c3beb218", null ], + [ "pose", "class_mapping_1_1_keyframe.html#a78b2a3e80010e80c618c3033d6d11547", null ], + [ "prunedFeaturePoints", "class_mapping_1_1_keyframe.html#a7555a7153bea157ba766d90f8a357ac7", null ], + [ "prunedUndistortedLocals", "class_mapping_1_1_keyframe.html#a2b11eb8819c3458601190586c033134c", null ], + [ "radarPolarImg", "class_mapping_1_1_keyframe.html#a4b406a56724e048b3fa039dd55390f9b", null ], + [ "velocity", "class_mapping_1_1_keyframe.html#aecfeca1289d00fbe5fc76a8dd5295913", null ] +]; \ No newline at end of file diff --git a/doc/html/class_mapping_1_1_map-members.html b/doc/html/class_mapping_1_1_map-members.html new file mode 100644 index 0000000..e6ff8fd --- /dev/null +++ b/doc/html/class_mapping_1_1_map-members.html @@ -0,0 +1,113 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Map Member List
+
+
+ +

This is the complete list of members for Map, including all inherited members.

+ + + + + + + + + + + + + +
__init__(self, str sequenceName, Trajectory estTraj, list[str] imgPathArr, dict[str] filePaths)Map
addKeyframe(self, Keyframe keyframe)Map
estTrajMap
filePathsMap
imgPathArrMap
isGoodKeyframe(self, Keyframe keyframe)Map
keyframesMap
mapPointsMap
plot(self, plt.figure fig, int subsampleFactor=5, bool show=False)Map
sequenceNameMap
sequenceSizeMap
updateInternalTraj(self, Trajectory traj)Map
+
+ + + + diff --git a/doc/html/class_mapping_1_1_map.html b/doc/html/class_mapping_1_1_map.html new file mode 100644 index 0000000..7f5bf82 --- /dev/null +++ b/doc/html/class_mapping_1_1_map.html @@ -0,0 +1,414 @@ + + + + + + + +RAW-ROAM: Map Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
Map Class Reference
+
+
+ + + + + + + + + + + + +

+Public Member Functions

None __init__ (self, str sequenceName, Trajectory estTraj, list[str] imgPathArr, dict[str] filePaths)
 
def updateInternalTraj (self, Trajectory traj)
 
bool isGoodKeyframe (self, Keyframe keyframe)
 
None addKeyframe (self, Keyframe keyframe)
 
None plot (self, plt.figure fig, int subsampleFactor=5, bool show=False)
 
+ + + + + + + + + + + + + + + +

+Public Attributes

 sequenceName
 
 imgPathArr
 
 sequenceSize
 
 filePaths
 
 estTraj
 
 mapPoints
 
 keyframes
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None __init__ ( self,
str sequenceName,
Trajectory estTraj,
list[str] imgPathArr,
dict[str] filePaths 
)
+
+ +
+
+

Member Function Documentation

+ +

◆ addKeyframe()

+ +
+
+ + + + + + + + + + + + + + + + + + +
None addKeyframe ( self,
Keyframe keyframe 
)
+
+
@brief Add a keyframe to the running pose graph
+@param[in] keyframe Keyframe to add
+
+
+
+ +

◆ isGoodKeyframe()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool isGoodKeyframe ( self,
Keyframe keyframe 
)
+
+
@brief Check if a keyframe is good for adding using information about relative rotation and translation
+@return If keyframe passes checks
+
+
+
+ +

◆ plot()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None plot ( self,
plt.figure fig,
int  subsampleFactor = 5,
bool  show = False 
)
+
+
@brief Plot map points on plt figure
+@param[in] fig plt figure to plot on @todo Currently unused
+@param[in] subsampleFactor Subsampling amount to do for feature points plotting
+                           Controls density of plotted points. Higher = less dense
+@param[in] show Whether to plt.show()
+
+
+
+ +

◆ updateInternalTraj()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def updateInternalTraj ( self,
Trajectory traj 
)
+
+ +
+
+

Member Data Documentation

+ +

◆ estTraj

+ +
+
+ + + + +
estTraj
+
+ +
+
+ +

◆ filePaths

+ +
+
+ + + + +
filePaths
+
+ +
+
+ +

◆ imgPathArr

+ +
+
+ + + + +
imgPathArr
+
+ +
+
+ +

◆ keyframes

+ +
+
+ + + + +
keyframes
+
+ +
+
+ +

◆ mapPoints

+ +
+
+ + + + +
mapPoints
+
+ +
+
+ +

◆ sequenceName

+ +
+
+ + + + +
sequenceName
+
+ +
+
+ +

◆ sequenceSize

+ +
+
+ + + + +
sequenceSize
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_mapping_1_1_map.js b/doc/html/class_mapping_1_1_map.js new file mode 100644 index 0000000..2ae65cb --- /dev/null +++ b/doc/html/class_mapping_1_1_map.js @@ -0,0 +1,15 @@ +var class_mapping_1_1_map = +[ + [ "__init__", "class_mapping_1_1_map.html#a4badc56bb5b8b58a6014c37755298e21", null ], + [ "addKeyframe", "class_mapping_1_1_map.html#aab2cc502236200b5db10f3f1279c5f1f", null ], + [ "isGoodKeyframe", "class_mapping_1_1_map.html#a10ef9dd0d4ce2784093b0738c27081e4", null ], + [ "plot", "class_mapping_1_1_map.html#a2f4804050397d59933e98f778bbbfef6", null ], + [ "updateInternalTraj", "class_mapping_1_1_map.html#a71b2362e9de31ea699a730abaa8f3cd6", null ], + [ "estTraj", "class_mapping_1_1_map.html#a8d5e95f4d6054db64fd36facd315f2e6", null ], + [ "filePaths", "class_mapping_1_1_map.html#ac133126788d5db734ec6f70884178ea8", null ], + [ "imgPathArr", "class_mapping_1_1_map.html#a8d579ebe0582eed800eb106350236c4a", null ], + [ "keyframes", "class_mapping_1_1_map.html#a8ce2f0b893bb0be63c6e98aa3f2a0233", null ], + [ "mapPoints", "class_mapping_1_1_map.html#a2b1c4b0bf8907122b4696c04f05a72ce", null ], + [ "sequenceName", "class_mapping_1_1_map.html#ada038ff63190b4fbc01af8dace29ec1f", null ], + [ "sequenceSize", "class_mapping_1_1_map.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ] +]; \ No newline at end of file diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html new file mode 100644 index 0000000..0502dee --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment-members.html @@ -0,0 +1,108 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
BundleAdjustment Member List
+
+
+ +

This is the complete list of members for BundleAdjustment, including all inherited members.

+ + + + + + + + +
__init__(self)BundleAdjustment
add_edge(self, point_id, pose_id, measurement, information=np.eye(2), robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991)))BundleAdjustment
add_point(self, point_id, point, fixed=False, marginalized=True)BundleAdjustment
add_pose(self, pose_id, pose, cam, fixed=False)BundleAdjustment
get_point(self, point_id)BundleAdjustment
get_pose(self, pose_id)BundleAdjustment
optimize(self, max_iterations=10)BundleAdjustment
+
+ + + + diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html new file mode 100644 index 0000000..d55596f --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.html @@ -0,0 +1,369 @@ + + + + + + + +RAW-ROAM: BundleAdjustment Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +List of all members
+
BundleAdjustment Class Reference
+
+
+ + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self)
 
def optimize (self, max_iterations=10)
 
def add_pose (self, pose_id, pose, cam, fixed=False)
 
def add_point (self, point_id, point, fixed=False, marginalized=True)
 
def add_edge (self, point_id, pose_id, measurement, information=np.eye(2), robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991)))
 
def get_pose (self, pose_id)
 
def get_point (self, point_id)
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + +
def __init__ ( self)
+
+ +
+
+

Member Function Documentation

+ +

◆ add_edge()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def add_edge ( self,
 point_id,
 pose_id,
 measurement,
 information = np.eye(2),
 robust_kernel = g2o.RobustKernelHuber( +                     np.sqrt(5.991)) 
)
+
+ +
+
+ +

◆ add_point()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def add_point ( self,
 point_id,
 point,
 fixed = False,
 marginalized = True 
)
+
+ +
+
+ +

◆ add_pose()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def add_pose ( self,
 pose_id,
 pose,
 cam,
 fixed = False 
)
+
+ +
+
+ +

◆ get_point()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def get_point ( self,
 point_id 
)
+
+ +
+
+ +

◆ get_pose()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def get_pose ( self,
 pose_id 
)
+
+ +
+
+ +

◆ optimize()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def optimize ( self,
 max_iterations = 10 
)
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js new file mode 100644 index 0000000..8a90bf7 --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_bundle_adjustment.js @@ -0,0 +1,10 @@ +var class_pose_graph_lib_1_1_bundle_adjustment = +[ + [ "__init__", "class_pose_graph_lib_1_1_bundle_adjustment.html#ae64f0875afe3067b97ba370b354b9213", null ], + [ "add_edge", "class_pose_graph_lib_1_1_bundle_adjustment.html#afd2f2f2c53ede9e8de84f631d89d0a4d", null ], + [ "add_point", "class_pose_graph_lib_1_1_bundle_adjustment.html#a6fd42378608542f13e1c2492cfb7dd74", null ], + [ "add_pose", "class_pose_graph_lib_1_1_bundle_adjustment.html#a9a15c780e8d512f3252c1a8f9764bfc2", null ], + [ "get_point", "class_pose_graph_lib_1_1_bundle_adjustment.html#adbdf5c885f53f5d357c6ef664aa0b1a7", null ], + [ "get_pose", "class_pose_graph_lib_1_1_bundle_adjustment.html#a9f3d0b5aea3681f1c07d7f88111f537e", null ], + [ "optimize", "class_pose_graph_lib_1_1_bundle_adjustment.html#acb41507945373592650a226a5c330e4e", null ] +]; \ No newline at end of file diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html new file mode 100644 index 0000000..d445079 --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization-members.html @@ -0,0 +1,106 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
PoseGraphOptimization Member List
+
+
+ +

This is the complete list of members for PoseGraphOptimization, including all inherited members.

+ + + + + + +
__init__(self)PoseGraphOptimization
add_edge(self, vertices, measurement, information=np.eye(6), robust_kernel=None)PoseGraphOptimization
add_vertex(self, id, pose, fixed=False)PoseGraphOptimization
get_pose(self, id)PoseGraphOptimization
optimize(self, max_iterations=20)PoseGraphOptimization
+
+ + + + diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html new file mode 100644 index 0000000..dd9d8ae --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.html @@ -0,0 +1,278 @@ + + + + + + + +RAW-ROAM: PoseGraphOptimization Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +List of all members
+
PoseGraphOptimization Class Reference
+
+
+ + + + + + + + + + + + +

+Public Member Functions

def __init__ (self)
 
def optimize (self, max_iterations=20)
 
def add_vertex (self, id, pose, fixed=False)
 
def add_edge (self, vertices, measurement, information=np.eye(6), robust_kernel=None)
 
def get_pose (self, id)
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + +
def __init__ ( self)
+
+ +
+
+

Member Function Documentation

+ +

◆ add_edge()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def add_edge ( self,
 vertices,
 measurement,
 information = np.eye(6),
 robust_kernel = None 
)
+
+ +
+
+ +

◆ add_vertex()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def add_vertex ( self,
 id,
 pose,
 fixed = False 
)
+
+ +
+
+ +

◆ get_pose()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def get_pose ( self,
 id 
)
+
+ +
+
+ +

◆ optimize()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def optimize ( self,
 max_iterations = 20 
)
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js new file mode 100644 index 0000000..e2c4b1a --- /dev/null +++ b/doc/html/class_pose_graph_lib_1_1_pose_graph_optimization.js @@ -0,0 +1,8 @@ +var class_pose_graph_lib_1_1_pose_graph_optimization = +[ + [ "__init__", "class_pose_graph_lib_1_1_pose_graph_optimization.html#ae64f0875afe3067b97ba370b354b9213", null ], + [ "add_edge", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a6a199750c0620c6a47c7b455c27f3625", null ], + [ "add_vertex", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a822c2871ea7b5f9131d36e4b7ebd239b", null ], + [ "get_pose", "class_pose_graph_lib_1_1_pose_graph_optimization.html#a8b1e208660dd8873de527e140998d048", null ], + [ "optimize", "class_pose_graph_lib_1_1_pose_graph_optimization.html#af7e7eb351601c9a4569e9bf1566035a5", null ] +]; \ No newline at end of file diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html new file mode 100644 index 0000000..8930f7d --- /dev/null +++ b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system-members.html @@ -0,0 +1,119 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
RawROAMSystem Member List
+
+
+ +

This is the complete list of members for RawROAMSystem, including all inherited members.

+ + + + + + + + + + + + + + + + + + + +
__init__(self, str sequenceName, bool paramFlags=dict(), bool hasGroundTruth=True)RawROAMSystem
estTrajRawROAMSystem
figRawROAMSystem
filePathsRawROAMSystem
gtTrajRawROAMSystem
hasGroundTruthRawROAMSystem
imgPathArrRawROAMSystem
mapRawROAMSystem
paramFlagsRawROAMSystem
plot(self, np.ndarray prevImg, np.ndarray currImg, np.ndarray good_old, np.ndarray good_new, np.ndarray R, np.ndarray h, np.ndarray seqInd, bool plotMapPoints=True, bool useArrow=False, bool save=True, bool show=False)RawROAMSystem
plotTraj(self, int seqInd, np.ndarray R, np.ndarray h, bool useArrow=False, bool save=False, bool show=False)RawROAMSystem
run(self, int startSeqInd=0, int endSeqInd=-1)RawROAMSystem
sequenceNameRawROAMSystem
sequenceSizeRawROAMSystem
trackerRawROAMSystem
updateTrajectory(self, np.ndarray R, np.ndarray h, np.ndarray seqInd)RawROAMSystem
updateTrajectoryAbsolute(self, np.ndarray pose_vector, int seqInd)RawROAMSystem
updateTrajFromTracker(self)RawROAMSystem
+
+ + + + diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html new file mode 100644 index 0000000..ce3176d --- /dev/null +++ b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html @@ -0,0 +1,667 @@ + + + + + + + +RAW-ROAM: RawROAMSystem Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
RawROAMSystem Class Reference
+
+
+ + + + + + + + + + + + + + + + +

+Public Member Functions

None __init__ (self, str sequenceName, bool paramFlags=dict(), bool hasGroundTruth=True)
 
def updateTrajFromTracker (self)
 
None run (self, int startSeqInd=0, int endSeqInd=-1)
 
None updateTrajectory (self, np.ndarray R, np.ndarray h, np.ndarray seqInd)
 
None updateTrajectoryAbsolute (self, np.ndarray pose_vector, int seqInd)
 
None plot (self, np.ndarray prevImg, np.ndarray currImg, np.ndarray good_old, np.ndarray good_new, np.ndarray R, np.ndarray h, np.ndarray seqInd, bool plotMapPoints=True, bool useArrow=False, bool save=True, bool show=False)
 
None plotTraj (self, int seqInd, np.ndarray R, np.ndarray h, bool useArrow=False, bool save=False, bool show=False)
 
+ + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

 sequenceName
 
 paramFlags
 
 hasGroundTruth
 
 imgPathArr
 
 sequenceSize
 
 filePaths
 
 fig
 
 gtTraj
 
 estTraj
 
 tracker
 
 map
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None __init__ ( self,
str sequenceName,
bool  paramFlags = dict(),
bool  hasGroundTruth = True 
)
+
+
@brief Initializer for ROAM system
+@param[in] sequenceName Name of sequence. Should be in ./data folder
+@param[in] pararmFlags Set of flags indicating turning on and off of certain algorithm features
+                        - rejectOutliers: Whether to use graph-based outlier rejection
+                        - useANMS: Whether to use ANMS
+                        - useFMT: Whether to use FMT to correct things
+                        - correctMotionDistortion: Whether to correct for motion distortion
+@param[in] hasGroundTruth Whether sequence has ground truth to be used for plotting @deprecated
+
+
+
+

Member Function Documentation

+ +

◆ plot()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None plot ( self,
np.ndarray prevImg,
np.ndarray currImg,
np.ndarray good_old,
np.ndarray good_new,
np.ndarray R,
np.ndarray h,
np.ndarray seqInd,
bool  plotMapPoints = True,
bool  useArrow = False,
bool  save = True,
bool  show = False 
)
+
+
@brief Perform global plotting of everything, including trajectory and map points
+
+@param[in] prevImg (M x N) Previous Cartesian radar image to plot
+@param[in] currImg (M x N) Current Cartesian radar image to plot
+
+@param[in] good_old (K x 2) Good correspondence points from previous image in scan frame
+@param[in] good_new (K x 2) Good correspondence points from current image in scan frame
+
+@param[in] R (2 x 2) rotation matrix
+@param[in] h (2 x 1) translation vector
+@param[in] seqInd Sequence index
+
+@param[in] useArrow Whether to plot with arrows/triangles to indicate pose direction. 
+                    Otherwise uses plain lines.
+@param[in] save Whether to save image as png/jpg
+@param[in] show Whether to plt.show image
+
+
+
+ +

◆ plotTraj()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None plotTraj ( self,
int seqInd,
np.ndarray R,
np.ndarray h,
bool  useArrow = False,
bool  save = False,
bool  show = False 
)
+
+
@brief Plot trajectory
+@param[in] seqInd Sequence index
+@param[in] R (2 x 2) rotation matrix
+@param[in] h (2 x 1) translation vector
+@param[in] useArrow Whether to plot with arrows/triangles to indicate pose direction. 
+                    Otherwise uses plain lines.
+@param[in] save Whether to save image as png/jpg
+@param[in] show Whether to plt.show image
+
+
+
+ +

◆ run()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
None run ( self,
int  startSeqInd = 0,
int  endSeqInd = -1 
)
+
+
@brief Do a full run the ROAMing algorithm on sequence,
+       starting from and ending at specified indices, 
+       incrementally calling the @see Tracker.track() function 
+
+@param[in] startImgInd Starting index of sequence. Default 0. 
+@param[in] startImgInd Ending index of sequence. Default -1. 
+                       Negative numbers to indicate end.
+
+
+
+ +

◆ updateTrajectory()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None updateTrajectory ( self,
np.ndarray R,
np.ndarray h,
np.ndarray seqInd 
)
+
+
@brief Update trajectory using R,h matrices
+
+@param[in] R (2 x 2) rotation matrix
+@param[in] h (2 x 1) translation vector
+@param[in] seqInd Sequence index, used for visualization/plotting
+
+@note Updates internal trajectory
+
+
+
+ +

◆ updateTrajectoryAbsolute()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
None updateTrajectoryAbsolute ( self,
np.ndarray pose_vector,
int seqInd 
)
+
+
@brief Update trajectory using pose vector
+
+@param[in] pose_vector (3, ) pose vector
+@param[in] seqInd Sequence index, used for visualization/plotting
+
+@note Updates internal trajectory
+
+
+
+ +

◆ updateTrajFromTracker()

+ +
+
+ + + + + + + + +
def updateTrajFromTracker ( self)
+
+ +
+
+

Member Data Documentation

+ +

◆ estTraj

+ +
+
+ + + + +
estTraj
+
+ +
+
+ +

◆ fig

+ +
+
+ + + + +
fig
+
+ +
+
+ +

◆ filePaths

+ +
+
+ + + + +
filePaths
+
+ +
+
+ +

◆ gtTraj

+ +
+
+ + + + +
gtTraj
+
+ +
+
+ +

◆ hasGroundTruth

+ +
+
+ + + + +
hasGroundTruth
+
+ +
+
+ +

◆ imgPathArr

+ +
+
+ + + + +
imgPathArr
+
+ +
+
+ +

◆ map

+ +
+
+ + + + +
map
+
+ +
+
+ +

◆ paramFlags

+ +
+
+ + + + +
paramFlags
+
+ +
+
+ +

◆ sequenceName

+ +
+
+ + + + +
sequenceName
+
+ +
+
+ +

◆ sequenceSize

+ +
+
+ + + + +
sequenceSize
+
+ +
+
+ +

◆ tracker

+ +
+
+ + + + +
tracker
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js new file mode 100644 index 0000000..c59c963 --- /dev/null +++ b/doc/html/class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.js @@ -0,0 +1,21 @@ +var class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system = +[ + [ "__init__", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aaa625e533c1d594cffd5d8032dd3eb17", null ], + [ "plot", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a50adb4e1f5eaab2b5d1fa4f4b9b45652", null ], + [ "plotTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ab609ee8f1ec2225e40bb4c519b7d8c76", null ], + [ "run", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aeb372a8b83527187620cda92e01fcdbd", null ], + [ "updateTrajectory", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a4bfd1fc8e3e6eb9a09ead0e93bc79cdb", null ], + [ "updateTrajectoryAbsolute", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#aa3a95039e4a0987c355da8d8ac48eb26", null ], + [ "updateTrajFromTracker", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a01a780439bdd4eed44ec3dc476fcc7c8", null ], + [ "estTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8d5e95f4d6054db64fd36facd315f2e6", null ], + [ "fig", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a64aa603bc3c6c1587e7c6542452481ac", null ], + [ "filePaths", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ac133126788d5db734ec6f70884178ea8", null ], + [ "gtTraj", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a08c3a4c31d5817521dbdf24631e562c7", null ], + [ "hasGroundTruth", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a9b935ac3b117f5b7bb52024481ca6bde", null ], + [ "imgPathArr", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8d579ebe0582eed800eb106350236c4a", null ], + [ "map", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a9ec9dda576db2a36c42c1c3af155d07c", null ], + [ "paramFlags", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a4eb076d8bfa712c536ede28c13d7ae7e", null ], + [ "sequenceName", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#ada038ff63190b4fbc01af8dace29ec1f", null ], + [ "sequenceSize", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ], + [ "tracker", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html#abec0b9ee4648af3b77db73e8070f1736", null ] +]; \ No newline at end of file diff --git a/doc/html/class_tracker_1_1_tracker-members.html b/doc/html/class_tracker_1_1_tracker-members.html new file mode 100644 index 0000000..e89aa15 --- /dev/null +++ b/doc/html/class_tracker_1_1_tracker-members.html @@ -0,0 +1,113 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Tracker Member List
+
+
+ +

This is the complete list of members for Tracker, including all inherited members.

