RANSAC for hand-eye calibration #17

mfehr · 2017-04-08T15:10:44Z

TODOs:

…le, ...

…liers Conflicts: hand_eye_calibration/bin/tf_to_csv.py hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

ffurrer

lgtm

ffurrer · 2017-04-09T09:37:13Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

@@ -542,6 +548,29 @@ def compute_hand_eye_calibration_RANSAC(dq_B_H_vec, dq_W_E_vec, config):
      (rmse_position,
       rmse_orientation,
       inlier_flags) = evaluate_alignment(poses_B_H, poses_W_H, config)
+      assert inlier_flags[0], ("The sample idx uses for alignment should be "


nit: used
and: part of the inlier set (maybe) ;)

ffurrer · 2017-04-09T09:39:23Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

+            inlier_flags[i] = False
+
+      if num_inlier_removed_due_to_scalar_part_inequality > 0:
+        print("WARNING: An inliers selected based on the "


Inliers selected, which, based on their position/orientation error, did not...

So did this actually work, with tighter boundaries?

ffurrer · 2017-04-09T09:39:46Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

+              "Inliers removed: {}".format(
+                  num_inlier_removed_due_to_scalar_part_inequality))
+        # TODO(mfehr): Find a good way to tune the parameters.
+        assert False


…liers

ffurrer · 2017-04-09T16:58:37Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

+
+
+def compute_hand_eye_calibration_BASELINE(dq_B_H_vec, dq_W_E_vec, config):
+  """Do the actual hand eye-calibration as described in the referenced paper."""


Should we add input output param descriptions here?

def function_with_types_in_docstring(param1, param2): """Example function with types documented in the docstring. `PEP 484`_ type annotations are supported. If attribute, parameter, and return types are annotated acco Args: param1 (int): The first parameter. param2 (str): The second parameter. Returns: bool: The return value. True for success, False otherwise. .. _PEP 484: https://www.python.org/dev/peps/pep-0484/

from (http://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html).

ffurrer · 2017-04-09T16:58:52Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

+          best_num_inliers, num_poses_after_filtering, runtime)
+
+
+def compute_hand_eye_calibration_RANSAC(dq_B_H_vec, dq_W_E_vec, config):


ffurrer · 2017-04-09T17:02:24Z

hand_eye_calibration/python/hand_eye_calibration/algorithm_config.py

+  hand_eye_config.algorithm_name = "EC"
+
+  # Prefiltering is mandatory for exhaustive search,
+  # otherwise it takes forever.


ffurrer · 2017-04-09T17:04:04Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion.py

@@ -36,7 +36,7 @@ def __init__(self, q_rot, q_dual):
    self.assert_normalization()

  def __str__(self):
-    return np.str(self.dq)
+    return "[q_rot: {}, q_pos: {}]".format(np.str(self.q_rot), np.str(self.q_dual))


q_dual instead of q_pos

ffurrer · 2017-04-09T17:06:43Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py


  # 2.
  # Compute SVD of T and check if only two singular values are almost equal to
  # zero. Take the corresponding right-singular vectors (v_7 and v_8)
  U, s, V = np.linalg.svd(t_matrix)
-  print("singular values: {}".format(s))
+  # print("singular values: {}".format(s))


Should we return the singular values, we don't need to do anything with them for now, but might be interesting at a later stage or to others.

ffurrer · 2017-04-09T17:54:51Z

hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

+      s = config.ransac_sample_size
+      w = (1 - config.ransac_outlier_probability)  # Inlier probability
+      w_pow_s = w ** s
+      required_iterations = (math.log(1 - config.ransac_success_probability_threshold) /


here and below

ffurrer · 2017-04-09T17:56:14Z

hand_eye_calibration/python/hand_eye_calibration/quaternion.py

@@ -297,6 +297,8 @@ def quaternions_interpolate(q_left, t_left, q_right, t_right, times):

 def angle_between_quaternions(q1, q2):
  """ Returns the angle between two quaternions, q1 and q2. """
+  if np.allclose(q1.q, q2.q, atol=1.e-12):
+    return 0.0
  return 2 * np.arccos((q1 * q2.inverse()).w)


ffurrer · 2017-04-09T17:57:02Z

hand_eye_calibration/test/test_hand_eye_calibration.py

+    hand_eye_config = HandEyeConfig()
+    hand_eye_config.visualize = False
+    hand_eye_config.ransac_max_number_iterations = 50
+    hand_eye_config.ransac_sample_size = 5


