diff --git a/.gitignore b/.gitignore
index c907144c..5c1c62f1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -118,6 +118,7 @@ venv.bak/
.idea/**/usage.statistics.xml
.idea/**/dictionaries
.idea/**/shelf
+pyrightconfig.json
# Generated files
.idea/**/contentModel.xml
@@ -217,6 +218,7 @@ snaps/
*.vsix
.vscode/settings.json
atom_calibration/scripts/deprecated/calibration.code-workspace
+*.code-workspace
atom.code-workspace
/atom_evaluation/scripts/incomplete.txt
/atom_evaluation/scripts/output_total.txt
diff --git a/atom_batch_execution/CMakeLists.txt b/atom_batch_execution/CMakeLists.txt
index 79aab5a7..37fc7cbb 100644
--- a/atom_batch_execution/CMakeLists.txt
+++ b/atom_batch_execution/CMakeLists.txt
@@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 3.0.2)
project(atom_batch_execution)
+catkin_python_setup()
+
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
diff --git a/atom_batch_execution/experiments/rrbot_example/template.yml.j2 b/atom_batch_execution/experiments/rrbot_example/template.yml.j2
index e70c418c..b531123d 100644
--- a/atom_batch_execution/experiments/rrbot_example/template.yml.j2
+++ b/atom_batch_execution/experiments/rrbot_example/template.yml.j2
@@ -30,13 +30,13 @@ experiments:
rosrun atom_calibration calibrate -json {{ dataset_path }}/dataset.json \
-v -max_nfev 2 -ss {{ run }} \
-nig {{ e.nig_value }} {{ e.nig_value }} \
- -csf 'lambda x: int(x) in {{ fold[0] }}' \
+ -csf 'lambda x: x in {{ fold[0] }}' \
&& \
rosrun atom_evaluation rgb_to_rgb_evaluation \
-train_json {{ dataset_path }}/atom_calibration.json \
-test_json {{ dataset_path }}/dataset.json \
-ss rgb_left -st rgb_right \
- -csf 'lambda x: int(x) in {{ fold[1] }}' \
+ -csf 'lambda x: x in {{ fold[1] }}' \
-sfr -sfrn /tmp/rgb_rgb_evaluation.csv
files_to_collect:
- '{{ dataset_path }}/atom_calibration.json'
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration.json b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration.json
deleted file mode 100644
index 13bc4b08..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration.json
+++ /dev/null
@@ -1,19839 +0,0 @@
-{
- "_metadata": {
- "dataset_name": "train",
- "date": "Fri Mar 15 18:18:30 2024",
- "package_name": "softbot_calibration",
- "robot_name": "softbot",
- "timestamp": "1710526710.7100964",
- "user": "mike",
- "version": "3.0"
- },
- "additional_sensor_data": {},
- "calibration_config": {
- "additional_tfs": null,
- "anchored_sensor": null,
- "bag_file": "$ROS_BAGS/softbot/softbot1.bag",
- "calibration_patterns": {
- "pattern_1": {
- "border_size": {
- "x": 0.04,
- "y": 0.03
- },
- "dictionary": "DICT_5X5_100",
- "dimension": {
- "x": 11,
- "y": 8
- },
- "fixed": true,
- "inner_size": 0.045,
- "link": "pattern_link",
- "mesh_file": "package://atom_worlds/pattern/models/charuco_800x600_5x5_100/charuco_800x600_5x5_100.dae",
- "parent_link": "world",
- "pattern_type": "charuco",
- "size": 0.06
- }
- },
- "description_file": "package://softbot_description/urdf/softbot.urdf.xacro",
- "joints": null,
- "max_duration_between_msgs": 1000,
- "package_name": "softbot_calibration",
- "sensors": {
- "front_left_camera": {
- "child_link": "front_left_camera_rgb_frame",
- "link": "front_left_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_left_camera_link",
- "throttle": null,
- "topic_name": "/front_left_camera/rgb/image_raw"
- },
- "front_right_camera": {
- "child_link": "front_right_camera_rgb_frame",
- "link": "front_right_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_right_camera_link",
- "throttle": null,
- "topic_name": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "child_link": "lidar3d_base_link",
- "link": "lidar3d",
- "modality": "lidar3d",
- "parent_link": "lidar3d_plate_link",
- "throttle": null,
- "topic_name": "/lidar3d/points"
- }
- },
- "version": 3.0,
- "world_link": "world"
- },
- "collections": {
- "000": {
- "additional_data": {},
- "data": {
- "front_left_camera": {
- "data_file": "front_left_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_left_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "front_right_camera": {
- "data_file": "front_right_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_right_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "lidar3d": {
- "data_file": "lidar3d_000.pcd",
- "fields": [
- {
- "count": 1,
- "datatype": 7,
- "name": "x",
- "offset": 0
- },
- {
- "count": 1,
- "datatype": 7,
- "name": "y",
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- },
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- "datatype": 7,
- "name": "z",
- "offset": 8
- }
- ],
- "header": {
- "frame_id": "lidar3d",
- "seq": 105,
- "stamp": {
- "nsecs": 397000000,
- "secs": 4765
- }
- },
- "height": 1,
- "is_bigendian": false,
- "is_dense": true,
- "point_step": 12,
- "row_step": 187836,
- "width": 15653
- }
- },
- "joints": {},
- "labels": {
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- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg3_link",
- "key": "base_link-platform_support_leg3_link",
- "parent": "base_link"
- },
- {
- "child": "front_left_camera_support_link",
- "key": "platform_support_leg3_link-front_left_camera_support_link",
- "parent": "platform_support_leg3_link"
- },
- {
- "child": "front_left_camera_link",
- "key": "front_left_camera_support_link-front_left_camera_link",
- "parent": "front_left_camera_support_link"
- },
- {
- "child": "front_left_camera_rgb_frame",
- "key": "front_left_camera_link-front_left_camera_rgb_frame",
- "parent": "front_left_camera_link"
- },
- {
- "child": "front_left_camera_rgb_optical_frame",
- "key": "front_left_camera_rgb_frame-front_left_camera_rgb_optical_frame",
- "parent": "front_left_camera_rgb_frame"
- }
- ],
- "modality": "rgb",
- "msg_type": "Image",
- "parent": "front_left_camera_rgb_optical_frame",
- "topic": "/front_left_camera/rgb/image_raw"
- },
- "front_right_camera": {
- "_name": "front_right_camera",
- "calibration_child": "front_right_camera_rgb_frame",
- "calibration_parent": "front_right_camera_link",
- "camera_info": {
- "D": [
- 0.0,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- "K": [
- 1108.509382382374,
- 0.0,
- 640.5,
- 0.0,
- 1108.509382382374,
- 360.5,
- 0.0,
- 0.0,
- 1.0
- ],
- "P": [
- 1108.509382382374,
- 0.0,
- 640.5,
- -0.0,
- 0.0,
- 1108.509382382374,
- 360.5,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0
- ],
- "R": [
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.0,
- 0.0,
- 0.0,
- 1.0
- ],
- "binning_x": 0,
- "binning_y": 0,
- "distortion_model": "plumb_bob",
- "header": {
- "frame_id": "front_right_camera_rgb_optical_frame",
- "seq": 18,
- "stamp": {
- "nsecs": 483000000,
- "secs": 4754
- }
- },
- "height": 720,
- "roi": {
- "do_rectify": false,
- "height": 0,
- "width": 0,
- "x_offset": 0,
- "y_offset": 0
- },
- "width": 1280
- },
- "camera_info_topic": "/front_right_camera/rgb/camera_info",
- "chain": [
- {
- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg4_link",
- "key": "base_link-platform_support_leg4_link",
- "parent": "base_link"
- },
- {
- "child": "front_right_camera_support_link",
- "key": "platform_support_leg4_link-front_right_camera_support_link",
- "parent": "platform_support_leg4_link"
- },
- {
- "child": "front_right_camera_link",
- "key": "front_right_camera_support_link-front_right_camera_link",
- "parent": "front_right_camera_support_link"
- },
- {
- "child": "front_right_camera_rgb_frame",
- "key": "front_right_camera_link-front_right_camera_rgb_frame",
- "parent": "front_right_camera_link"
- },
- {
- "child": "front_right_camera_rgb_optical_frame",
- "key": "front_right_camera_rgb_frame-front_right_camera_rgb_optical_frame",
- "parent": "front_right_camera_rgb_frame"
- }
- ],
- "modality": "rgb",
- "msg_type": "Image",
- "parent": "front_right_camera_rgb_optical_frame",
- "topic": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "_name": "lidar3d",
- "calibration_child": "lidar3d_base_link",
- "calibration_parent": "lidar3d_plate_link",
- "chain": [
- {
- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg1_link",
- "key": "base_link-platform_support_leg1_link",
- "parent": "base_link"
- },
- {
- "child": "lidar3d_plate_link",
- "key": "platform_support_leg1_link-lidar3d_plate_link",
- "parent": "platform_support_leg1_link"
- },
- {
- "child": "lidar3d_base_link",
- "key": "lidar3d_plate_link-lidar3d_base_link",
- "parent": "lidar3d_plate_link"
- },
- {
- "child": "lidar3d",
- "key": "lidar3d_base_link-lidar3d",
- "parent": "lidar3d_base_link"
- }
- ],
- "modality": "lidar3d",
- "msg_type": "PointCloud2",
- "parent": "lidar3d",
- "topic": "/lidar3d/points"
- }
- }
-}
\ No newline at end of file
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration_params.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration_params.yml
deleted file mode 100644
index 1ff34e36..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/atom_calibration_params.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-sensors:
- front_left_camera:
- x: 0.021351760213955802
- y: -0.10910369406945
- z: 0.026936542004954045
- roll: 0.025419937009815735
- pitch: -0.004082332821810064
- yaw: 0.014096126536821834
- front_right_camera:
- x: 0.1558206386453604
- y: -0.03856212593517748
- z: 0.030642433455360343
- roll: 0.0007863975544661017
- pitch: -0.0010835989178424473
- yaw: 0.03390480900610989
- lidar3d:
- x: 0.013562618365308234
- y: 0.019811204145016623
- z: -0.03663727653331747
- roll: 0.038606118265106494
- pitch: -0.06667422029515405
- yaw: -0.01605804565393408
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/command_line_args.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/command_line_args.yml
deleted file mode 100644
index c4707067..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/command_line_args.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-view_optimization: false
-json_file: /home/mike/datasets/softbot/train/dataset.json
-verbose: true
-show_normalized_values: false
-ros_visualization: false
-draw_per_collection_colors: false
-draw_alpha: 0.5
-show_images: false
-optimize_intrinsics: false
-sample_residuals: 1
-sample_seed: 1
-sample_longitudinal_residuals: 1
-all_joints_fixed: false
-only_anchored_sensor: false
-anchor_sensors: null
-anchor_patterns: false
-ground_truth_pattern_poses: false
-use_incomplete_collections: false
-ignore_anchored_sensor: false
-remove_partial_detections: false
-noisy_initial_guess:
-- 0.1
-- 0.1
-joint_bias_names: null
-joint_bias_params: null
-joint_bias_values: null
-sensor_selection_function: null
-collection_selection_function: null
-joint_selection_function: null
-joint_parameter_selection_function: null
-pattern_selection_function: null
-additional_tf_selection_function: null
-phased_execution: false
-initial_pose_ghost: false
-comparison_to_ground_truth: false
-save_calibration_errors: false
-optimization_ftol: 1.0e-05
-optimization_xtol: 1.0e-05
-optimization_gtol: 1.0e-05
-optimization_diff_step: null
-optimization_max_nfev: 2
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/rgb_rgb_evaluation.csv b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/rgb_rgb_evaluation.csv
deleted file mode 100644
index 40d16868..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/rgb_rgb_evaluation.csv
+++ /dev/null
@@ -1,7 +0,0 @@
-Collection #,RMS (pix),X err (pix),Y err (pix),Trans (mm),Rot (deg)
-000,42.4805,38.2275,17.7101,129.0287,1.8683
-001,47.9068,43.5959,18.3722,127.0659,1.8659
-002,35.0488,33.4847,8.3463,116.9999,1.8393
-003,36.6319,35.3222,8.2315,114.9739,1.8754
-004,44.5829,41.3072,14.3349,123.4836,1.8462
-Averages,41.3302,38.3875,13.3990,122.3104,1.8590
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/stdout.txt b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/stdout.txt
deleted file mode 100644
index 454c7c9b..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run001/stdout.txt
+++ /dev/null
@@ -1,149 +0,0 @@
-_______________________________________________________
-
- █████╗ ████████╗ ██████╗ ███╗ ███╗
- ██╔══██╗╚══██╔══╝██╔═══██╗████╗ ████║
- ███████║ ██║ ██║ ██║██╔████╔██║
- ██╔══██║ ██║ ██║ ██║██║╚██╔╝██║
- __ ██║ ██║ ██║ ╚██████╔╝██║ ╚═╝ ██║ _
- / _| ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚═╝ ╚═╝ | |
- | |_ _ __ __ _ _ __ ___ _____ _____ _ __| | __
- | _| '__/ _` | '_ ` _ \ / _ \ \ /\ / / _ \| '__| |/ /
- | | | | | (_| | | | | | | __/\ V V / (_) | | | <
- |_| |_| \__,_|_| |_| |_|\___| \_/\_/ \___/|_| |_|\_\
- https://github.com/lardemua/atom
-
-Starting calibration
-_______________________________________________________
-
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Loaded dataset containing 3 sensors and 5 collections.
-Selected collection key is 000
-No joints are being optimized
-
-Initializing optimizer...
-Creating sensor transformation parameters ...
-Creating additional_tfs parameters ...
-Creating residuals ...
-Computing sparse matrix ...
-Sparsity matrix:
- lidar3d_plate_link-lidar3d_base_link_x ... world-pattern_link_r3
-c000_p_pattern_1_front_left_camera_corner2 0 ... 1
-c000_p_pattern_1_front_left_camera_corner12 0 ... 1
-c000_p_pattern_1_front_left_camera_corner18 0 ... 1
-c000_p_pattern_1_front_left_camera_corner22 0 ... 1
-c000_p_pattern_1_front_left_camera_corner23 0 ... 1
-... ... ... ...
-c004_p_pattern_1_lidar3d_ld_11 1 ... 1
-c004_p_pattern_1_lidar3d_ld_12 1 ... 1
-c004_p_pattern_1_lidar3d_ld_13 1 ... 1
-c004_p_pattern_1_lidar3d_ld_14 1 ... 1
-c004_p_pattern_1_lidar3d_ld_15 1 ... 1
-
-[3242 rows x 24 columns]
-
-
-Parameters:
- Group x0 x data Min Max
-lidar3d_plate_link-lidar3d_base_link_x lidar3d_plate_link-lidar3d_base_link 0.018864 0.018864 0.018864 -inf inf
-lidar3d_plate_link-lidar3d_base_link_y lidar3d_plate_link-lidar3d_base_link -0.039269 -0.039269 -0.039269 -inf inf
-lidar3d_plate_link-lidar3d_base_link_z lidar3d_plate_link-lidar3d_base_link 0.090012 0.090012 0.090012 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r1 lidar3d_plate_link-lidar3d_base_link 0.094834 0.094834 0.094834 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r2 lidar3d_plate_link-lidar3d_base_link -0.104825 -0.104825 -0.104825 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r3 lidar3d_plate_link-lidar3d_base_link -0.094834 -0.094834 -0.094834 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_x front_left_camera_link-front_left_camera_rgb_frame -0.015017 -0.015017 -0.015017 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_y front_left_camera_link-front_left_camera_rgb_frame -0.005126 -0.005126 -0.005126 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_z front_left_camera_link-front_left_camera_rgb_frame -0.090468 -0.090468 -0.090468 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r1 front_left_camera_link-front_left_camera_rgb_frame 0.094834 0.094834 0.094834 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r2 front_left_camera_link-front_left_camera_rgb_frame 0.104825 0.104825 0.104825 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r3 front_left_camera_link-front_left_camera_rgb_frame 0.094834 0.094834 0.094834 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_x front_right_camera_link-front_right_camera_rgb_frame -0.086582 -0.086582 -0.086582 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_y front_right_camera_link-front_right_camera_rgb_frame -0.078929 -0.078929 -0.078929 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_z front_right_camera_link-front_right_camera_rgb_frame -0.036774 -0.036774 -0.036774 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r1 front_right_camera_link-front_right_camera_rgb_frame -0.094834 -0.094834 -0.094834 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r2 front_right_camera_link-front_right_camera_rgb_frame -0.104825 -0.104825 -0.104825 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r3 front_right_camera_link-front_right_camera_rgb_frame 0.094834 0.094834 0.094834 -inf inf
-world-pattern_link_x world-pattern_link 2.131362 2.131362 2.131362 -inf inf
-world-pattern_link_y world-pattern_link 0.240999 0.240999 0.240999 -inf inf
-world-pattern_link_z world-pattern_link 0.798967 0.798967 0.798967 -inf inf
-world-pattern_link_r1 world-pattern_link -1.782742 -1.782742 -1.782742 -inf inf
-world-pattern_link_r2 world-pattern_link 0.759030 0.759030 0.759030 -inf inf
-world-pattern_link_r3 world-pattern_link -1.262252 -1.262252 -1.262252 -inf inf
-Normalizer for lidar3d: 0.11213633459535181
-Normalizer for rgb: 180.2553475331168
-Optimization setup with 24 parameters: ['lidar3d_plate_link-lidar3d_base_link_x', 'lidar3d_plate_link-lidar3d_base_link_y', 'lidar3d_plate_link-lidar3d_base_link_z', 'lidar3d_plate_link-lidar3d_base_link_r1', 'lidar3d_plate_link-lidar3d_base_link_r2', 'lidar3d_plate_link-lidar3d_base_link_r3', 'front_left_camera_link-front_left_camera_rgb_frame_x', 'front_left_camera_link-front_left_camera_rgb_frame_y', 'front_left_camera_link-front_left_camera_rgb_frame_z', 'front_left_camera_link-front_left_camera_rgb_frame_r1', 'front_left_camera_link-front_left_camera_rgb_frame_r2', 'front_left_camera_link-front_left_camera_rgb_frame_r3', 'front_right_camera_link-front_right_camera_rgb_frame_x', 'front_right_camera_link-front_right_camera_rgb_frame_y', 'front_right_camera_link-front_right_camera_rgb_frame_z', 'front_right_camera_link-front_right_camera_rgb_frame_r1', 'front_right_camera_link-front_right_camera_rgb_frame_r2', 'front_right_camera_link-front_right_camera_rgb_frame_r3', 'world-pattern_link_x', 'world-pattern_link_y', 'world-pattern_link_z', 'world-pattern_link_r1', 'world-pattern_link_r2', 'world-pattern_link_r3']
-Initializing optimization ...