+ + + + + + + + + + + + + +
__init__(self, str sequenceName, list[str] imgPathArr, dict[str] filePaths, dict[bool] paramFlags)Tracker
estTrajTracker
filePathsTracker
getTransform(self, np.ndarray srcCoord, np.ndarray targetCoord, bool pixel)Tracker
gtTrajTracker
imgPathArrTracker
initTraj(self, Trajectory estTraj, Trajectory gtTraj=None)Tracker
paramFlagsTracker
plot(self, prevImg, currImg, good_old, good_new, seqInd, save=True, show=False)Tracker
sequenceNameTracker
sequenceSizeTracker
track(self, np.ndarray prevImgCart, np.ndarray currImgCart, np.ndarray prevImgPolar, np.ndarray currImgPolar, np.ndarray featureCoord, int seqInd)Tracker
+
+ + + + diff --git a/doc/html/class_tracker_1_1_tracker.html b/doc/html/class_tracker_1_1_tracker.html new file mode 100644 index 0000000..13554bf --- /dev/null +++ b/doc/html/class_tracker_1_1_tracker.html @@ -0,0 +1,498 @@ + + + + + + + +RAW-ROAM: Tracker Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
Tracker Class Reference
+
+
+ + + + + + + + + + + + +

+Public Member Functions

None __init__ (self, str sequenceName, list[str] imgPathArr, dict[str] filePaths, dict[bool] paramFlags)
 
def initTraj (self, Trajectory estTraj, Trajectory gtTraj=None)
 
Tuple[np.ndarray, np.ndarray, np.ndarray] track (self, np.ndarray prevImgCart, np.ndarray currImgCart, np.ndarray prevImgPolar, np.ndarray currImgPolar, np.ndarray featureCoord, int seqInd)
 
Tuple[np.ndarray, np.ndarray] getTransform (self, np.ndarray srcCoord, np.ndarray targetCoord, bool pixel)
 
def plot (self, prevImg, currImg, good_old, good_new, seqInd, save=True, show=False)
 
+ + + + + + + + + + + + + + + +

+Public Attributes

 sequenceName
 
 imgPathArr
 
 sequenceSize
 
 filePaths
 
 paramFlags
 
 estTraj
 
 gtTraj
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None __init__ ( self,
str sequenceName,
list[str] imgPathArr,
dict[str] filePaths,
dict[bool] paramFlags 
)
+
+ +
+
+

Member Function Documentation

+ +

◆ getTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Tuple[np.ndarray, np.ndarray] getTransform ( self,
np.ndarray srcCoord,
np.ndarray targetCoord,
bool pixel 
)
+
+
@brief Obtain transform from coordinate correspondnces
+
+@param[in] srcCoord Coordinates of src feature points (K' x 2) in [x, y] format
+@param[in] targetCoord Coordinates of target feature points (K' x 2) in [x, y] format
+
+@note target = R @ src + h
+@return R rotation matrix (2 x 2)
+@return h translation matrix (2 x 1), units in meters [m]
+
+
+
+ +

◆ initTraj()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def initTraj ( self,
Trajectory estTraj,
Trajectory  gtTraj = None 
)
+
+ +
+
+ +

◆ plot()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def plot ( self,
 prevImg,
 currImg,
 good_old,
 good_new,
 seqInd,
 save = True,
 show = False 
)
+
+ +
+
+ +

◆ track()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Tuple[np.ndarray, np.ndarray, np.ndarray] track ( self,
np.ndarray prevImgCart,
np.ndarray currImgCart,
np.ndarray prevImgPolar,
np.ndarray currImgPolar,
np.ndarray featureCoord,
int seqInd 
)
+
+
@brief Track based on previous and current image
+
+@param[in] prevImg Previous Cartesian radar image (N x N)
+@param[in] prevImg Current Cartesian radar image (N x N)
+@param[in] prevImg Previous polar radar image (? x ?)
+@param[in] prevImg Current polar radar image (? x ?)
+
+@param[in] blobCoord Coordinates of feature points (K x 2) in [x, y] format
+
+@return good_old Coordinates of old good feature points (K' x 2) in [x, y] format
+@return good_new Coordinates of new good feature points (K' x 2) in [x, y] format
+@return angleRotRad Angle used to rotate image
+@return corrStatus (K x 2) correspondence status @note Needed for mapping to track keyframe points
+
+
+
+

Member Data Documentation

+ +

◆ estTraj

+ +
+
+ + + + +
estTraj
+
+ +
+
+ +

◆ filePaths

+ +
+
+ + + + +
filePaths
+
+ +
+
+ +

◆ gtTraj

+ +
+
+ + + + +
gtTraj
+
+ +
+
+ +

◆ imgPathArr

+ +
+
+ + + + +
imgPathArr
+
+ +
+
+ +

◆ paramFlags

+ +
+
+ + + + +
paramFlags
+
+ +
+
+ +

◆ sequenceName

+ +
+
+ + + + +
sequenceName
+
+ +
+
+ +

◆ sequenceSize

+ +
+
+ + + + +
sequenceSize
+
+ +
+
+
+
+ + + + diff --git a/doc/html/class_tracker_1_1_tracker.js b/doc/html/class_tracker_1_1_tracker.js new file mode 100644 index 0000000..0754554 --- /dev/null +++ b/doc/html/class_tracker_1_1_tracker.js @@ -0,0 +1,15 @@ +var class_tracker_1_1_tracker = +[ + [ "__init__", "class_tracker_1_1_tracker.html#a50cd44879d0981e765b880213eb46692", null ], + [ "getTransform", "class_tracker_1_1_tracker.html#a8072a77a7c03adb53639fb97c7a04b5b", null ], + [ "initTraj", "class_tracker_1_1_tracker.html#a8d30f4090822251a3fea3db1e53ce83c", null ], + [ "plot", "class_tracker_1_1_tracker.html#a8038366cd3daf819bf43b24c7c4b3371", null ], + [ "track", "class_tracker_1_1_tracker.html#a5502aeee99457c25dc9237a16f102fd9", null ], + [ "estTraj", "class_tracker_1_1_tracker.html#a8d5e95f4d6054db64fd36facd315f2e6", null ], + [ "filePaths", "class_tracker_1_1_tracker.html#ac133126788d5db734ec6f70884178ea8", null ], + [ "gtTraj", "class_tracker_1_1_tracker.html#a08c3a4c31d5817521dbdf24631e562c7", null ], + [ "imgPathArr", "class_tracker_1_1_tracker.html#a8d579ebe0582eed800eb106350236c4a", null ], + [ "paramFlags", "class_tracker_1_1_tracker.html#a4eb076d8bfa712c536ede28c13d7ae7e", null ], + [ "sequenceName", "class_tracker_1_1_tracker.html#ada038ff63190b4fbc01af8dace29ec1f", null ], + [ "sequenceSize", "class_tracker_1_1_tracker.html#a8ef2335bbb2c7c07c8e2b35959b03c52", null ] +]; \ No newline at end of file diff --git a/doc/html/classes.html b/doc/html/classes.html new file mode 100644 index 0000000..9600dc3 --- /dev/null +++ b/doc/html/classes.html @@ -0,0 +1,122 @@ + + + + + + + +RAW-ROAM: Class Index + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Class Index
+
+
+
B | C | K | M | P | R | T
+
+
+
B
+
BundleAdjustment (PoseGraphLib)
+
+
C
+
CartCoord (Coord)
+
+
K
+
Keyframe (Mapping)
+
+
M
+
Map (Mapping)
MotionDistortionSolver (motionDistortion)
+
+
P
+
PolarCoord (Coord)
PoseGraphOptimization (PoseGraphLib)
+
+
R
+
RawROAMSystem (RawROAMSystem)
+
+
T
+
Tracker (Tracker)
Trajectory (trajectoryPlotting)
+
+
+
+ + + + diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html b/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html new file mode 100644 index 0000000..09dee01 --- /dev/null +++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver-members.html @@ -0,0 +1,126 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
MotionDistortionSolver Member List
+
+
+ +

This is the complete list of members for MotionDistortionSolver, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
__init__(self, T_wj0, p_w, p_jt, T_wj, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY)MotionDistortionSolver
__init__(self, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY)MotionDistortionSolver
compute_time_deltas(period, points)MotionDistortionSolverstatic
debugMotionDistortionSolver
dTMotionDistortionSolver
error(self, v_j, T_wj)MotionDistortionSolver
error_vector(self, params)MotionDistortionSolver
expected_observed_pts(self, T_wj)MotionDistortionSolver
infer_velocity(self, transform)MotionDistortionSolver
info_vectorMotionDistortionSolver
jacobian(self, v_j, T_wj)MotionDistortionSolver
jacobian_vector(self, params)MotionDistortionSolver
optimize(self, max_iters=20)MotionDistortionSolver
optimize_library(self)MotionDistortionSolver
p_jtMotionDistortionSolver
p_wMotionDistortionSolver
sigma_pMotionDistortionSolver
sigma_vMotionDistortionSolver
T_wj0MotionDistortionSolver
T_wj0_invMotionDistortionSolver
T_wj_initialMotionDistortionSolver
total_scan_timeMotionDistortionSolver
undistort(v_j, points, period=1/RADAR_SCAN_FREQUENCY, times=None)MotionDistortionSolverstatic
update_problem(self, T_wj0, p_w, p_jt, T_wj, debug=False)MotionDistortionSolver
v_j_initialMotionDistortionSolver
+
+ + + + diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html new file mode 100644 index 0000000..044b31c --- /dev/null +++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.html @@ -0,0 +1,824 @@ + + + + + + + +RAW-ROAM: MotionDistortionSolver Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Static Public Member Functions | +Public Attributes | +List of all members
+
MotionDistortionSolver Class Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, T_wj0, p_w, p_jt, T_wj, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY)
 
def __init__ (self, sigma_p, sigma_v, frequency=RADAR_SCAN_FREQUENCY)
 
def update_problem (self, T_wj0, p_w, p_jt, T_wj, debug=False)
 
def infer_velocity (self, transform)
 
def expected_observed_pts (self, T_wj)
 
def error_vector (self, params)
 
def error (self, v_j, T_wj)
 
def jacobian_vector (self, params)
 
def jacobian (self, v_j, T_wj)
 
def optimize (self, max_iters=20)
 
def optimize_library (self)
 
+ + + + + +

+Static Public Member Functions

def compute_time_deltas (period, points)
 
def undistort (v_j, points, period=1/RADAR_SCAN_FREQUENCY, times=None)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

 T_wj0
 
 T_wj0_inv
 
 p_w
 
 p_jt
 
 T_wj_initial
 
 total_scan_time
 
 v_j_initial
 
 sigma_p
 
 sigma_v
 
 info_vector
 
 dT
 
 debug
 
+

Constructor & Destructor Documentation

+ +

◆ __init__() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def __init__ ( self,
 T_wj0,
 p_w,
 p_jt,
 T_wj,
 sigma_p,
 sigma_v,
 frequency = RADAR_SCAN_FREQUENCY 
)
+
+ +
+
+ +

◆ __init__() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def __init__ ( self,
 sigma_p,
 sigma_v,
 frequency = RADAR_SCAN_FREQUENCY 
)
+
+ +
+
+

Member Function Documentation

+ +

◆ compute_time_deltas()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
def compute_time_deltas ( period,
 points 
)
+ 		+static
+
+
Get the time deltas for each point. This depends solely on where the
+points are in scan angle. The further away from center, the greater the
+time displacement, and therefore the higher time delta. We use this time
+delta to help us transform the points into an undistorted frame. Note 
+that this is an estimate computed from distorted images. It is a good
+idea to re-run this function once an undistorted frame is obtained for
+better estimates.
+
+
+
+ +

◆ error()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def error ( self,
 v_j,
 T_wj 
)
+
+
Return the Cauchy robust error between the undistorted points and their
+estimated observed positions and the velocity error.
+
+
+
+ +

◆ error_vector()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def error_vector ( self,
 params 
)
+
+
Because we are optimizing over rotations, we choose to keep the rotation
+in a theta form, we have to do matrix exponential in here to convert
+into the SO(1) form, then augment to the rotation-translation transform
+
+
+
+ +

◆ expected_observed_pts()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def expected_observed_pts ( self,
 T_wj 
)
+
+
Returns the estimated positions of points based on their world location
+estimates and the current best fit transform
+
+
+
+ +

◆ infer_velocity()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def infer_velocity ( self,
 transform 
)
+
+ +
+
+ +

◆ jacobian()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def jacobian ( self,
 v_j,
 T_wj 
)
+
+
Compute the Jacobian. This has two parts, as defined by the RadarSLAM
+paper:
+J_p -   gradient of point error and velocity error wrt pose terms Tx,
+        Ty, Ttheta
+J_v -   gradient of point error and velocity error wrt velocity terms
+        vx, vy, vtheta
+
+
+
+ +

◆ jacobian_vector()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def jacobian_vector ( self,
 params 
)
+
+ +
+
+ +

◆ optimize()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def optimize ( self,
 max_iters = 20 
)
+
+ +
+
+ +

◆ optimize_library()

+ +
+
+ + + + + + + + +
def optimize_library ( self)
+
+
Optimize using the LM implementation in the scipy library.
+
+
+
+ +

◆ undistort()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def undistort ( v_j,
 points,
 period = 1 / RADAR_SCAN_FREQUENCY,
 times = None 
)
+ 		+static
+
+
Computes a new set of undistorted observed points, based on the current
+best estimate of v_T, T_wj, dT
+
+
+
+ +

◆ update_problem()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def update_problem ( self,
 T_wj0,
 p_w,
 p_jt,
 T_wj,
 debug = False 
)
+
+ +
+
+

Member Data Documentation

+ +

◆ debug

+ +
+
+ + + + +
debug
+
+ +
+
+ +

◆ dT

+ +
+
+ + + + +
dT
+
+ +
+
+ +

◆ info_vector

+ +
+
+ + + + +
info_vector
+
+ +
+
+ +

◆ p_jt

+ +
+
+ + + + +
p_jt
+
+ +
+
+ +

◆ p_w

+ +
+
+ + + + +
p_w
+
+ +
+
+ +

◆ sigma_p

+ +
+
+ + + + +
sigma_p
+
+ +
+
+ +

◆ sigma_v

+ +
+
+ + + + +
sigma_v
+
+ +
+
+ +

◆ T_wj0

+ +
+
+ + + + +
T_wj0
+
+ +
+
+ +

◆ T_wj0_inv

+ +
+
+ + + + +
T_wj0_inv
+
+ +
+
+ +

◆ T_wj_initial

+ +
+
+ + + + +
T_wj_initial
+
+ +
+
+ +

◆ total_scan_time

+ +
+
+ + + + +
total_scan_time
+
+ +
+
+ +

◆ v_j_initial

+ +
+
+ + + + +
v_j_initial
+
+ +
+
+
+
+ + + + diff --git a/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js new file mode 100644 index 0000000..49ca975 --- /dev/null +++ b/doc/html/classmotion_distortion_1_1_motion_distortion_solver.js @@ -0,0 +1,26 @@ +var classmotion_distortion_1_1_motion_distortion_solver = +[ + [ "__init__", "classmotion_distortion_1_1_motion_distortion_solver.html#a3f22b34fa12c1f655ed25c4286a467ec", null ], + [ "__init__", "classmotion_distortion_1_1_motion_distortion_solver.html#a7f16413ad010eda322f733ea904fdbd3", null ], + [ "error", "classmotion_distortion_1_1_motion_distortion_solver.html#a0354ae991f4cc0144ce33e1fdb469a20", null ], + [ "error_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#ab508478fa9741dac7d287ff768cc0788", null ], + [ "expected_observed_pts", "classmotion_distortion_1_1_motion_distortion_solver.html#a71b1396a9f04a79e3115d693419ccf45", null ], + [ "infer_velocity", "classmotion_distortion_1_1_motion_distortion_solver.html#a44ec490a2fa6ee1f2b5a971fa270541f", null ], + [ "jacobian", "classmotion_distortion_1_1_motion_distortion_solver.html#a2fc868177b0b6b3e920e4619aad77171", null ], + [ "jacobian_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#a2d68bc205a33412b11c6dcb28fc17d67", null ], + [ "optimize", "classmotion_distortion_1_1_motion_distortion_solver.html#a771350ea3f844ac8fca4338337419242", null ], + [ "optimize_library", "classmotion_distortion_1_1_motion_distortion_solver.html#abac4fa4418ddc34ea1b8a6f28ac42c3d", null ], + [ "update_problem", "classmotion_distortion_1_1_motion_distortion_solver.html#a716b0a6bdc489d052e4243c840ed336f", null ], + [ "debug", "classmotion_distortion_1_1_motion_distortion_solver.html#a0514aabed091ee5e2f35766eb01eced6", null ], + [ "dT", "classmotion_distortion_1_1_motion_distortion_solver.html#af3c2f70b3a5027fce7c3161665b6b6af", null ], + [ "info_vector", "classmotion_distortion_1_1_motion_distortion_solver.html#a1d4048f86eeeda5fdd5ff70c2667fd8d", null ], + [ "p_jt", "classmotion_distortion_1_1_motion_distortion_solver.html#aa9fffd513bf2e2cbfe44da13aa4a69bf", null ], + [ "p_w", "classmotion_distortion_1_1_motion_distortion_solver.html#a0e515884ff3ebc059c605589aec689b7", null ], + [ "sigma_p", "classmotion_distortion_1_1_motion_distortion_solver.html#a7ae9c91f3c812a21666616d48fbe3ac8", null ], + [ "sigma_v", "classmotion_distortion_1_1_motion_distortion_solver.html#a0e071ef606c97ccac78bde51b78f6edf", null ], + [ "T_wj0", "classmotion_distortion_1_1_motion_distortion_solver.html#a0a395e89714f60150df6675faaa1f6cb", null ], + [ "T_wj0_inv", "classmotion_distortion_1_1_motion_distortion_solver.html#a071a910fd6194ba61a5d9cf24569b393", null ], + [ "T_wj_initial", "classmotion_distortion_1_1_motion_distortion_solver.html#a0937342a2f4d12c7784f942bfe386536", null ], + [ "total_scan_time", "classmotion_distortion_1_1_motion_distortion_solver.html#ad7beefc4bde186fd252b285986218942", null ], + [ "v_j_initial", "classmotion_distortion_1_1_motion_distortion_solver.html#a9f1d2973eab93bf4884920981c129781", null ] +]; \ No newline at end of file diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory-members.html b/doc/html/classtrajectory_plotting_1_1_trajectory-members.html new file mode 100644 index 0000000..ba69f77 --- /dev/null +++ b/doc/html/classtrajectory_plotting_1_1_trajectory-members.html @@ -0,0 +1,111 @@ + + + + + + + +RAW-ROAM: Member List + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Trajectory Member List
+
+
+ +

This is the complete list of members for Trajectory, including all inherited members.