Should we keep the tests with 5 or reduce to 2/3? Then we could probably again turn the outlier probability up.

ffurrer · 2017-04-09T17:57:48Z

hand_eye_calibration/test/test_hand_eye_calibration.py

+    hand_eye_config = HandEyeConfig()
+    hand_eye_config.visualize = False
+    hand_eye_config.ransac_max_number_iterations = 50
+    hand_eye_config.ransac_sample_size = 5


ffurrer · 2017-04-09T17:59:22Z

hand_eye_calibration/test/test_hand_eye_calibration.py

+    hand_eye_config = HandEyeConfig()
+    hand_eye_config.visualize = False
+    hand_eye_config.ransac_max_number_iterations = 50
+    hand_eye_config.ransac_sample_size = 5


hand_eye_config gained a lot of params, maybe it would be good to quickly run the tests again. And maybe define some of the other params.

mfehr added 6 commits April 8, 2017 00:45

implement RANSAC-based hand-eye calibration

5c2007b

different dq visualization

9a1d2b6

remove output

e6b2c42

refactor RANSAC

1100354

change default value for position frame

d775387

switch from scalar equality inlier check to rmse

a7f888f

mfehr requested review from ffurrer and ntonci and removed request for ffurrer and ntonci April 8, 2017 15:10

mfehr added 4 commits April 9, 2017 01:05

add param viz in time alignment, fix bugs, remove crap, move io to fi…

9b332c9

…le, ...

script to run whole datasets

e44dda5

Merge branch 'master' into feature/ransac_for_hand_eye_calibration_in…

4bf980c

…liers Conflicts: hand_eye_calibration/bin/tf_to_csv.py hand_eye_calibration/python/hand_eye_calibration/dual_quaternion_hand_eye_calibration.py

fix RMSE ransac

9129f1c

ffurrer approved these changes Apr 9, 2017

View reviewed changes

mfehr added 9 commits April 9, 2017 12:44

ff review

ba05d8f

Merge branch 'master' into feature/ransac_for_hand_eye_calibration_in…

4fbb05d

…liers

create configuration functions

560638f

add baseline config (TODO), visualize chain of hand-eye calibration loop

a494758

fix 3D plotting

ceb03a7

add more info into result csv

6417d2e

integrate BASELINE algorithm

0e9991e

fix single calibration script

7b1d71a

Merge branch 'master' into feature/ransac_for_hand_eye_calibration_in…

46340d6

…liers

ffurrer suggested changes Apr 9, 2017

View reviewed changes

mfehr added 5 commits April 9, 2017 21:51

fix unit tests

4533159

fix single run script

8cdf0cb

create robust test setup

0242321

bugfix for experiment script

71e5791

make prefiltering more strict

1853278

mfehr force-pushed the feature/ransac_for_hand_eye_calibration_inliers branch from 700d9e1 to 3a99b08 Compare April 9, 2017 20:53

PR review, thanks @ffurrer

615abdc

mfehr force-pushed the feature/ransac_for_hand_eye_calibration_inliers branch from 3a99b08 to 615abdc Compare April 9, 2017 20:55

ffurrer approved these changes Apr 9, 2017

View reviewed changes

mfehr merged commit e6718f9 into master Apr 9, 2017

mfehr deleted the feature/ransac_for_hand_eye_calibration_inliers branch April 9, 2017 21:24

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RANSAC for hand-eye calibration #17

RANSAC for hand-eye calibration #17

mfehr commented Apr 8, 2017 •

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		def compute_hand_eye_calibration_BASELINE(dq_B_H_vec, dq_W_E_vec, config):
		"""Do the actual hand eye-calibration as described in the referenced paper."""

		best_num_inliers, num_poses_after_filtering, runtime)


		def compute_hand_eye_calibration_RANSAC(dq_B_H_vec, dq_W_E_vec, config):

RANSAC for hand-eye calibration #17

RANSAC for hand-eye calibration #17

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mfehr commented Apr 8, 2017 • edited Loading

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mfehr commented Apr 8, 2017 •

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