-One optimizer iteration has 13 function calls.
-Starting optimization ...
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 242.3008 | 114.1067 | 0.0992 |
-| 001 | 255.2360 | 114.5642 | 0.0984 |
-| 002 | 212.6465 | 125.2606 | 0.1383 |
-| 003 | 212.5948 | 133.9392 | 0.1261 |
-| 004 | 242.0721 | 119.5509 | 0.0965 |
-| Averages | 232.9700 | 121.4843 | 0.1117 |
-+------------+------------------------+-------------------------+-------------+
- Iteration Total nfev Cost Cost reduction Step norm Optimality
- 0 1 1.7469e+03 2.36e+04
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 40.2929 | 30.9394 | 0.0292 |
-| 001 | 47.7049 | 32.0018 | 0.0290 |
-| 002 | 37.9216 | 29.6477 | 0.0322 |
-| 003 | 41.7437 | 35.3882 | 0.0289 |
-| 004 | 48.8316 | 34.0857 | 0.0284 |
-| Averages | 43.2989 | 32.4126 | 0.0295 |
-+------------+------------------------+-------------------------+-------------+
- 1 2 1.1224e+02 1.63e+03 4.30e-01 6.33e+03
-The maximum number of function evaluations is exceeded.
-Function evaluations 2, initial cost 1.7469e+03, final cost 1.1224e+02, first-order optimality 6.33e+03.
-
------------------------------
-Optimization finished in 0.39353 secs: The maximum number of function evaluations is exceeded.
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 40.2929 | 30.9394 | 0.0292 |
-| 001 | 47.7049 | 32.0018 | 0.0290 |
-| 002 | 37.9216 | 29.6477 | 0.0322 |
-| 003 | 41.7437 | 35.3882 | 0.0289 |
-| 004 | 48.8316 | 34.0857 | 0.0284 |
-| Averages | 43.2989 | 32.4126 | 0.0295 |
-+------------+------------------------+-------------------------+-------------+
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 40.2929 | 30.9394 | 0.0292 |
-| 001 | 47.7049 | 32.0018 | 0.0290 |
-| 002 | 37.9216 | 29.6477 | 0.0322 |
-| 003 | 41.7437 | 35.3882 | 0.0289 |
-| 004 | 48.8316 | 34.0857 | 0.0284 |
-| Averages | 43.2989 | 32.4126 | 0.0295 |
-+------------+------------------------+-------------------------+-------------+
-Saved json output file to /home/mike/datasets/softbot/train/atom_calibration.json.
-Optimized xacro saved to /home/mike/workspaces/catkin_ws/src/calibration/robots/softbot/softbot_calibration/urdf/optimized.urdf.xacro . You can use it as a ROS robot_description.
-You can use it as a ROS robot_description by launching:
-roslaunch softbot_calibration playbag.launch optimized:=true
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/atom_calibration_params.yml
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/original_calibration_params.yml
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Errors per collection
-+--------------+-----------+-------------+-------------+------------+-----------+
-| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
-+--------------+-----------+-------------+-------------+------------+-----------+
-| 000 | 42.4805 | 38.2275 | 17.7101 | 129.0287 | 1.8683 |
-| 001 | 47.9068 | 43.5959 | 18.3722 | 127.0659 | 1.8659 |
-| 002 | 35.0488 | 33.4847 | 8.3463 | 116.9999 | 1.8393 |
-| 003 | 36.6319 | 35.3222 | 8.2315 | 114.9739 | 1.8754 |
-| 004 | 44.5829 | 41.3072 | 14.3349 | 123.4836 | 1.8462 |
-| Averages | 41.3302 | 38.3875 | 13.3990 | 122.3104 | 1.8590 |
-+--------------+-----------+-------------+-------------+------------+-----------+
-Ending script...
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration.json b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration.json
deleted file mode 100644
index 6474d01f..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration.json
+++ /dev/null
@@ -1,19839 +0,0 @@
-{
- "_metadata": {
- "dataset_name": "train",
- "date": "Fri Mar 15 18:18:30 2024",
- "package_name": "softbot_calibration",
- "robot_name": "softbot",
- "timestamp": "1710526710.7100964",
- "user": "mike",
- "version": "3.0"
- },
- "additional_sensor_data": {},
- "calibration_config": {
- "additional_tfs": null,
- "anchored_sensor": null,
- "bag_file": "$ROS_BAGS/softbot/softbot1.bag",
- "calibration_patterns": {
- "pattern_1": {
- "border_size": {
- "x": 0.04,
- "y": 0.03
- },
- "dictionary": "DICT_5X5_100",
- "dimension": {
- "x": 11,
- "y": 8
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- "child": "front_right_camera_support_link",
- "key": "platform_support_leg4_link-front_right_camera_support_link",
- "parent": "platform_support_leg4_link"
- },
- {
- "child": "front_right_camera_link",
- "key": "front_right_camera_support_link-front_right_camera_link",
- "parent": "front_right_camera_support_link"
- },
- {
- "child": "front_right_camera_rgb_frame",
- "key": "front_right_camera_link-front_right_camera_rgb_frame",
- "parent": "front_right_camera_link"
- },
- {
- "child": "front_right_camera_rgb_optical_frame",
- "key": "front_right_camera_rgb_frame-front_right_camera_rgb_optical_frame",
- "parent": "front_right_camera_rgb_frame"
- }
- ],
- "modality": "rgb",
- "msg_type": "Image",
- "parent": "front_right_camera_rgb_optical_frame",
- "topic": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "_name": "lidar3d",
- "calibration_child": "lidar3d_base_link",
- "calibration_parent": "lidar3d_plate_link",
- "chain": [
- {
- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg1_link",
- "key": "base_link-platform_support_leg1_link",
- "parent": "base_link"
- },
- {
- "child": "lidar3d_plate_link",
- "key": "platform_support_leg1_link-lidar3d_plate_link",
- "parent": "platform_support_leg1_link"
- },
- {
- "child": "lidar3d_base_link",
- "key": "lidar3d_plate_link-lidar3d_base_link",
- "parent": "lidar3d_plate_link"
- },
- {
- "child": "lidar3d",
- "key": "lidar3d_base_link-lidar3d",
- "parent": "lidar3d_base_link"
- }
- ],
- "modality": "lidar3d",
- "msg_type": "PointCloud2",
- "parent": "lidar3d",
- "topic": "/lidar3d/points"
- }
- }
-}
\ No newline at end of file
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration_params.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration_params.yml
deleted file mode 100644
index 5592d772..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/atom_calibration_params.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-sensors:
- front_left_camera:
- x: 0.12643949222587694
- y: -0.08206128370426441
- z: 0.14945602657604204
- roll: -0.0047495552086939605
- pitch: 0.000991254461278508
- yaw: -0.03872692348191529
- front_right_camera:
- x: -0.006408745927892007
- y: -0.1643542164485286
- z: 0.07693636601648317
- roll: 0.03383985735846875
- pitch: 0.025161533446732855
- yaw: 0.028210187108024757
- lidar3d:
- x: -0.04673207969073471
- y: 0.01950871254361218
- z: -0.06428317382779054
- roll: 0.0377155565121467
- pitch: -0.059574068539254406
- yaw: -0.05501769685743662
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/command_line_args.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/command_line_args.yml
deleted file mode 100644
index 2966b4a2..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/command_line_args.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-view_optimization: false
-json_file: /home/mike/datasets/softbot/train/dataset.json
-verbose: true
-show_normalized_values: false
-ros_visualization: false
-draw_per_collection_colors: false
-draw_alpha: 0.5
-show_images: false
-optimize_intrinsics: false
-sample_residuals: 1
-sample_seed: 2
-sample_longitudinal_residuals: 1
-all_joints_fixed: false
-only_anchored_sensor: false
-anchor_sensors: null
-anchor_patterns: false
-ground_truth_pattern_poses: false
-use_incomplete_collections: false
-ignore_anchored_sensor: false
-remove_partial_detections: false
-noisy_initial_guess:
-- 0.1
-- 0.1
-joint_bias_names: null
-joint_bias_params: null
-joint_bias_values: null
-sensor_selection_function: null
-collection_selection_function: null
-joint_selection_function: null
-joint_parameter_selection_function: null
-pattern_selection_function: null
-additional_tf_selection_function: null
-phased_execution: false
-initial_pose_ghost: false
-comparison_to_ground_truth: false
-save_calibration_errors: false
-optimization_ftol: 1.0e-05
-optimization_xtol: 1.0e-05
-optimization_gtol: 1.0e-05
-optimization_diff_step: null
-optimization_max_nfev: 2
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/rgb_rgb_evaluation.csv b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/rgb_rgb_evaluation.csv
deleted file mode 100644
index 9f143e85..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/rgb_rgb_evaluation.csv
+++ /dev/null
@@ -1,7 +0,0 @@
-Collection #,RMS (pix),X err (pix),Y err (pix),Trans (mm),Rot (deg)
-000,73.0066,39.7050,60.5190,214.1044,4.6148
-001,69.5746,30.2556,61.3039,209.2842,4.6596
-002,74.2949,55.2295,47.8678,233.3886,4.6254
-003,70.6270,51.2768,47.0758,232.3466,4.6855
-004,69.2821,35.7385,57.0257,212.4538,4.6008
-Averages,71.3570,42.4411,54.7584,220.3155,4.6372
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/stdout.txt b/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/stdout.txt
deleted file mode 100644
index 3cd64066..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.1_run002/stdout.txt
+++ /dev/null
@@ -1,149 +0,0 @@
-_______________________________________________________
-
- █████╗ ████████╗ ██████╗ ███╗ ███╗
- ██╔══██╗╚══██╔══╝██╔═══██╗████╗ ████║
- ███████║ ██║ ██║ ██║██╔████╔██║
- ██╔══██║ ██║ ██║ ██║██║╚██╔╝██║
- __ ██║ ██║ ██║ ╚██████╔╝██║ ╚═╝ ██║ _
- / _| ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚═╝ ╚═╝ | |
- | |_ _ __ __ _ _ __ ___ _____ _____ _ __| | __
- | _| '__/ _` | '_ ` _ \ / _ \ \ /\ / / _ \| '__| |/ /
- | | | | | (_| | | | | | | __/\ V V / (_) | | | <
- |_| |_| \__,_|_| |_| |_|\___| \_/\_/ \___/|_| |_|\_\
- https://github.com/lardemua/atom
-
-Starting calibration
-_______________________________________________________
-
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Loaded dataset containing 3 sensors and 5 collections.
-Selected collection key is 000
-No joints are being optimized
-
-Initializing optimizer...
-Creating sensor transformation parameters ...
-Creating additional_tfs parameters ...
-Creating residuals ...
-Computing sparse matrix ...
-Sparsity matrix:
- lidar3d_plate_link-lidar3d_base_link_x ... world-pattern_link_r3
-c000_p_pattern_1_front_left_camera_corner2 0 ... 1
-c000_p_pattern_1_front_left_camera_corner12 0 ... 1
-c000_p_pattern_1_front_left_camera_corner18 0 ... 1
-c000_p_pattern_1_front_left_camera_corner22 0 ... 1
-c000_p_pattern_1_front_left_camera_corner23 0 ... 1
-... ... ... ...
-c004_p_pattern_1_lidar3d_ld_11 1 ... 1
-c004_p_pattern_1_lidar3d_ld_12 1 ... 1
-c004_p_pattern_1_lidar3d_ld_13 1 ... 1
-c004_p_pattern_1_lidar3d_ld_14 1 ... 1
-c004_p_pattern_1_lidar3d_ld_15 1 ... 1
-
-[3242 rows x 24 columns]
-
-
-Parameters:
- Group x0 x data Min Max
-lidar3d_plate_link-lidar3d_base_link_x lidar3d_plate_link-lidar3d_base_link -0.088199 -0.088199 -0.088199 -inf inf
-lidar3d_plate_link-lidar3d_base_link_y lidar3d_plate_link-lidar3d_base_link 0.045820 0.045820 0.045820 -inf inf
-lidar3d_plate_link-lidar3d_base_link_z lidar3d_plate_link-lidar3d_base_link 0.011023 0.011023 0.011023 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r1 lidar3d_plate_link-lidar3d_base_link 0.094834 0.094834 0.094834 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r2 lidar3d_plate_link-lidar3d_base_link -0.104825 -0.104825 -0.104825 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r3 lidar3d_plate_link-lidar3d_base_link -0.094834 -0.094834 -0.094834 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_x front_right_camera_link-front_right_camera_rgb_frame -0.041045 -0.041045 -0.041045 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_y front_right_camera_link-front_right_camera_rgb_frame -0.124036 -0.124036 -0.124036 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_z front_right_camera_link-front_right_camera_rgb_frame 0.045482 0.045482 0.045482 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r1 front_right_camera_link-front_right_camera_rgb_frame 0.094834 0.094834 0.094834 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r2 front_right_camera_link-front_right_camera_rgb_frame 0.104825 0.104825 0.104825 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r3 front_right_camera_link-front_right_camera_rgb_frame 0.094834 0.094834 0.094834 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_x front_left_camera_link-front_left_camera_rgb_frame -0.013308 -0.013308 -0.013308 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_y front_left_camera_link-front_left_camera_rgb_frame -0.143571 -0.143571 -0.143571 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_z front_left_camera_link-front_left_camera_rgb_frame 0.010326 0.010326 0.010326 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r1 front_left_camera_link-front_left_camera_rgb_frame -0.094834 -0.094834 -0.094834 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r2 front_left_camera_link-front_left_camera_rgb_frame 0.104825 0.104825 0.104825 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r3 front_left_camera_link-front_left_camera_rgb_frame -0.094834 -0.094834 -0.094834 -inf inf
-world-pattern_link_x world-pattern_link 2.131362 2.131362 2.131362 -inf inf
-world-pattern_link_y world-pattern_link 0.240999 0.240999 0.240999 -inf inf
-world-pattern_link_z world-pattern_link 0.798967 0.798967 0.798967 -inf inf
-world-pattern_link_r1 world-pattern_link -1.782742 -1.782742 -1.782742 -inf inf
-world-pattern_link_r2 world-pattern_link 0.759030 0.759030 0.759030 -inf inf
-world-pattern_link_r3 world-pattern_link -1.262252 -1.262252 -1.262252 -inf inf
-Normalizer for lidar3d: 0.18679451001554365
-Normalizer for rgb: 158.42695822328554
-Optimization setup with 24 parameters: ['lidar3d_plate_link-lidar3d_base_link_x', 'lidar3d_plate_link-lidar3d_base_link_y', 'lidar3d_plate_link-lidar3d_base_link_z', 'lidar3d_plate_link-lidar3d_base_link_r1', 'lidar3d_plate_link-lidar3d_base_link_r2', 'lidar3d_plate_link-lidar3d_base_link_r3', 'front_right_camera_link-front_right_camera_rgb_frame_x', 'front_right_camera_link-front_right_camera_rgb_frame_y', 'front_right_camera_link-front_right_camera_rgb_frame_z', 'front_right_camera_link-front_right_camera_rgb_frame_r1', 'front_right_camera_link-front_right_camera_rgb_frame_r2', 'front_right_camera_link-front_right_camera_rgb_frame_r3', 'front_left_camera_link-front_left_camera_rgb_frame_x', 'front_left_camera_link-front_left_camera_rgb_frame_y', 'front_left_camera_link-front_left_camera_rgb_frame_z', 'front_left_camera_link-front_left_camera_rgb_frame_r1', 'front_left_camera_link-front_left_camera_rgb_frame_r2', 'front_left_camera_link-front_left_camera_rgb_frame_r3', 'world-pattern_link_x', 'world-pattern_link_y', 'world-pattern_link_z', 'world-pattern_link_r1', 'world-pattern_link_r2', 'world-pattern_link_r3']
-Initializing optimization ...
-One optimizer iteration has 13 function calls.
-Starting optimization ...
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 201.2679 | 114.4587 | 0.1880 |
-| 001 | 197.8568 | 108.4734 | 0.1876 |
-| 002 | 209.4384 | 105.4514 | 0.1968 |
-| 003 | 217.5416 | 96.2019 | 0.1828 |
-| 004 | 198.7788 | 99.5486 | 0.1796 |
-| Averages | 204.9767 | 104.8268 | 0.1870 |
-+------------+------------------------+-------------------------+-------------+
- Iteration Total nfev Cost Cost reduction Step norm Optimality
- 0 1 1.6787e+03 1.43e+04
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 77.3396 | 4.3798 | 0.0191 |
-| 001 | 73.8314 | 6.8477 | 0.0192 |
-| 002 | 83.9572 | 16.5676 | 0.0229 |
-| 003 | 93.0576 | 18.1302 | 0.0173 |
-| 004 | 77.2174 | 10.4941 | 0.0179 |
-| Averages | 81.0806 | 11.2839 | 0.0193 |
-+------------+------------------------+-------------------------+-------------+
- 1 2 4.7956e+01 1.63e+03 3.38e-01 1.50e+03
-The maximum number of function evaluations is exceeded.
-Function evaluations 2, initial cost 1.6787e+03, final cost 4.7956e+01, first-order optimality 1.50e+03.
-
------------------------------
-Optimization finished in 0.43356 secs: The maximum number of function evaluations is exceeded.