+ + + + + + + + + + + +
__init__(self, timestamps, poses)Trajectory
appendAbsoluteTransform(self, time, pose)Trajectory
appendRelativeDeltas(self, time, d_xyth)Trajectory
appendRelativeTransform(self, time, R, h)Trajectory
getGroundTruthDeltasAtTime(self, time)Trajectory
getPoseAtTimes(self, times)Trajectory
plot(self, title='My Trajectory', savePath=False)Trajectory
pose_transformTrajectory
posesTrajectory
timestampsTrajectory
+
+ + + + diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory.html b/doc/html/classtrajectory_plotting_1_1_trajectory.html new file mode 100644 index 0000000..eca6e17 --- /dev/null +++ b/doc/html/classtrajectory_plotting_1_1_trajectory.html @@ -0,0 +1,421 @@ + + + + + + + +RAW-ROAM: Trajectory Class Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Public Member Functions | +Public Attributes | +List of all members
+
Trajectory Class Reference
+
+
+ + + + + + + + + + + + + + + + +

+Public Member Functions

def __init__ (self, timestamps, poses)
 
def getGroundTruthDeltasAtTime (self, time)
 
def appendRelativeDeltas (self, time, d_xyth)
 
def appendRelativeTransform (self, time, R, h)
 
def appendAbsoluteTransform (self, time, pose)
 
def getPoseAtTimes (self, times)
 
def plot (self, title='My Trajectory', savePath=False)
 
+ + + + + + + +

+Public Attributes

 timestamps
 
 poses
 
 pose_transform
 
+

Constructor & Destructor Documentation

+ +

◆ __init__()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def __init__ ( self,
 timestamps,
 poses 
)
+
+
@param[in] timestamps np.ndarray of sorted timestamps (N)
+@param[in] pose_matrices np.ndarray of poses (N x 3)
+
+
+
+

Member Function Documentation

+ +

◆ appendAbsoluteTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def appendAbsoluteTransform ( self,
 time,
 pose 
)
+
+
@brief Append a relative transform to the trajectory
+       h should already be scaled by radar resolution
+@param[in] time timestamp of the transform
+@param[in] pose pose vector (3, )
+
+
+
+ +

◆ appendRelativeDeltas()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def appendRelativeDeltas ( self,
 time,
 d_xyth 
)
+
+ +
+
+ +

◆ appendRelativeTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def appendRelativeTransform ( self,
 time,
 R,
 h 
)
+
+
@brief Append a relative transform to the trajectory
+       h should already be scaled by radar resolution
+@param[in] time timestamp of the transform
+@param[in] R rotation matrix (2 x 2)
+@param[in] h translation vector (2 x 1)
+
+
+
+ +

◆ getGroundTruthDeltasAtTime()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getGroundTruthDeltasAtTime ( self,
 time 
)
+
+
@brief Given a timestamp, return the ground truth deltas at that time in (dx, dy, dth) list for debugging
+
+
+
+ +

◆ getPoseAtTimes()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getPoseAtTimes ( self,
 times 
)
+
+
@brief Given timestamps, return the pose at that time using cubic interpolation
+@param[in] times np.ndarray of sorted timestamps
+
+
+
+ +

◆ plot()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def plot ( self,
 title = 'My Trajectory',
 savePath = False 
)
+
+ +
+
+

Member Data Documentation

+ +

◆ pose_transform

+ +
+
+ + + + +
pose_transform
+
+ +
+
+ +

◆ poses

+ +
+
+ + + + +
poses
+
+ +
+
+ +

◆ timestamps

+ +
+
+ + + + +
timestamps
+
+ +
+
+
+
+ + + + diff --git a/doc/html/classtrajectory_plotting_1_1_trajectory.js b/doc/html/classtrajectory_plotting_1_1_trajectory.js new file mode 100644 index 0000000..d0ce524 --- /dev/null +++ b/doc/html/classtrajectory_plotting_1_1_trajectory.js @@ -0,0 +1,13 @@ +var classtrajectory_plotting_1_1_trajectory = +[ + [ "__init__", "classtrajectory_plotting_1_1_trajectory.html#a71a1a749bd09d5ebf80433b59ec5bf4c", null ], + [ "appendAbsoluteTransform", "classtrajectory_plotting_1_1_trajectory.html#a08950a5574e6fa031de10f01899414a7", null ], + [ "appendRelativeDeltas", "classtrajectory_plotting_1_1_trajectory.html#a75e78dbec634ef9815d87f0a8fd101a4", null ], + [ "appendRelativeTransform", "classtrajectory_plotting_1_1_trajectory.html#a18b62f49e9be3d5913bfddf1409241a5", null ], + [ "getGroundTruthDeltasAtTime", "classtrajectory_plotting_1_1_trajectory.html#a7a7a8f886746f69fa22f688534e5eb41", null ], + [ "getPoseAtTimes", "classtrajectory_plotting_1_1_trajectory.html#af71c2208e017a99508ff89271af73f04", null ], + [ "plot", "classtrajectory_plotting_1_1_trajectory.html#ab6639608bd1c7a82abfd40ea1f53b904", null ], + [ "pose_transform", "classtrajectory_plotting_1_1_trajectory.html#ae295f4fa8996d01631c561ab3cb77670", null ], + [ "poses", "classtrajectory_plotting_1_1_trajectory.html#ad852f76f56388944f342af3b11bd2c31", null ], + [ "timestamps", "classtrajectory_plotting_1_1_trajectory.html#ada03328a9187736162c7277d89ef159e", null ] +]; \ No newline at end of file diff --git a/doc/html/functions.html b/doc/html/functions.html new file mode 100644 index 0000000..c0d0152 --- /dev/null +++ b/doc/html/functions.html @@ -0,0 +1,275 @@ + + + + + + + +RAW-ROAM: Class Members + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all class members with links to the classes they belong to:
+ +

- _ -

+ + +

- a -

+ + +

- c -

+ + +

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+ + +

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+ + +

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+ + +

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+
+
+ + + + diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html new file mode 100644 index 0000000..e2593ec --- /dev/null +++ b/doc/html/functions_func.html @@ -0,0 +1,203 @@ + + + + + + + +RAW-ROAM: Class Members - Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- _ -

+ + +

- a -

+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

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+ + +

- r -

+ + +

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+ + +

- t -

+ + +

- u -

+
+
+ + + + diff --git a/doc/html/functions_vars.html b/doc/html/functions_vars.html new file mode 100644 index 0000000..06e3b8e --- /dev/null +++ b/doc/html/functions_vars.html @@ -0,0 +1,195 @@ + + + + + + + +RAW-ROAM: Class Members - Variables + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

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+ + +

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+ + +

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+ + +

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+
+
+ + + + diff --git a/doc/html/hierarchy.html b/doc/html/hierarchy.html new file mode 100644 index 0000000..37d61cc --- /dev/null +++ b/doc/html/hierarchy.html @@ -0,0 +1,114 @@ + + + + + + + +RAW-ROAM: Class Hierarchy + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Class Hierarchy
+
+
+
This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 12]
+ + + + + + + + + + + + +
 CKeyframe
 CMap
 CMotionDistortionSolver
 ▼Cobject
 CCartCoord
 CPolarCoord
 CRawROAMSystem
 ▼CSparseOptimizer
 CBundleAdjustment
 CPoseGraphOptimization
 CTracker
 CTrajectory
+
+
+
+ + + + diff --git a/doc/html/hierarchy.js b/doc/html/hierarchy.js new file mode 100644 index 0000000..c423f8a --- /dev/null +++ b/doc/html/hierarchy.js @@ -0,0 +1,17 @@ +var hierarchy = +[ + [ "Keyframe", "class_mapping_1_1_keyframe.html", null ], + [ "Map", "class_mapping_1_1_map.html", null ], + [ "MotionDistortionSolver", "classmotion_distortion_1_1_motion_distortion_solver.html", null ], + [ "object", null, [ + [ "CartCoord", "class_coord_1_1_cart_coord.html", null ], + [ "PolarCoord", "class_coord_1_1_polar_coord.html", null ] + ] ], + [ "RawROAMSystem", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html", null ], + [ "SparseOptimizer", null, [ + [ "BundleAdjustment", "class_pose_graph_lib_1_1_bundle_adjustment.html", null ], + [ "PoseGraphOptimization", "class_pose_graph_lib_1_1_pose_graph_optimization.html", null ] + ] ], + [ "Tracker", "class_tracker_1_1_tracker.html", null ], + [ "Trajectory", "classtrajectory_plotting_1_1_trajectory.html", null ] +]; \ No newline at end of file diff --git a/doc/html/index.html b/doc/html/index.html index 5d0e127..582ee1f 100644 --- a/doc/html/index.html +++ b/doc/html/index.html @@ -5,7 +5,7 @@ -pynetconf: Main Page +RAW-ROAM: Main Page @@ -25,7 +25,7 @@ -
pynetconf +
RAW-ROAM
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
@@ -83,7 +83,7 @@
-
pynetconf Documentation
+
RAW-ROAM Documentation
@@ -91,7 +91,7 @@ diff --git a/doc/html/md__r_e_a_d_m_e.html b/doc/html/md__r_e_a_d_m_e.html new file mode 100644 index 0000000..59ddc3d --- /dev/null +++ b/doc/html/md__r_e_a_d_m_e.html @@ -0,0 +1,125 @@ + + + + + + + +RAW-ROAM: RAW-ROAM: Really Adverse Weather-Radar Odometry and Mapping (Python reimplementation of RadarSLAM) + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
RAW-ROAM: Really Adverse Weather-Radar Odometry and Mapping (Python reimplementation of RadarSLAM)
+
+
+

A Python reimplementation of odometry and mapping component of RadarSLAM by Hong et al. [1,2].

+

Final Paper: RAW-ROAM: An Open-Source Implementation of Adverse Weather RadarSLAM

+

+Results (Odometry)

+

With Motion Compensation

+

With Motion Compensation

+

Without Motion Compensation:

+

Without Motion Compensation

+

+Running Code

+

Requires Python. Tested on Python >= 3.9.

+
pip install -r requirements.txt
+
python3 RawROAMSystem.py <DATASET_NAME> [START_FRAME_IND [END_FRAME_IND]]
+

+Radar Sequences

+

Radar sequences can be obtained from Oxford Radar RobotCar Dataset and should be placed in the ./data folder. The folder organization listed as full_seq_1 is an example of how the directory looks like, and is taken from the 10-11-46-21 sequence.

+

+Documentation

+

See the docs

+

+Relevant Papers

+
    +
  1. RadarSLAM (2021)
    2. +
  2. RadarSLAM (2020)
    3. +
  3. PhaRaO
    4. +
+
+
+
+ + + + diff --git a/doc/html/menudata.js b/doc/html/menudata.js index d1ece13..19e71ad 100644 --- a/doc/html/menudata.js +++ b/doc/html/menudata.js @@ -23,4 +23,126 @@ @licend The above is the entire license notice for the JavaScript code in this file */ var menudata={children:[ -{text:"Main Page",url:"index.html"}]} +{text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, +{text:"Packages",url:"namespaces.html",children:[ +{text:"Packages",url:"namespaces.html"}, +{text:"Package Functions",url:"namespacemembers.html",children:[ +{text:"All",url:"namespacemembers.html",children:[ +{text:"a",url:"namespacemembers.html#index_a"}, +{text:"b",url:"namespacemembers_b.html#index_b"}, +{text:"c",url:"namespacemembers_c.html#index_c"}, +{text:"d",url:"namespacemembers_d.html#index_d"}, +{text:"e",url:"namespacemembers_e.html#index_e"}, +{text:"f",url:"namespacemembers_f.html#index_f"}, +{text:"g",url:"namespacemembers_g.html#index_g"}, +{text:"h",url:"namespacemembers_h.html#index_h"}, +{text:"i",url:"namespacemembers_i.html#index_i"}, +{text:"k",url:"namespacemembers_k.html#index_k"}, +{text:"l",url:"namespacemembers_l.html#index_l"}, +{text:"m",url:"namespacemembers_m.html#index_m"}, +{text:"n",url:"namespacemembers_n.html#index_n"}, +{text:"o",url:"namespacemembers_o.html#index_o"}, +{text:"p",url:"namespacemembers_p.html#index_p"}, +{text:"q",url:"namespacemembers_q.html#index_q"}, +{text:"r",url:"namespacemembers_r.html#index_r"}, +{text:"s",url:"namespacemembers_s.html#index_s"}, +{text:"t",url:"namespacemembers_t.html#index_t"}, +{text:"u",url:"namespacemembers_u.html#index_u"}, +{text:"v",url:"namespacemembers_v.html#index_v"}, +{text:"w",url:"namespacemembers_w.html#index_w"}]}, +{text:"Functions",url:"namespacemembers_func.html",children:[ +{text:"a",url:"namespacemembers_func.html#index_a"}, +{text:"c",url:"namespacemembers_func.html#index_c"}, +{text:"d",url:"namespacemembers_func.html#index_d"}, +{text:"e",url:"namespacemembers_func.html#index_e"}, +{text:"f",url:"namespacemembers_func.html#index_f"}, +{text:"g",url:"namespacemembers_func.html#index_g"}, +{text:"h",url:"namespacemembers_func.html#index_h"}, +{text:"i",url:"namespacemembers_func.html#index_i"}, +{text:"n",url:"namespacemembers_func.html#index_n"}, +{text:"p",url:"namespacemembers_func.html#index_p"}, +{text:"q",url:"namespacemembers_func.html#index_q"}, +{text:"r",url:"namespacemembers_func.html#index_r"}, +{text:"s",url:"namespacemembers_func.html#index_s"}, +{text:"t",url:"namespacemembers_func.html#index_t"}, +{text:"v",url:"namespacemembers_func.html#index_v"}]}, +{text:"Variables",url:"namespacemembers_vars.html",children:[ +{text:"a",url:"namespacemembers_vars.html#index_a"}, +{text:"b",url:"namespacemembers_vars_b.html#index_b"}, +{text:"c",url:"namespacemembers_vars_c.html#index_c"}, +{text:"d",url:"namespacemembers_vars_d.html#index_d"}, +{text:"e",url:"namespacemembers_vars_e.html#index_e"}, +{text:"f",url:"namespacemembers_vars_f.html#index_f"}, +{text:"g",url:"namespacemembers_vars_g.html#index_g"}, +{text:"h",url:"namespacemembers_vars_h.html#index_h"}, +{text:"i",url:"namespacemembers_vars_i.html#index_i"}, +{text:"k",url:"namespacemembers_vars_k.html#index_k"}, +{text:"l",url:"namespacemembers_vars_l.html#index_l"}, +{text:"m",url:"namespacemembers_vars_m.html#index_m"}, +{text:"n",url:"namespacemembers_vars_n.html#index_n"}, +{text:"o",url:"namespacemembers_vars_o.html#index_o"}, +{text:"p",url:"namespacemembers_vars_p.html#index_p"}, +{text:"r",url:"namespacemembers_vars_r.html#index_r"}, +{text:"s",url:"namespacemembers_vars_s.html#index_s"}, +{text:"t",url:"namespacemembers_vars_t.html#index_t"}, +{text:"u",url:"namespacemembers_vars_u.html#index_u"}, +{text:"v",url:"namespacemembers_vars_v.html#index_v"}, +{text:"w",url:"namespacemembers_vars_w.html#index_w"}]}]}]}, +{text:"Classes",url:"annotated.html",children:[ +{text:"Class List",url:"annotated.html"}, +{text:"Class Index",url:"classes.html"}, +{text:"Class Hierarchy",url:"hierarchy.html"}, +{text:"Class Members",url:"functions.html",children:[ +{text:"All",url:"functions.html",children:[ +{text:"_",url:"functions.html#index__5F"}, +{text:"a",url:"functions.html#index_a"}, +{text:"c",url:"functions.html#index_c"}, +{text:"d",url:"functions.html#index_d"}, +{text:"e",url:"functions.html#index_e"}, +{text:"f",url:"functions.html#index_f"}, +{text:"g",url:"functions.html#index_g"}, +{text:"h",url:"functions.html#index_h"}, +{text:"i",url:"functions.html#index_i"}, +{text:"j",url:"functions.html#index_j"}, +{text:"k",url:"functions.html#index_k"}, +{text:"m",url:"functions.html#index_m"}, +{text:"o",url:"functions.html#index_o"}, +{text:"p",url:"functions.html#index_p"}, +{text:"r",url:"functions.html#index_r"}, +{text:"s",url:"functions.html#index_s"}, +{text:"t",url:"functions.html#index_t"}, +{text:"u",url:"functions.html#index_u"}, +{text:"v",url:"functions.html#index_v"}, +{text:"x",url:"functions.html#index_x"}, +{text:"y",url:"functions.html#index_y"}]}, +{text:"Functions",url:"functions_func.html",children:[ +{text:"_",url:"functions_func.html#index__5F"}, +{text:"a",url:"functions_func.html#index_a"}, +{text:"c",url:"functions_func.html#index_c"}, +{text:"e",url:"functions_func.html#index_e"}, +{text:"g",url:"functions_func.html#index_g"}, +{text:"i",url:"functions_func.html#index_i"}, +{text:"j",url:"functions_func.html#index_j"}, +{text:"o",url:"functions_func.html#index_o"}, +{text:"p",url:"functions_func.html#index_p"}, +{text:"r",url:"functions_func.html#index_r"}, +{text:"s",url:"functions_func.html#index_s"}, +{text:"t",url:"functions_func.html#index_t"}, +{text:"u",url:"functions_func.html#index_u"}]}, +{text:"Variables",url:"functions_vars.html",children:[ +{text:"d",url:"functions_vars.html#index_d"}, +{text:"e",url:"functions_vars.html#index_e"}, +{text:"f",url:"functions_vars.html#index_f"}, +{text:"g",url:"functions_vars.html#index_g"}, +{text:"h",url:"functions_vars.html#index_h"}, +{text:"i",url:"functions_vars.html#index_i"}, +{text:"k",url:"functions_vars.html#index_k"}, +{text:"m",url:"functions_vars.html#index_m"}, +{text:"p",url:"functions_vars.html#index_p"}, +{text:"r",url:"functions_vars.html#index_r"}, +{text:"s",url:"functions_vars.html#index_s"}, +{text:"t",url:"functions_vars.html#index_t"}, +{text:"v",url:"functions_vars.html#index_v"}, +{text:"x",url:"functions_vars.html#index_x"}, +{text:"y",url:"functions_vars.html#index_y"}]}]}]}]} diff --git a/doc/html/namespace_a_n_m_s.html b/doc/html/namespace_a_n_m_s.html new file mode 100644 index 0000000..eb9392d --- /dev/null +++ b/doc/html/namespace_a_n_m_s.html @@ -0,0 +1,154 @@ + + + + + + + +RAW-ROAM: ANMS Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
ANMS Namespace Reference
+
+
+ + + + +

