X-lanni
303 lines
9.7 KiB
Python
303 lines
9.7 KiB
Python
#! /usr/bin/env python3
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# Copyright (c) 2022 Samsung R&D Institute Russia
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# Copyright (c) 2022 Joshua Wallace
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# Copyright (c) 2021 RoboTech Vision
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import numpy as np
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import math
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import os
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import pickle
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import seaborn as sns
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import matplotlib.pylab as plt
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from tabulate import tabulate
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def getPaths(results):
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paths = []
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for i in range(len(results)):
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if (i % 2) == 0:
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# Append non-smoothed path
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paths.append(results[i].path)
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else:
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# Append smoothed paths array
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for result in results[i]:
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paths.append(result.path)
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return paths
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def getTimes(results):
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times = []
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for i in range(len(results)):
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if (i % 2) == 0:
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# Append non-smoothed time
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times.append(results[i].planning_time.nanosec/1e09 + results[i].planning_time.sec)
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else:
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# Append smoothed times array
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for result in results[i]:
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times.append(result.smoothing_duration.nanosec/1e09 + result.smoothing_duration.sec)
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return times
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def getMapCoordsFromPaths(paths, resolution):
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coords = []
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for path in paths:
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x = []
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y = []
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for pose in path.poses:
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x.append(pose.pose.position.x/resolution)
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y.append(pose.pose.position.y/resolution)
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coords.append(x)
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coords.append(y)
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return coords
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def getPathLength(path):
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path_length = 0
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x_prev = path.poses[0].pose.position.x
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y_prev = path.poses[0].pose.position.y
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for i in range(1, len(path.poses)):
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x_curr = path.poses[i].pose.position.x
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y_curr = path.poses[i].pose.position.y
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path_length = path_length + math.sqrt((x_curr-x_prev)**2 + (y_curr-y_prev)**2)
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x_prev = x_curr
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y_prev = y_curr
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return path_length
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# Path smoothness calculations
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def getSmoothness(pt_prev, pt, pt_next):
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d1 = pt - pt_prev
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d2 = pt_next - pt
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delta = d2 - d1
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return np.dot(delta, delta)
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def getPathSmoothnesses(paths):
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smoothnesses = []
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pm0 = np.array([0.0, 0.0])
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pm1 = np.array([0.0, 0.0])
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pm2 = np.array([0.0, 0.0])
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for path in paths:
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smoothness = 0.0
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for i in range(2, len(path.poses)):
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pm0[0] = path.poses[i].pose.position.x
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pm0[1] = path.poses[i].pose.position.y
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pm1[0] = path.poses[i-1].pose.position.x
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pm1[1] = path.poses[i-1].pose.position.y
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pm2[0] = path.poses[i-2].pose.position.x
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pm2[1] = path.poses[i-2].pose.position.y
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smoothness += getSmoothness(pm2, pm1, pm0)
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smoothnesses.append(smoothness)
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return smoothnesses
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# Curvature calculations
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def arcCenter(pt_prev, pt, pt_next):
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cusp_thresh = -0.7
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d1 = pt - pt_prev
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d2 = pt_next - pt
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d1_norm = d1 / np.linalg.norm(d1)
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d2_norm = d2 / np.linalg.norm(d2)
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cos_angle = np.dot(d1_norm, d2_norm)
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if cos_angle < cusp_thresh:
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# cusp case
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d2 = -d2
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pt_next = pt + d2
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det = d1[0] * d2[1] - d1[1] * d2[0]
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if abs(det) < 1e-4: # straight line
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return (float('inf'), float('inf'))
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# circle center is at the intersection of mirror axes of the segments:
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# http://paulbourke.net/geometry/circlesphere/
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# line intersection:
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# https://en.wikipedia.org/wiki/Line%E2%80%93line_intersection#Intersection%20of%20two%20lines
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mid1 = (pt_prev + pt) / 2
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mid2 = (pt + pt_next) / 2
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n1 = (-d1[1], d1[0])
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n2 = (-d2[1], d2[0])
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det1 = (mid1[0] + n1[0]) * mid1[1] - (mid1[1] + n1[1]) * mid1[0]
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det2 = (mid2[0] + n2[0]) * mid2[1] - (mid2[1] + n2[1]) * mid2[0]
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center = np.array([(det1 * n2[0] - det2 * n1[0]) / det, (det1 * n2[1] - det2 * n1[1]) / det])
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return center
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def getPathCurvatures(paths):
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curvatures = []
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pm0 = np.array([0.0, 0.0])
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pm1 = np.array([0.0, 0.0])
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pm2 = np.array([0.0, 0.0])
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for path in paths:
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radiuses = []
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for i in range(2, len(path.poses)):
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pm0[0] = path.poses[i].pose.position.x
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pm0[1] = path.poses[i].pose.position.y
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pm1[0] = path.poses[i-1].pose.position.x
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pm1[1] = path.poses[i-1].pose.position.y
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pm2[0] = path.poses[i-2].pose.position.x
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pm2[1] = path.poses[i-2].pose.position.y
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center = arcCenter(pm2, pm1, pm0)
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if center[0] != float('inf'):
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turning_rad = np.linalg.norm(pm1 - center);
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radiuses.append(turning_rad)
