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parseData.m
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function parseData()
global data
addpath('CovarianceRegression/matlab/experiment3D')
addpath('CovarianceRegression/matlab/quaternions')
NumDataPoints = 1;
data = cell(NumDataPoints,1);
results = zeros(NumDataPoints,6)
% log_file_folder = 'log_files/1420757910.12/';
% log_file_folder = 'log_files/1421051684.58/';
log_file_folder = 'log_files/1421074243.57/';
% log_file_folder = 'log_files/1421968202.4/';
k = 1;
for id = 1:100:16000%1
valid = true;
%reads in the arm state
file_str = strcat(log_file_folder,num2str(id),'armState.txt');
fid = fopen(file_str);
if(fid > 0)
info = zeros(7,1);
for i = 1:7%(ischar(tline))
tline = fgets(fid);
if(tline == -1)
valid = false;
break;
end
splitStr = regexp(tline,',','split');
value = splitStr(2);
info(i) = str2num(value{1})/1000;
end
results(k,1) = info(1);
results(k,2) = info(2);
results(k,3) = info(3);
armState = struct('x',info(1),'y',info(2),'z',info(3),'q0',info(4),'q1',info(5),'q2',info(6),'q3',info(7));
fclose(fid);
%reads in the AprilTag detections
file_str = strcat(log_file_folder,num2str(id),'.txt')
fid = fopen(file_str);
if(fid > 0 )
info = zeros(9,1);
for i = 1:9
%TODO parse data when more then one tag is detected TODO
tline = fgets(fid);
if(tline == -1)
valid = false;
break;
end
splitStr = regexp(tline,',','split');
value = splitStr(2);
info(i) = str2num(value{1});
end
results(k,4) = info(3);
results(k,5) = info(4);
results(k,6) = info(5);
fclose(fid);
aprilTag = struct('id',info(1),'hamming',info(2),'x',info(4),'y',info(5),'z',info(6),'yaw',info(7),'pitch',info(8),'roll',info(9)); %TODO
aprilTags = [aprilTag]; %TODO multiple april tags
I = imread(strcat(log_file_folder,num2str(id),'.jpg'));
I = imresize(I,.25);
if(valid)
dataPoint = struct('armState',armState,'aprilTags',aprilTags,'image',I);
data{k} = dataPoint;
k = k+1;
end
else
'bad data'
file_str
end
else
'bad data'
file_str
end
end
%save('1420757910.mat','data')
%save('1421051684.mat','data')
%save('1421074243.mat','data')
%save('1421968202.mat','data')
% %note ignoring rotation for now
% n = size(results,1);
% ATag = zeros(6,n);
% ATag(1,:) = results(:,4);
% ATag(2,:) = results(:,5);
% ATag(3,:) = results(:,6);
%
% armState = zeros(6,n);
% armState(1,:) = results(:,1);
% armState(2,:) = results(:,2);
% armState(3,:) = results(:,3);
%
%
% tag_actual = SE3([0,0,0,0,0,0]');
% tag_location = SE3(ATag);
% arm_location = SE3(armState);
%
x0 = [-.045 0 .025 0 -.6756 0 0.7373]';
%
%
%
x = fminunc(@error_fun,x0)
x_0 = x;
x_0(4:7) = x_0(4:7)/sqrt(x_0(4)*x_0(4) + x_0(5)*x_0(5) + x_0(6)*x_0(6) + x_0(7)*x_0(7))
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%tag_beilved = arm_location*C*tag_location;
%bestError = 100000;
%bestValue = [0,0];
% for roll = 0:.25:2*pi
% for pitch = 0:.25:2*pi
% for yaw = 0:.25:2*pi
% for z = -.3:.1:.3
% for y = -.3:.1:.3
% for x = -.3:.1:.3
% total_error = 0;
% A = SE3([x,y,z,roll,pitch,yaw]');
% cam_in_tool = A.GetTransform();
% [x,y,z,roll,pitch,yaw]
% for i = 2:n
% tag_in_cam_1 = tag_location(i).GetTransform();