+Functions

def ssc (keypoints, num_ret_points, tolerance, cols, rows)
 
+

Function Documentation

+ +

◆ ssc()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def ANMS.ssc ( keypoints,
 num_ret_points,
 tolerance,
 cols,
 rows 
)
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespace_coord.html b/doc/html/namespace_coord.html new file mode 100644 index 0000000..ec20c3f --- /dev/null +++ b/doc/html/namespace_coord.html @@ -0,0 +1,109 @@ + + + + + + + +RAW-ROAM: Coord Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes
+
Coord Namespace Reference
+
+
+ + + + + + +

+Classes

class  CartCoord
 
class  PolarCoord
 
+
+
+ + + + diff --git a/doc/html/namespace_coord.js b/doc/html/namespace_coord.js new file mode 100644 index 0000000..4cd1fb8 --- /dev/null +++ b/doc/html/namespace_coord.js @@ -0,0 +1,5 @@ +var namespace_coord = +[ + [ "CartCoord", "class_coord_1_1_cart_coord.html", "class_coord_1_1_cart_coord" ], + [ "PolarCoord", "class_coord_1_1_polar_coord.html", "class_coord_1_1_polar_coord" ] +]; \ No newline at end of file diff --git a/doc/html/namespace_f_m_t.html b/doc/html/namespace_f_m_t.html new file mode 100644 index 0000000..60901ca --- /dev/null +++ b/doc/html/namespace_f_m_t.html @@ -0,0 +1,651 @@ + + + + + + + +RAW-ROAM: FMT Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
FMT Namespace Reference
+
+
+ + + + + + + + + + + + +

+Functions

tuple[tuple[float, float], float] getTranslationUsingPhaseCorrelation (np.ndarray srcImg, np.ndarray targetImg)
 
tuple[float, float, float] getRotationUsingFMT (np.ndarray srcPolarImg, np.ndarray targetPolarImg, int downsampleFactor=FMT_DOWNSAMPLE_FACTOR, maxRangeClipM=FMT_RANGE_CLIP_M)
 
def rotateImg (image, angle_degrees)
 
def plotCartPolar (prevImgPolar, currImgPolar, prevImgCart, currImgCart)
 
def plotCartPolarWithRotation (prevImgCart, currImgCart, rotRad)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

int FMT_DOWNSAMPLE_FACTOR = 10
 
float FMT_RANGE_CLIP_M = 87.5
 
int sequenceName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
 dataPath = os.path.join("data", sequenceName, "radar")
 
 timestampPath = os.path.join("data", sequenceName, "radar.timestamps")
 
int startSeqInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
 
int endSeqInd = int(sys.argv[3]) if len(sys.argv) > 3 else -1
 
 imgPathArr = getRadarImgPaths(dataPath, timestampPath)
 
 sequenceSize = len(imgPathArr)
 
 prevImgPolar = getPolarImageFromImgPaths(imgPathArr, startSeqInd)
 
 prevImgCart
 
 imgSavePath
 
 exist_ok
 
int stepSize = 1
 
 currImgPolar = getPolarImageFromImgPaths(imgPathArr, seqInd)
 
 currImgCart
 
 rotRad
 
 scale
 
 response
 
 imgSavePathInd = os.path.join(imgSavePath, f"{seqInd:04d}_5.jpg")
 
bool REMOVE_OLD_RESULTS = False
 
+

Function Documentation

+ +

◆ getRotationUsingFMT()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
tuple[float, float, float] FMT.getRotationUsingFMT (np.ndarray srcPolarImg,
np.ndarray targetPolarImg,
int  downsampleFactor = FMT_DOWNSAMPLE_FACTOR,
 maxRangeClipM = FMT_RANGE_CLIP_M 
)
+
+
@brief Get rotation using the Fourier-Mellin Transform
+@note We attempt to downsample in the range direction. 
+      Since we are already in the polar domain, we just need to convert to a logpolar image
+apply phase correlation to get the rotation (which is a "\Delta Y" translation)
+
+@param[in] srcPolarImg Source image in polar (not log-polar) form
+@param[in] targetPolarImg Target image in polar (not log-polar) form
+@param[in] How much to further downsample in 
+
+@return angleRad Angle in radians, where `R(angleRad) @ src = target`
+@return scaling Scaling factor
+@return response Response value (indicates confidence)
+
+
+
+ +

◆ getTranslationUsingPhaseCorrelation()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[tuple[float, float], float] FMT.getTranslationUsingPhaseCorrelation (np.ndarray srcImg,
np.ndarray targetImg 
)
+
+
@brief Using phase correlation, find the translation delta between 2 images
+@param[in] srcImg Source image
+@param[in] targetImg Target image
+
+@return deltas Delta sub-pixel translation
+@return response Response of phase correlation window (indicating confidence)
+
+
+
+ +

◆ plotCartPolar()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def FMT.plotCartPolar ( prevImgPolar,
 currImgPolar,
 prevImgCart,
 currImgCart 
)
+
+ +
+
+ +

◆ plotCartPolarWithRotation()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def FMT.plotCartPolarWithRotation ( prevImgCart,
 currImgCart,
 rotRad 
)
+
+ +
+
+ +

◆ rotateImg()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def FMT.rotateImg ( image,
 angle_degrees 
)
+
+ +
+
+

Variable Documentation

+ +

◆ currImgCart

+ +
+
+ + + + +
currImgCart
+
+Initial value:
1= convertPolarImageToCartesian(currImgPolar,
+
2 downsampleFactor=20)
+
+
+
+ +

◆ currImgPolar

+ +
+
+ + + + +
currImgPolar = getPolarImageFromImgPaths(imgPathArr, seqInd)
+
+ +
+
+ +

◆ dataPath

+ +
+
+ + + + +
dataPath = os.path.join("data", sequenceName, "radar")
+
+ +
+
+ +

◆ endSeqInd

+ +
+
+ + + + +
int endSeqInd = int(sys.argv[3]) if len(sys.argv) > 3 else -1
+
+ +
+
+ +

◆ exist_ok

+ +
+
+ + + + +
exist_ok
+
+ +
+
+ +

◆ FMT_DOWNSAMPLE_FACTOR

+ +
+
+ + + + +
int FMT_DOWNSAMPLE_FACTOR = 10
+
+ +
+
+ +

◆ FMT_RANGE_CLIP_M

+ +
+
+ + + + +
float FMT_RANGE_CLIP_M = 87.5
+
+ +
+
+ +

◆ imgPathArr

+ +
+
+ + + + +
imgPathArr = getRadarImgPaths(dataPath, timestampPath)
+
+ +
+
+ +

◆ imgSavePath

+ +
+
+ + + + +
imgSavePath
+
+Initial value:
1= os.path.join(".", "img", "fmt",
+
2 sequenceName).strip(os.path.sep)
+
+
+
+ +

◆ imgSavePathInd

+ +
+
+ + + + +
imgSavePathInd = os.path.join(imgSavePath, f"{seqInd:04d}_5.jpg")
+
+ +
+
+ +

◆ prevImgCart

+ +
+
+ + + + +
prevImgCart
+
+Initial value:
1= convertPolarImageToCartesian(prevImgPolar,
+
2 downsampleFactor=20)
+
+
+
+ +

◆ prevImgPolar

+ +
+
+ + + + +
prevImgPolar = getPolarImageFromImgPaths(imgPathArr, startSeqInd)
+
+ +
+
+ +

◆ REMOVE_OLD_RESULTS

+ +
+
+ + + + +
bool REMOVE_OLD_RESULTS = False
+
+ +
+
+ +

◆ response

+ +
+
+ + + + +
response
+
+ +
+
+ +

◆ rotRad

+ +
+
+ + + + +
rotRad
+
+ +
+
+ +

◆ scale

+ +
+
+ + + + +
scale
+
+ +
+
+ +

◆ sequenceName

+ +
+
+ + + + +
int sequenceName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ sequenceSize

+ +
+
+ + + + +
sequenceSize = len(imgPathArr)
+
+ +
+
+ +

◆ startSeqInd

+ +
+
+ + + + +
int startSeqInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
+
+ +
+
+ +

◆ stepSize

+ +
+
+ + + + +
int stepSize = 1
+
+ +
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", sequenceName, "radar.timestamps")
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespace_mapping.html b/doc/html/namespace_mapping.html new file mode 100644 index 0000000..ab81098 --- /dev/null +++ b/doc/html/namespace_mapping.html @@ -0,0 +1,178 @@ + + + + + + + +RAW-ROAM: Mapping Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Variables
+
Mapping Namespace Reference
+
+
+ + + + + + +

+Classes

class  Keyframe
 
class  Map
 
+ + + + + + + + + +

+Variables

float ROT_THRESHOLD = 0.2
 
float TRANS_THRESHOLD = 2.0
 
float TRANS_THRESHOLD_SQ = TRANS_THRESHOLD * TRANS_THRESHOLD
 
 RADAR_CART_CENTER = None
 
+

Variable Documentation

+ +

◆ RADAR_CART_CENTER

+ +
+
+ + + + +
RADAR_CART_CENTER = None
+
+ +
+
+ +

◆ ROT_THRESHOLD

+ +
+
+ + + + +
float ROT_THRESHOLD = 0.2
+
+ +
+
+ +

◆ TRANS_THRESHOLD

+ +
+
+ + + + +
float TRANS_THRESHOLD = 2.0
+
+ +
+
+ +

◆ TRANS_THRESHOLD_SQ

+ +
+
+ + + + +
float TRANS_THRESHOLD_SQ = TRANS_THRESHOLD * TRANS_THRESHOLD
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespace_mapping.js b/doc/html/namespace_mapping.js new file mode 100644 index 0000000..0afc22e --- /dev/null +++ b/doc/html/namespace_mapping.js @@ -0,0 +1,9 @@ +var namespace_mapping = +[ + [ "Keyframe", "class_mapping_1_1_keyframe.html", "class_mapping_1_1_keyframe" ], + [ "Map", "class_mapping_1_1_map.html", "class_mapping_1_1_map" ], + [ "RADAR_CART_CENTER", "namespace_mapping.html#a9d912e1ca0fa7da394e152167652474f", null ], + [ "ROT_THRESHOLD", "namespace_mapping.html#aa74fdf8323f8821aeea561922c6f32cf", null ], + [ "TRANS_THRESHOLD", "namespace_mapping.html#ab8c306442c12aedb83f7c0d06210e9f2", null ], + [ "TRANS_THRESHOLD_SQ", "namespace_mapping.html#abe3c8fb0a99c9c14b8d8f9c95d1531b4", null ] +]; \ No newline at end of file diff --git a/doc/html/namespace_pose_graph_lib.html b/doc/html/namespace_pose_graph_lib.html new file mode 100644 index 0000000..a27dc9f --- /dev/null +++ b/doc/html/namespace_pose_graph_lib.html @@ -0,0 +1,109 @@ + + + + + + + +RAW-ROAM: PoseGraphLib Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes
+
PoseGraphLib Namespace Reference
+
+
+ + + + + + +

+Classes

class  BundleAdjustment
 
class  PoseGraphOptimization
 
+
+
+ + + + diff --git a/doc/html/namespace_pose_graph_lib.js b/doc/html/namespace_pose_graph_lib.js new file mode 100644 index 0000000..93b548b --- /dev/null +++ b/doc/html/namespace_pose_graph_lib.js @@ -0,0 +1,5 @@ +var namespace_pose_graph_lib = +[ + [ "BundleAdjustment", "class_pose_graph_lib_1_1_bundle_adjustment.html", "class_pose_graph_lib_1_1_bundle_adjustment" ], + [ "PoseGraphOptimization", "class_pose_graph_lib_1_1_pose_graph_optimization.html", "class_pose_graph_lib_1_1_pose_graph_optimization" ] +]; \ No newline at end of file diff --git a/doc/html/namespace_raw_r_o_a_m_system.html b/doc/html/namespace_raw_r_o_a_m_system.html new file mode 100644 index 0000000..9ebfd1b --- /dev/null +++ b/doc/html/namespace_raw_r_o_a_m_system.html @@ -0,0 +1,283 @@ + + + + + + + +RAW-ROAM: RawROAMSystem Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Variables
+
RawROAMSystem Namespace Reference
+
+
+ + + + +

+Classes

class  RawROAMSystem
 
+ + + + + + + + + + + + + + + + + + + + + +

+Variables

 RADAR_CART_CENTER = np.array([1012, 1012])
 
int wantToPlot = -1
 
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
int startSeqInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
 
int endSeqInd = int(sys.argv[3]) if len(sys.argv) > 3 else -1
 
int REMOVE_OLD_RESULTS = bool(int(sys.argv[4])) if len(sys.argv) > 4 else False
 
dictionary paramFlags
 
 system
 
 imgSavePath = system.filePaths["imgSave"]
 
 trajSavePath = system.filePaths["trajSave"]
 
+

Variable Documentation

+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ endSeqInd

+ +
+
+ + + + +
int endSeqInd = int(sys.argv[3]) if len(sys.argv) > 3 else -1
+
+ +
+
+ +

◆ imgSavePath

+ +
+
+ + + + +
imgSavePath = system.filePaths["imgSave"]
+
+ +
+
+ +

◆ paramFlags

+ +
+
+ + + + +
dictionary paramFlags
+
+Initial value:
1= {
+
2 "rejectOutliers": True,
+
3 "useFMT": False,
+
4 # Below all currently unused actually
+
5 "useANMS": False,
+
6 "correctMotionDistortion": False
+
7 }
+
+
+
+ +

◆ RADAR_CART_CENTER

+ +
+
+ + + + +
RADAR_CART_CENTER = np.array([1012, 1012])
+
+ +
+
+ +

◆ REMOVE_OLD_RESULTS

+ +
+
+ + + + +
int REMOVE_OLD_RESULTS = bool(int(sys.argv[4])) if len(sys.argv) > 4 else False
+
+ +
+
+ +

◆ startSeqInd

+ +
+
+ + + + +
int startSeqInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
+
+ +
+
+ +

◆ system

+ +
+
+ + + + +
system
+
+Initial value:
1= RawROAMSystem(datasetName,
+
2 paramFlags=paramFlags,
+
3 hasGroundTruth=True)
+
RawROAMSystem
Definition: RawROAMSystem.py:1
+
+
+
+ +

◆ trajSavePath

+ +
+
+ + + + +
trajSavePath = system.filePaths["trajSave"]
+
+ +
+
+ +

◆ wantToPlot

+ +
+
+ + + + +
int wantToPlot = -1
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespace_raw_r_o_a_m_system.js b/doc/html/namespace_raw_r_o_a_m_system.js new file mode 100644 index 0000000..4620b8a --- /dev/null +++ b/doc/html/namespace_raw_r_o_a_m_system.js @@ -0,0 +1,14 @@ +var namespace_raw_r_o_a_m_system = +[ + [ "RawROAMSystem", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system.html", "class_raw_r_o_a_m_system_1_1_raw_r_o_a_m_system" ], + [ "datasetName", "namespace_raw_r_o_a_m_system.html#a0d700e6dfa2a9f624cd51f991a793585", null ], + [ "endSeqInd", "namespace_raw_r_o_a_m_system.html#a58496a66cbc7a6dfb37042c7e7731cdf", null ], + [ "imgSavePath", "namespace_raw_r_o_a_m_system.html#a3ab4a737af4a26ba845d42353015fa10", null ], + [ "paramFlags", "namespace_raw_r_o_a_m_system.html#ade0809af2b538933a9e6736a3675a088", null ], + [ "RADAR_CART_CENTER", "namespace_raw_r_o_a_m_system.html#a9d912e1ca0fa7da394e152167652474f", null ], + [ "REMOVE_OLD_RESULTS", "namespace_raw_r_o_a_m_system.html#abc00d48bd1d419b17ec367d6d5becaef", null ], + [ "startSeqInd", "namespace_raw_r_o_a_m_system.html#afbe7c1c7b1d5d8d6082cb2ecd6e392fb", null ], + [ "system", "namespace_raw_r_o_a_m_system.html#ac4ca86dead4518ac4fd6e30172db3d9e", null ], + [ "trajSavePath", "namespace_raw_r_o_a_m_system.html#a4575c573acd9741770c3a97dac5062ba", null ], + [ "wantToPlot", "namespace_raw_r_o_a_m_system.html#a3a8a505694cddaa9655fa95d969ad7d5", null ] +]; \ No newline at end of file diff --git a/doc/html/namespace_tracker.html b/doc/html/namespace_tracker.html new file mode 100644 index 0000000..f5a8b65 --- /dev/null +++ b/doc/html/namespace_tracker.html @@ -0,0 +1,107 @@ + + + + + + + +RAW-ROAM: Tracker Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes
+
Tracker Namespace Reference
+
+
+ + + + +

+Classes

class  Tracker
 
+
+
+ + + + diff --git a/doc/html/namespace_tracker.js b/doc/html/namespace_tracker.js new file mode 100644 index 0000000..e0238f8 --- /dev/null +++ b/doc/html/namespace_tracker.js @@ -0,0 +1,4 @@ +var namespace_tracker = +[ + [ "Tracker", "class_tracker_1_1_tracker.html", "class_tracker_1_1_tracker" ] +]; \ No newline at end of file diff --git a/doc/html/namespacegen_fake_data.html b/doc/html/namespacegen_fake_data.html new file mode 100644 index 0000000..5952598 --- /dev/null +++ b/doc/html/namespacegen_fake_data.html @@ -0,0 +1,536 @@ + + + + + + + +RAW-ROAM: genFakeData Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
genFakeData Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

def transformCoords (srcCoord, A, h)
 
def plotFakeFeatures (srcCoord, targetCoord, targetCoord2=None, title_append="", alpha=1, clear=False, show=False, plotDisplace=False)
 
def generateFakeCorrespondences (srcCoord=None, n_points=100, theta_max_deg=20, max_translation_m=3)
 
def convertPolarPointsToCartesian (points)
 
def generateFakeCorrespondencesPolar (currentFrame=None, n_points=100, theta_max_deg=20, max_translation_m=3)
 
def distort (coords, velocity, frequency, h)
 
def addNoise (data, variance=2.5)
 
def createOutliers (data, n_outliers, noiseToAdd=10)
 
def generateTranslationVector (max_range_m=10)
 
def generateFakeFeatures (n_points=100, max_range_m=10)
 
def generateFakeFeaturesPolar (n_points=100, max_range_m=10)
 