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 77.3396 | 4.3798 | 0.0191 |
-| 001 | 73.8314 | 6.8477 | 0.0192 |
-| 002 | 83.9573 | 16.5676 | 0.0229 |
-| 003 | 93.0576 | 18.1302 | 0.0173 |
-| 004 | 77.2174 | 10.4941 | 0.0179 |
-| Averages | 81.0807 | 11.2839 | 0.0193 |
-+------------+------------------------+-------------------------+-------------+
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 77.3396 | 4.3798 | 0.0191 |
-| 001 | 73.8314 | 6.8477 | 0.0192 |
-| 002 | 83.9573 | 16.5676 | 0.0229 |
-| 003 | 93.0576 | 18.1302 | 0.0173 |
-| 004 | 77.2174 | 10.4941 | 0.0179 |
-| Averages | 81.0807 | 11.2839 | 0.0193 |
-+------------+------------------------+-------------------------+-------------+
-Saved json output file to /home/mike/datasets/softbot/train/atom_calibration.json.
-Optimized xacro saved to /home/mike/workspaces/catkin_ws/src/calibration/robots/softbot/softbot_calibration/urdf/optimized.urdf.xacro . You can use it as a ROS robot_description.
-You can use it as a ROS robot_description by launching:
-roslaunch softbot_calibration playbag.launch optimized:=true
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/atom_calibration_params.yml
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/original_calibration_params.yml
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Errors per collection
-+--------------+-----------+-------------+-------------+------------+-----------+
-| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
-+--------------+-----------+-------------+-------------+------------+-----------+
-| 000 | 73.0066 | 39.7050 | 60.5190 | 214.1044 | 4.6148 |
-| 001 | 69.5746 | 30.2556 | 61.3039 | 209.2842 | 4.6596 |
-| 002 | 74.2949 | 55.2295 | 47.8678 | 233.3886 | 4.6254 |
-| 003 | 70.6270 | 51.2768 | 47.0758 | 232.3466 | 4.6855 |
-| 004 | 69.2821 | 35.7385 | 57.0257 | 212.4538 | 4.6008 |
-| Averages | 71.3570 | 42.4411 | 54.7584 | 220.3155 | 4.6372 |
-+--------------+-----------+-------------+-------------+------------+-----------+
-Ending script...
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration.json b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration.json
deleted file mode 100644
index 61e46cb9..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration.json
+++ /dev/null
@@ -1,19839 +0,0 @@
-{
- "_metadata": {
- "dataset_name": "train",
- "date": "Fri Mar 15 18:18:30 2024",
- "package_name": "softbot_calibration",
- "robot_name": "softbot",
- "timestamp": "1710526710.7100964",
- "user": "mike",
- "version": "3.0"
- },
- "additional_sensor_data": {},
- "calibration_config": {
- "additional_tfs": null,
- "anchored_sensor": null,
- "bag_file": "$ROS_BAGS/softbot/softbot1.bag",
- "calibration_patterns": {
- "pattern_1": {
- "border_size": {
- "x": 0.04,
- "y": 0.03
- },
- "dictionary": "DICT_5X5_100",
- "dimension": {
- "x": 11,
- "y": 8
- },
- "fixed": true,
- "inner_size": 0.045,
- "link": "pattern_link",
- "mesh_file": "package://atom_worlds/pattern/models/charuco_800x600_5x5_100/charuco_800x600_5x5_100.dae",
- "parent_link": "world",
- "pattern_type": "charuco",
- "size": 0.06
- }
- },
- "description_file": "package://softbot_description/urdf/softbot.urdf.xacro",
- "joints": null,
- "max_duration_between_msgs": 1000,
- "package_name": "softbot_calibration",
- "sensors": {
- "front_left_camera": {
- "child_link": "front_left_camera_rgb_frame",
- "link": "front_left_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_left_camera_link",
- "throttle": null,
- "topic_name": "/front_left_camera/rgb/image_raw"
- },
- "front_right_camera": {
- "child_link": "front_right_camera_rgb_frame",
- "link": "front_right_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_right_camera_link",
- "throttle": null,
- "topic_name": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "child_link": "lidar3d_base_link",
- "link": "lidar3d",
- "modality": "lidar3d",
- "parent_link": "lidar3d_plate_link",
- "throttle": null,
- "topic_name": "/lidar3d/points"
- }
- },
- "version": 3.0,
- "world_link": "world"
- },
- "collections": {
- "000": {
- "additional_data": {},
- "data": {
- "front_left_camera": {
- "data_file": "front_left_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_left_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "front_right_camera": {
- "data_file": "front_right_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_right_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "lidar3d": {
- "data_file": "lidar3d_000.pcd",
- "fields": [
- {
- "count": 1,
- "datatype": 7,
- "name": "x",
- "offset": 0
- },
- {
- "count": 1,
- "datatype": 7,
- "name": "y",
- "offset": 4
- },
- {
- "count": 1,
- "datatype": 7,
- "name": "z",
- "offset": 8
- }
- ],
- "header": {
- "frame_id": "lidar3d",
- "seq": 105,
- "stamp": {
- "nsecs": 397000000,
- "secs": 4765
- }
- },
- "height": 1,
- "is_bigendian": false,
- "is_dense": true,
- "point_step": 12,
- "row_step": 187836,
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- },
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- },
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- {
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- "key": "world-base_footprint",
- "parent": "world"
- },
- {
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- "parent": "base_footprint"
- },
- {
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- "key": "base_link-platform_support_leg3_link",
- "parent": "base_link"
- },
- {
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- "key": "platform_support_leg3_link-front_left_camera_support_link",
- "parent": "platform_support_leg3_link"
- },
- {
- "child": "front_left_camera_link",
- "key": "front_left_camera_support_link-front_left_camera_link",
- "parent": "front_left_camera_support_link"
- },
- {
- "child": "front_left_camera_rgb_frame",
- "key": "front_left_camera_link-front_left_camera_rgb_frame",
- "parent": "front_left_camera_link"
- },
- {
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- "key": "front_left_camera_rgb_frame-front_left_camera_rgb_optical_frame",
- "parent": "front_left_camera_rgb_frame"
- }
- ],
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- },
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- },
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- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
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- "key": "base_link-platform_support_leg4_link",
- "parent": "base_link"
- },
- {
- "child": "front_right_camera_support_link",
- "key": "platform_support_leg4_link-front_right_camera_support_link",
- "parent": "platform_support_leg4_link"
- },
- {
- "child": "front_right_camera_link",
- "key": "front_right_camera_support_link-front_right_camera_link",
- "parent": "front_right_camera_support_link"
- },
- {
- "child": "front_right_camera_rgb_frame",
- "key": "front_right_camera_link-front_right_camera_rgb_frame",
- "parent": "front_right_camera_link"
- },
- {
- "child": "front_right_camera_rgb_optical_frame",
- "key": "front_right_camera_rgb_frame-front_right_camera_rgb_optical_frame",
- "parent": "front_right_camera_rgb_frame"
- }
- ],
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- "msg_type": "Image",
- "parent": "front_right_camera_rgb_optical_frame",
- "topic": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "_name": "lidar3d",
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- "calibration_parent": "lidar3d_plate_link",
- "chain": [
- {
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- "key": "world-base_footprint",
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- "parent": "base_link"
- },
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- "parent": "platform_support_leg1_link"
- },
- {
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- "key": "lidar3d_plate_link-lidar3d_base_link",
- "parent": "lidar3d_plate_link"
- },
- {
- "child": "lidar3d",
- "key": "lidar3d_base_link-lidar3d",
- "parent": "lidar3d_base_link"
- }
- ],
- "modality": "lidar3d",
- "msg_type": "PointCloud2",
- "parent": "lidar3d",
- "topic": "/lidar3d/points"
- }
- }
-}
\ No newline at end of file
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration_params.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration_params.yml
deleted file mode 100644
index 319914fd..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/atom_calibration_params.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-sensors:
- front_left_camera:
- x: 0.07537842291898181
- y: -0.1675911199252268
- z: 0.03170733941700371
- roll: 0.12805540620533307
- pitch: 0.05723358535985197
- yaw: 0.04233964364058868
- front_right_camera:
- x: 0.1962837228104403
- y: -0.08962022287351953
- z: -0.0485255889447926
- roll: 0.09901807230729566
- pitch: -0.08251661126734298
- yaw: 0.09371269655598699
- lidar3d:
- x: 0.027822203456308335
- y: -0.02956653224356997
- z: -0.07322688178495473
- roll: 0.029879990591123465
- pitch: -0.17008997445755297
- yaw: -0.038118021634159206
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/command_line_args.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/command_line_args.yml
deleted file mode 100644
index 12e4ec41..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/command_line_args.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-view_optimization: false
-json_file: /home/mike/datasets/softbot/train/dataset.json
-verbose: true
-show_normalized_values: false
-ros_visualization: false
-draw_per_collection_colors: false
-draw_alpha: 0.5
-show_images: false
-optimize_intrinsics: false
-sample_residuals: 1
-sample_seed: 1
-sample_longitudinal_residuals: 1
-all_joints_fixed: false
-only_anchored_sensor: false
-anchor_sensors: null
-anchor_patterns: false
-ground_truth_pattern_poses: false
-use_incomplete_collections: false
-ignore_anchored_sensor: false
-remove_partial_detections: false
-noisy_initial_guess:
-- 0.2
-- 0.2
-joint_bias_names: null
-joint_bias_params: null
-joint_bias_values: null
-sensor_selection_function: null
-collection_selection_function: null
-joint_selection_function: null
-joint_parameter_selection_function: null
-pattern_selection_function: null
-additional_tf_selection_function: null
-phased_execution: false
-initial_pose_ghost: false
-comparison_to_ground_truth: false
-save_calibration_errors: false
-optimization_ftol: 1.0e-05
-optimization_xtol: 1.0e-05
-optimization_gtol: 1.0e-05
-optimization_diff_step: null
-optimization_max_nfev: 2
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/rgb_rgb_evaluation.csv b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/rgb_rgb_evaluation.csv
deleted file mode 100644
index 65ad7645..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/rgb_rgb_evaluation.csv
+++ /dev/null
@@ -1,7 +0,0 @@
-Collection #,RMS (pix),X err (pix),Y err (pix),Trans (mm),Rot (deg)
-000,190.0349,45.4886,184.3038,331.3222,10.4823
-001,186.7569,51.4080,179.2662,298.0780,10.5177
-002,174.5161,45.1704,168.3419,234.4444,10.5223
-003,171.2332,48.6661,163.9970,203.1927,10.4135
-004,178.0733,49.4412,170.7639,256.4581,10.5034
-Averages,180.1229,48.0349,173.3346,264.6991,10.4878
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/stdout.txt b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/stdout.txt
deleted file mode 100644
index 9f9a6852..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run001/stdout.txt
+++ /dev/null
@@ -1,149 +0,0 @@
-_______________________________________________________
-
- █████╗ ████████╗ ██████╗ ███╗ ███╗
- ██╔══██╗╚══██╔══╝██╔═══██╗████╗ ████║
- ███████║ ██║ ██║ ██║██╔████╔██║
- ██╔══██║ ██║ ██║ ██║██║╚██╔╝██║
- __ ██║ ██║ ██║ ╚██████╔╝██║ ╚═╝ ██║ _
- / _| ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚═╝ ╚═╝ | |
- | |_ _ __ __ _ _ __ ___ _____ _____ _ __| | __
- | _| '__/ _` | '_ ` _ \ / _ \ \ /\ / / _ \| '__| |/ /
- | | | | | (_| | | | | | | __/\ V V / (_) | | | <
- |_| |_| \__,_|_| |_| |_|\___| \_/\_/ \___/|_| |_|\_\
- https://github.com/lardemua/atom
-
-Starting calibration
-_______________________________________________________
-
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Loaded dataset containing 3 sensors and 5 collections.
-Selected collection key is 000
-No joints are being optimized
-
-Initializing optimizer...
-Creating sensor transformation parameters ...
-Creating additional_tfs parameters ...
-Creating residuals ...
-Computing sparse matrix ...
-Sparsity matrix:
- front_right_camera_link-front_right_camera_rgb_frame_x ... world-pattern_link_r3
-c000_p_pattern_1_front_left_camera_corner2 0 ... 1
-c000_p_pattern_1_front_left_camera_corner12 0 ... 1
-c000_p_pattern_1_front_left_camera_corner18 0 ... 1
-c000_p_pattern_1_front_left_camera_corner22 0 ... 1
-c000_p_pattern_1_front_left_camera_corner23 0 ... 1
-... ... ... ...
-c004_p_pattern_1_lidar3d_ld_11 0 ... 1
-c004_p_pattern_1_lidar3d_ld_12 0 ... 1
-c004_p_pattern_1_lidar3d_ld_13 0 ... 1
-c004_p_pattern_1_lidar3d_ld_14 0 ... 1
-c004_p_pattern_1_lidar3d_ld_15 0 ... 1
-
-[3242 rows x 24 columns]
-
-
-Parameters:
- Group x0 x data Min Max
-front_right_camera_link-front_right_camera_rgb_frame_x front_right_camera_link-front_right_camera_rgb_frame -0.173165 -0.173165 -0.173165 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_y front_right_camera_link-front_right_camera_rgb_frame -0.112858 -0.112858 -0.112858 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_z front_right_camera_link-front_right_camera_rgb_frame -0.073547 -0.073547 -0.073547 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r1 front_right_camera_link-front_right_camera_rgb_frame -0.178673 -0.178673 -0.178673 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r2 front_right_camera_link-front_right_camera_rgb_frame -0.218525 -0.218525 -0.218525 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r3 front_right_camera_link-front_right_camera_rgb_frame 0.178673 0.178673 0.178673 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_x front_left_camera_link-front_left_camera_rgb_frame -0.030034 -0.030034 -0.030034 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_y front_left_camera_link-front_left_camera_rgb_frame 0.034748 0.034748 0.034748 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_z front_left_camera_link-front_left_camera_rgb_frame -0.180937 -0.180937 -0.180937 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r1 front_left_camera_link-front_left_camera_rgb_frame 0.178673 0.178673 0.178673 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r2 front_left_camera_link-front_left_camera_rgb_frame 0.218525 0.218525 0.218525 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r3 front_left_camera_link-front_left_camera_rgb_frame 0.178673 0.178673 0.178673 -inf inf
-lidar3d_plate_link-lidar3d_base_link_x lidar3d_plate_link-lidar3d_base_link 0.037728 0.037728 0.037728 -inf inf
-lidar3d_plate_link-lidar3d_base_link_y lidar3d_plate_link-lidar3d_base_link -0.078538 -0.078538 -0.078538 -inf inf
-lidar3d_plate_link-lidar3d_base_link_z lidar3d_plate_link-lidar3d_base_link 0.180023 0.180023 0.180023 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r1 lidar3d_plate_link-lidar3d_base_link 0.178673 0.178673 0.178673 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r2 lidar3d_plate_link-lidar3d_base_link -0.218525 -0.218525 -0.218525 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r3 lidar3d_plate_link-lidar3d_base_link -0.178673 -0.178673 -0.178673 -inf inf
-world-pattern_link_x world-pattern_link 2.131362 2.131362 2.131362 -inf inf
-world-pattern_link_y world-pattern_link 0.240999 0.240999 0.240999 -inf inf
-world-pattern_link_z world-pattern_link 0.798967 0.798967 0.798967 -inf inf
-world-pattern_link_r1 world-pattern_link -1.782742 -1.782742 -1.782742 -inf inf
-world-pattern_link_r2 world-pattern_link 0.759030 0.759030 0.759030 -inf inf
-world-pattern_link_r3 world-pattern_link -1.262252 -1.262252 -1.262252 -inf inf
-Normalizer for lidar3d: 0.26012655442256094
-Normalizer for rgb: 367.9503728927835
-Optimization setup with 24 parameters: ['front_right_camera_link-front_right_camera_rgb_frame_x', 'front_right_camera_link-front_right_camera_rgb_frame_y', 'front_right_camera_link-front_right_camera_rgb_frame_z', 'front_right_camera_link-front_right_camera_rgb_frame_r1', 'front_right_camera_link-front_right_camera_rgb_frame_r2', 'front_right_camera_link-front_right_camera_rgb_frame_r3', 'front_left_camera_link-front_left_camera_rgb_frame_x', 'front_left_camera_link-front_left_camera_rgb_frame_y', 'front_left_camera_link-front_left_camera_rgb_frame_z', 'front_left_camera_link-front_left_camera_rgb_frame_r1', 'front_left_camera_link-front_left_camera_rgb_frame_r2', 'front_left_camera_link-front_left_camera_rgb_frame_r3', 'lidar3d_plate_link-lidar3d_base_link_x', 'lidar3d_plate_link-lidar3d_base_link_y', 'lidar3d_plate_link-lidar3d_base_link_z', 'lidar3d_plate_link-lidar3d_base_link_r1', 'lidar3d_plate_link-lidar3d_base_link_r2', 'lidar3d_plate_link-lidar3d_base_link_r3', 'world-pattern_link_x', 'world-pattern_link_y', 'world-pattern_link_z', 'world-pattern_link_r1', 'world-pattern_link_r2', 'world-pattern_link_r3']
-Initializing optimization ...
-One optimizer iteration has 13 function calls.
-Starting optimization ...
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 501.0699 | 231.6118 | 0.2387 |
-| 001 | 537.7765 | 231.1438 | 0.2298 |
-| 002 | 432.7947 | 239.9247 | 0.3139 |
-| 003 | 431.7255 | 253.9204 | 0.2890 |
-| 004 | 507.4972 | 235.5821 | 0.2258 |
-| Averages | 482.1728 | 238.4366 | 0.2594 |
-+------------+------------------------+-------------------------+-------------+
- Iteration Total nfev Cost Cost reduction Step norm Optimality
- 0 1 1.7176e+03 1.21e+04
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 155.3332 | 23.9322 | 0.0947 |
-| 001 | 176.4507 | 29.0458 | 0.0922 |
-| 002 | 141.0435 | 54.4597 | 0.1094 |
-| 003 | 151.1885 | 70.1952 | 0.1042 |
-| 004 | 174.4010 | 48.9469 | 0.0930 |
-| Averages | 159.6834 | 45.3160 | 0.0987 |
-+------------+------------------------+-------------------------+-------------+
- 1 2 2.3146e+02 1.49e+03 7.65e-01 3.98e+03
-The maximum number of function evaluations is exceeded.
