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slam_eval.m
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% Main m file for evaluating the SLAM accuracy. This file is divided into
% several sections, run one after the other.
%%
% initialization of the ROS environment
rosshutdown;
ros_master_ip = 'http://localhost:11311';
rosinit(ros_master_ip);
%%
% declaration of subscribers
global cartographer;
cartographer = {};
global vicon_pose;
vicon_pose = {};
global vicon_acceleration;
vicon_acceleration = {};
global vicon_twist;
vicon_twist = {};
cart_sub = rossubscriber('/tf/converted','nav_msgs/Odometry',@(src,event)cartographer_callback(src,event),'DataFormat','struct');
vicon_pose_sub = rossubscriber('/vrpn_client_node/mpo_sensor2/pose','geometry_msgs/PoseStamped',@(src,event)vicon_pose_callback(src,event),'DataFormat','struct');
vicon_acc_sub = rossubscriber('/vrpn_client_node/mpo_sensor2/accel','geometry_msgs/TwistStamped',@(src,event)vicon_acceleration_callback(src,event),'DataFormat','struct');
vicon_twist_sub = rossubscriber('/vrpn_client_node/mpo_sensor2/twist','geometry_msgs/TwistStamped',@(src,event)vicon_twist_callback(src,event),'DataFormat','struct');
pause(1);
%%
% remapping cell array data (received from callbacks or mat files) to matrices used in later code
cartographer_positions = zeros(length(cartographer),2);
cartographer_orientations = zeros(length(cartographer),4);
for index = 1:length(cartographer)
cartographer_positions(index,1) = cartographer{index}.Pose.Pose.Position.X;
cartographer_positions(index,2) = cartographer{index}.Pose.Pose.Position.Y;
cartographer_orientations(index,1) = cartographer{index}.Pose.Pose.Orientation.X;
cartographer_orientations(index,2) = cartographer{index}.Pose.Pose.Orientation.Y;
cartographer_orientations(index,3) = cartographer{index}.Pose.Pose.Orientation.Z;
cartographer_orientations(index,4) = cartographer{index}.Pose.Pose.Orientation.W;
end
vicon_positions = zeros(length(vicon_pose),2);
vicon_orientations = zeros(length(vicon_pose),4);
for index = 1:length(vicon_pose)
vicon_positions(index,1) = vicon_pose{index}.Pose.Position.X;
vicon_positions(index,2) = vicon_pose{index}.Pose.Position.Y;
vicon_orientations(index,1) = vicon_pose{index}.Pose.Orientation.X;
vicon_orientations(index,2) = vicon_pose{index}.Pose.Orientation.Y;
vicon_orientations(index,3) = vicon_pose{index}.Pose.Orientation.Z;
vicon_orientations(index,4) = vicon_pose{index}.Pose.Orientation.W;
end
%%
% calculating rotation matrix from line experiment
R = calculate_rotation(cartographer_positions,vicon_positions);
%%
% calculates translation for standing experiment
V = R*vicon_positions.';
T = calculate_translation(cartographer_positions,V.');
%%
% Visualization for positions
V = R*vicon_positions.';
V = V+T.';
scatter(cartographer_positions(:,1),cartographer_positions(:,2));
hold on;
scatter(V(1,:),V(2,:));
plot(cartographer_positions(1,1),cartographer_positions(1,2),'xg','MarkerSize', 15,'LineWidth',3)
lgd = legend('Cartographer','ViCON','Beginning');
lgd.FontSize = 14;
xl = xlabel('X [m]');
xl.FontSize = 14;
yl = ylabel('Y [m]');
yl.FontSize = 14;
ax = gca;
ax.FontSize = 14;
hold off
%%
% Data analysis for stationary experiment with visualization
V = R*vicon_positions.';
V = V+T.';
vicon_mean = mean(V.');
cartographer_distances = zeros(1,length(cartographer_positions));
RMSE = 0;
for index = 1:length(cartographer_positions)
% finds the distance squared
sq = (cartographer_positions(index,1)-vicon_mean(1))^2+(cartographer_positions(index,2)-vicon_mean(2))^2;
% calculates distance and stores it inside matrix
cartographer_distances(index) = sqrt(sq);
% add to RMSE sum
RMSE = RMSE + sq/length(cartographer_positions);
end
% calculates final RMSE
RMSE = sqrt(RMSE);
% visualization
fprintf('Stationary (calibration) data RMSE: %f\n',RMSE);
plot(cartographer_distances)
hold on
xlim([0 length(cartographer_positions)]);
plot([0 length(cartographer_positions)],[RMSE RMSE],'--r')
lgd = legend('Cartographer Distances','RMSE');
lgd.FontSize = 14;
xl = xlabel('Sample');
xl.FontSize = 14;
yl = ylabel('Distance [m]');
yl.FontSize = 14;
ax = gca;
ax.FontSize = 14;
hold off
%%
% other experiments with calculating the RMSE using closest value
V = R*vicon_positions.';
V = V+T.';
cartographer_distances = zeros(1,length(cartographer_positions));
RMSE = 0;
for index = 1:length(cartographer_positions)
cp = cartographer_positions(index,:);
tmp_vicon = V.' - cp;
% creates the distance matrix and finds the closes point (index of it)
dist_matrix = (tmp_vicon(:,1).^2+tmp_vicon(:,2).^2).^0.5;
[min_dist,min_index] = min(dist_matrix);
% finds the distance squared
sq = tmp_vicon(min_index,1).^2 + tmp_vicon(min_index,2).^2;
% calculates distance and stores it inside matrix
cartographer_distances(index) = sqrt(sq);
% add to RMSE sum
RMSE = RMSE + sq/length(cartographer_positions);
end
% calculates final RMSE
RMSE = sqrt(RMSE);
% visualization
fprintf('Average RMSE: %f, Maximal Distance is %f m\n',RMSE,max(cartographer_distances));
plot(cartographer_distances)
hold on
xlim([0 length(cartographer_positions)]);
plot([0 length(cartographer_positions)],[RMSE RMSE],'--r')
lgd = legend('Cartographer Distances','RMSE');
lgd.FontSize = 14;
xl = xlabel('Sample');
xl.FontSize = 14;
yl = ylabel('Distance [m]');
yl.FontSize = 14;
ax = gca;
ax.FontSize = 14;
hold off