+

Function Documentation

+ +

◆ addNoise()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def genFakeData.addNoise ( data,
 variance = 2.5 
)
+
+
@brief Add 0-mean Gaussian random noise to correspondence data
+@param[in] data Data to add noise to
+@param[in] variance Variance for Gaussian noise
+
+
+
+ +

◆ convertPolarPointsToCartesian()

+ +
+
+ + + + + + + + +
def genFakeData.convertPolarPointsToCartesian ( points)
+
+ +
+
+ +

◆ createOutliers()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.createOutliers ( data,
 n_outliers,
 noiseToAdd = 10 
)
+
+
@brief Create outliers by adding a lot of noise to randomly chosen n_outliers
+@param[in] data Data to create outliers in
+@param[in] n_outliers Number of outliers forced into data
+@param[in] noiseToAdd Amount of guaranteed base noise to add
+
+@return noisy_data Noisy data with outliers
+@return outlier_ind Indices of outliers
+
+
+
+ +

◆ distort()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.distort ( coords,
 velocity,
 frequency,
 h 
)
+
+ +
+
+ +

◆ generateFakeCorrespondences()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.generateFakeCorrespondences ( srcCoord = None,
 n_points = 100,
 theta_max_deg = 20,
 max_translation_m = 3 
)
+
+
@brief Generate fake correspondences with transform, randomly generated from max range and degree
+@param[in] srcCoord Source coordinate to transform from. If none, will randomly generate features
+@param[in] n_points Number of points to generate, only applies if srcCoord = None
+@param[in] theta_max_deg Maximum degree of rotation
+@param[in] max_range_m Maximum range (for translation) in meters
+
+@return srcCoord Generated or passed in srcCoord
+@return targetCoord Corresponding targetCoord generated using (theta_deg, h)
+@return theta_deg Theta component of transform
+@return h Translation component of transform
+
+
+
+ +

◆ generateFakeCorrespondencesPolar()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.generateFakeCorrespondencesPolar ( currentFrame = None,
 n_points = 100,
 theta_max_deg = 20,
 max_translation_m = 3 
)
+
+
@brief Generate fake correspondences with transform, randomly generated from max range and degree
+@param[in] currentFrame Source coordinate to transform from. If none, will randomly generate features
+@param[in] n_points Number of points to generate, only applies if currentFrame = None
+@param[in] theta_max_deg Maximum degree of rotation
+@param[in] max_range_m Maximum range (for translation) in meters
+
+@return currentFrame Generated or passed in currentFrame
+@return targetCoord Corresponding targetCoord generated using (theta_deg, h)
+@return theta_deg Theta component of transform
+@return h Translation component of transform
+
+
+
+ +

◆ generateFakeFeatures()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def genFakeData.generateFakeFeatures ( n_points = 100,
 max_range_m = 10 
)
+
+ +
+
+ +

◆ generateFakeFeaturesPolar()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def genFakeData.generateFakeFeaturesPolar ( n_points = 100,
 max_range_m = 10 
)
+
+ +
+
+ +

◆ generateTranslationVector()

+ +
+
+ + + + + + + + +
def genFakeData.generateTranslationVector ( max_range_m = 10)
+
+ +
+
+ +

◆ plotFakeFeatures()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.plotFakeFeatures ( srcCoord,
 targetCoord,
 targetCoord2 = None,
 title_append = "",
 alpha = 1,
 clear = False,
 show = False,
 plotDisplace = False 
)
+
+ +
+
+ +

◆ transformCoords()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def genFakeData.transformCoords ( srcCoord,
 A,
 h 
)
+
+
@brief Transform coordinates to get correspondence points given A, h transformation matrix
+@param[in] srcCoord Source coordinates (K x 2)
+@param[in] A Rotation matrix (2 x 2)
+@param[in] h Translation matrix (2 x 1)
+
+@return targetCoord = A @ srcCoord + h (K x 2)
+
+
+
+
+
+ + + + diff --git a/doc/html/namespaceget_features.html b/doc/html/namespaceget_features.html new file mode 100644 index 0000000..70761cc --- /dev/null +++ b/doc/html/namespaceget_features.html @@ -0,0 +1,717 @@ + + + + + + + +RAW-ROAM: getFeatures Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
getFeatures Namespace Reference
+
+
+ + + + + + + + + + + + +

+Functions

np.ndarray getBlobsFromCart (np.ndarray cartImage, int min_sigma=1, int max_sigma=30, int num_sigma=10, threshold=0.01, method="doh")
 
def calculateFeatureLossThreshold (nInitialFeatures)
 
def adaptiveNMS (img, blobs, ret_points=200, tolerance=0.1)
 
def getFeatures (img, dict feature_params=DEFAULT_FEATURE_PARAMS)
 
def appendNewFeatures (srcImg, oldFeaturesCoord)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

 DEFAULT_FEATURE_PARAMS
 
float PERCENT_FEATURE_LOSS_THRESHOLD = 0.75
 
int N_FEATURES_BEFORE_RETRACK = 60
 
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
 dataPath = os.path.join("data", datasetName, "radar")
 
 timestampPath = os.path.join("data", datasetName, "radar.timestamps")
 
 end
 
 flush
 
 streamArr = getRadarStreamPolar(dataPath, timestampPath)
 
 nImgs = streamArr.shape[2]
 
 toSavePath = os.path.join(".", "img", "blob", datasetName)
 
 exist_ok
 
 imgPolar = streamArr[:, :, imgNo]
 
 imgCart = convertPolarImageToCartesian(imgPolar)
 
np.ndarray blobIndices
 
def s_blobIndices = adaptiveNMS(imgCart, blobIndices)
 
int imgCartBGR = cv2.cvtColor(imgCart, cv2.COLOR_GRAY2BGR) * 255
 
np.ndarray nIndices = blobIndices.shape[0]
 
def nIndicesANMS = s_blobIndices.shape[0]
 
 blobY
 
 blobX
 
 blobSigma
 
tuple coord = (blobX, blobY)
 
tuple color = (0, 255, 0)
 
 toSaveImgPath = os.path.join(toSavePath, f"{imgNo:04d}.jpg")
 
+

Function Documentation

+ +

◆ adaptiveNMS()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def getFeatures.adaptiveNMS ( img,
 blobs,
 ret_points = 200,
 tolerance = 0.1 
)
+
+ +
+
+ +

◆ appendNewFeatures()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getFeatures.appendNewFeatures ( srcImg,
 oldFeaturesCoord 
)
+
+
@brief Append new features obtained from srcImg onto oldFeaturesCoord array
+@see getFeatures()
+
+@param[in] srcImg Source image to obtain features on
+@param[in] oldFeaturesCoord (K x 2) array of [x, y] coordinate of features
+
+
+
+ +

◆ calculateFeatureLossThreshold()

+ +
+
+ + + + + + + + +
def getFeatures.calculateFeatureLossThreshold ( nInitialFeatures)
+
+ +
+
+ +

◆ getBlobsFromCart()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
np.ndarray getFeatures.getBlobsFromCart (np.ndarray cartImage,
int  min_sigma = 1,
int  max_sigma = 30,
int  num_sigma = 10,
 threshold = 0.01,
 method = "doh" 
)
+
+
@brief Given a radar image, generate a list of (K x 3)
+       blob indices based on Determinant of Hessian
+@note Uses default params from skimage.features function
+
+@param[in] cartImage Cartesian radar image
+
+@return (K x 3) Np array of blob coordinates with each row [r, c, sigma] being coordinates and sigma of detected blobs
+
+
+
+ +

◆ getFeatures()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getFeatures.getFeatures ( img,
dict  feature_params = DEFAULT_FEATURE_PARAMS 
)
+
+
@brief Get features from image using Hessian blob detector
+@param[in] img Image to detect features from 
+@param[in] feature_params Parameters for feature detection, @see DEFAULT_FEATURE_PARAMS
+
+@return blobCoord (K x 2) array of [x, y] coordinates of center of blobs on the image
+@return blobRadii (K x 1) array of radius of blobs
+
+
+
+

Variable Documentation

+ +

◆ blobIndices

+ +
+
+ + + + +
np.ndarray blobIndices
+
+Initial value:
1= getBlobsFromCart(imgCart,
+
2 min_sigma=0.01,
+
3 max_sigma=10,
+
4 num_sigma=3,
+
5 threshold=.0005,
+
6 method="doh")
+
+
+
+ +

◆ blobSigma

+ +
+
+ + + + +
blobSigma
+
+ +
+
+ +

◆ blobX

+ +
+
+ + + + +
blobX
+
+ +
+
+ +

◆ blobY

+ +
+
+ + + + +
blobY
+
+ +
+
+ +

◆ color

+ +
+
+ + + + +
tuple color = (0, 255, 0)
+
+ +
+
+ +

◆ coord

+ +
+
+ + + + +
tuple coord = (blobX, blobY)
+
+ +
+
+ +

◆ dataPath

+ +
+
+ + + + +
dataPath = os.path.join("data", datasetName, "radar")
+
+ +
+
+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ DEFAULT_FEATURE_PARAMS

+ +
+
+ + + + +
DEFAULT_FEATURE_PARAMS
+
+Initial value:
1= dict(
+
2 min_sigma=0.01,
+
3 max_sigma=10,
+
4 num_sigma=3,
+
5 threshold=.0005, # lower threshold for more features
+
6 method="doh")
+
+
+
+ +

◆ end

+ +
+
+ + + + +
end
+
+ +
+
+ +

◆ exist_ok

+ +
+
+ + + + +
exist_ok
+
+ +
+
+ +

◆ flush

+ +
+
+ + + + +
flush
+
+ +
+
+ +

◆ imgCart

+ +
+
+ + + + +
imgCart = convertPolarImageToCartesian(imgPolar)
+
+ +
+
+ +

◆ imgCartBGR

+ +
+
+ + + + +
int imgCartBGR = cv2.cvtColor(imgCart, cv2.COLOR_GRAY2BGR) * 255
+
+ +
+
+ +

◆ imgPolar

+ +
+
+ + + + +
imgPolar = streamArr[:, :, imgNo]
+
+ +
+
+ +

◆ N_FEATURES_BEFORE_RETRACK

+ +
+
+ + + + +
int N_FEATURES_BEFORE_RETRACK = 60
+
+ +
+
+ +

◆ nImgs

+ +
+
+ + + + +
nImgs = streamArr.shape[2]
+
+ +
+
+ +

◆ nIndices

+ +
+
+ + + + +
np.ndarray nIndices = blobIndices.shape[0]
+
+ +
+
+ +

◆ nIndicesANMS

+ +
+
+ + + + +
def nIndicesANMS = s_blobIndices.shape[0]
+
+ +
+
+ +

◆ PERCENT_FEATURE_LOSS_THRESHOLD

+ +
+
+ + + + +
float PERCENT_FEATURE_LOSS_THRESHOLD = 0.75
+
+ +
+
+ +

◆ s_blobIndices

+ +
+
+ + + + +
def s_blobIndices = adaptiveNMS(imgCart, blobIndices)
+
+ +
+
+ +

◆ streamArr

+ +
+
+ + + + +
streamArr = getRadarStreamPolar(dataPath, timestampPath)
+
+ +
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", datasetName, "radar.timestamps")
+
+ +
+
+ +

◆ toSaveImgPath

+ +
+
+ + + + +
toSaveImgPath = os.path.join(toSavePath, f"{imgNo:04d}.jpg")
+
+ +
+
+ +

◆ toSavePath

+ +
+
+ + + + +
toSavePath = os.path.join(".", "img", "blob", datasetName)
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespaceget_point_cloud.html b/doc/html/namespaceget_point_cloud.html new file mode 100644 index 0000000..5b18cf3 --- /dev/null +++ b/doc/html/namespaceget_point_cloud.html @@ -0,0 +1,378 @@ + + + + + + + +RAW-ROAM: getPointCloud Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
getPointCloud Namespace Reference
+
+
+ + + + +

+Functions

np.ndarray getPointCloudPolarInd (np.ndarray polarImage, float peakDistance=None, float peakProminence=None)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
 dataPath = os.path.join("data", datasetName, "radar")
 
 timestampPath = os.path.join("data", datasetName, "radar.timestamps")
 
 streamArr = getRadarStreamPolar(dataPath, timestampPath)
 
 nImgs = streamArr.shape[2]
 
 imgPolar = streamArr[:, :, i]
 
np.ndarray featurePolarIndices = getPointCloudPolarInd(imgPolar)
 
 featurePolarImage = np.zeros_like(imgPolar)
 
 featureAzim
 
 featureRange
 
 imgCart = convertPolarImageToCartesian(imgPolar)
 
 imgCartRGB = cv2.cvtColor(imgCart, cv2.COLOR_GRAY2BGR)
 
 featureImgCart = convertPolarImageToCartesian(featurePolarImage)
 
 c = cv2.waitKey(100)
 
+

Function Documentation

+ +

◆ getPointCloudPolarInd()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
np.ndarray getPointCloud.getPointCloudPolarInd (np.ndarray polarImage,
float  peakDistance = None,
float  peakProminence = None 
)
+
+
@brief Given a radar image, generate a list of polar indices 
+       based on peak detection with pruning
+
+@param[in] peakDistance Minimum distance to be counted as a peak
+@param[in] peakProminence Minimum prominence to be counted as a peak
+
+@return (K x 2) Np array of polar coordinates with each row [thetaInd, rInd] being indices in the polar image
+
+
+
+

Variable Documentation

+ +

◆ c

+ +
+
+ + + + +
c = cv2.waitKey(100)
+
+ +
+
+ +

◆ dataPath

+ +
+
+ + + + +
dataPath = os.path.join("data", datasetName, "radar")
+
+ +
+
+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ featureAzim

+ +
+
+ + + + +
featureAzim
+
+ +
+
+ +

◆ featureImgCart

+ +
+
+ + + + +
featureImgCart = convertPolarImageToCartesian(featurePolarImage)
+
+ +
+
+ +

◆ featurePolarImage

+ +
+
+ + + + +
featurePolarImage = np.zeros_like(imgPolar)
+
+ +
+
+ +

◆ featurePolarIndices

+ +
+
+ + + + +
np.ndarray featurePolarIndices = getPointCloudPolarInd(imgPolar)
+
+ +
+
+ +

◆ featureRange

+ +
+
+ + + + +
featureRange
+
+ +
+
+ +

◆ imgCart

+ +
+
+ + + + +
imgCart = convertPolarImageToCartesian(imgPolar)
+
+ +
+
+ +

◆ imgCartRGB

+ +
+
+ + + + +
imgCartRGB = cv2.cvtColor(imgCart, cv2.COLOR_GRAY2BGR)
+
+ +
+
+ +

◆ imgPolar

+ +
+
+ + + + +
imgPolar = streamArr[:, :, i]
+
+ +
+
+ +

◆ nImgs

+ +
+
+ + + + +
nImgs = streamArr.shape[2]
+
+ +
+
+ +

◆ streamArr

+ +
+
+ + + + +
streamArr = getRadarStreamPolar(dataPath, timestampPath)
+
+ +
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", datasetName, "radar.timestamps")
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespaceget_transform_k_l_t.html b/doc/html/namespaceget_transform_k_l_t.html new file mode 100644 index 0000000..e0fe1e1 --- /dev/null +++ b/doc/html/namespaceget_transform_k_l_t.html @@ -0,0 +1,1191 @@ + + + + + + + +RAW-ROAM: getTransformKLT Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
getTransformKLT Namespace Reference
+
+
+ + + + + + + + + + + + + + + + +

+Functions

None visualize_transform (np.ndarray prevImg, np.ndarray currImg, np.ndarray prevFeatureCoord, np.ndarray newFeatureCoord, float alpha=1, str extraLabel="", bool show=False)
 
def estimateTransformUsingDelats (np.ndarray srcCoords, np.ndarray targetCoords)
 
tuple[np.ndarray, np.ndarray] calculateTransformSVD (np.ndarray srcCoords, np.ndarray targetCoords)
 
tuple[np.ndarray, np.ndarray] calculateTransformDth (np.ndarray srcCoords, np.ndarray targetCoords)
 
tuple[np.ndarray, np.ndarray] calculateTransformDxDth (np.ndarray srcCoords, np.ndarray targetCoords)
 
tuple[np.ndarray, np.ndarray] calculateTransform (np.ndarray srcCoords, np.ndarray targetCoords)
 
tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray] getTrackedPointsKLT (np.ndarray srcImg, np.ndarray targetImg, np.ndarray blobCoordSrc)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

bool PLOT_BAD_FEATURES = False
 
int N_FEATURES_BEFORE_RETRACK = 60
 
 LK_PARAMS
 
int ERR_THRESHOLD = 10
 
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
int startImgInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
 
int REMOVE_OLD_RESULTS = bool(int(sys.argv[3])) if len(sys.argv) > 3 else False
 
 dataPath = os.path.join("data", datasetName, "radar")
 
 timestampPath = os.path.join("data", datasetName, "radar.timestamps")
 
 imgPathArr = getRadarImgPaths(dataPath, timestampPath)
 
 nImgs = len(imgPathArr)
 
 imgSavePath
 
 trajSavePath
 
 saveFeaturePath
 
 exist_ok
 
 prevImg = getCartImageFromImgPaths(imgPathArr, imgNo)
 
 blobCoord = data["blobCoord"]
 
 gtTrajPath = os.path.join("data", datasetName, "gt", "radar_odometry.csv")
 
 gtTraj = getGroundTruthTrajectory(gtTrajPath)
 
 initTimestamp = radarImgPathToTimestamp(imgPathArr[startImgInd])
 
 initPose = gtTraj.getPoseAtTimes(initTimestamp)
 
 estTraj = Trajectory([initTimestamp], [initPose])
 
 good_old = None
 
 start = tic()
 
 currImg = getCartImageFromImgPaths(imgPathArr, imgNo)
 
 prev_good_old = good_old
 
 good_new
 
 bad_new
 
 bad_old
 
 corrStatus
 
 nGoodFeatures = good_new.shape[0]
 
 nBadFeatures = bad_new.shape[0]
 
 nFeatures = nGoodFeatures + nBadFeatures
 
 R
 
 h
 
tuple transformed_pts = (R @ good_new.T + h).T
 
 show
 
 currTimestamp = radarImgPathToTimestamp(imgPathArr[imgNo])
 
 gt_deltas = gtTraj.getGroundTruthDeltasAtTime(currTimestamp)
 
 est_deltas = convertRandHtoDeltas(R, h)
 
 alpha
 
 extraLabel
 
 toSaveImgPath = os.path.join(imgSavePath, f"{imgNo:04d}.jpg")
 
 timestamp = radarImgPathToTimestamp(imgPathArr[imgNo])
 
 dx = est_deltas[0]
 
 dth = est_deltas[2]
 
 toSaveTrajPath = os.path.join(trajSavePath, f"{imgNo:04d}.jpg")
 
 savePath
 
+

Function Documentation

+ +

◆ calculateTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray] getTransformKLT.calculateTransform (np.ndarray srcCoords,
np.ndarray targetCoords 
)
+
+
@brief Calculate transform given 2 point correspondences.
+
+TODO: Make this work with SVD 
+@see getCorrespondences.py
+Inputs:
+srcCoords       - (N, 2) array of source points
+targetCoords    - (N, 2) array of target points
+Outputs:
+(R, h)          - (2 x 2), (2 x 1) arrays: rotation and translation. Apply
+                  to old points srcCoords to get new points targetCoords, i.e.
+                  R * srcCoords + h = targetCoords
+
+
+
+ +