-Function evaluations 2, initial cost 1.7176e+03, final cost 2.3146e+02, first-order optimality 3.98e+03.
-
------------------------------
-Optimization finished in 0.42633 secs: The maximum number of function evaluations is exceeded.
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 155.3332 | 23.9322 | 0.0947 |
-| 001 | 176.4507 | 29.0458 | 0.0922 |
-| 002 | 141.0435 | 54.4597 | 0.1094 |
-| 003 | 151.1885 | 70.1952 | 0.1042 |
-| 004 | 174.4010 | 48.9469 | 0.0930 |
-| Averages | 159.6834 | 45.3160 | 0.0987 |
-+------------+------------------------+-------------------------+-------------+
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 155.3332 | 23.9322 | 0.0947 |
-| 001 | 176.4507 | 29.0458 | 0.0922 |
-| 002 | 141.0435 | 54.4597 | 0.1094 |
-| 003 | 151.1885 | 70.1952 | 0.1042 |
-| 004 | 174.4010 | 48.9469 | 0.0930 |
-| Averages | 159.6834 | 45.3160 | 0.0987 |
-+------------+------------------------+-------------------------+-------------+
-Saved json output file to /home/mike/datasets/softbot/train/atom_calibration.json.
-Optimized xacro saved to /home/mike/workspaces/catkin_ws/src/calibration/robots/softbot/softbot_calibration/urdf/optimized.urdf.xacro . You can use it as a ROS robot_description.
-You can use it as a ROS robot_description by launching:
-roslaunch softbot_calibration playbag.launch optimized:=true
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/atom_calibration_params.yml
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/original_calibration_params.yml
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Errors per collection
-+--------------+-----------+-------------+-------------+------------+-----------+
-| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
-+--------------+-----------+-------------+-------------+------------+-----------+
-| 000 | 190.0349 | 45.4886 | 184.3038 | 331.3222 | 10.4823 |
-| 001 | 186.7569 | 51.4080 | 179.2662 | 298.0780 | 10.5177 |
-| 002 | 174.5161 | 45.1704 | 168.3419 | 234.4444 | 10.5223 |
-| 003 | 171.2332 | 48.6661 | 163.9970 | 203.1927 | 10.4135 |
-| 004 | 178.0733 | 49.4412 | 170.7639 | 256.4581 | 10.5034 |
-| Averages | 180.1229 | 48.0349 | 173.3346 | 264.6991 | 10.4878 |
-+--------------+-----------+-------------+-------------+------------+-----------+
-Ending script...
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration.json b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration.json
deleted file mode 100644
index f85aa884..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration.json
+++ /dev/null
@@ -1,19839 +0,0 @@
-{
- "_metadata": {
- "dataset_name": "train",
- "date": "Fri Mar 15 18:18:30 2024",
- "package_name": "softbot_calibration",
- "robot_name": "softbot",
- "timestamp": "1710526710.7100964",
- "user": "mike",
- "version": "3.0"
- },
- "additional_sensor_data": {},
- "calibration_config": {
- "additional_tfs": null,
- "anchored_sensor": null,
- "bag_file": "$ROS_BAGS/softbot/softbot1.bag",
- "calibration_patterns": {
- "pattern_1": {
- "border_size": {
- "x": 0.04,
- "y": 0.03
- },
- "dictionary": "DICT_5X5_100",
- "dimension": {
- "x": 11,
- "y": 8
- },
- "fixed": true,
- "inner_size": 0.045,
- "link": "pattern_link",
- "mesh_file": "package://atom_worlds/pattern/models/charuco_800x600_5x5_100/charuco_800x600_5x5_100.dae",
- "parent_link": "world",
- "pattern_type": "charuco",
- "size": 0.06
- }
- },
- "description_file": "package://softbot_description/urdf/softbot.urdf.xacro",
- "joints": null,
- "max_duration_between_msgs": 1000,
- "package_name": "softbot_calibration",
- "sensors": {
- "front_left_camera": {
- "child_link": "front_left_camera_rgb_frame",
- "link": "front_left_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_left_camera_link",
- "throttle": null,
- "topic_name": "/front_left_camera/rgb/image_raw"
- },
- "front_right_camera": {
- "child_link": "front_right_camera_rgb_frame",
- "link": "front_right_camera_rgb_optical_frame",
- "modality": "rgb",
- "parent_link": "front_right_camera_link",
- "throttle": null,
- "topic_name": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "child_link": "lidar3d_base_link",
- "link": "lidar3d",
- "modality": "lidar3d",
- "parent_link": "lidar3d_plate_link",
- "throttle": null,
- "topic_name": "/lidar3d/points"
- }
- },
- "version": 3.0,
- "world_link": "world"
- },
- "collections": {
- "000": {
- "additional_data": {},
- "data": {
- "front_left_camera": {
- "data_file": "front_left_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_left_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "front_right_camera": {
- "data_file": "front_right_camera_000.jpg",
- "encoding": "bgr8",
- "header": {
- "frame_id": "front_right_camera_rgb_optical_frame",
- "seq": 106,
- "stamp": {
- "nsecs": 383000000,
- "secs": 4765
- }
- },
- "height": 720,
- "is_bigendian": 0,
- "step": 3840,
- "width": 1280
- },
- "lidar3d": {
- "data_file": "lidar3d_000.pcd",
- "fields": [
- {
- "count": 1,
- "datatype": 7,
- "name": "x",
- "offset": 0
- },
- {
- "count": 1,
- "datatype": 7,
- "name": "y",
- "offset": 4
- },
- {
- "count": 1,
- "datatype": 7,
- "name": "z",
- "offset": 8
- }
- ],
- "header": {
- "frame_id": "lidar3d",
- "seq": 105,
- "stamp": {
- "nsecs": 397000000,
- "secs": 4765
- }
- },
- "height": 1,
- "is_bigendian": false,
- "is_dense": true,
- "point_step": 12,
- "row_step": 187836,
- "width": 15653
- }
- },
- "joints": {},
- "labels": {
- "pattern_1": {
- "front_left_camera": {
- "detected": true,
- "idxs": [
- {
- "id": 2,
- "x": 828.963134765625,
- "y": 402.80694580078125
- },
- {
- "id": 12,
- "x": 818.1080322265625,
- "y": 441.1672058105469
- },
- {
- "id": 18,
- "x": 978.8966064453125,
- "y": 350.8060302734375
- },
- {
- "id": 22,
- "x": 807.1433715820312,
- "y": 480.6584777832031
- },
- {
- "id": 23,
- "x": 834.6395874023438,
- "y": 465.14459228515625
- },
- {
- "id": 28,
- "x": 970.40380859375,
- "y": 388.4531555175781
- },
- {
- "id": 33,
- "x": 823.7278442382812,
- "y": 505.753173828125
- },
- {
- "id": 34,
- "x": 851.4049682617188,
- "y": 489.98455810546875
- },
- {
- "id": 45,
- "x": 868.8594360351562,
- "y": 515.680908203125
- },
- {
- "id": 56,
- "x": 886.7752685546875,
- "y": 542.144287109375
- },
- {
- "id": 57,
- "x": 915.3467407226562,
- "y": 525.865478515625
- },
- {
- "id": 58,
- "x": 943.9840698242188,
- "y": 509.59930419921875
- },
- {
- "id": 59,
- "x": 972.18408203125,
- "y": 493.3123779296875
- },
- {
- "id": 66,
- "x": 876.2140502929688,
- "y": 586.100830078125
- },
- {
- "id": 67,
- "x": 905.2720947265625,
- "y": 569.45263671875
- },
- {
- "id": 68,
- "x": 934.279296875,
- "y": 552.8763427734375
- },
- {
- "id": 69,
- "x": 963.1522216796875,
- "y": 536.351806640625
- },
- {
- "id": 70,
- "x": 992.1220092773438,
- "y": 519.7015380859375
- },
- {
- "id": 77,
- "x": 895.0062866210938,
- "y": 614.5653686523438
- },
- {
- "id": 78,
- "x": 924.5330810546875,
- "y": 597.83935546875
- },
- {
- "id": 79,
- "x": 953.9845581054688,
- "y": 580.7589111328125
- },
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- "sensors": {
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- "_name": "front_left_camera",
- "calibration_child": "front_left_camera_rgb_frame",
- "calibration_parent": "front_left_camera_link",
- "camera_info": {
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- 0.0,
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- ],
- "binning_x": 0,
- "binning_y": 0,
- "distortion_model": "plumb_bob",
- "header": {
- "frame_id": "front_left_camera_rgb_optical_frame",
- "seq": 16,
- "stamp": {
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- "secs": 4754
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- "height": 720,
- "roi": {
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- "height": 0,
- "width": 0,
- "x_offset": 0,
- "y_offset": 0
- },
- "width": 1280
- },
- "camera_info_topic": "/front_left_camera/rgb/camera_info",
- "chain": [
- {
- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg3_link",
- "key": "base_link-platform_support_leg3_link",
- "parent": "base_link"
- },
- {
- "child": "front_left_camera_support_link",
- "key": "platform_support_leg3_link-front_left_camera_support_link",
- "parent": "platform_support_leg3_link"
- },
- {
- "child": "front_left_camera_link",
- "key": "front_left_camera_support_link-front_left_camera_link",
- "parent": "front_left_camera_support_link"
- },
- {
- "child": "front_left_camera_rgb_frame",
- "key": "front_left_camera_link-front_left_camera_rgb_frame",
- "parent": "front_left_camera_link"
- },
- {
- "child": "front_left_camera_rgb_optical_frame",
- "key": "front_left_camera_rgb_frame-front_left_camera_rgb_optical_frame",
- "parent": "front_left_camera_rgb_frame"
- }
- ],
- "modality": "rgb",
- "msg_type": "Image",
- "parent": "front_left_camera_rgb_optical_frame",
- "topic": "/front_left_camera/rgb/image_raw"
- },
- "front_right_camera": {
- "_name": "front_right_camera",
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- "calibration_parent": "front_right_camera_link",
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- },
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- "chain": [
- {
- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
- "child": "base_link",
- "key": "base_footprint-base_link",
- "parent": "base_footprint"
- },
- {
- "child": "platform_support_leg4_link",
- "key": "base_link-platform_support_leg4_link",
- "parent": "base_link"
- },
- {
- "child": "front_right_camera_support_link",
- "key": "platform_support_leg4_link-front_right_camera_support_link",
- "parent": "platform_support_leg4_link"
- },
- {
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- "key": "front_right_camera_support_link-front_right_camera_link",
- "parent": "front_right_camera_support_link"
- },
- {
- "child": "front_right_camera_rgb_frame",
- "key": "front_right_camera_link-front_right_camera_rgb_frame",
- "parent": "front_right_camera_link"
- },
- {
- "child": "front_right_camera_rgb_optical_frame",
- "key": "front_right_camera_rgb_frame-front_right_camera_rgb_optical_frame",
- "parent": "front_right_camera_rgb_frame"
- }
- ],
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- "msg_type": "Image",
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- "topic": "/front_right_camera/rgb/image_raw"
- },
- "lidar3d": {
- "_name": "lidar3d",
- "calibration_child": "lidar3d_base_link",
- "calibration_parent": "lidar3d_plate_link",
- "chain": [
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- "child": "base_footprint",
- "key": "world-base_footprint",
- "parent": "world"
- },
- {
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- "parent": "base_footprint"
- },
- {
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- "key": "base_link-platform_support_leg1_link",
- "parent": "base_link"
- },
- {
- "child": "lidar3d_plate_link",
- "key": "platform_support_leg1_link-lidar3d_plate_link",
- "parent": "platform_support_leg1_link"
- },
- {
- "child": "lidar3d_base_link",
- "key": "lidar3d_plate_link-lidar3d_base_link",
- "parent": "lidar3d_plate_link"
- },
- {
- "child": "lidar3d",
- "key": "lidar3d_base_link-lidar3d",
- "parent": "lidar3d_base_link"
- }
- ],
- "modality": "lidar3d",
- "msg_type": "PointCloud2",
- "parent": "lidar3d",
- "topic": "/lidar3d/points"
- }
- }
-}
\ No newline at end of file
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration_params.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration_params.yml
deleted file mode 100644
index f0bdede1..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/atom_calibration_params.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-sensors:
- front_left_camera:
- x: 0.3383925662274182
- y: -0.07762076730701081
- z: 0.3116488059618641
- roll: 0.03611259121096031
- pitch: 0.057761412953221916
- yaw: -0.07786261204374306
- front_right_camera:
- x: 0.07424311845705532
- y: -0.31063627649913994
- z: 0.27174733788756994
- roll: 0.12161464663430004
- pitch: 0.10161323023604765
- yaw: 0.08935511735011166
- lidar3d:
- x: -0.11394645016754797
- y: 0.04819990505538403
- z: -0.24205501906462878
- roll: 0.08263065922088132
- pitch: -0.15903355532613866
- yaw: -0.09754487850756205
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/command_line_args.yml b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/command_line_args.yml
deleted file mode 100644
index 7ce88275..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/command_line_args.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-view_optimization: false
-json_file: /home/mike/datasets/softbot/train/dataset.json
-verbose: true
-show_normalized_values: false
-ros_visualization: false
-draw_per_collection_colors: false
-draw_alpha: 0.5
-show_images: false
-optimize_intrinsics: false
-sample_residuals: 1
-sample_seed: 2
-sample_longitudinal_residuals: 1
-all_joints_fixed: false
-only_anchored_sensor: false
-anchor_sensors: null
-anchor_patterns: false
-ground_truth_pattern_poses: false
-use_incomplete_collections: false
-ignore_anchored_sensor: false
-remove_partial_detections: false
-noisy_initial_guess:
-- 0.2
-- 0.2
-joint_bias_names: null
-joint_bias_params: null
-joint_bias_values: null
-sensor_selection_function: null
-collection_selection_function: null
-joint_selection_function: null
-joint_parameter_selection_function: null
-pattern_selection_function: null
-additional_tf_selection_function: null
-phased_execution: false
-initial_pose_ghost: false
-comparison_to_ground_truth: false
-save_calibration_errors: false
-optimization_ftol: 1.0e-05
-optimization_xtol: 1.0e-05
-optimization_gtol: 1.0e-05
-optimization_diff_step: null
-optimization_max_nfev: 2
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/rgb_rgb_evaluation.csv b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/rgb_rgb_evaluation.csv
deleted file mode 100644
index 74d992c7..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/rgb_rgb_evaluation.csv
+++ /dev/null
@@ -1,7 +0,0 @@
-Collection #,RMS (pix),X err (pix),Y err (pix),Trans (mm),Rot (deg)
-000,85.9113,73.7125,40.8944,388.6935,11.5891
-001,69.5297,51.8247,40.1436,381.4549,11.6405
-002,100.8333,97.6247,18.2394,478.0879,11.6090
-003,88.9512,86.1588,17.7930,482.4392,11.6485
-004,69.2118,57.6820,25.4530,406.1302,11.5805
-Averages,82.8875,73.4005,28.5047,427.3611,11.6135
diff --git a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/stdout.txt b/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/stdout.txt
deleted file mode 100644
index c2c0bb38..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/nig_0.2_run002/stdout.txt
+++ /dev/null
@@ -1,149 +0,0 @@
-_______________________________________________________
-
- █████╗ ████████╗ ██████╗ ███╗ ███╗
- ██╔══██╗╚══██╔══╝██╔═══██╗████╗ ████║
- ███████║ ██║ ██║ ██║██╔████╔██║
- ██╔══██║ ██║ ██║ ██║██║╚██╔╝██║
- __ ██║ ██║ ██║ ╚██████╔╝██║ ╚═╝ ██║ _
- / _| ╚═╝ ╚═╝ ╚═╝ ╚═════╝ ╚═╝ ╚═╝ | |
- | |_ _ __ __ _ _ __ ___ _____ _____ _ __| | __
- | _| '__/ _` | '_ ` _ \ / _ \ \ /\ / / _ \| '__| |/ /
- | | | | | (_| | | | | | | __/\ V V / (_) | | | <
- |_| |_| \__,_|_| |_| |_|\___| \_/\_/ \___/|_| |_|\_\
- https://github.com/lardemua/atom
-
-Starting calibration
-_______________________________________________________
-
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Loaded dataset containing 3 sensors and 5 collections.
-Selected collection key is 000
-No joints are being optimized
-
-Initializing optimizer...
-Creating sensor transformation parameters ...
-Creating additional_tfs parameters ...
-Creating residuals ...
-Computing sparse matrix ...
-Sparsity matrix:
- lidar3d_plate_link-lidar3d_base_link_x ... world-pattern_link_r3
-c000_p_pattern_1_front_left_camera_corner2 0 ... 1
-c000_p_pattern_1_front_left_camera_corner12 0 ... 1
-c000_p_pattern_1_front_left_camera_corner18 0 ... 1
-c000_p_pattern_1_front_left_camera_corner22 0 ... 1
-c000_p_pattern_1_front_left_camera_corner23 0 ... 1
-... ... ... ...