% tag_in_cam_0 = tag_location(i-1).GetTransform();
% tag_in_cam_d = inv(tag_in_cam_0)*tag_in_cam_1;
%
% tool_in_arm_1 = arm_location(i).GetTransform();
% tool_in_arm_0 = arm_location(i-1).GetTransform();
% tool_in_arm_d = inv(tool_in_arm_0)*tool_in_arm_1;
%
%
% this_error = (tool_in_arm_d*cam_in_tool)*[0,0,0,1]' - tag_in_cam_d*[0,0,0,1]';
% this_error = this_error(1)*this_error(1) + this_error(2)*this_error(2) + this_error(3)*this_error(3);
% total_error = total_error + this_error;
% end
% if(bestError > total_error)
% bestError = total_error;
% bestValue = [x,y,z,roll,pitch,yaw];
% end
% end
% end
% end
% end
% end
% end
%bestError
%bestValue = [0,.2,-.3,5,3,2];
%H = SE3(bestValue');
%H = H.GetTransform();
%d = ones(n,4);
%d(:,1:3) = results(:,1:3);
%size(d')
%R = H*d'
%R = R'
%R(2:size(R,1),:) - R(1:size(R,1)-1,:)
%Results(2:size(results,1),4:6) - results(1:size(results,1) - 1,4:6)
%for i = 1:n
%end
%
% %Xa = results_H * C * A_H;
% %error = Xa - tag_location
% %min sum(error)^2
%
% %subplot(1,2,1)
% hold on
% %results(:,1) = results(:,1) +0;
% %results(:,2) = 2.14*results(:,2)+ 1.45;
% plot3(results(:,2),results(:,1),results(:,3),'b');
% %th = 2.5 ;
% %H = [cos(th) -sin(th) 0 -.1;
% % sin(th) cos(th) 0 -0.005;
% % 0 0 1 0;
% % 0 0 0 1];
% % A = ones(NumDataPoints,4);
% A(:,1:3) = results(:,4:6);
% % A = A';
% % A = H*A;
% % A = A';
% %% A = flipud(A);
% da = results(2:size(results,1),:) - results(1:size(results,1) - 1,:)
% plot3(A(:,1),A(:,2),A(:,3),'r'); 'arm position'
% axis equal
%
% %subplot(3,2,2)
% %plot(1:NumDataPoints,abs(A(:,1) - results(:,1)))
% %title('x error')
% %ylabel('meters')
% %xlabel('dataPoint')
% %subplot(3,2,4)
% %plot(1:NumDataPoints,abs(A(:,2) - results(:,2)))
% %title('y error')
% %ylabel('meters')
% %xlabel('dataPoint')
% %subplot(3,2,6)
% %plot(1:NumDataPoints,abs(A(:,3) - results(:,3)))
% %title('z error')
% %xlabel('dataPoint')
% %ylabel('meters')
% %A(1,1:3)
% %A(NumDataPoints,1:3)
% %results(1,1:3)
% %results(NumDataPoints,1:3)
end
function E = error_fun(x_0)
global data
x_0(4:7) = x_0(4:7)/sqrt(x_0(4)*x_0(4) + x_0(5)*x_0(5) + x_0(6)*x_0(6) + x_0(7)*x_0(7))
x = SE3(x_0);
E = 0;
%need to normilize x TODO THIS LIKE NOW
for i = 2:size(data,2)
m_2 = SE3([data{i}.aprilTags.x,data{i}.aprilTags.y,data{i}.aprilTags.z,data{i}.aprilTags.yaw,data{i}.aprilTags.pitch,data{i}.aprilTags.roll]');
m_2 = m_2.GetTransform();
m_1 = SE3([data{i-1}.aprilTags.x,data{i-1}.aprilTags.y,data{i-1}.aprilTags.z,data{i-1}.aprilTags.yaw,data{i-1}.aprilTags.pitch,data{i-1}.aprilTags.roll]');
m_1 = m_1.GetTransform();
C = x.GetTransform();
A_2 = SE3([data{i}.armState.x,data{i}.armState.y,data{i}.armState.z,data{i}.armState.q1,data{i}.armState.q2,data{i}.armState.q3,data{i}.armState.q0]');
A_2 = A_2.GetTransform();
A_1 = SE3([data{i-1}.armState.x,data{i-1}.armState.y,data{i-1}.armState.z,data{i-1}.armState.q1,data{i-1}.armState.q2,data{i-1}.armState.q3,data{i-1}.armState.q0]');
A_1 = A_1.GetTransform();
d = A_1 \ A_2;
this_E = (inv(m_2)*inv(C)*inv(d)*C*m_1);
for j = 1:size(this_E,1)
for k = 1:size(this_E,2)
E = E + this_E(j,k)*this_E(j,k);
end
end
end
E
end