◆ calculateTransformDth()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray] getTransformKLT.calculateTransformDth (np.ndarray srcCoords,
np.ndarray targetCoords 
)
+
+ +
+
+ +

◆ calculateTransformDxDth()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray] getTransformKLT.calculateTransformDxDth (np.ndarray srcCoords,
np.ndarray targetCoords 
)
+
+ +
+
+ +

◆ calculateTransformSVD()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray] getTransformKLT.calculateTransformSVD (np.ndarray srcCoords,
np.ndarray targetCoords 
)
+
+
@brief Calculate transform given 2 point correspondences using SVD.
+Conventions:
+Rx1 + h = x0
+
+Reference: https://www.sciencedirect.com/science/article/pii/002192909400116L
+           http://nghiaho.com/?page_id=671
+@see getCorrespondences.py
+Inputs:
+srcCoords       - (N, 2) array of source points, x0
+targetCoords    - (N, 2) array of target points, x1
+Outputs:
+(R, h)          - (2 x 2), (2 x 1) arrays: rotation and translation. Apply
+                  to old points srcCoords to get new points targetCoords, i.e.
+                  R * srcCoords + h = targetCoords
+
+
+
+ +

◆ estimateTransformUsingDelats()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def getTransformKLT.estimateTransformUsingDelats (np.ndarray srcCoords,
np.ndarray targetCoords 
)
+
+
@brief Estimate KLT [x, y] frame translation by taking average of deltaX and deltaYs from source
+
+
+
+ +

◆ getTrackedPointsKLT()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray] getTransformKLT.getTrackedPointsKLT (np.ndarray srcImg,
np.ndarray targetImg,
np.ndarray + blobCoordSrc 
)
+
+
@brief Get tracked points using the OpenCV KLT algorithm given the
+       src and target img, and points from the src img to track
+
+@param[in] srcIimg      (M x N) Source image
+@param[in] targetImg    (M x N) Target image
+@param[in] blobIndicesSrc Indices source features (K x 2) (potentially (K x 3)) @note [x, y] format
+
+@note  Will append k more features if it finds that there are not enough features to track
+@note  Will also prune away features. Hence might have K' points instead
+
+@return good_new    (K'  x 2) New points considered as good correspondences
+@return good_old    (K'  x 2) Old points considered as good correspondences
+
+@return bad_new     (K'' x 2) New points considered as bad correspondences 
+@return bad_old     (K'' x 2) Old points considered as bad correspondences
+
+@return correspondenceStatus    ((K + k) x 2) Status of correspondences (1 for valid, 0 for invalid/error) 
+
+
+
+ +

◆ visualize_transform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
None getTransformKLT.visualize_transform (np.ndarray prevImg,
np.ndarray currImg,
np.ndarray prevFeatureCoord,
np.ndarray newFeatureCoord,
float  alpha = 1,
str  extraLabel = "",
bool  show = False 
)
+
+
@brief Visualize transform of good and bad points in 2 images
+
plt.subplot(1, 2, 1)
+plt.imshow(prevImg)
+plt.scatter(prevFeatureInd[:, 1],
+            prevFeatureInd[:, 0],
+            marker='.',
+            color='red')
+plt.title("Old Image")
+plt.axis("off")
+
+plt.subplot(1, 2, 2)
+
+
+
+

Variable Documentation

+ +

◆ alpha

+ +
+
+ + + + +
alpha
+
+ +
+
+ +

◆ bad_new

+ +
+
+ + + + +
bad_new
+
+ +
+
+ +

◆ bad_old

+ +
+
+ + + + +
bad_old
+
+ +
+
+ +

◆ blobCoord

+ +
+
+ + + + +
blobCoord = data["blobCoord"]
+
+ +
+
+ +

◆ corrStatus

+ +
+
+ + + + +
corrStatus
+
+ +
+
+ +

◆ currImg

+ +
+
+ + + + +
currImg = getCartImageFromImgPaths(imgPathArr, imgNo)
+
+ +
+
+ +

◆ currTimestamp

+ +
+
+ + + + +
currTimestamp = radarImgPathToTimestamp(imgPathArr[imgNo])
+
+ +
+
+ +

◆ dataPath

+ +
+
+ + + + +
dataPath = os.path.join("data", datasetName, "radar")
+
+ +
+
+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ dth

+ +
+
+ + + + +
dth = est_deltas[2]
+
+ +
+
+ +

◆ dx

+ +
+
+ + + + +
dx = est_deltas[0]
+
+ +
+
+ +

◆ ERR_THRESHOLD

+ +
+
+ + + + +
int ERR_THRESHOLD = 10
+
+ +
+
+ +

◆ est_deltas

+ +
+
+ + + + +
est_deltas = convertRandHtoDeltas(R, h)
+
+ +
+
+ +

◆ estTraj

+ +
+
+ + + + +
estTraj = Trajectory([initTimestamp], [initPose])
+
+ +
+
+ +

◆ exist_ok

+ +
+
+ + + + +
exist_ok
+
+ +
+
+ +

◆ extraLabel

+ +
+
+ + + + +
extraLabel
+
+ +
+
+ +

◆ good_new

+ +
+
+ + + + +
good_new
+
+ +
+
+ +

◆ good_old

+ +
+
+ + + + +
good_old = None
+
+ +
+
+ +

◆ gt_deltas

+ +
+
+ + + + +
gt_deltas = gtTraj.getGroundTruthDeltasAtTime(currTimestamp)
+
+ +
+
+ +

◆ gtTraj

+ +
+
+ + + + +
gtTraj = getGroundTruthTrajectory(gtTrajPath)
+
+ +
+
+ +

◆ gtTrajPath

+ +
+
+ + + + +
gtTrajPath = os.path.join("data", datasetName, "gt", "radar_odometry.csv")
+
+ +
+
+ +

◆ h

+ +
+
+ + + + +
h
+
+ +
+
+ +

◆ imgPathArr

+ +
+
+ + + + +
imgPathArr = getRadarImgPaths(dataPath, timestampPath)
+
+ +
+
+ +

◆ imgSavePath

+ +
+
+ + + + +
imgSavePath
+
+Initial value:
1= os.path.join(".", "img", "track_klt_thresholding",
+
2 datasetName)
+
+
+
+ +

◆ initPose

+ +
+
+ + + + +
initPose = gtTraj.getPoseAtTimes(initTimestamp)
+
+ +
+
+ +

◆ initTimestamp

+ +
+
+ + + + +
initTimestamp = radarImgPathToTimestamp(imgPathArr[startImgInd])
+
+ +
+
+ +

◆ LK_PARAMS

+ +
+
+ + + + +
LK_PARAMS
+
+Initial value:
1= dict(
+
2 # level of pyramid search
+
3 maxLevel=3,
+
4 # termination criteria
+
5 criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
+
+
+
+ +

◆ N_FEATURES_BEFORE_RETRACK

+ +
+
+ + + + +
int N_FEATURES_BEFORE_RETRACK = 60
+
+ +
+
+ +

◆ nBadFeatures

+ +
+
+ + + + +
nBadFeatures = bad_new.shape[0]
+
+ +
+
+ +

◆ nFeatures

+ +
+
+ + + + +
nFeatures = nGoodFeatures + nBadFeatures
+
+ +
+
+ +

◆ nGoodFeatures

+ +
+
+ + + + +
nGoodFeatures = good_new.shape[0]
+
+ +
+
+ +

◆ nImgs

+ +
+
+ + + + +
nImgs = len(imgPathArr)
+
+ +
+
+ +

◆ PLOT_BAD_FEATURES

+ +
+
+ + + + +
bool PLOT_BAD_FEATURES = False
+
+ +
+
+ +

◆ prev_good_old

+ +
+
+ + + + +
prev_good_old = good_old
+
+ +
+
+ +

◆ prevImg

+ +
+
+ + + + +
prevImg = getCartImageFromImgPaths(imgPathArr, imgNo)
+
+ +
+
+ +

◆ R

+ +
+
+ + + + +
R
+
+ +
+
+ +

◆ REMOVE_OLD_RESULTS

+ +
+
+ + + + +
int REMOVE_OLD_RESULTS = bool(int(sys.argv[3])) if len(sys.argv) > 3 else False
+
+ +
+
+ +

◆ saveFeaturePath

+ +
+
+ + + + +
saveFeaturePath
+
+Initial value:
1= os.path.join(
+
2 imgSavePath.strip(os.path.sep) + f"_{imgNo}.npz")
+
+
+
+ +

◆ savePath

+ +
+
+ + + + +
savePath
+
+ +
+
+ +

◆ show

+ +
+
+ + + + +
show
+
+ +
+
+ +

◆ start

+ +
+
+ + + + +
start = tic()
+
+ +
+
+ +

◆ startImgInd

+ +
+
+ + + + +
int startImgInd = int(sys.argv[2]) if len(sys.argv) > 2 else 0
+
+ +
+
+ +

◆ timestamp

+ +
+
+ + + + +
timestamp = radarImgPathToTimestamp(imgPathArr[imgNo])
+
+ +
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", datasetName, "radar.timestamps")
+
+ +
+
+ +

◆ toSaveImgPath

+ +
+
+ + + + +
toSaveImgPath = os.path.join(imgSavePath, f"{imgNo:04d}.jpg")
+
+ +
+
+ +

◆ toSaveTrajPath

+ +
+
+ + + + +
toSaveTrajPath = os.path.join(trajSavePath, f"{imgNo:04d}.jpg")
+
+ +
+
+ +

◆ trajSavePath

+ +
+
+ + + + +
trajSavePath
+
+Initial value:
1= os.path.join(".", "img", "track_klt_thresholding",
+
2 datasetName + '_traj')
+
+
+
+ +

◆ transformed_pts

+ +
+
+ + + + +
transformed_pts = (R @ good_new.T + h).T
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespacemembers.html b/doc/html/namespacemembers.html new file mode 100644 index 0000000..97de050 --- /dev/null +++ b/doc/html/namespacemembers.html @@ -0,0 +1,105 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- a -

+
+
+ + + + diff --git a/doc/html/namespacemembers_b.html b/doc/html/namespacemembers_b.html new file mode 100644 index 0000000..90155e3 --- /dev/null +++ b/doc/html/namespacemembers_b.html @@ -0,0 +1,107 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- b -

+
+
+ + + + diff --git a/doc/html/namespacemembers_c.html b/doc/html/namespacemembers_c.html new file mode 100644 index 0000000..b81efcb --- /dev/null +++ b/doc/html/namespacemembers_c.html @@ -0,0 +1,125 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- c -

+
+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- e -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- f -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- h -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- i -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- k -

+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- l -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- m -

+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
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- n -

+
+
+ + + + diff --git a/doc/html/namespacemembers_o.html b/doc/html/namespacemembers_o.html new file mode 100644 index 0000000..8a91b8d --- /dev/null +++ b/doc/html/namespacemembers_o.html @@ -0,0 +1,101 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- o -

+
+
+ + + + diff --git a/doc/html/namespacemembers_p.html b/doc/html/namespacemembers_p.html new file mode 100644 index 0000000..950380d --- /dev/null +++ b/doc/html/namespacemembers_p.html @@ -0,0 +1,120 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+
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+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- p -

+
+
+ + + + diff --git a/doc/html/namespacemembers_q.html b/doc/html/namespacemembers_q.html new file mode 100644 index 0000000..d9e05b2 --- /dev/null +++ b/doc/html/namespacemembers_q.html @@ -0,0 +1,100 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ +
+ +
+
+ + +
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+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- q -

+
+
+ + + + diff --git a/doc/html/namespacemembers_r.html b/doc/html/namespacemembers_r.html new file mode 100644 index 0000000..1bbf66b --- /dev/null +++ b/doc/html/namespacemembers_r.html @@ -0,0 +1,112 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
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+ +
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+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- r -

+
+
+ + + + diff --git a/doc/html/namespacemembers_s.html b/doc/html/namespacemembers_s.html new file mode 100644 index 0000000..2e8c0f8 --- /dev/null +++ b/doc/html/namespacemembers_s.html @@ -0,0 +1,117 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
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+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- s -

+
+
+ + + + diff --git a/doc/html/namespacemembers_t.html b/doc/html/namespacemembers_t.html new file mode 100644 index 0000000..1db5527 --- /dev/null +++ b/doc/html/namespacemembers_t.html @@ -0,0 +1,120 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
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+ +
+
+
+ +
+ +
+
+ + +
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+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- t -

+
+
+ + + + diff --git a/doc/html/namespacemembers_u.html b/doc/html/namespacemembers_u.html new file mode 100644 index 0000000..ec6fb35 --- /dev/null +++ b/doc/html/namespacemembers_u.html @@ -0,0 +1,101 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ +
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+
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Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- u -

+
+
+ + + + diff --git a/doc/html/namespacemembers_v.html b/doc/html/namespacemembers_v.html new file mode 100644 index 0000000..cfa64df --- /dev/null +++ b/doc/html/namespacemembers_v.html @@ -0,0 +1,103 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ + + + + + + +
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+ +
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+ +
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+
+ + +
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Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- v -

+
+
+ + + + diff --git a/doc/html/namespacemembers_vars.html b/doc/html/namespacemembers_vars.html new file mode 100644 index 0000000..4c6db1b --- /dev/null +++ b/doc/html/namespacemembers_vars.html @@ -0,0 +1,102 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ +
+
+ + +
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+  + +

- a -

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+
+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ +
+
+ + +
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+  + +

- b -

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+
+ + + + + + +
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- c -

+
+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ + +
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+ +
+  + +

- e -

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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- f -

+
+
+ + + + diff --git a/doc/html/namespacemembers_vars_g.html b/doc/html/namespacemembers_vars_g.html new file mode 100644 index 0000000..78dc72f --- /dev/null +++ b/doc/html/namespacemembers_vars_g.html @@ -0,0 +1,106 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- g -

+
+
+ + + + diff --git a/doc/html/namespacemembers_vars_h.html b/doc/html/namespacemembers_vars_h.html new file mode 100644 index 0000000..17be5e8 --- /dev/null +++ b/doc/html/namespacemembers_vars_h.html @@ -0,0 +1,101 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- h -

+
+
+ + + + diff --git a/doc/html/namespacemembers_vars_i.html b/doc/html/namespacemembers_vars_i.html new file mode 100644 index 0000000..6b71b2a --- /dev/null +++ b/doc/html/namespacemembers_vars_i.html @@ -0,0 +1,108 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
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RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+  + +

- i -

+
+
+ + + + diff --git a/doc/html/namespacemembers_vars_k.html b/doc/html/namespacemembers_vars_k.html new file mode 100644 index 0000000..4e7eef1 --- /dev/null +++ b/doc/html/namespacemembers_vars_k.html @@ -0,0 +1,100 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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RAW-ROAM +
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Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+
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RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
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+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
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+ + + + diff --git a/doc/html/namespacemembers_vars_p.html b/doc/html/namespacemembers_vars_p.html new file mode 100644 index 0000000..ac882b6 --- /dev/null +++ b/doc/html/namespacemembers_vars_p.html @@ -0,0 +1,114 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
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+ + + + diff --git a/doc/html/namespacemembers_vars_r.html b/doc/html/namespacemembers_vars_r.html new file mode 100644 index 0000000..39cc2cc --- /dev/null +++ b/doc/html/namespacemembers_vars_r.html @@ -0,0 +1,109 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
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+ + + + diff --git a/doc/html/namespacemembers_vars_s.html b/doc/html/namespacemembers_vars_s.html new file mode 100644 index 0000000..af3bf96 --- /dev/null +++ b/doc/html/namespacemembers_vars_s.html @@ -0,0 +1,116 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
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+ +
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+ + + + diff --git a/doc/html/namespacemembers_vars_t.html b/doc/html/namespacemembers_vars_t.html new file mode 100644 index 0000000..f6b36a8 --- /dev/null +++ b/doc/html/namespacemembers_vars_t.html @@ -0,0 +1,117 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
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+ + + + diff --git a/doc/html/namespacemembers_vars_u.html b/doc/html/namespacemembers_vars_u.html new file mode 100644 index 0000000..5e35ddb --- /dev/null +++ b/doc/html/namespacemembers_vars_u.html @@ -0,0 +1,101 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
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+ +
+ +
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+ + +
+ +
+ +
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+
+ + + + diff --git a/doc/html/namespacemembers_vars_v.html b/doc/html/namespacemembers_vars_v.html new file mode 100644 index 0000000..8128570 --- /dev/null +++ b/doc/html/namespacemembers_vars_v.html @@ -0,0 +1,102 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
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+ +
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+ + + + diff --git a/doc/html/namespacemembers_vars_w.html b/doc/html/namespacemembers_vars_w.html new file mode 100644 index 0000000..ecfa7a4 --- /dev/null +++ b/doc/html/namespacemembers_vars_w.html @@ -0,0 +1,100 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
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+ + + + diff --git a/doc/html/namespacemembers_w.html b/doc/html/namespacemembers_w.html new file mode 100644 index 0000000..26b0998 --- /dev/null +++ b/doc/html/namespacemembers_w.html @@ -0,0 +1,100 @@ + + + + + + + +RAW-ROAM: Package Functions + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
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+ +
+ +
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+ + +
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+ +
+
Here is a list of all namespace members with links to the namespace documentation for each member:
+ +

- w -

+
+
+ + + + diff --git a/doc/html/namespacemotion_distortion.html b/doc/html/namespacemotion_distortion.html new file mode 100644 index 0000000..3077755 --- /dev/null +++ b/doc/html/namespacemotion_distortion.html @@ -0,0 +1,144 @@ + + + + + + + +RAW-ROAM: motionDistortion Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Variables
+
motionDistortion Namespace Reference
+
+
+ + + + +

+Classes

class  MotionDistortionSolver
 
+ + + + + +

+Variables

int RADAR_SCAN_FREQUENCY = 4
 
bool VERBOSE = False
 
+

Variable Documentation

+ +

◆ RADAR_SCAN_FREQUENCY

+ +
+
+ + + + +
int RADAR_SCAN_FREQUENCY = 4
+
+ +
+
+ +

◆ VERBOSE

+ +
+
+ + + + +
bool VERBOSE = False
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespacemotion_distortion.js b/doc/html/namespacemotion_distortion.js new file mode 100644 index 0000000..ac01ea7 --- /dev/null +++ b/doc/html/namespacemotion_distortion.js @@ -0,0 +1,6 @@ +var namespacemotion_distortion = +[ + [ "MotionDistortionSolver", "classmotion_distortion_1_1_motion_distortion_solver.html", "classmotion_distortion_1_1_motion_distortion_solver" ], + [ "RADAR_SCAN_FREQUENCY", "namespacemotion_distortion.html#a9e4a472297e345628c1e8db1788c1f47", null ], + [ "VERBOSE", "namespacemotion_distortion.html#af99838407de1f00344ce35d8675e41a7", null ] +]; \ No newline at end of file diff --git a/doc/html/namespaceoutlier_rejection.html b/doc/html/namespaceoutlier_rejection.html new file mode 100644 index 0000000..8d81518 --- /dev/null +++ b/doc/html/namespaceoutlier_rejection.html @@ -0,0 +1,481 @@ + + + + + + + +RAW-ROAM: outlierRejection Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
outlierRejection Namespace Reference
+
+
+ + + + +