-c004_p_pattern_1_lidar3d_ld_11 1 ... 1
-c004_p_pattern_1_lidar3d_ld_12 1 ... 1
-c004_p_pattern_1_lidar3d_ld_13 1 ... 1
-c004_p_pattern_1_lidar3d_ld_14 1 ... 1
-c004_p_pattern_1_lidar3d_ld_15 1 ... 1
-
-[3242 rows x 24 columns]
-
-
-Parameters:
- Group x0 x data Min Max
-lidar3d_plate_link-lidar3d_base_link_x lidar3d_plate_link-lidar3d_base_link -0.176398 -0.176398 -0.176398 -inf inf
-lidar3d_plate_link-lidar3d_base_link_y lidar3d_plate_link-lidar3d_base_link 0.091639 0.091639 0.091639 -inf inf
-lidar3d_plate_link-lidar3d_base_link_z lidar3d_plate_link-lidar3d_base_link 0.022046 0.022046 0.022046 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r1 lidar3d_plate_link-lidar3d_base_link 0.178673 0.178673 0.178673 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r2 lidar3d_plate_link-lidar3d_base_link -0.218525 -0.218525 -0.218525 -inf inf
-lidar3d_plate_link-lidar3d_base_link_r3 lidar3d_plate_link-lidar3d_base_link -0.178673 -0.178673 -0.178673 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_x front_left_camera_link-front_left_camera_rgb_frame -0.026616 -0.026616 -0.026616 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_y front_left_camera_link-front_left_camera_rgb_frame -0.242142 -0.242142 -0.242142 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_z front_left_camera_link-front_left_camera_rgb_frame 0.020652 0.020652 0.020652 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r1 front_left_camera_link-front_left_camera_rgb_frame -0.178673 -0.178673 -0.178673 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r2 front_left_camera_link-front_left_camera_rgb_frame 0.218525 0.218525 0.218525 -inf inf
-front_left_camera_link-front_left_camera_rgb_frame_r3 front_left_camera_link-front_left_camera_rgb_frame -0.178673 -0.178673 -0.178673 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_x front_right_camera_link-front_right_camera_rgb_frame -0.082090 -0.082090 -0.082090 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_y front_right_camera_link-front_right_camera_rgb_frame -0.203072 -0.203072 -0.203072 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_z front_right_camera_link-front_right_camera_rgb_frame 0.090964 0.090964 0.090964 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r1 front_right_camera_link-front_right_camera_rgb_frame 0.178673 0.178673 0.178673 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r2 front_right_camera_link-front_right_camera_rgb_frame 0.218525 0.218525 0.218525 -inf inf
-front_right_camera_link-front_right_camera_rgb_frame_r3 front_right_camera_link-front_right_camera_rgb_frame 0.178673 0.178673 0.178673 -inf inf
-world-pattern_link_x world-pattern_link 2.131362 2.131362 2.131362 -inf inf
-world-pattern_link_y world-pattern_link 0.240999 0.240999 0.240999 -inf inf
-world-pattern_link_z world-pattern_link 0.798967 0.798967 0.798967 -inf inf
-world-pattern_link_r1 world-pattern_link -1.782742 -1.782742 -1.782742 -inf inf
-world-pattern_link_r2 world-pattern_link 0.759030 0.759030 0.759030 -inf inf
-world-pattern_link_r3 world-pattern_link -1.262252 -1.262252 -1.262252 -inf inf
-Normalizer for lidar3d: 0.40943430438738526
-Normalizer for rgb: 315.89338112565434
-Optimization setup with 24 parameters: ['lidar3d_plate_link-lidar3d_base_link_x', 'lidar3d_plate_link-lidar3d_base_link_y', 'lidar3d_plate_link-lidar3d_base_link_z', 'lidar3d_plate_link-lidar3d_base_link_r1', 'lidar3d_plate_link-lidar3d_base_link_r2', 'lidar3d_plate_link-lidar3d_base_link_r3', 'front_left_camera_link-front_left_camera_rgb_frame_x', 'front_left_camera_link-front_left_camera_rgb_frame_y', 'front_left_camera_link-front_left_camera_rgb_frame_z', 'front_left_camera_link-front_left_camera_rgb_frame_r1', 'front_left_camera_link-front_left_camera_rgb_frame_r2', 'front_left_camera_link-front_left_camera_rgb_frame_r3', 'front_right_camera_link-front_right_camera_rgb_frame_x', 'front_right_camera_link-front_right_camera_rgb_frame_y', 'front_right_camera_link-front_right_camera_rgb_frame_z', 'front_right_camera_link-front_right_camera_rgb_frame_r1', 'front_right_camera_link-front_right_camera_rgb_frame_r2', 'front_right_camera_link-front_right_camera_rgb_frame_r3', 'world-pattern_link_x', 'world-pattern_link_y', 'world-pattern_link_z', 'world-pattern_link_r1', 'world-pattern_link_r2', 'world-pattern_link_r3']
-Initializing optimization ...
-One optimizer iteration has 13 function calls.
-Starting optimization ...
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 391.8848 | 226.7722 | 0.4162 |
-| 001 | 384.3604 | 215.6468 | 0.4083 |
-| 002 | 428.0906 | 203.7435 | 0.4309 |
-| 003 | 449.4357 | 186.1919 | 0.4024 |
-| 004 | 394.8858 | 197.5989 | 0.3919 |
-| Averages | 409.7315 | 205.9907 | 0.4099 |
-+------------+------------------------+-------------------------+-------------+
- Iteration Total nfev Cost Cost reduction Step norm Optimality
- 0 1 1.6749e+03 7.63e+03
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 90.4682 | 39.2596 | 0.0870 |
-| 001 | 99.3322 | 40.6830 | 0.0863 |
-| 002 | 120.9149 | 87.4577 | 0.0930 |
-| 003 | 146.8598 | 97.8059 | 0.0827 |
-| 004 | 106.4237 | 57.5925 | 0.0829 |
-| Averages | 112.7998 | 64.5597 | 0.0864 |
-+------------+------------------------+-------------------------+-------------+
- 1 2 8.4749e+01 1.59e+03 7.79e-01 1.42e+03
-The maximum number of function evaluations is exceeded.
-Function evaluations 2, initial cost 1.6749e+03, final cost 8.4749e+01, first-order optimality 1.42e+03.
-
------------------------------
-Optimization finished in 0.38455 secs: The maximum number of function evaluations is exceeded.
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 90.4682 | 39.2596 | 0.0870 |
-| 001 | 99.3322 | 40.6830 | 0.0863 |
-| 002 | 120.9149 | 87.4577 | 0.0930 |
-| 003 | 146.8598 | 97.8060 | 0.0827 |
-| 004 | 106.4237 | 57.5925 | 0.0829 |
-| Averages | 112.7998 | 64.5598 | 0.0864 |
-+------------+------------------------+-------------------------+-------------+
-Errors per collection (anchored sensor, max error per sensor, not detected as "---")
-+------------+------------------------+-------------------------+-------------+
-| Collection | front_left_camera [px] | front_right_camera [px] | lidar3d [m] |
-+------------+------------------------+-------------------------+-------------+
-| 000 | 90.4682 | 39.2596 | 0.0870 |
-| 001 | 99.3322 | 40.6830 | 0.0863 |
-| 002 | 120.9149 | 87.4577 | 0.0930 |
-| 003 | 146.8598 | 97.8060 | 0.0827 |
-| 004 | 106.4237 | 57.5925 | 0.0829 |
-| Averages | 112.7998 | 64.5598 | 0.0864 |
-+------------+------------------------+-------------------------+-------------+
-Saved json output file to /home/mike/datasets/softbot/train/atom_calibration.json.
-Optimized xacro saved to /home/mike/workspaces/catkin_ws/src/calibration/robots/softbot/softbot_calibration/urdf/optimized.urdf.xacro . You can use it as a ROS robot_description.
-You can use it as a ROS robot_description by launching:
-roslaunch softbot_calibration playbag.launch optimized:=true
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/atom_calibration_params.yml
-Saved calibrated parameters to yaml file /home/mike/datasets/softbot/train/original_calibration_params.yml
-Deleted collections: ['005'] because these are incomplete. If you want to use them set the use_incomplete_collections flag.
-After filtering, will use 5 collections: ['000', '001', '002', '003', '004']
-Errors per collection
-+--------------+-----------+-------------+-------------+------------+-----------+
-| Collection # | RMS (pix) | X err (pix) | Y err (pix) | Trans (mm) | Rot (deg) |
-+--------------+-----------+-------------+-------------+------------+-----------+
-| 000 | 85.9113 | 73.7125 | 40.8944 | 388.6935 | 11.5891 |
-| 001 | 69.5297 | 51.8247 | 40.1436 | 381.4549 | 11.6405 |
-| 002 | 100.8333 | 97.6247 | 18.2394 | 478.0879 | 11.6090 |
-| 003 | 88.9512 | 86.1588 | 17.7930 | 482.4392 | 11.6485 |
-| 004 | 69.2118 | 57.6820 | 25.4530 | 406.1302 | 11.5805 |
-| Averages | 82.8875 | 73.4005 | 28.5047 | 427.3611 | 11.6135 |
-+--------------+-----------+-------------+-------------+------------+-----------+
-Ending script...
diff --git a/atom_batch_execution/experiments/softbot_example/results/preprocessing_stdout.txt b/atom_batch_execution/experiments/softbot_example/results/preprocessing_stdout.txt
deleted file mode 100644
index f52e2572..00000000
--- a/atom_batch_execution/experiments/softbot_example/results/preprocessing_stdout.txt
+++ /dev/null
@@ -1,31 +0,0 @@
-ad_630_gsystem_evt_subevt_0
-ad_630_lsystem_evt_subevt_0
-ad_connect_queue_1278_0_evt_subevt_0
-ad_gevt_nxgwevt_1278_1278_9
-ad_mailbox_2524_0_0_evt_subevt_0
-ad_mailbox_2524_0_1_evt_subevt_0
-anydesk
-config-err-a1PNW2
-MathWorks-mike
-mintUpdate
-pyright-4253-5kVdSrYZr19T
-pyright-4253-9gCsBWnL5grp
-pyright-4253-cwwsZGC40V5b
-pyright-4253-G7FS01xq0K4E
-pyright-4253-kvbgJD2EdGF1
-pyright-4253-w8chQRXxFMOg
-python-languageserver-cancellation
-qtsingleapp-cloudd-7cb8-3e8-lockfile
-qtsingleapp-cloudd-ba43-3e8-lockfile
-qtsingleapp-launch-af7-3e8-lockfile
-snap-private-tmp
-syno-cstn-1000
-systemd-private-e208068aa5f54b3b9c2137202cda9066-bluetooth.service-0rP60l
-systemd-private-e208068aa5f54b3b9c2137202cda9066-bolt.service-T575Gg
-systemd-private-e208068aa5f54b3b9c2137202cda9066-colord.service-YUOOmn
-systemd-private-e208068aa5f54b3b9c2137202cda9066-ModemManager.service-kmE0RP
-systemd-private-e208068aa5f54b3b9c2137202cda9066-systemd-logind.service-02rJS4
-systemd-private-e208068aa5f54b3b9c2137202cda9066-systemd-resolved.service-3HBd1x
-systemd-private-e208068aa5f54b3b9c2137202cda9066-systemd-timesyncd.service-bCJsKD
-systemd-private-e208068aa5f54b3b9c2137202cda9066-upower.service-ntqQqK
-VSLiveshareLogs
diff --git a/atom_batch_execution/experiments/softbot_example/template.yml.j2 b/atom_batch_execution/experiments/softbot_example/template.yml.j2
index e0d8f239..d4c3df42 100644
--- a/atom_batch_execution/experiments/softbot_example/template.yml.j2
+++ b/atom_batch_execution/experiments/softbot_example/template.yml.j2
@@ -23,22 +23,55 @@ preprocessing:
experiments:
{%- for e in experiments %}
{% for run in runs %}
- {{ e.name }}_run{{ '%03d' % loop.index }}:
- cmd: |
- rosrun atom_calibration calibrate -json {{ dataset_path }}/dataset.json \
- -v -max_nfev 2 -ss {{ run }} \
- -nig {{ e.nig_value }} {{ e.nig_value }} \
- && \
- rosrun atom_evaluation rgb_to_rgb_evaluation \
- -train_json {{ dataset_path }}/atom_calibration.json \
- -test_json $ATOM_DATASETS/softbot/train/dataset.json \
- -ss front_left_camera -st front_right_camera \
- -sfr -sfrn /tmp/rgb_rgb_evaluation.csv
- files_to_collect:
- - '{{ dataset_path }}/atom_calibration.json'
- - '{{ dataset_path }}/atom_calibration_params.yml'
- - '{{ dataset_path }}/command_line_args.yml'
- - '/tmp/rgb_rgb_evaluation.csv'
+ {% set run_index = loop.index %}
+ {% for fold in folds %}
+ {{ e.name }}_run{{ '%03d' % run_index }}_fold{{ '%03d' % loop.index }}:
+ cmd: |
+ rosrun atom_calibration calibrate -json {{ dataset_path }}/dataset_corrected.json \
+ -v -ss {{ run }} \
+ -nig {{ e.nig_value }} {{ e.nig_value }} \
+ -csf 'lambda x: x in {{ fold[0] }}' \
+ -ntfv {{ e.ntfv_value }} {{ e.ntfv_value }} \
+ -ntfl "world:base_footprint" \
+ -sce \
+ {%- if not e.calibrate_odom -%}
+ -atsf 'lambda name : name in []' \
+ {%- endif %}
+ && \
+
+ # front_left_camera to front_right_camera evaluation
+ rosrun atom_evaluation rgb_to_rgb_evaluation \
+ -train_json {{ dataset_path }}/atom_calibration.json \
+ -test_json {{ dataset_path }}/dataset_corrected.json \
+ -ss front_left_camera -st front_right_camera \
+ -sfr -sfrn /tmp/rgb_rgb_evaluation.csv \
+ -csf 'lambda x: x in {{ fold[1] }}' \
+ && \
+
+ # front_left_camera to lidar3d evaluation
+ rosrun atom_evaluation lidar_to_rgb_evaluation -rs lidar3d -cs front_left_camera \
+ -train_json {{ dataset_path }}/atom_calibration.json \
+ -test_json {{ dataset_path }}/dataset_corrected.json \
+ -csf 'lambda x: x in {{ fold[1] }}' \
+ -sfr -sfrn /tmp/lidar3d_rgb_front_left_evaluation.csv \
+ && \
+
+ # front_right_camera to lidar3d evaluation
+ rosrun atom_evaluation lidar_to_rgb_evaluation -rs lidar3d -cs front_right_camera \
+ -train_json {{ dataset_path }}/atom_calibration.json \
+ -test_json {{ dataset_path }}/dataset_corrected.json \
+ -csf 'lambda x: x in {{ fold[1] }}' \
+ -sfr -sfrn /tmp/lidar3d_rgb_front_right_evaluation.csv
+
+ files_to_collect:
+ - '{{ dataset_path }}/atom_calibration.json'
+ - '{{ dataset_path }}/atom_calibration_params.yml'
+ - '{{ dataset_path }}/command_line_args.yml'
+ - '{{ dataset_path }}/calibration_errors.csv'
+ - '/tmp/rgb_rgb_evaluation.csv'
+ - '/tmp/lidar3d_rgb_front_left_evaluation.csv'
+ - '/tmp/lidar3d_rgb_front_right_evaluation.csv'
+ {%- endfor %}
{%- endfor %}
{%- endfor %}
-# End the loop
\ No newline at end of file
+# End the loop
diff --git a/atom_batch_execution/scripts/batch_execution b/atom_batch_execution/scripts/batch_execution
index 12c4d578..e40ebfb7 100755
--- a/atom_batch_execution/scripts/batch_execution
+++ b/atom_batch_execution/scripts/batch_execution
@@ -3,7 +3,9 @@
Runs several calibration executions in batch_execution. A yml file is used to config the batch executions.
"""
import argparse
+from copy import deepcopy
import os
+from os.path import isfile
import shutil
import subprocess
import yaml
@@ -14,9 +16,12 @@ from sklearn.model_selection import StratifiedKFold, KFold, LeaveOneOut, Stratif
from colorama import Fore, Back, Style
from atom_core.config_io import uriReader
-from atom_core.dataset_io import loadJSONFile
+from atom_core.dataset_io import loadJSONFile,filterCollectionsFromDataset
from atom_core.system import resolvePath, execute
from atom_core.utilities import atomWarn
+from atom_core.naming import generateCollectionKey
+
+from atom_batch_execution.folder_io import stripAutomaticSuffixes
def bprint(text):
@@ -73,8 +78,15 @@ def main():
file_content = f.read()
data = yaml.safe_load(file_content)
- # Load dataset
- dataset = loadJSONFile(data['dataset_path'] + '/dataset.json')
+ dataset = loadJSONFile(data['dataset_path'])
+
+ collections_to_remove = data['collections_to_remove']
+
+ args["collection_selection_function"] = lambda x : int(x) not in collections_to_remove
+ args['use_incomplete_collections'] = None
+ args['remove_partial_detections'] = None
+
+ filterCollectionsFromDataset(dataset,args)
# Generate classes and collection keys
classes, collection_keys = generateClasses(dataset)
@@ -110,18 +122,29 @@ def main():
else:
# Print error message if the cross validation type is not supported
- folds = [(collection_keys, collection_keys)]
+ folds = [(range(len(collection_keys)), range(len(collection_keys)))]
bprint('Running without any cross validation.')