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curvatures.append(np.average(radiuses))
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return curvatures
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def plotResults(costmap, paths):
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coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
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data = np.asarray(costmap.data)
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data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
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data = np.where(data <= 253, 0, data)
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plt.figure(3)
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ax = sns.heatmap(data, cmap='Greys', cbar=False)
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for i in range(0, len(coords), 2):
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ax.plot(coords[i], coords[i+1], linewidth=0.7)
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plt.axis('off')
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ax.set_aspect('equal', 'box')
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plt.show()
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def averagePathCost(paths, costmap, num_of_planners):
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coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
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data = np.asarray(costmap.data)
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data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
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average_path_costs = []
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for i in range(num_of_planners):
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average_path_costs.append([])
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k = 0
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for i in range(0, len(coords), 2):
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costs = []
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for j in range(len(coords[i])):
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costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])])
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average_path_costs[k % num_of_planners].append(sum(costs)/len(costs))
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k += 1
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return average_path_costs
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def maxPathCost(paths, costmap, num_of_planners):
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coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
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data = np.asarray(costmap.data)
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data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
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max_path_costs = []
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for i in range(num_of_planners):
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max_path_costs.append([])
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k = 0
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for i in range(0, len(coords), 2):
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max_cost = 0
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for j in range(len(coords[i])):
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cost = data[math.floor(coords[i+1][j])][math.floor(coords[i][j])]
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if max_cost < cost:
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max_cost = cost
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max_path_costs[k % num_of_planners].append(max_cost)
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k += 1
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return max_path_costs
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def main():
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# Read the data
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benchmark_dir = os.getcwd()
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print("Read data")
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with open(os.path.join(benchmark_dir, 'results.pickle'), 'rb') as f:
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results = pickle.load(f)
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with open(os.path.join(benchmark_dir, 'methods.pickle'), 'rb') as f:
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smoothers = pickle.load(f)
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planner = smoothers[0]
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del smoothers[0]
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methods_num = len(smoothers) + 1
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with open(os.path.join(benchmark_dir, 'costmap.pickle'), 'rb') as f:
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costmap = pickle.load(f)
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# Paths (planner and smoothers)
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paths = getPaths(results)
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path_lengths = []
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for path in paths:
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path_lengths.append(getPathLength(path))
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path_lengths = np.asarray(path_lengths)
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total_paths = len(paths)
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# [planner, smoothers] path lenghth in a row
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path_lengths.resize((int(total_paths/methods_num), methods_num))
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# [planner, smoothers] path length in a column
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path_lengths = path_lengths.transpose()
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# Times
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times = getTimes(results)
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times = np.asarray(times)
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times.resize((int(total_paths/methods_num), methods_num))
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times = np.transpose(times)
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# Costs
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average_path_costs = np.asarray(averagePathCost(paths, costmap, methods_num))
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max_path_costs = np.asarray(maxPathCost(paths, costmap, methods_num))
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# Smoothness
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smoothnesses = getPathSmoothnesses(paths)
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smoothnesses = np.asarray(smoothnesses)
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smoothnesses.resize((int(total_paths/methods_num), methods_num))
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smoothnesses = np.transpose(smoothnesses)
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# Curvatures
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curvatures = getPathCurvatures(paths)
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curvatures = np.asarray(curvatures)
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curvatures.resize((int(total_paths/methods_num), methods_num))
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curvatures = np.transpose(curvatures)
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# Generate table
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planner_table = [['Planner',
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'Time (s)',
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'Path length (m)',
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'Average cost',
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'Max cost',
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'Path smoothness (x100)',
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'Average turning rad (m)']]
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# for path planner
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planner_table.append([planner,
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np.average(times[0]),
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np.average(path_lengths[0]),
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np.average(average_path_costs[0]),
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np.average(max_path_costs[0]),
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np.average(smoothnesses[0]) * 100,
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np.average(curvatures[0])])
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# for path smoothers
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for i in range(1, methods_num):
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planner_table.append([smoothers[i-1],
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np.average(times[i]),
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np.average(path_lengths[i]),
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np.average(average_path_costs[i]),
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np.average(max_path_costs[i]),
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np.average(smoothnesses[i]) * 100,
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np.average(curvatures[i])])
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# Visualize results
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print(tabulate(planner_table))
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plotResults(costmap, paths)
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exit(0)
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if __name__ == '__main__':
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main()
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