+Functions

tuple[np.ndarray, np.ndarray, np.ndarray] rejectOutliers (np.ndarray prev_coord, np.ndarray new_coord)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

float DIST_THRESHOLD_M = 0.5
 
float DIST_THRESHOLD_PX = DIST_THRESHOLD_M / RANGE_RESOLUTION_CART_M
 
float DISTSQ_THRESHOLD_PX = DIST_THRESHOLD_PX * DIST_THRESHOLD_PX
 
bool FORCE_OUTLIERS = True
 
int n_points = 100
 
 n_outliers = int(n_points * 0.2)
 
int theta_max_deg = 20
 
int max_translation_m = 5
 
 prev_coord
 
 new_coord = addNoise(new_coord, variance=DIST_THRESHOLD_PX / 10)
 
 theta_deg
 
 trans_vec
 
 new_coord_perfect = new_coord.copy()
 
 outlier_ind
 
 noiseToAdd
 
 pruned_prev_coord
 
 pruned_new_coord
 
 alpha
 
 show
 
 title_append
 
+

Function Documentation

+ +

◆ rejectOutliers()

+ +
+
+ + + + + + + + + + + + + + + + + + +
tuple[np.ndarray, np.ndarray, np.ndarray] outlierRejection.rejectOutliers (np.ndarray prev_coord,
np.ndarray + new_coord 
)
+
+
@brief Reject outliers by using radar geometry to find dynamic/moving features
+
+@details For the first and second feature set, form a graph G1 and G2,
+where each point is a feature, and each edge is the distance between the 2 points.
+Because of radar geometry, the distance between any 2 points in G1 should be the 
+same (within threshold) as the same points in G2. 
+
+This is thus equivalent to forming an unweighted graph G, expressed as an adjacency matrix
+where if the difference in distance between i and j < thresh, then entry = 1, 0 otherwise.
+We then form the inlier set by finding the maximal clique in G.
+
+@note  It is assumeed that the points correspond with each other
+
+@param[in] prev_coord       (K x 2) Coordinates of features which are being tracked from [x,y]
+@param[in] new_coord        (K x 2) New coordinates of features which are tracked to [x,y]
+
+@return pruned_prev_coord   (k x 2) Pruned previous coordinates
+@return pruned_new_coord    (k x 2) Pruned current/new coordinates
+@return pruning_mask        (K x 2) Pruning mask
+
+
+
+

Variable Documentation

+ +

◆ alpha

+ +
+
+ + + + +
alpha
+
+ +
+
+ +

◆ DIST_THRESHOLD_M

+ +
+
+ + + + +
float DIST_THRESHOLD_M = 0.5
+
+ +
+
+ +

◆ DIST_THRESHOLD_PX

+ +
+
+ + + + +
float DIST_THRESHOLD_PX = DIST_THRESHOLD_M / RANGE_RESOLUTION_CART_M
+
+ +
+
+ +

◆ DISTSQ_THRESHOLD_PX

+ +
+
+ + + + +
float DISTSQ_THRESHOLD_PX = DIST_THRESHOLD_PX * DIST_THRESHOLD_PX
+
+ +
+
+ +

◆ FORCE_OUTLIERS

+ +
+
+ + + + +
bool FORCE_OUTLIERS = True
+
+ +
+
+ +

◆ max_translation_m

+ +
+
+ + + + +
max_translation_m = 5
+
+ +
+
+ +

◆ n_outliers

+ +
+
+ + + + +
n_outliers = int(n_points * 0.2)
+
+ +
+
+ +

◆ n_points

+ +
+
+ + + + +
n_points = 100
+
+ +
+
+ +

◆ new_coord

+ +
+
+ + + + +
new_coord = addNoise(new_coord, variance=DIST_THRESHOLD_PX / 10)
+
+ +
+
+ +

◆ new_coord_perfect

+ +
+
+ + + + +
new_coord_perfect = new_coord.copy()
+
+ +
+
+ +

◆ noiseToAdd

+ +
+
+ + + + +
noiseToAdd
+
+ +
+
+ +

◆ outlier_ind

+ +
+
+ + + + +
outlier_ind
+
+ +
+
+ +

◆ prev_coord

+ +
+
+ + + + +
prev_coord
+
+ +
+
+ +

◆ pruned_new_coord

+ +
+
+ + + + +
pruned_new_coord
+
+ +
+
+ +

◆ pruned_prev_coord

+ +
+
+ + + + +
pruned_prev_coord
+
+ +
+
+ +

◆ show

+ +
+
+ + + + +
show
+
+ +
+
+ +

◆ theta_deg

+ +
+
+ + + + +
theta_deg
+
+ +
+
+ +

◆ theta_max_deg

+ +
+
+ + + + +
theta_max_deg = 20
+
+ +
+
+ +

◆ title_append

+ +
+
+ + + + +
title_append
+
+ +
+
+ +

◆ trans_vec

+ +
+
+ + + + +
trans_vec
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespaceparse_data.html b/doc/html/namespaceparse_data.html new file mode 100644 index 0000000..632f897 --- /dev/null +++ b/doc/html/namespaceparse_data.html @@ -0,0 +1,678 @@ + + + + + + + +RAW-ROAM: parseData Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions | +Variables
+
parseData Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + +

+Functions

Tuple[np.ndarray, float, float, np.ndarray, np.ndarray, np.ndarray] extractDataFromRadarImage (np.ndarray polarImgData, float maxRangeClipM=MAX_RANGE_CLIP_DEFAULT)
 
def drawCVPoint (np.ndarray img, CartCoord point, Tuple[int, int, int] point_color=(0, 0, 255))
 
np.ndarray convertCartesianImageToPolar (np.ndarray imgCart, bool logPolarMode=False, Tuple[int, int] shapeHW=None)
 
np.ndarray convertPolarImageToCartesian (np.ndarray imgPolar, bool logPolarMode=False, int downsampleFactor=DOWNSAMPLE_FACTOR, bool changeGlobalRangeResolution=False)
 
def convertPolarImgToLogPolar (np.ndarray imgPolar)
 
Tuple[np.ndarray, float, float, np.ndarray, np.ndarray, np.ndarray] getDataFromImgPathsByIndex (List[str] imgPathArr, int index)
 
np.ndarray getPolarImageFromImgPaths (List[str] imgPathArr, int index)
 
np.ndarray getCartImageFromImgPaths (List[str] imgPathArr, int index)
 
List[str] getRadarImgPaths (str dataPath, str timestampPath)
 
np.ndarray getRadarStreamPolar (str dataPath, str timestampPath)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

float RANGE_RESOLUTION_M = 0.0432
 
int DOWNSAMPLE_FACTOR = 2
 
float RANGE_RESOLUTION_CART_M = RANGE_RESOLUTION_M * DOWNSAMPLE_FACTOR
 
float MAX_RANGE_CLIP_DEFAULT = 87.5
 
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
 dataPath = os.path.join("data", datasetName, "radar")
 
 timestampPath = os.path.join("data", datasetName, "radar.timestamps")
 
np.ndarray streamArr = getRadarStreamPolar(dataPath, timestampPath)
 
np.ndarray nImgs = streamArr.shape[2]
 
np.ndarray imgPolar = streamArr[:, :, i]
 
np.ndarray imgCart = convertPolarImageToCartesian(imgPolar)
 
 c = cv2.waitKey(100)
 
+

Function Documentation

+ +

◆ convertCartesianImageToPolar()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
np.ndarray parseData.convertCartesianImageToPolar (np.ndarray imgCart,
bool  logPolarMode = False,
Tuple[int, int]  shapeHW = None 
)
+
+
@brief Converts Cartesian image to (potentially log) polar
+@param[in] imgPolar Polar image to convert
+@param[in] logPolarMode Whether to convert in log-polar mode
+
+@return imgCart Converted Cartesian image
+
+
+
+ +

◆ convertPolarImageToCartesian()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
np.ndarray parseData.convertPolarImageToCartesian (np.ndarray imgPolar,
bool  logPolarMode = False,
int  downsampleFactor = DOWNSAMPLE_FACTOR,
bool  changeGlobalRangeResolution = False 
)
+
+
@brief Converts polar image to Cartesian formats
+@param[in] imgPolar Polar image to convert
+@param[in] logPolarMode Whether to convert in log-polar mode
+@param[in] downsampleFactor How much to downsample Cartesian image for performance improvements
+@param[in] changeGlobalRangeResolution Whether or not to change the
+                                       global range resolution needed
+                                       for accurate px to m conversions
+
+@return imgCart Converted Cartesian image
+
+
+
+ +

◆ convertPolarImgToLogPolar()

+ +
+
+ + + + + + + + +
def parseData.convertPolarImgToLogPolar (np.ndarray imgPolar)
+
+
@brief Convert an image in polar form into log-polar form
+@note Involves converting from polar to Cartesian to back again
+@see convertPolarImageToCartesian(), convertCartesianImageToPolar()
+
+
+ +

◆ drawCVPoint()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def parseData.drawCVPoint (np.ndarray img,
CartCoord point,
Tuple[int, int, int]  point_color = (0, 0, 255) 
)
+
+ +
+
+ +

◆ extractDataFromRadarImage()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Tuple[np.ndarray, float, float, np.ndarray, np.ndarray, np.ndarray] parseData.extractDataFromRadarImage (np.ndarray polarImgData,
float  maxRangeClipM = MAX_RANGE_CLIP_DEFAULT 
)
+
+
@brief Decode a single Oxford Radar RobotCar Dataset radar example
+@param[in] polarImgData cv image
+@param[in] maxRangeClipM Max range to clip data, in meters. Negative number for no clip
+@return
+    range_azimuth_data (np.ndarray): Radar power readings along each azimuth
+    range_resolution (float): Range resolution of the polar radar data (metres per pixel)
+    azimuth_resolution (float): Azimuth resolution of the polar radar data (radians per pixel)
+    azimuths (np.ndarray): Rotation for each polar radar azimuth (radians)
+    valid (np.ndarray) Mask of whether azimuth data is an original sensor reading or interpolated from adjacent
+        azimuths
+    timestamps (np.ndarray): Timestamp for each azimuth in int64 (UNIX time)
+
+
+
+ +

◆ getCartImageFromImgPaths()

+ +
+
+ + + + + + + + + + + + + + + + + + +
np.ndarray parseData.getCartImageFromImgPaths (List[str] imgPathArr,
int index 
)
+
+
@brief Get polar image from image path array, indexing accordingly
+@param[in] imgPathArr List of image path as strings
+@param[in] index Index to index into
+
+@return imgCart Cartesian image
+
+
+
+ +

◆ getDataFromImgPathsByIndex()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Tuple[np.ndarray, float, float, np.ndarray, np.ndarray, np.ndarray] parseData.getDataFromImgPathsByIndex (List[str] imgPathArr,
int + index 
)
+
+
@brief Get information from image path array, indexing accordingly
+@param[in] imgPathArr List of image path as strings
+@param[in] index Index to index into
+
+@return
+    imgPolar (np.ndarray): Radar power readings along each azimuth
+    azimuth_resolution (float): Azimuth resolution of the polar radar data (radians per pixel)
+    range_resolution (float): Range resolution of the polar radar data (metres per pixel)
+    azimuths (np.ndarray): Rotation for each polar radar azimuth (radians)
+    valid (np.ndarray) Mask of whether azimuth data is an original sensor reading or interpolated from adjacent
+        azimuths
+    timestamps (np.ndarray): Timestamp for each azimuth in int64 (UNIX time)
+
+
+
+ +

◆ getPolarImageFromImgPaths()

+ +
+
+ + + + + + + + + + + + + + + + + + +
np.ndarray parseData.getPolarImageFromImgPaths (List[str] imgPathArr,
int index 
)
+
+
@brief Get polar image from image path array, indexing accordingly
+@param[in] imgPathArr List of image path as strings
+@param[in] index Index to index into
+
+@return imgPolar Polar image
+
+
+
+ +

◆ getRadarImgPaths()

+ +
+
+ + + + + + + + + + + + + + + + + + +
List[str] parseData.getRadarImgPaths (str dataPath,
str timestampPath 
)
+
+
@brief Obtain list of radar image paths
+
+@param[in] dataPath Path to radar image data
+@param[in] timestampPath Path to radar timestamp data
+
+@return list of strings containing paths to radar image
+
+
+
+ +

◆ getRadarStreamPolar()

+ +
+
+ + + + + + + + + + + + + + + + + + +
np.ndarray parseData.getRadarStreamPolar (str dataPath,
str timestampPath 
)
+
+
@brief Returns np array of radar images in POLAR format
+@param[in] dataPath Path to radar image data
+@param[in] timestampPath Path to radar timestamp data
+
+@return radar range-azimuth image (W x H x N)
+
+
+
+

Variable Documentation

+ +

◆ c

+ +
+
+ + + + +
c = cv2.waitKey(100)
+
+ +
+
+ +

◆ dataPath

+ +
+
+ + + + +
dataPath = os.path.join("data", datasetName, "radar")
+
+ +
+
+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ DOWNSAMPLE_FACTOR

+ +
+
+ + + + +
int DOWNSAMPLE_FACTOR = 2
+
+ +
+
+ +

◆ imgCart

+ +
+
+ + + + +
np.ndarray imgCart = convertPolarImageToCartesian(imgPolar)
+
+ +
+
+ +

◆ imgPolar

+ +
+
+ + + + +
np.ndarray imgPolar = streamArr[:, :, i]
+
+ +
+
+ +

◆ MAX_RANGE_CLIP_DEFAULT

+ +
+
+ + + + +
float MAX_RANGE_CLIP_DEFAULT = 87.5
+
+ +
+
+ +

◆ nImgs

+ +
+
+ + + + +
np.ndarray nImgs = streamArr.shape[2]
+
+ +
+
+ +

◆ RANGE_RESOLUTION_CART_M

+ +
+
+ + + + +
float RANGE_RESOLUTION_CART_M = RANGE_RESOLUTION_M * DOWNSAMPLE_FACTOR
+
+ +
+
+ +

◆ RANGE_RESOLUTION_M

+ +
+
+ + + + +
float RANGE_RESOLUTION_M = 0.0432
+
+ +
+
+ +

◆ streamArr

+ +
+
+ + + + +
np.ndarray streamArr = getRadarStreamPolar(dataPath, timestampPath)
+
+ +
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", datasetName, "radar.timestamps")
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespaces.html b/doc/html/namespaces.html new file mode 100644 index 0000000..9b3daad --- /dev/null +++ b/doc/html/namespaces.html @@ -0,0 +1,130 @@ + + + + + + + +RAW-ROAM: Packages + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
Packages
+
+
+
Here are the packages with brief descriptions (if available):
+
[detail level 12]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 NANMS
 ▼NCoord
 CCartCoord
 CPolarCoord
 NFMT
 NgenFakeData
 NgetFeatures
 NgetPointCloud
 NgetTransformKLT
 ▼NMapping
 CKeyframe
 CMap
 ▼NmotionDistortion
 CMotionDistortionSolver
 NoutlierRejection
 NparseData
 ▼NPoseGraphLib
 CBundleAdjustment
 CPoseGraphOptimization
 ▼NRawROAMSystem
 CRawROAMSystem
 NtestMotionDistortion
 NtestTransform
 ▼NTracker
 CTracker
 ▼NtrajectoryPlotting
 CTrajectory
 Nutils
+
+
+
+ + + + diff --git a/doc/html/namespaces_dup.js b/doc/html/namespaces_dup.js new file mode 100644 index 0000000..75cab08 --- /dev/null +++ b/doc/html/namespaces_dup.js @@ -0,0 +1,291 @@ +var namespaces_dup = +[ + [ "ANMS", "namespace_a_n_m_s.html", [ + [ "ssc", "namespace_a_n_m_s.html#ae9e9d70287f00bb9b6fe316b03d12325", null ] + ] ], + [ "Coord", "namespace_coord.html", "namespace_coord" ], + [ "FMT", "namespace_f_m_t.html", [ + [ "getRotationUsingFMT", "namespace_f_m_t.html#a1dc91b97654961781d4c92b4e027b85d", null ], + [ "getTranslationUsingPhaseCorrelation", "namespace_f_m_t.html#ae81fb59f14932ae340751f9684bd6d8b", null ], + [ "plotCartPolar", "namespace_f_m_t.html#a082f20cace72b4f16273efde8c24a34a", null ], + [ "plotCartPolarWithRotation", "namespace_f_m_t.html#a9d81f4081733eda3b7e60455434818c0", null ], + [ "rotateImg", "namespace_f_m_t.html#ab27cd6416890c30979ca7e7a5c3ccdbc", null ], + [ "currImgCart", "namespace_f_m_t.html#a74c00f943164f2ca306c340a6cb1f263", null ], + [ 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+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Variables
+
testMotionDistortion Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

int N = 100
 
float outlier_rate = 0.4
 
bool noisy = False
 
bool useOld = False
 
int frequency = 4
 
int period = 1 / frequency
 
 groundTruth
 
 currentFrame
 
 theta_deg
 
 h
 
 n_points
 
int velocity = np.array([h[0, 0], h[1, 0], theta_deg]) / period
 
 distorted = distort(currentFrame, velocity, frequency, h)
 
 outlier_ind
 
 noiseToAdd
 
 R_fit = A_inv[:2, :2]
 
 h_fit = A_inv[:2, 2:]
 
 A
 
 A_inv = np.linalg.inv(A)
 
int theta_fit = np.arctan2(R_fit[1, 0], R_fit[0, 0]) * 180 / np.pi
 
tuple srcCoord2 = (R_fit @ distorted.T + h_fit).T
 
 title_append
 
 alpha
 
 clear
 
 False
 
 show
 
 plotDisplace
 
 T_wj0 = np.eye(3)
 
 p_w = groundTruth
 
 p_jt = distorted
 
int v_j0 = np.array([h_fit[0,0], h_fit[1,0], theta_fit * np.pi / 180]) / period
 
 T_wj
 
 cov_p = np.diag([4, 4])
 
 cov_v = np.diag([1, 1, (5 * np.pi / 180) ** 2])
 
 MDS = MotionDistortionSolver(T_wj0, p_w, p_jt, v_j0, T_wj, cov_p, cov_v)
 
 undistorted = MDS.undistort(v_j0)
 
tuple srcCoord3 = (R_fit @ undistorted.T + h_fit).T
 
 params = MDS.optimize_library()
 
 final_undistorted = MDS.undistort(params[:3])
 
 transform = convertPoseToTransform(params[3:])
 
tuple solution = (transform @ final_undistorted)[:, :2, 0]
 
+

Variable Documentation

+ +

◆ A

+ +
+
+ + + + +
A
+
+Initial value:
1= np.block([[R_fit, h_fit],
+
2 [np.zeros((1, 2)), 1]])
+
+
+
+ +

◆ A_inv

+ +
+
+ + + + +
A_inv = np.linalg.inv(A)
+
+ +
+
+ +

◆ alpha

+ +
+
+ + + + +
alpha
+
+ +
+
+ +

◆ clear

+ +
+
+ + + + +
clear
+
+ +
+
+ +

◆ cov_p

+ +
+
+ + + + +
cov_p = np.diag([4, 4])
+
+ +
+
+ +

◆ cov_v

+ +
+
+ + + + +
cov_v = np.diag([1, 1, (5 * np.pi / 180) ** 2])
+
+ +
+
+ +

◆ currentFrame

+ +
+
+ + + + +
currentFrame
+
+ +
+
+ +

◆ distorted

+ +
+
+ + + + +
distorted = distort(currentFrame, velocity, frequency, h)
+
+ +
+
+ +