+ # Converting folds to a list, in order to iterate over it various times
+ folds = list(folds)
+
+ # Transforming indexes of collections into collection keys
+ fold_list = [[[int(collection_keys[element]) for element in split] for split in fold] for fold in folds]
+
# Dataset is no longer needed
del dataset
- # Generate a list of folds
- fold_list = [[list(train), list(test)] for (train, test) in folds]
+ # Add dataset dirname to data
+ dataset_dirname = os.path.dirname(data["dataset_path"])
+ data["dataset_dirname"] = dataset_dirname
# Add folds to data
data['folds'] = fold_list
+ # Add dataset dirname to data
+ dataset_dirname = os.path.dirname(data["dataset_path"])
+ data["dataset_dirname"] = dataset_dirname
+
# Template engine1 setup
file_loader = FileSystemLoader(os.path.dirname(args['template_filename']))
env = Environment(loader=file_loader, undefined=jinja2.StrictUndefined)
@@ -156,6 +179,7 @@ def main():
bprint('Executing command:\n' + experiment['cmd'])
+
if args['dry_run']:
bprint('Running in dry run mode...')
continue
@@ -170,6 +194,15 @@ def main():
# Start executing command.
execute(experiment['cmd'], verbose=args['verbose'], save_path=experiment_folder)
+ # Save experiment settings
+ for experiment_type in data['experiments']:
+ if experiment_type["name"] == stripAutomaticSuffixes(experiment_key,args):
+ print(f"Saving settings file for {Fore.BLUE}{experiment_type['name']}{Style.RESET_ALL}")
+
+ settings_file_path = f"{experiment_folder}/{experiment_type['name']}_settings.yml"
+ yaml.dump(experiment_type, open(settings_file_path, 'w'), sort_keys=False)
+
+
# Collect stdout_data files
for file in experiment['files_to_collect']:
if file is None:
@@ -184,6 +217,10 @@ def main():
filename_out = experiment_folder + '/' + os.path.basename(resolved_file)
print(Fore.BLUE + Back.YELLOW + 'Copying file ' + resolved_file + ' to ' + filename_out + Style.RESET_ALL)
execute('cp ' + resolved_file + ' ' + filename_out, verbose=False)
+
+
+
+
diff --git a/atom_batch_execution/scripts/plot_graphs b/atom_batch_execution/scripts/plot_graphs
new file mode 100755
index 00000000..95973c38
--- /dev/null
+++ b/atom_batch_execution/scripts/plot_graphs
@@ -0,0 +1,301 @@
+#!/usr/bin/env python3
+"""
+Plots processed results from a batch given a yaml file for configuration
+"""
+import argparse
+import glob
+import os
+import shutil
+from os.path import isfile
+import yaml
+from pprint import pprint
+import csv
+
+from colorama import Fore, Style
+import matplotlib.pyplot as plt
+from matplotlib.lines import Line2D
+
+from atom_core.utilities import atomWarn,atomError
+
+
+
+def computeLambdaConditions(line_dict,args):
+ '''
+ This function will be used to filter which files to take data from
+ '''
+
+ def addConditionToLambda(lambda_expression,condition,operator = "and"):
+
+ if lambda_expression == "":
+ lambda_expression = f"lambda x : {condition}"
+ else:
+ lambda_expression += f" {operator} {condition}"
+
+ return lambda_expression
+
+
+ lambda_expression = ""
+
+ for key,value in line_dict.items():
+
+ # These two keys determine which field to plot, it's not relevant here
+ if key == "ydata" or key == "xfield" or key == "legend":
+ continue
+
+ # Lists determine a range of values to plot
+ if isinstance(value,list):
+ lambda_expression = addConditionToLambda(lambda_expression,f"x['{key}'] >= {value[0]}","and")
+ lambda_expression = addConditionToLambda(lambda_expression,f"x['{key}'] <= {value[1]}","and")
+
+ elif type(value) in (int,float):
+ lambda_expression = addConditionToLambda(lambda_expression,f"x['{key}'] == {value}","and")
+
+ # A bool determines whether to include all available values of a field or not
+ # Being false is equal to not being declared
+ # https://stackoverflow.com/questions/37888620/comparing-boolean-and-int-using-isinstance
+ elif type(value) == bool:
+ # Retrieve the value, if the key doesn't exist .get() returns None
+ if value :
+ lambda_expression = addConditionToLambda(lambda_expression,f"x.get('{key}')","and")
+ else:
+ lambda_expression = addConditionToLambda(lambda_expression,f"not x.get('{key}')","and")
+
+ # Any other key that isn't listed as a bool or list should be added to the blackblist as well
+ else:
+ lambda_expression = addConditionToLambda(lambda_expression,f"not x.get('{key}')","and")
+
+ if args["verbose"]:
+ print(f"Printing lambda used in filtering files {Fore.BLUE}{lambda_expression}{Style.RESET_ALL}")
+
+
+ lambda_function = eval(lambda_expression)
+
+ return lambda_function,lambda_expression
+
+
+
+
+def main():
+
+ ap = argparse.ArgumentParser() # Parse command line arguments
+ ap.add_argument("-v", "--verbose", help="Prints the stdout_data of each command to the terminal.",
+ action='store_true', default=False)
+ ap.add_argument("-ow", "--overwrite", help="Overwrites output folder.",
+ action='store_true', default=False)
+ ap.add_argument("-rf", "--results_folder", help="Folder containing the processed results",
+ required=True, type=str)
+ ap.add_argument("-of", "--output_folder", help="Folder where to store the plots' images",
+ required=True, type=str)
+ ap.add_argument("-df", "--data_filename", help="Yaml containing variables used to compute the plots.",
+ required=True, type=str)
+ ap.add_argument("-sp", "--show_plots", help="Shows plots",
+ required=False, action='store_true', default=False)
+
+ args = vars(ap.parse_args())
+
+ # Load plot configs
+ with open(args["data_filename"], "r") as file:
+ plots_configs = yaml.safe_load(file)
+
+ # Get results paths
+ results_processed_folders = next(os.walk(args["results_folder"]))[1]
+ data_file_paths = glob.glob(f'{args["results_folder"]}/*/*[!_settings.yml]')
+ settings_file_paths = glob.glob(f'{args["results_folder"]}/*/*_settings.yml')
+
+ # Get all possible experiment settings
+ with open(settings_file_paths[0], "r") as file:
+ settings_file_fields = yaml.safe_load(file)
+
+ settings_file_fields = list(settings_file_fields.keys())
+ settings_file_fields.remove("name")
+
+
+ # Grab data for each plot
+ print(f"Grabbing data from {Fore.BLUE}{args['results_folder']}{Style.RESET_ALL}")
+ for plot_figure in plots_configs.keys():
+
+
+ for plot_line in plots_configs[plot_figure]['data']:
+ filtering_function,lambda_str = computeLambdaConditions(plot_line,args)
+
+ x_data_files_names = []
+ x_data = []
+ y_data = []
+ settings_files_used = []
+ # Get x data
+ for settings_file_path in settings_file_paths:
+ with open(settings_file_path, "r") as file:
+ settings = yaml.safe_load(file)
+
+ if filtering_function(settings):
+ settings_files_used.append(settings_file_path)
+ x_data_files_names.append(settings["name"])
+ x_data.append(settings[plot_line['xfield']])
+
+ if args["verbose"]:
+ print("Getting data from these files")
+ pprint(settings_files_used)
+
+ if not x_data_files_names:
+ atomError("No settings files matches were found for the given configuration, check if " + args["data_filename"] + " is well defined")
+
+ # Get y data
+ for name in x_data_files_names:
+ try:
+ file_path_to_get_data_fom = glob.glob(f'{args["results_folder"]}/{name}/{plot_line["ydata"]["file"]}')[0]
+ except:
+ atomError(f"Experiment {x_data_files_names} doesn't have data file {plot_line['ydata']['file']}")
+ exit()
+
+ with open(file_path_to_get_data_fom, mode ='r')as file:
+ ydata_raw = list(csv.reader(file))
+
+ for line in ydata_raw:
+ if line[0] == plot_line["ydata"]["field"]:
+ y_data.append(round(float(line[1]),4))
+
+ # Sorting data --> https://stackoverflow.com/questions/9764298/given-parallel-lists-how-can-i-sort-one-while-permuting-rearranging-the-other
+ x_data_sorted,y_data_sorted = zip(*sorted(zip(x_data,y_data)))
+
+ plot_line['x_values'] = x_data_sorted
+ plot_line['y_values'] = y_data_sorted
+
+ # ----------- End of loop over entire config to grab xy data
+
+ if args["verbose"]:
+ print(f"Printing all {Fore.BLUE}plot configurations{Style.RESET_ALL}, along with xy data")
+ pprint(plots_configs)
+
+ # Change directory to save files in the results folder
+ cwd = os.getcwd()
+
+ if not os.path.exists(args['output_folder']): # create stdout_data folder if it does not exist.
+ os.mkdir(args['output_folder']) # Create the new folder
+ elif os.path.exists(args['output_folder']) and args['overwrite']:
+ atomWarn(f"Found existing {Fore.YELLOW}{args['output_folder']}{Style.RESET_ALL}, overwritting entire diretory because overwrite is {Fore.YELLOW}True{Style.RESET_ALL}")
+ shutil.rmtree(args['output_folder']) # Create the new folder
+ os.mkdir(args['output_folder']) # Create the new folder
+
+
+ os.chdir(f"./{args['output_folder']}")
+
+ #Generate plots
+ print(f"Generating {Fore.BLUE}plots{Style.RESET_ALL}")
+ for plot_figure in plots_configs.keys():
+
+ print(f"Storing plot options for {Fore.BLUE}{plot_figure}{Style.RESET_ALL}.")
+ plot_options = plots_configs[plot_figure]["options"]
+ number_of_lines = len(plots_configs[plot_figure]['data'])
+
+ title = plot_options['title']
+ hide_title = plot_options.get('hide_title',False)
+ xlabel = plot_options['xlabel']
+ ylabel = plot_options['ylabel']
+ colors = plot_options['colors']
+ linestyles = plot_options['linestyles']
+ linewidths = plot_options['linewidths']
+ grid = plot_options['grid']
+ markersizes = plot_options['markersizes']
+ markers = plot_options['markers']
+ xscale = plot_options['xscale']
+ yscale = plot_options['yscale']
+ xlim = plot_options.get('xlim')
+ ylim = plot_options.get('ylim')
+ custom_legend = plot_options.get('custom_legend',(None,None))
+
+ if all(custom_legend):
+ custom_legend = eval(plot_options.get('custom_legend'))
+
+ # Normalizing options to allow them to be defined as lists or individual str/int
+ #Strs
+ if isinstance(colors,str):
+ print(f"Colors {Fore.BLUE}{colors}{Style.RESET_ALL} set as a single {Fore.BLUE}str{Style.RESET_ALL}, expanding to all plots in this figure.")
+ colors = [colors for _ in range(number_of_lines)]
+
+ if isinstance(linestyles,str):
+ print(f"Linestyles {Fore.BLUE}{linestyles}{Style.RESET_ALL} set as a single {Fore.BLUE}str{Style.RESET_ALL}, expanding to all plots in this figure.")
+ linestyles = [linestyles for _ in range(number_of_lines)]
+
+ if isinstance(markers,str):
+ print(f"Markers {Fore.BLUE}{markers}{Style.RESET_ALL} set as a single {Fore.BLUE}str{Style.RESET_ALL}, expanding to all plots in this figure.")
+ markers = [markers for _ in range(number_of_lines)]
+
+ #Ints
+ if isinstance(markersizes,int):
+ print(f"Markersizes {Fore.BLUE}{markersizes}{Style.RESET_ALL} set as a single {Fore.BLUE}int{Style.RESET_ALL}, expanding to all plots in this figure.")
+ markersizes = [markersizes for _ in range(number_of_lines)]
+
+ if isinstance(linewidths,int):
+ print(f"Linewidths {Fore.BLUE}{linewidths}{Style.RESET_ALL} set as a single {Fore.BLUE}int{Style.RESET_ALL}, expanding to all plots in this figure.")
+ linewidths = [linewidths for _ in range(number_of_lines)]
+
+
+ plt.figure()
+ for idx,plot_line in enumerate(plots_configs[plot_figure]['data']):
+
+ x_values = plot_line['x_values']
+ y_values = plot_line['y_values']
+ legend = plot_line.get('legend')
+
+ # Plotting
+ plt.plot(x_values, y_values, color=colors[idx], linestyle=linestyles[idx], linewidth=linewidths[idx],
+ markersize = markersizes[idx],marker = markers[idx],label = legend)
+ # Might want to be ommited to be replaced by a caption in papers
+ if not hide_title:
+ plt.title(title)
+
+ plt.xlabel(xlabel)
+ plt.ylabel(ylabel)
+ plt.grid(grid)
+ plt.xscale(xscale) # Set x-scale
+ plt.yscale(yscale) # Set y-scale
+
+ # Issue #990
+ # from matplotlib.ticker import MaxNLocator, LogLocator,FormatStrFormatter,ScalarFormatter
+ # import numpy as np
+ # plt.gca().yaxis.set_major_locator(LogLocator(base=10, subs=np.arange(0.1, 1, 0.1), numticks=10))
+ # # plt.gca().yaxis.set_major_formatter(FormatStrFormatter(''))
+ # plt.gca().yaxis.set_major_formatter(ScalarFormatter())
+ # plt.gca().yaxis.set_minor_formatter(ScalarFormatter())
+ # plt.tick_params(axis='y', labelsize=8) # Adjust the label size here (e.g., 8)
+
+ if legend is not None and not all(custom_legend):
+ plt.legend(prop={'size': 6})
+
+ if all(custom_legend):
+ plt.legend(custom_legend[0], custom_legend[1],prop={'size': 6})
+
+
+ if xlim:
+ plt.xlim(xlim)
+
+ if ylim:
+ plt.ylim(ylim)
+
+ # Save figure in output folder
+
+ image_file_name = f'{title.replace(" ", "_")}'
+ image_file_name = f'{image_file_name.replace("/", "_")}'
+ # Some characters like / are problematic in filenames
+ # image_file_name = ''.join(filter(lambda x : str.isalnum(x) or x == "_",image_file_name))
+ image_file_name = ''.join(filter(lambda x : x != "," and x != "\n",image_file_name))
+ # image_file_name = f'{image_file_name}.png'
+ image_file_name = f'{image_file_name}.pdf'
+
+ if os.path.isfile(image_file_name) and not args['overwrite']:
+ atomWarn(f'Plot with name {Fore.YELLOW}{image_file_name}{Style.RESET_ALL} found in {Fore.YELLOW}{args["output_folder"]}{Style.RESET_ALL}, not saving')
+ else:
+ print(f'Saving plot {Fore.BLUE}{title}{Style.RESET_ALL} as {Fore.BLUE}{image_file_name}{Style.RESET_ALL} in {Fore.BLUE}{args["output_folder"]}{Style.RESET_ALL}')
+ # plt.savefig(image_file_name,dpi=600)
+ plt.savefig(image_file_name,format="pdf")
+
+ if args["show_plots"]:
+ plt.show()
+
+ plt.close()
+
+ # Getting back to cwd, to prevent confusion if this script is further modified
+ os.chdir(cwd)
+
+if __name__ == "__main__":
+ main()
diff --git a/atom_batch_execution/scripts/process_results b/atom_batch_execution/scripts/process_results
index 8a58541c..e2db173b 100755
--- a/atom_batch_execution/scripts/process_results
+++ b/atom_batch_execution/scripts/process_results
@@ -9,9 +9,11 @@ import shutil
from colorama import Fore, Style
-from atom_core.system import resolvePath
+from atom_core.system import resolvePath,execute
import pandas as pd
+from atom_batch_execution.folder_io import stripAutomaticSuffixes
+from atom_core.config_io import uriReader
def averageCsvFiles(filenames, average_row, column_to_check):
@@ -49,10 +51,6 @@ def main():
required=True, type=str)
ap.add_argument("-of", "--output_folder", help="Folder where to store the processed results",
required=True, type=str)
- ap.add_argument("-rs", "--run_suffix", help="Suffix used to signal multiple runs of the same experiment.",
- required=False, default='_run', type=str)
- ap.add_argument("-fs", "--fold_suffix", help="Suffix used to signal multiple folds of the same run.",
- required=False, default='_fold', type=str)
ap.add_argument("-ar", "--average_row", help="Name of the row to average. Default is 'Averages'",
required=False, default='Averages', type=str)
ap.add_argument("-ctc", "--column_to_check", help="Name of the column to check for the average row. Default is 'Collection #', which is the case for ATOM result processing.",
@@ -77,17 +75,8 @@ def main():
# Create a list of experiments
files_and_folders = os.listdir(args['results_folder'])
folders = [x for x in files_and_folders if os.path.isdir(args['results_folder'] + '/' + x)]
- fold_suffix_size = len(args['fold_suffix']) + 3 # because the suffix is complemented by the run number as in 001
- run_suffix_size = len(args['run_suffix']) + 3 # because the suffix is complemented by the run number as in 001
- suffix_size = 0
- if args['fold_suffix'] in folders[0]:
- suffix_size += fold_suffix_size
- if args['run_suffix'] in folders[0]:
- suffix_size += run_suffix_size
- experiments = list(set([x[:-suffix_size] for x in folders])) # Remove the "_foldXX" suffix
-
- # files_to_process = ['comparison_to_ground_truth_transforms.csv', 'comparison_to_ground_truth_joints.csv']
- # files_to_process = ['single_rgb_evaluation.csv']
+ experiments = stripAutomaticSuffixes(folders,args)
+
abspath = os.listdir(os.path.abspath(args['results_folder']) + '/' + folders[0])
filenames = abspath
files_to_process = [filename for filename in filenames if filename.endswith('.csv')]
@@ -106,12 +95,14 @@ def main():
os.mkdir(experiment_folder) # Create the new folder
# get all runs in this experiment
- files_and_folders = glob.glob(args['results_folder'] + '/' + experiment + '*')
+ files_and_folders = glob.glob(args['results_folder'] + '/' + experiment + "_" + '*')
files_and_folders.sort()
+ experiment_first_dir = files_and_folders[0]
+
for file_to_process in files_to_process:
- filenames = [run + '/' + file_to_process for run in files_and_folders]
+ filenames_to_process = [run + '/' + file_to_process for run in files_and_folders]
average_df = averageCsvFiles(filenames=filenames,
average_row=args['average_row'],
@@ -123,6 +114,17 @@ def main():
print('Saving average to ' + Fore.BLUE + output_file + Style.RESET_ALL)
average_df.to_csv(output_file)
+ # Saving first occurence of settings yml
+ settings_file_name = f'{experiment}_settings.yml'
+ settings_file_path_from = f'{experiment_first_dir}/{settings_file_name}'
+ settings_file_path_to = f'{args["output_folder"]}/{experiment}/{settings_file_name}'
+
+ resolved_file, _, _ = uriReader(settings_file_path_from)
+ print('Saving settings to ' + Fore.BLUE + settings_file_path_to + Style.RESET_ALL)
+ execute('cp ' + resolved_file + ' ' + settings_file_path_to , verbose=False)
+
+
+
if __name__ == "__main__":
main()
diff --git a/atom_batch_execution/setup.py b/atom_batch_execution/setup.py
new file mode 100755
index 00000000..d0eddca2
--- /dev/null
+++ b/atom_batch_execution/setup.py
@@ -0,0 +1,12 @@
+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+ packages=['atom_batch_execution'],
+ package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/atom_batch_execution/src/atom_batch_execution/__init__.py b/atom_batch_execution/src/atom_batch_execution/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/atom_batch_execution/src/atom_batch_execution/folder_io.py b/atom_batch_execution/src/atom_batch_execution/folder_io.py
new file mode 100644
index 00000000..5ab7e60d
--- /dev/null
+++ b/atom_batch_execution/src/atom_batch_execution/folder_io.py
@@ -0,0 +1,40 @@
+import copy
+
+# Standard imports
+import json
+import os
+from os.path import exists
+
+import numpy as np
+
+# Opencv imports
+import cv2
+from atom_core.joint_models import getTransformationFromJoint
+from atom_core.utilities import atomError, atomWarn
+
+# Ros imports
+import rospy
+import tf
+
+def stripAutomaticSuffixes(folders,args):
+ fold_suffix_size = len(args['fold_suffix']) + 3 # because the suffix is complemented by the run number as in 001
+ run_suffix_size = len(args['run_suffix']) + 3 # because the suffix is complemented by the run number as in 001
+ suffix_size = 0
+
+ if isinstance(folders,list):
+
+ if args['fold_suffix'] in folders[0]:
+ suffix_size += fold_suffix_size
+ if args['run_suffix'] in folders[0]:
+ suffix_size += run_suffix_size
+ experiments = list(set([x[:-suffix_size] for x in folders])) # Remove the "_foldXX" suffix
+
+ elif isinstance(folders,str):
+
+ if args['fold_suffix'] in folders:
+ suffix_size += fold_suffix_size
+ if args['run_suffix'] in folders:
+ suffix_size += run_suffix_size
+ experiments = folders[:-suffix_size] # Remove the "_foldXX" suffix
+
+ return experiments
diff --git a/atom_calibration/scripts/calibrate b/atom_calibration/scripts/calibrate
index 7de73a18..47456bf1 100755
--- a/atom_calibration/scripts/calibrate
+++ b/atom_calibration/scripts/calibrate
@@ -26,7 +26,9 @@ from atom_calibration.calibration.getters_and_setters import (
from atom_calibration.calibration.objective_function import errorReport, objectiveFunction, replaceTransformsFromJoints
from atom_calibration.calibration.visualization import setupVisualization, visualizationFunction
from atom_core.dataset_io import (addNoiseToInitialGuess,
- addNoiseToJointParameters,
+ addBiasToJointParameters,
+ addNoiseToTF,
+ addNoiseFromNoisyTFLinks,
checkIfAtLeastOneLabeledCollectionPerSensor,
filterCollectionsFromDataset,
filterSensorsFromDataset,
@@ -40,10 +42,12 @@ from atom_core.naming import generateName, generateKey
from atom_core.utilities import (atomError, createLambdaExpressionsForArgs,
waitForKeyPress2,
atomStartupPrint,
- verifyAnchoredSensor,
+ verifyAnchoredSensor,
printComparisonToGroundTruth, saveCommandLineArgsYml)
from atom_core.xacro_io import saveResultsXacro
from atom_core.results_yml_io import saveResultsYml
+from atom_core.config_io import parse_list_of_transformations, mutually_inclusive_conditions
+
# -------------------------------------------------------------------------------
@@ -52,6 +56,7 @@ from atom_core.results_yml_io import saveResultsYml
def signal_handler(sig, frame):
print("Stopping optimization (Ctrl+C pressed)")
sys.exit(0)
+
# -------------------------------------------------------------------------------
@@ -118,6 +123,14 @@ def main():
"-nig", "--noisy_initial_guess", nargs=2, metavar=("translation", "rotation"),
help="Magnitude of noise to add to the initial guess atomic transformations set before starting optimization [meters, radians].",
type=float, default=[0.0, 0.0],),
+
+ ap.add_argument("-ntfl", "--noisy_tf_links", type=parse_list_of_transformations, help='''Pairs of links defining the transformations to which noise will be added, in the format linkParent1:linkChild2,linkParentA:linkChildB (links defining a transformation separated by
+ : and different pairs separeted by ,)
+ Note : This flag overrides the -nig flag''')
+ ap.add_argument("-ntfv", "--noisy_tf_values", nargs=2, type=float, metavar=("translation", "rotation"),
+ help="Translation(m) and Rotation(rad)(respectively) noise values to add to the transformations specified by-ntfl")
+
+
ap.add_argument("-jbn", "--joint_bias_names", nargs='+',
help='Joints to add bias to', type=str, required=False)
ap.add_argument(
@@ -205,6 +218,9 @@ def main():
args['dataset_folder'] = os.path.dirname(args['json_file'])
output_folder = os.path.dirname(args['json_file'])
+ # -sce wasn't working because args previously had this key
+ args['output_folder'] = output_folder
+
# ---------------------------------------
# --- Read data from file
# ---------------------------------------
@@ -218,6 +234,7 @@ def main():
# make a copy before filtering out collections and sensors
dataset_original = copy.deepcopy(dataset)
+
# ---------------------------------------
# --- Filter some collections, sensors, joints and additional tfs from the dataset
# ---------------------------------------
@@ -262,7 +279,11 @@ def main():
addNoiseToInitialGuess(dataset, args, selected_collection_key)
# Must add noise, transfer new joints to transforms, and only after remove unselected joints
- addNoiseToJointParameters(dataset, args)
+ # addNoiseToJointParameters(dataset, args)
+
+ addBiasToJointParameters(dataset, args)
+ addNoiseFromNoisyTFLinks(dataset,args,selected_collection_key)
+
replaceTransformsFromJoints(dataset)
dataset = filterJointsFromDataset(dataset, args)
dataset = filterJointParametersFromDataset(dataset, args)
@@ -346,6 +367,7 @@ def main():
# Steaming from the config json, we define a transform to be optimized for each sensor. It could happen that two
# or more sensors define the same transform to be optimized (#120). To cope with this we first create a list of
# transformations to be optimized and then compute the unique set of that list.
+
print("Creating sensor transformation parameters ...")
sensors_transforms_set = set()
for sensor_key, sensor in dataset["sensors"].items():
@@ -780,6 +802,7 @@ def main():
opt.computeSparseMatrix()
# opt.printSparseMatrix()
# opt.printParameters()
+ # opt.getParamNames()
# ---------------------------------------
# --- Get a normalizer for each residual type
diff --git a/atom_calibration/src/atom_calibration/collect/data_collector.py b/atom_calibration/src/atom_calibration/collect/data_collector.py
index 55935371..1c07c370 100644
--- a/atom_calibration/src/atom_calibration/collect/data_collector.py
+++ b/atom_calibration/src/atom_calibration/collect/data_collector.py
@@ -7,7 +7,6 @@
from datetime import datetime
import numpy as np
-import rospkg
from atom_calibration.collect.patterns import estimatePatternPosesForCollection, initializePatternsDict
from atom_core.utilities import atomError, atomPrintOK
import tf2_ros
@@ -18,6 +17,7 @@
# 3rd-party
from networkx.readwrite import json_graph
import rospy
+import rospkg
import atom_msgs.srv
import tf
from matplotlib import cm
@@ -43,6 +43,7 @@ class DataCollector:
def __init__(self, args, server, menu_handler):
+
self.output_folder = resolvePath(args['output_folder'])
# dataset path exists, abort
@@ -94,11 +95,11 @@ def __init__(self, args, server, menu_handler):
self.bridge = CvBridge()
self.dataset_version = "3.0" # included joint calibration
self.joint_state_position_dict = {}
-
- # print(args['calibration_file'])
+
self.config = loadConfig(args['calibration_file'])
if self.config is None:
sys.exit(1) # loadJSON should tell you why.
+
self.world_link = self.config['world_link']
diff --git a/atom_calibration/src/atom_calibration/collect/lidar3d_labeler b/atom_calibration/src/atom_calibration/collect/lidar3d_labeler
index fb6bab87..44f494af 100755
--- a/atom_calibration/src/atom_calibration/collect/lidar3d_labeler
+++ b/atom_calibration/src/atom_calibration/collect/lidar3d_labeler
@@ -160,6 +160,7 @@ class Lidar3DLabeler:
fields = [PointField('x', 0, PointField.FLOAT32, 1), PointField('y', 4, PointField.FLOAT32, 1),
PointField('z', 8, PointField.FLOAT32, 1), PointField('rgba', 12, PointField.UINT32, 1)]
header = Header()
+
header.frame_id = msg.header.frame_id
header.stamp = msg.header.stamp
pc_msg = point_cloud2.create_cloud(header, fields, points)
@@ -179,7 +180,7 @@ class Lidar3DLabeler:
def createInteractiveMarker(self, x=0, y=0, z=0):
self.marker = InteractiveMarker()
- self.marker.header.frame_id = self.sensor_config['parent_link']
+ self.marker.header.frame_id = self.config['world_link']
self.marker.pose.position.x = x
self.marker.pose.position.y = y
self.marker.pose.position.z = z
diff --git a/atom_core/src/atom_core/config_io.py b/atom_core/src/atom_core/config_io.py
index a72f246b..463cd175 100644
--- a/atom_core/src/atom_core/config_io.py
+++ b/atom_core/src/atom_core/config_io.py
@@ -16,6 +16,26 @@
from atom_core.utilities import atomError
from atom_core.system import resolvePath, expandToLaunchEnv
+def mutually_inclusive_conditions(A,B):
+
+ if A is not None and B is not None:
+ return True
+ elif A is None and B is None:
+ return False
+ else:
+ atomError(f'{Fore.RED}-ntfl{Style.RESET_ALL} and {Fore.RED}-ntfv{Style.RESET_ALL} flags are mutually inclusive')
+ exit()
+
+
+def parse_list_of_transformations(s):
+ list_of_transformations = []
+ for pair in s.split(','):
+ elements = pair.split(':')
+ if len(elements) != 2:
+ atomError("Each pair of transformations parsed must contain exactly 2 elements separated by ':'")
+ exit()
+ list_of_transformations.append(elements)
+ return list_of_transformations
def dictionaries_have_same_keys(d1, d2):
diff --git a/atom_core/src/atom_core/dataset_io.py b/atom_core/src/atom_core/dataset_io.py
index c9947368..5130fca7 100644
--- a/atom_core/src/atom_core/dataset_io.py
+++ b/atom_core/src/atom_core/dataset_io.py
@@ -24,7 +24,7 @@
from colorama import Fore, Style
from rospy_message_converter import message_converter
from std_msgs.msg import Header
-from atom_core.config_io import uriReader
+from atom_core.config_io import uriReader,mutually_inclusive_conditions
from atom_core.naming import generateName, generateKey
from atom_calibration.collect.label_messages import (
convertDepthImage32FC1to16UC1, convertDepthImage16UC1to32FC1, numpyFromPointCloudMsg)
@@ -787,7 +787,7 @@ def filterAdditionalTfsFromDataset(dataset, args):
return dataset
-def addNoiseToJointParameters(dataset, args):
+def addBiasToJointParameters(dataset, args):
"""
Adds noise
:param dataset:
@@ -828,6 +828,27 @@ def addNoiseToJointParameters(dataset, args):
collection['joints'][joint_name][joint_param] = collection['joints'][joint_name][
joint_param] + joint_bias
+# TODO Create a new function called addNoiseFromNoisyTFLinks
+
+def addNoiseFromNoisyTFLinks(dataset,args,selected_collection_key):
+
+ # Verify both arguments were provided
+ # Unfortunately, mutually inclusive arguments are not built into argparse
+ # https://github.com/python/cpython/issues/55797
+
+ if not mutually_inclusive_conditions(args['noisy_tf_links'], args['noisy_tf_values']):
+ return
+
+
+ # Iterate through pairs of tf's and apply noise
+ translation_tf_noise = args['noisy_tf_values'][0]
+ rotation_tf_noise = args['noisy_tf_values'][1]
+
+ for tf_pair in args['noisy_tf_links']:
+
+ calibration_parent,calibration_child = tf_pair[0],tf_pair[1]
+ addNoiseToTF(dataset,selected_collection_key,calibration_parent,calibration_child,translation_tf_noise,rotation_tf_noise)
+
def addNoiseToInitialGuess(dataset, args, selected_collection_key):
"""
@@ -836,19 +857,38 @@ def addNoiseToInitialGuess(dataset, args, selected_collection_key):
:param args: Makes use of nig, i.e., the amount of noise to add to the initial guess atomic transformations to be
calibrated
"""
+ # TODO create a issue to discuss if its ok to skip this function call when the noise is 0
+ # if args['noisy_initial_guess'] == [0,0]:
+ # print("No noise added to transform's initial guess")
+ # return
+
if args['sample_seed'] is not None:
np.random.seed(args['sample_seed'])
nig_trans = args['noisy_initial_guess'][0]
nig_rot = args['noisy_initial_guess'][1]
+
+ # Checking if tf to add noise is also defined in -ntfl, in which case the noise shouldn't be added here
+ # Determining membership in sets is much faster than lists
+ ntfl_tfs = set()
+ if args['noisy_tf_links']:
+ for tf_pair in args['noisy_tf_links']:
+ ntfl_tfs.add(generateKey(tf_pair[0],tf_pair[1]))
+
# add noise to additional tfs for simulation
if dataset['calibration_config']['additional_tfs'] is not None:
for _, additional_tf in dataset['calibration_config']['additional_tfs'].items():
+
calibration_child = additional_tf['child_link']
calibration_parent = additional_tf['parent_link']
- addNoiseToTF(dataset, selected_collection_key, calibration_parent,
- calibration_child, nig_trans, nig_rot)
+
+ tf_to_add_noise = generateKey(calibration_parent,calibration_child)
+ if tf_to_add_noise in ntfl_tfs:
+ atomWarn(f'Not adding initial guess noise to {tf_to_add_noise} because its defined in -ntfl')
+ continue
+
+ addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibration_child, nig_trans, nig_rot)
# add noise to sensors tfs for simulation
for sensor_key, sensor in dataset['sensors'].items():
@@ -858,14 +898,46 @@ def addNoiseToInitialGuess(dataset, args, selected_collection_key):
if sensor_key != dataset['calibration_config']['anchored_sensor']:
calibration_child = sensor['calibration_child']
calibration_parent = sensor['calibration_parent']
- addNoiseToTF(dataset, selected_collection_key, calibration_parent,
- calibration_child, nig_trans, nig_rot)
+ tf_to_add_noise = generateKey(calibration_parent,calibration_child)
+ if tf_to_add_noise in ntfl_tfs:
+ atomWarn(f'Not adding initial guess noise to {tf_to_add_noise} because its defined in -ntfl')
+ continue
+
+ addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibration_child, nig_trans, nig_rot)
-def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibration_child, nig_trans, nig_rot):
+# TODO make a basic function called by fixed and multiple
+def computeNoise(initial_translation,initial_euler_angles,translation_noise_magnitude,rotation_noise_magnitude):
+ '''
+ Computes both the translation and rotation noise given a certain magnitude and returns the new noisy translation/rotation vectors
+ '''
+ # Translation
+
+ v = np.random.uniform(-1.0, 1.0, 3)
+ v = v / np.linalg.norm(v)
+ translation_delta = v * translation_noise_magnitude
+
+ new_translation = initial_translation + translation_delta
+ # Rotation
+
+ # Its necessary to redefine 'v' to ensure that the translation and rotation noise aren't always the same given the same magnitude
+ v = np.random.uniform(-1.0, 1.0, 3)
+ v = v / np.linalg.norm(v)
+ rotation_delta = v * rotation_noise_magnitude
+
+ new_euler_angles = initial_euler_angles + rotation_delta
+
+ return new_translation,new_euler_angles
+
+
+def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibration_child, noise_trans, noise_rot):
+
+ print(Fore.RED + 'Transformation parent ' + calibration_parent + ' child ' + calibration_child + Style.RESET_ALL)
transform_key = generateKey(calibration_parent, calibration_child, suffix='')
+ atomWarn(f'Adding noise bigger than 1.0m/rad right now is bugged and might yield unexpected results. Check issue #929 for more information')
+
# because of #900, and for retrocompatibility with old datasets, we will assume that if the transforms field does
# not exist in the dataset, then the transformation is fixed
if 'transforms' not in dataset or dataset['transforms'][transform_key]['type'] == 'fixed':
@@ -875,18 +947,13 @@ def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibrati
translation = dataset['collections'][selected_collection_key]['transforms'][
transform_key]['trans']
- # Add noise to the 6 pose parameters
- v = np.random.uniform(-1.0, 1.0, 3)
- v = v / np.linalg.norm(v)
- new_translation = translation + v * nig_trans
-
- v = np.random.choice([-1.0, 1.0], 3) * nig_rot
euler_angles = tf.transformations.euler_from_quaternion(quat)
- new_angles = euler_angles + v
+
+
+ new_translation,new_euler_angles = computeNoise(translation,euler_angles,noise_trans,noise_rot)
# Replace the original atomic transformations by the new noisy ones
- new_quat = tf.transformations.quaternion_from_euler(
- new_angles[0], new_angles[1], new_angles[2])
+ new_quat = tf.transformations.quaternion_from_euler(new_euler_angles[0], new_euler_angles[1], new_euler_angles[2])
dataset['collections'][selected_collection_key]['transforms'][transform_key]['quat'] = new_quat
dataset['collections'][selected_collection_key]['transforms'][transform_key]['trans'] = list(
new_translation)
@@ -902,28 +969,24 @@ def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibrati
for collection_key, collection in dataset["collections"].items():
- # Get original transformation
quat = dataset['collections'][collection_key]['transforms'][transform_key]['quat']
translation = dataset['collections'][collection_key]['transforms'][transform_key][
'trans']
- # Add noise to the 6 pose parameters
- v = np.random.uniform(-1.0, 1.0, 3)
- v = v / np.linalg.norm(v)
- new_translation = translation + v * nig_trans
-
- v = np.random.choice([-1.0, 1.0], 3) * nig_rot
euler_angles = tf.transformations.euler_from_quaternion(quat)
- new_angles = euler_angles + v
+
+ new_translation,new_euler_angles = computeNoise(translation,euler_angles,noise_trans,noise_rot)
+
+ new_quat = tf.transformations.quaternion_from_euler(new_euler_angles[0], new_euler_angles[1], new_euler_angles[2])
# Replace the original atomic transformations by the new noisy ones
- new_quat = tf.transformations.quaternion_from_euler(
- new_angles[0], new_angles[1], new_angles[2])
+
dataset['collections'][collection_key]['transforms'][transform_key]['quat'] = new_quat
dataset['collections'][collection_key]['transforms'][transform_key]['trans'] = list(
new_translation)
+
def copyTFToDataset(calibration_parent, calibration_child, source_dataset, target_dataset):
"""
Copy optimized transformations from a source dataset to a target dataset.