◆ False

+ +
+
+ + + + +
False
+
+ +
+
+ +

◆ final_undistorted

+ +
+
+ + + + +
final_undistorted = MDS.undistort(params[:3])
+
+ +
+
+ +

◆ frequency

+ +
+
+ + + + +
int frequency = 4
+
+ +
+
+ +

◆ groundTruth

+ +
+
+ + + + +
groundTruth
+
+ +
+
+ +

◆ h

+ +
+
+ + + + +
h
+
+ +
+
+ +

◆ h_fit

+ +
+
+ + + + +
h_fit = A_inv[:2, 2:]
+
+ +
+
+ +

◆ MDS

+ +
+
+ + + + +
MDS = MotionDistortionSolver(T_wj0, p_w, p_jt, v_j0, T_wj, cov_p, cov_v)
+
+ +
+
+ +

◆ N

+ +
+
+ + + + +
int N = 100
+
+ +
+
+ +

◆ n_points

+ +
+
+ + + + +
n_points
+
+ +
+
+ +

◆ noiseToAdd

+ +
+
+ + + + +
noiseToAdd
+
+ +
+
+ +

◆ noisy

+ +
+
+ + + + +
bool noisy = False
+
+ +
+
+ +

◆ outlier_ind

+ +
+
+ + + + +
outlier_ind
+
+ +
+
+ +

◆ outlier_rate

+ +
+
+ + + + +
float outlier_rate = 0.4
+
+ +
+
+ +

◆ p_jt

+ +
+
+ + + + +
p_jt = distorted
+
+ +
+
+ +

◆ p_w

+ +
+
+ + + + +
p_w = groundTruth
+
+ +
+
+ +

◆ params

+ +
+
+ + + + +
params = MDS.optimize_library()
+
+ +
+
+ +

◆ period

+ +
+
+ + + + +
int period = 1 / frequency
+
+ +
+
+ +

◆ plotDisplace

+ +
+
+ + + + +
plotDisplace
+
+ +
+
+ +

◆ R_fit

+ +
+
+ + + + +
R_fit = A_inv[:2, :2]
+
+ +
+
+ +

◆ show

+ +
+
+ + + + +
show
+
+ +
+
+ +

◆ solution

+ +
+
+ + + + +
tuple solution = (transform @ final_undistorted)[:, :2, 0]
+
+ +
+
+ +

◆ srcCoord2

+ +
+
+ + + + +
tuple srcCoord2 = (R_fit @ distorted.T + h_fit).T
+
+ +
+
+ +

◆ srcCoord3

+ +
+
+ + + + +
tuple srcCoord3 = (R_fit @ undistorted.T + h_fit).T
+
+ +
+
+ +

◆ T_wj

+ +
+
+ + + + +
T_wj
+
+Initial value:
1= np.block([[R_fit, h_fit],
+
2 [np.zeros((2,)), 1]])
+
+
+
+ +

◆ T_wj0

+ +
+
+ + + + +
T_wj0 = np.eye(3)
+
+ +
+
+ +

◆ theta_deg

+ +
+
+ + + + +
theta_deg
+
+ +
+
+ +

◆ theta_fit

+ +
+
+ + + + +
int theta_fit = np.arctan2(R_fit[1, 0], R_fit[0, 0]) * 180 / np.pi
+
+ +
+
+ +

◆ title_append

+ +
+
+ + + + +
title_append
+
+ +
+
+ +

◆ transform

+ +
+
+ + + + +
transform = convertPoseToTransform(params[3:])
+
+ +
+
+ +

◆ undistorted

+ +
+
+ + + + +
undistorted = MDS.undistort(v_j0)
+
+ +
+
+ +

◆ useOld

+ +
+
+ + + + +
bool useOld = False
+
+ +
+
+ +

◆ v_j0

+ +
+
+ + + + +
int v_j0 = np.array([h_fit[0,0], h_fit[1,0], theta_fit * np.pi / 180]) / period
+
+ +
+
+ +

◆ velocity

+ +
+
+ + + + +
int velocity = np.array([h[0, 0], h[1, 0], theta_deg]) / period
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespacetest_transform.html b/doc/html/namespacetest_transform.html new file mode 100644 index 0000000..803850d --- /dev/null +++ b/doc/html/namespacetest_transform.html @@ -0,0 +1,460 @@ + + + + + + + +RAW-ROAM: testTransform Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Variables
+
testTransform Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

int N = 100
 
float outlier_rate = 0.4
 
bool noisy = False
 
bool useOld = False
 
 srcCoord
 
 targetCoord
 
 theta_deg
 
 h
 
 n_points
 
 outlier_ind
 
 noiseToAdd
 
 R_fit = A_inv[:2, :2]
 
 h_fit = A_inv[:2, 2:]
 
 A
 
 A_inv = np.linalg.inv(A)
 
int theta_fit = np.arctan2(R_fit[1, 0], R_fit[0, 0]) * 180 / np.pi
 
tuple srcCoord2 = (R_fit @ targetCoord.T + h_fit).T
 
 title_append
 
 alpha
 
 clear
 
 False
 
 show
 
+

Variable Documentation

+ +

◆ A

+ +
+
+ + + + +
A
+
+Initial value:
1= np.block([[R_fit, h_fit],
+
2 [np.zeros((1, 2)), 1]])
+
+
+
+ +

◆ A_inv

+ +
+
+ + + + +
A_inv = np.linalg.inv(A)
+
+ +
+
+ +

◆ alpha

+ +
+
+ + + + +
alpha
+
+ +
+
+ +

◆ clear

+ +
+
+ + + + +
clear
+
+ +
+
+ +

◆ False

+ +
+
+ + + + +
False
+
+ +
+
+ +

◆ h

+ +
+
+ + + + +
h
+
+ +
+
+ +

◆ h_fit

+ +
+
+ + + + +
h_fit = A_inv[:2, 2:]
+
+ +
+
+ +

◆ N

+ +
+
+ + + + +
int N = 100
+
+ +
+
+ +

◆ n_points

+ +
+
+ + + + +
n_points
+
+ +
+
+ +

◆ noiseToAdd

+ +
+
+ + + + +
noiseToAdd
+
+ +
+
+ +

◆ noisy

+ +
+
+ + + + +
bool noisy = False
+
+ +
+
+ +

◆ outlier_ind

+ +
+
+ + + + +
outlier_ind
+
+ +
+
+ +

◆ outlier_rate

+ +
+
+ + + + +
float outlier_rate = 0.4
+
+ +
+
+ +

◆ R_fit

+ +
+
+ + + + +
R_fit = A_inv[:2, :2]
+
+ +
+
+ +

◆ show

+ +
+
+ + + + +
show
+
+ +
+
+ +

◆ srcCoord

+ +
+
+ + + + +
srcCoord
+
+ +
+
+ +

◆ srcCoord2

+ +
+
+ + + + +
tuple srcCoord2 = (R_fit @ targetCoord.T + h_fit).T
+
+ +
+
+ +

◆ targetCoord

+ +
+
+ + + + +
targetCoord
+
+ +
+
+ +

◆ theta_deg

+ +
+
+ + + + +
theta_deg
+
+ +
+
+ +

◆ theta_fit

+ +
+
+ + + + +
int theta_fit = np.arctan2(R_fit[1, 0], R_fit[0, 0]) * 180 / np.pi
+
+ +
+
+ +

◆ title_append

+ +
+
+ + + + +
title_append
+
+ +
+
+ +

◆ useOld

+ +
+
+ + + + +
bool useOld = False
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespacetrajectory_plotting.html b/doc/html/namespacetrajectory_plotting.html new file mode 100644 index 0000000..b15d2ca --- /dev/null +++ b/doc/html/namespacetrajectory_plotting.html @@ -0,0 +1,404 @@ + + + + + + + +RAW-ROAM: trajectoryPlotting Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Classes | +Functions | +Variables
+
trajectoryPlotting Namespace Reference
+
+
+ + + + +

+Classes

class  Trajectory
 
+ + + + + + + + + +

+Functions

def computePosesRMSE (gtPoses, estPoses)
 
def plotGtAndEstTrajectory (gtTraj, estTraj, title='GT and EST Trajectories', info=None, savePath=None, arrow=False)
 
def getGroundTruthTrajectory (gtPath)
 
def getGroundTruthTrajectoryGPS (gtPath)
 
+ + + + + + + + + + + + + + + + + + + +

+Variables

int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
 
 timestampPath = os.path.join("data", datasetName, "radar.timestamps")
 
 gtPath = os.path.join("data", datasetName, "gps", "gps.csv")
 
def gtTraj = getGroundTruthTrajectoryGPS(gtPath)
 
 keyframe_timestamps
 
def estPoses = gtTraj.getPoseAtTimes(keyframe_timestamps)
 
 noise
 
 estTraj = Trajectory(keyframe_timestamps, estPoses)
 
 block
 
+

Function Documentation

+ +

◆ computePosesRMSE()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def trajectoryPlotting.computePosesRMSE ( gtPoses,
 estPoses 
)
+
+
@brief Compute the Root Mean Square Error between the prediction and the actual poses
+
+
+
+ +

◆ getGroundTruthTrajectory()

+ +
+
+ + + + + + + + +
def trajectoryPlotting.getGroundTruthTrajectory ( gtPath)
+
+
@brief Returns ground truth trajectory given radar_odometry.csv
+@param[in] gtPath Path to ground truth file
+@return Trajectory object
+
+
+
+ +

◆ getGroundTruthTrajectoryGPS()

+ +
+
+ + + + + + + + +
def trajectoryPlotting.getGroundTruthTrajectoryGPS ( gtPath)
+
+
@brief Returns ground truth trajectory given gps.csv
+@param[in] gtPath Path to ground truth file
+@return Trajectory object
+
+
+
+ +

◆ plotGtAndEstTrajectory()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def trajectoryPlotting.plotGtAndEstTrajectory ( gtTraj,
 estTraj,
 title = 'GT and EST Trajectories',
 info = None,
 savePath = None,
 arrow = False 
)
+
+
@brief Plot ground truth trajectory and estimated trajectory
+@param[in] gtTrajectory Ground truth trajectory
+@param[in] estTrajectory Estimated trajectory
+@param[in] title Title of the plot
+@param[in] info Extra information to write in text
+
+
+
+

Variable Documentation

+ +

◆ block

+ +
+
+ + + + +
block
+
+ +
+
+ +

◆ datasetName

+ +
+
+ + + + +
int datasetName = sys.argv[1] if len(sys.argv) > 1 else "tiny"
+
+ +
+
+ +

◆ estPoses

+ +
+
+ + + + +
def estPoses = gtTraj.getPoseAtTimes(keyframe_timestamps)
+
+ +
+
+ +

◆ estTraj

+ +
+
+ + + + +
estTraj = Trajectory(keyframe_timestamps, estPoses)
+
+ +
+
+ +

◆ gtPath

+ +
+
+ + + + +
gtPath = os.path.join("data", datasetName, "gps", "gps.csv")
+
+ +
+
+ +

◆ gtTraj

+ +
+
+ + + + +
def gtTraj = getGroundTruthTrajectoryGPS(gtPath)
+
+ +
+
+ +

◆ keyframe_timestamps

+ +
+
+ + + + +
keyframe_timestamps
+
+Initial value:
1= np.arange(
+
2 gtTraj.timestamps[0], gtTraj.timestamps[-1],
+
3 (gtTraj.timestamps[-1] - gtTraj.timestamps[0]) / 1000)
+
+
+
+ +

◆ noise

+ +
+
+ + + + +
noise
+
+Initial value:
1= np.random.multivariate_normal(mean=(.01, .05),
+
2 cov=np.array([[.8, .2], [.2, .8]]) *
+
3 1e-2,
+
4 size=(keyframe_timestamps.shape[0]))
+
+
+
+ +

◆ timestampPath

+ +
+
+ + + + +
timestampPath = os.path.join("data", datasetName, "radar.timestamps")
+
+ +
+
+
+
+ + + + diff --git a/doc/html/namespacetrajectory_plotting.js b/doc/html/namespacetrajectory_plotting.js new file mode 100644 index 0000000..6aee4a5 --- /dev/null +++ b/doc/html/namespacetrajectory_plotting.js @@ -0,0 +1,17 @@ +var namespacetrajectory_plotting = +[ + [ "Trajectory", "classtrajectory_plotting_1_1_trajectory.html", "classtrajectory_plotting_1_1_trajectory" ], + [ "computePosesRMSE", "namespacetrajectory_plotting.html#ad97043d2e531a6e8fa6a96f2fa1c626e", null ], + [ "getGroundTruthTrajectory", "namespacetrajectory_plotting.html#a1fdedfe2db4ca15dc9cf2cc8b501756d", null ], + [ "getGroundTruthTrajectoryGPS", "namespacetrajectory_plotting.html#a8d09aef19b822c81eca8b7ea4e45b98d", null ], + [ "plotGtAndEstTrajectory", "namespacetrajectory_plotting.html#a016ffc757367f9b328db391698f8042f", null ], + [ "block", "namespacetrajectory_plotting.html#a17afa58b2bc574dedcd1cc02e1fdf165", null ], + [ "datasetName", "namespacetrajectory_plotting.html#a0d700e6dfa2a9f624cd51f991a793585", null ], + [ "estPoses", "namespacetrajectory_plotting.html#a1874cfdbfd36b762a0c028c0cde1979b", null ], + [ "estTraj", "namespacetrajectory_plotting.html#a8d5e95f4d6054db64fd36facd315f2e6", null ], + [ "gtPath", "namespacetrajectory_plotting.html#a3135d377c1653c1d35443c74ae0589d9", null ], + [ "gtTraj", "namespacetrajectory_plotting.html#a1be80d6bbf048641b45053e009e0dbdd", null ], + [ "keyframe_timestamps", "namespacetrajectory_plotting.html#a37f904f43339b2c0cc7d86e8cfb6d836", null ], + [ "noise", "namespacetrajectory_plotting.html#a5f275402fe7e3f672eab8b802e8913ca", null ], + [ "timestampPath", "namespacetrajectory_plotting.html#ac559b123c3618ef31794f03fb8742e8e", null ] +]; \ No newline at end of file diff --git a/doc/html/namespaceutils.html b/doc/html/namespaceutils.html new file mode 100644 index 0000000..c36ca90 --- /dev/null +++ b/doc/html/namespaceutils.html @@ -0,0 +1,494 @@ + + + + + + + +RAW-ROAM: utils Namespace Reference + + + + + + + + + + + + + +
+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
+
+
+ + + + + + + +
+
+ +
+
+
+ +
+ +
+
+ + +
+ +
+ +
+
+Functions
+
utils Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

def tic ()
 
def toc (tic)
 
def f_arr (xs, th_deg=False)
 
def radarImgPathToTimestamp (radarImgPath)
 
def normalize_angles (th)
 
def getRotationMatrix (th, degrees=False)
 
def convertPoseToTransform (poses)
 
def convertTransformToPose (pose_transforms)
 
def flatten (x)
 
def convertRandHtoDeltas (R, h)
 
def quiver (poses, c='r', label=None)
 
def plt_full_extent (ax, pad=0.0)
 
def plt_savefig_by_axis (filePath, fig, ax, pad=0.0)
 
def invert_transform (T)
 
def homogenize (points)
 
+

Function Documentation

+ +

◆ convertPoseToTransform()

+ +
+
+ + + + + + + + +
def utils.convertPoseToTransform ( poses)
+
+
@param[in] poses np.ndarray of (3,) or (N x 3)
+@return pose_transforms np.ndarray of (3 x 3) or (N x 3 x 3)
+
+
+
+ +

◆ convertRandHtoDeltas()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def utils.convertRandHtoDeltas ( R,
 h 
)
+
+ +
+
+ +

◆ convertTransformToPose()

+ +
+
+ + + + + + + + +
def utils.convertTransformToPose ( pose_transforms)
+
+
@param[in] pose_transforms np.ndarray of (3 x 3) or (N x 3 x 3)
+@return poses np.ndarray of (3,) or (N x 3)
+
+
+
+ +

◆ f_arr()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def utils.f_arr ( xs,
 th_deg = False 
)
+
+ +
+
+ +

◆ flatten()

+ +
+
+ + + + + + + + +
def utils.flatten ( x)
+
+ +
+
+ +

◆ getRotationMatrix()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def utils.getRotationMatrix ( th,
 degrees = False 
)
+
+ +
+
+ +

◆ homogenize()

+ +
+
+ + + + + + + + +
def utils.homogenize ( points)
+
+ +
+
+ +

◆ invert_transform()

+ +
+
+ + + + + + + + +
def utils.invert_transform ( T)
+
+ +
+
+ +

◆ normalize_angles()

+ +
+
+ + + + + + + + +
def utils.normalize_angles ( th)
+
+
Normalize an angle to be between -pi and pi
+
+
+
+ +

◆ plt_full_extent()

+ +
+
+ + + + + + + + + + + + + + + + + + +
def utils.plt_full_extent ( ax,
 pad = 0.0 
)
+
+
@brief Get the full extent of a plt axes, including axes labels, tick labels, and titles.
+
+
+
+ +

◆ plt_savefig_by_axis()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
def utils.plt_savefig_by_axis ( filePath,
 fig,
 ax,
 pad = 0.0 
)
+
+
@brief Save a plt figure by extent of its axis (allows us to save subplots)
+@param[in] filePath Path to save figure to
+@param[in] fig Overall figure containing axis
+@param[in] ax Axis to save
+
+
+
+ +

◆ quiver()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
def utils.quiver ( poses,
 c = 'r',
 label = None 
)
+
+ +
+
+ +

◆ radarImgPathToTimestamp()

+ +
+
+ + + + + + + + +
def utils.radarImgPathToTimestamp ( radarImgPath)
+
+
eg: radarImgPathToTimestamp('data\\tiny\\radar\\1547131046353776.png') -> 1547131046353776
+
+
+
+ +

◆ tic()

+ +
+
+ + + + + + + +
def utils.tic ()
+
+ +
+
+ +

◆ toc()

+ +
+
+ + + + + + + + +
def utils.toc ( tic)
+
+ +
+
+
+
+ + + + diff --git a/doc/html/navtreedata.js b/doc/html/navtreedata.js index ea63cea..774e01c 100644 --- a/doc/html/navtreedata.js +++ b/doc/html/navtreedata.js @@ -24,12 +24,41 @@ */ var NAVTREE = [ - [ "pynetconf", "index.html", ] + [ "RAW-ROAM", "index.html", [ + [ "RAW-ROAM: Really Adverse Weather-Radar Odometry and Mapping (Python reimplementation of RadarSLAM)", "md__r_e_a_d_m_e.html", [ + [ "Results (Odometry)", "md__r_e_a_d_m_e.html#autotoc_md1", null ], + [ "Running Code", "md__r_e_a_d_m_e.html#autotoc_md2", [ + [ "Radar Sequences", "md__r_e_a_d_m_e.html#autotoc_md3", null ] + ] ], + [ "Documentation", "md__r_e_a_d_m_e.html#autotoc_md4", null ], + [ "Relevant Papers", "md__r_e_a_d_m_e.html#autotoc_md5", null ] + ] ], + [ "Packages", "namespaces.html", [ + [ "Packages", "namespaces.html", "namespaces_dup" ], + [ "Package Functions", "namespacemembers.html", [ + [ "All", "namespacemembers.html", "namespacemembers_dup" ], + [ "Functions", "namespacemembers_func.html", null ], + [ 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+
+ + + + + + +
+
RAW-ROAM +
+
Python Re-implementation of RadarSLAM's odometry and mapping (ROAM) components
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+
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+ +
+ +
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+ + +
+ +
+ +
+
Related Pages
+
+
+
Here is a list of all related documentation pages:
+ + +
 RAW-ROAM: Really Adverse Weather-Radar Odometry and Mapping (Python reimplementation of RadarSLAM)
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