diff --git a/atom_core/src/atom_core/naming.py b/atom_core/src/atom_core/naming.py
index 3fe55f6b..3a64cc6f 100644
--- a/atom_core/src/atom_core/naming.py
+++ b/atom_core/src/atom_core/naming.py
@@ -12,6 +12,8 @@ def generateName(name, prefix='', suffix='', separator='_'):
def generateKey(parent, child, suffix=''):
return parent + '-' + child + suffix
+def generateCollectionKey(collection_number):
+ return f"{collection_number:03d}"
def generateLabeledTopic(topic, collection_key=None, type='2d', suffix=''):
"""Returns a standarized string for labeled sensor msg topics.
diff --git a/atom_core/src/atom_core/optimization_utils.py b/atom_core/src/atom_core/optimization_utils.py
index 2904aca2..a96508bc 100644
--- a/atom_core/src/atom_core/optimization_utils.py
+++ b/atom_core/src/atom_core/optimization_utils.py
@@ -511,6 +511,7 @@ def computeSparseMatrix(self):
if param in self.residuals[key]:
idx = group.idx[j]
self.sparse_matrix[i, idx] = 1
+
# ---------------------------
# Print and display
diff --git a/atom_core/src/atom_core/utilities.py b/atom_core/src/atom_core/utilities.py
index cd4fa3b3..5fcf2ad9 100644
--- a/atom_core/src/atom_core/utilities.py
+++ b/atom_core/src/atom_core/utilities.py
@@ -19,6 +19,7 @@
import rospkg
from colorama import Fore, Style
import numpy as np
+import tf
# 3rd-party
from rospy_message_converter import message_converter
@@ -53,6 +54,7 @@ def compareAtomTransforms(transform_1, transform_2):
transform_2: transformation 2
"""
+
# Create a 4x4 transformation for transform_1
t1 = quaternion_matrix(transform_1['quat'])
t1[0:3, 3] = transform_1['trans']
@@ -61,21 +63,28 @@ def compareAtomTransforms(transform_1, transform_2):
t2 = quaternion_matrix(transform_2['quat'])
t2[0:3, 3] = transform_2['trans']
- # Method: We will use the following method. If T1 and T2 are the same, then multiplying one by the inverse of the other will produce and identity matrix, with zero translation and rotation. So we will do the multiplication and then evaluation the amount of rotation and translation in the resulting matrix.
+ v = t2[0:3, 3] - t1[0:3, 3]
+
+ # Method: We will use the following method. If T1 and T2 are the same, then multiplying one by the inverse of the other will produce and identity matrix, with zero translation and rotation. So we will do the multiplication and then evaluation of the amount of rotation and translation in the resulting matrix.
# print('Comparing \nt1= ' + str(t1) + ' \n\nt2=' + str(t2))
t_delta = np.dot(np.linalg.inv(t1), t2)
# print('t_delta = ' + str(t_delta))
rotation_delta = t_delta[0:3, 0:3]
- roll, pitch, yaw = euler_from_matrix(rotation_delta)
-
translation_delta = t_delta[0:3, 3]
+
+ euler_angles_init = tf.transformations.euler_from_quaternion(transform_1['quat'])
+ euler_angles_final = tf.transformations.euler_from_quaternion(transform_2['quat'])
+
+
+ euler_delta = np.subtract(euler_angles_final,euler_angles_init)
+ rotation_error = np.linalg.norm(euler_delta)
+
# print('translation_delta = ' + str(translation_delta))
# global metrics
- translation_error = float(abs(np.average(translation_delta)))
- rotation_error = float(np.average([abs(roll), abs(pitch), abs(yaw)]))
+ translation_error = np.linalg.norm(translation_delta)
return translation_error, rotation_error
@@ -144,9 +153,9 @@ def printComparisonToGroundTruth(
# --------------------------------------------------
# Evaluate sensor poses
# --------------------------------------------------
+ header = ['Transform', 'Description', 'Et0 [m]', 'Et [m]', 'Rrot0 [rad]', 'Erot [rad]']
+ table = PrettyTable(header)
for sensor_key, sensor in dataset["sensors"].items():
- header = ['Transform', 'Description', 'Et0 [m]', 'Et [m]', 'Rrot0 [rad]', 'Erot [rad]']
- table = PrettyTable(header)
# Create a table_to_save to be output as a csv file (#977)
if args["save_file_results"]:
@@ -187,7 +196,7 @@ def printComparisonToGroundTruth(
if dataset['calibration_config']['additional_tfs'] is not None:
for additional_tf_key, additional_tf in dataset['calibration_config']['additional_tfs'].items():
- transform_key = generateKey(additional_tf["parent_link"], sensor["child_link"])
+ transform_key = generateKey(additional_tf["parent_link"], additional_tf["child_link"])
row = [transform_key, Fore.LIGHTCYAN_EX + additional_tf_key + Style.RESET_ALL]
diff --git a/atom_examples/softbot/softbot_bringup/launch/joy_teleop.launch b/atom_examples/softbot/softbot_bringup/launch/joy_teleop.launch
index ce020a2e..0936b04e 100644
--- a/atom_examples/softbot/softbot_bringup/launch/joy_teleop.launch
+++ b/atom_examples/softbot/softbot_bringup/launch/joy_teleop.launch
@@ -10,7 +10,7 @@
-
+
diff --git a/atom_examples/softbot/softbot_bringup/launch/record.launch b/atom_examples/softbot/softbot_bringup/launch/record.launch
index 7953b5d3..66862d7f 100755
--- a/atom_examples/softbot/softbot_bringup/launch/record.launch
+++ b/atom_examples/softbot/softbot_bringup/launch/record.launch
@@ -1,6 +1,7 @@
+
@@ -19,4 +20,3 @@
-o $(arg bag)">
-
diff --git a/atom_examples/softbot/softbot_calibration/calibration/config.yml b/atom_examples/softbot/softbot_calibration/calibration/config.yml
index 48644b41..658005ce 100755
--- a/atom_examples/softbot/softbot_calibration/calibration/config.yml
+++ b/atom_examples/softbot/softbot_calibration/calibration/config.yml
@@ -36,7 +36,8 @@ description_file: "package://softbot_description/urdf/softbot.urdf.xacro"
# The calibration framework requires a bagfile to extract the necessary data for the calibration.
# bag_file: "$ROS_BAGS/softbot/train.bag"
-bag_file: "$ROS_BAGS/softbot/train.bag"
+# bag_file: "$ROS_BAGS/softbot/example/train.bag"
+bag_file: "$ROS_BAGS/softbot/long_bag/long_bag1.bag"
# You must define a frame of reference for the optimization process.
# It must exist in the transformation chains of all the sensors which are being calibrated.
@@ -109,9 +110,9 @@ additional_tfs:
# This is the transformation (i.e. link) that we be optimized.
#
# EXAMPLE:
- #base_footprint_to_base_link:
- # parent_link: "base_footprint"
- # child_link: "base_link"
+ world_to_base_footprint:
+ parent_link: "world"
+ child_link: "base_footprint"
# ATOM can also calibrate several parameters of your joints.
diff --git a/atom_examples/softbot/softbot_calibration/calibration/summary.pdf b/atom_examples/softbot/softbot_calibration/calibration/summary.pdf
index 22395d3d..6e4935ea 100755
Binary files a/atom_examples/softbot/softbot_calibration/calibration/summary.pdf and b/atom_examples/softbot/softbot_calibration/calibration/summary.pdf differ
diff --git a/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json b/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
index ca70490a..abb8a2d3 100644
--- a/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
+++ b/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
@@ -317,7 +317,7 @@
{
"child": "base_footprint",
"from_bag": true,
- "is_transformation_calibrated": false,
+ "is_transformation_calibrated": true,
"parent": "world",
"source": "world",
"target": "base_footprint",
diff --git a/atom_examples/softbot/softbot_calibration/launch/collect_data.launch b/atom_examples/softbot/softbot_calibration/launch/collect_data.launch
index 0604f144..fc00bb80 100755
--- a/atom_examples/softbot/softbot_calibration/launch/collect_data.launch
+++ b/atom_examples/softbot/softbot_calibration/launch/collect_data.launch
@@ -25,7 +25,7 @@
@arg marker_size The size of the interaction marker that is used to trigger a data save.
@arg bag_file Absolute path to the playing bag.
- default: $(env ROS_BAGS)/softbot/train_atom_filtered.bag
+ default: $(env ROS_BAGS)/softbot/long_bag/long_bag1_atom_filtered.bag
@arg bag_start Playback starting time (in seconds). default: 0.0
@arg bag_rate Playback rate. default: 1.0
-->
@@ -43,7 +43,7 @@
-
+
diff --git a/atom_examples/softbot/softbot_calibration/launch/playbag.launch b/atom_examples/softbot/softbot_calibration/launch/playbag.launch
index e68a4281..915bc11a 100755
--- a/atom_examples/softbot/softbot_calibration/launch/playbag.launch
+++ b/atom_examples/softbot/softbot_calibration/launch/playbag.launch
@@ -22,7 +22,7 @@
Sets up image decompressors if needed, reads the urdf robot description.
@arg bag_file Absolute path to the playing bag.
- default: $(env ROS_BAGS)/softbot/train_atom_filtered.bag
+ default: $(env ROS_BAGS)/softbot/long_bag/long_bag1_atom_filtered.bag
@arg bag_start Playback starting time (in seconds). default: 0.0
@arg bag_rate Playback rate. default: 1.0
@arg use_atom_bag_file Uses the bag file to complement the transformations generated by the urdf/joint_states/robot_state_publisher. Used in cases like softbot. default: False
@@ -30,7 +30,7 @@
-
+
diff --git a/atom_examples/softbot/softbot_calibration/launch/set_initial_estimate.launch b/atom_examples/softbot/softbot_calibration/launch/set_initial_estimate.launch
index afcdddaa..f9cf9729 100755
--- a/atom_examples/softbot/softbot_calibration/launch/set_initial_estimate.launch
+++ b/atom_examples/softbot/softbot_calibration/launch/set_initial_estimate.launch
@@ -22,7 +22,7 @@
Rviz interactive markers are used to set the pose of the sensors.
@arg bag_file Absolute path to the playing bag.
- default: $(env ROS_BAGS)/softbot/train_atom_filtered.bag
+ default: $(env ROS_BAGS)/softbot/long_bag/long_bag1_atom_filtered.bag
@arg bag_start Playback starting time (in seconds). default: 0.0
@arg bag_rate Playback rate. default: 1.0
@arg marker_size Size of the markers. default: 0.5
@@ -36,7 +36,7 @@
-
+
diff --git a/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz b/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
index f80716d8..efb723b6 100755
--- a/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
+++ b/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
@@ -1,131 +1,132 @@
Panels:
-- Class: rviz/Displays
- Help Height: 0
- Name: Displays
- Property Tree Widget:
+ - Class: rviz/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /lidar3d-Labels3d-PointCloud21
+ Splitter Ratio: 0.5666666626930237
+ Tree Height: 431
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
Expanded:
- - /Global Options1
- - /base_camera-Image1
- Splitter Ratio: 0.763005793094635
- Tree Height: 523
-- Class: rviz/Selection
- Name: Selection
-- Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
-- Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
-- Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ''
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: lidar3d-Labels3d-PointCloud2
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
- Class: ''
+ Class: ""
Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.02
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame: world
- Value: true
- - Class: rviz/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- Marker Scale: 1
- Name: TF
- Show Arrows: false
- Show Axes: true
- Show Names: false
- Tree: {}
- Update Interval: 0
- Value: false
- - Class: rviz/MarkerArray
- Enabled: true
- Marker Topic: /dataset_playback/robot_meshes
- Name: Robot Meshes
- Namespaces: {}
- Queue Size: 10
- Value: true
- - Class: rviz/Image
- Enabled: true
- Image Topic: /front_left_camera/rgb/image_raw/labeled2d
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: front_left_camera-Labels-Image
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Class: rviz/Image
- Enabled: true
- Image Topic: /front_right_camera/rgb/image_raw/labeled2d
- Max Value: 1
- Median window: 5
- Min Value: 0
- Name: front_right_camera-Labels-Image
- Normalize Range: true
- Queue Size: 2
- Transport Hint: raw
- Unreliable: false
- Value: false
- - Alpha: 1
- Autocompute Intensity Bounds: true
- Autocompute Value Bounds:
- Max Value: 10
- Min Value: -10
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: false
+ Line Style:
+ Line Width: 0.019999999552965164
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: world
+ Value: false
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Alpha: 1
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: false
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ - Class: rviz/MarkerArray
+ Enabled: false
+ Marker Topic: /dataset_playback/robot_meshes
+ Name: Robot Meshes
+ Namespaces:
+ {}
+ Queue Size: 10
+ Value: false
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /front_left_camera/rgb/image_raw/labeled2d
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: front_left_camera-Labels-Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Class: rviz/Image
+ Enabled: true
+ Image Topic: /front_right_camera/rgb/image_raw/labeled2d
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: front_right_camera-Labels-Image
+ Normalize Range: true
+ Queue Size: 2
+ Transport Hint: raw
+ Unreliable: false
+ Value: true
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz/PointCloud2
+ Color: 255; 237; 111
+ Color Transformer: RGB8
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Min Color: 0; 0; 0
+ Name: lidar3d-Labels3d-PointCloud2
+ Position Transformer: XYZ
+ Queue Size: 10
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.03999999910593033
+ Style: Spheres
+ Topic: /lidar3d/points/labeled3d
+ Unreliable: false
+ Use Fixed Frame: true
+ Use rainbow: true
Value: true
- Axis: Z
- Channel Name: intensity
- Class: rviz/PointCloud2
- Color: 255; 237; 111
- Color Transformer: RGB8
- Decay Time: 0
- Enabled: true
- Invert Rainbow: false
- Max Color: 255; 255; 255
- Max Intensity: 4096
- Min Color: 0; 0; 0
- Min Intensity: 0
- Name: lidar3d-Labels3d-PointCloud2
- Position Transformer: ''
- Queue Size: 10
- Selectable: true
- Size (Pixels): 3
- Size (m): 0.02
- Style: Spheres
- Topic: /lidar3d/points/labeled3d
- Unreliable: false
- Use Fixed Frame: true
- Use rainbow: true
- Value: true
Enabled: true
Global Options:
Background Color: 255; 255; 255
@@ -134,74 +135,75 @@ Visualization Manager:
Frame Rate: 30
Name: root
Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Theta std deviation: 0.2617993950843811
- Topic: /initialpose
- X std deviation: 0.5
- Y std deviation: 0.5
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- - Class: rviz_visual_tools/KeyTool
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ - Class: rviz_visual_tools/KeyTool
+ - Class: rviz_plugin_selected_points_publisher/SelectedPointsPublisher
Value: true
Views:
Current:
Class: rviz/XYOrbit
- Distance: 8.35604476928711
+ Distance: 1.855129599571228
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
+ Field of View: 0.7853981852531433
Focal Point:
- X: 0.3314114809036255
- Y: 0.6464090347290039
- Z: 9.527429938316345e-07
+ X: 2.1128342151641846
+ Y: -0.26142096519470215
+ Z: 9.832466503212345e-07
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: 0.46479693055152893
+ Pitch: 0.050202593207359314
Target Frame:
- Value: XYOrbit (rviz)
- Yaw: 2.752181053161621
+ Yaw: 2.543501615524292
Saved:
- - Class: rviz/Orbit
- Distance: 4.057810306549072
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: -0.424695760011673
- Y: 0.802316427230835
- Z: 0.9974352121353149
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Orbit
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.5447967052459717
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 3.929020881652832
+ - Class: rviz/Orbit
+ Distance: 4.057810306549072
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Field of View: 0.7853981852531433
+ Focal Point:
+ X: -0.424695760011673
+ Y: 0.802316427230835
+ Z: 0.9974352121353149
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Orbit
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5447967052459717
+ Target Frame:
+ Yaw: 3.929020881652832
Window Geometry:
Displays:
collapsed: false
- Height: 683
+ Height: 1050
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 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
+ QMainWindow State: 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
Selection:
collapsed: false
Time:
@@ -210,8 +212,10 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
- Width: 1366
+ Width: 1920
X: 0
- Y: 28
- base_camera-Image:
+ Y: 0
+ front_left_camera-Labels-Image:
+ collapsed: false
+ front_right_camera-Labels-Image:
collapsed: false
diff --git a/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro b/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
index d03f5197..22432845 100644
--- a/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
+++ b/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
@@ -373,7 +373,7 @@
-
+
@@ -493,7 +493,7 @@
false
-
+
@@ -586,7 +586,7 @@
false
-
+
diff --git a/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro b/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
index 39881cf2..b265ca9f 100644
--- a/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
+++ b/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
@@ -373,7 +373,7 @@
-
+
@@ -493,7 +493,7 @@
false
-
+
@@ -586,7 +586,7 @@
false
-
+
@@ -655,7 +655,7 @@
-
+