Functions — github.com/bexcite/ptudes-lab

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Functions126 in github.com/bexcite/ptudes-lab

⨍ Functions 126◇ Types & classes 16

↓ 19 callersMethodupdate

Progress the state and return the next on transition

src/ptudes/fly.py:35

↓ 18 callersFunctionset_blk

(m: np.ndarray, row_id: int, col_id: int, b: np.ndarray)

src/ptudes/ins/data.py:121

↓ 16 callersMethodpose_mat

(self)

src/ptudes/ins/data.py:84

↓ 12 callersFunctiontoggle_cloud_from_idx

(idx: int, atr: Optional[str] = None)

src/ptudes/ins/viz_utils.py:436

↓ 6 callersFunctioncalc_ate

Calculate Avg Traj Error (ATE) Time aligned, but not trasform. i.e. first poses of two trajectories will be aligned to the the same value bef

src/ptudes/ins/data.py:138

↓ 6 callersFunctionread_newer_college_gt

Read ground truth poses for Newer College 2021 dataset. Return: List of tuples (ts, pose4x4), where pose4x4 converted to the Ouster

src/ptudes/utils.py:232

↓ 4 callersMethodenable

Enable the cloud and add it to the viz if needed

src/ptudes/viz_utils.py:60

↓ 4 callersMethodprocessImu

EKF predict step using the new imu measurement

src/ptudes/ins/es_ekf.py:191

↓ 4 callersFunctionread_metadata_json

(meta_path: str)

src/ptudes/utils.py:158

↓ 4 callersFunctionread_packet_source

Open PCAP of BAG based Ouster raw packet source.

src/ptudes/utils.py:172

↓ 3 callersMethod__init__

(self, name: str)

src/ptudes/fly.py:31

↓ 3 callersFunctionekf_graphs

Plots of imus (mainly) logs

src/ptudes/ins/viz_utils.py:73

↓ 3 callersFunctionekf_viz

Visualize 3D poses and nav state histories

src/ptudes/ins/viz_utils.py:317

↓ 3 callersMethodprocessPose

Filter update using pose measurement Args: pose_corr: 4x4 measred pose (i.e. KissICP or some other source) meas_c

src/ptudes/ins/es_ekf.py:259

↓ 3 callersFunctionshow_pos_att_uncertainty

(nav, cov)

src/ptudes/ins/viz_utils.py:506

↓ 3 callersMethodtoggle

(self)

src/ptudes/ins/viz_utils.py:366

↓ 3 callersFunctiontoggle_things

(objs)

src/ptudes/ins/viz_utils.py:501

↓ 3 callersMethodwithScanIdx

Make an iterator with (scanIdx, scan/imu)

src/ptudes/data.py:31

↓ 2 callersFunction_collect_navs_from_gt

(ekf_gt, ekf)

src/ptudes/ins/data.py:184

↓ 2 callersMethod_next_scan

Fetches the next scan to process or StopIteraton on end

src/ptudes/fly.py:133

↓ 2 callersMethod_track_min_max_ts

(self, ts: float)

src/ptudes/ins/data.py:265

↓ 2 callersFunctionblk

(m: np.ndarray, row_id: int, col_id: int, nrows: int, ncols: Optional[int] = N

src/ptudes/ins/data.py:128

↓ 2 callersFunctioncreate_state

(flying_state: FlyingState)

src/ptudes/cli/flyby.py:186

↓ 2 callersMethoddisable

(self)

src/ptudes/ins/viz_utils.py:379

↓ 2 callersFunctiondraw_poses_sets

(axs, trajs: List[List[Tuple[float, pu.PoseH]]] = [], min_ts: Optional

src/ptudes/ins/viz_utils.py:16

↓ 2 callersFunctionestimate_apex_dolly

Estimate the dolly so it fit majority of points between min/max

src/ptudes/utils.py:108

↓ 2 callersFunctioneuler_angles_diff

(nav1: NavState, nav2: NavState)

src/ptudes/ins/viz_utils.py:196

↓ 2 callersFunctionfilter_nc_gt_by_close_ts

( nc_gt, gt_t)

src/ptudes/utils.py:256

↓ 2 callersMethodfrom_packet

(imu_packet: client.ImuPacket, dt: float = 0.01, _intr_rot: Optional[n

src/ptudes/ins/data.py:26

↓ 2 callersFunctionmake_point_viz

(title: str = "", show_origin: bool = True)

src/ptudes/utils.py:73

↓ 2 callersMethodregister_frame

src/ptudes/kiss.py:55

↓ 2 callersFunctionset_cloud_from_idx

(idx: int)

src/ptudes/ins/viz_utils.py:398

↓ 2 callersMethodtrackImu

Update IMU mean/sigma

src/ptudes/ins/data.py:281

↓ 2 callersMethodtrackScan

Update scan stats for range mean/sigma

src/ptudes/ins/data.py:298

↓ 2 callersMethodupdate

Update label component viz states.

src/ptudes/viz_utils.py:120

↓ 2 callersFunctionvee

(vec: np.ndarray)

src/ptudes/utils.py:29

↓ 1 callersMethod__range_to_m

Convert Ouster range data to meters NOTE: better to use Ouster XYZLut, but it's slower if we don't care about the all points in 3D

src/ptudes/ins/data.py:252

↓ 1 callersMethod_formatted_str

(self)

src/ptudes/ins/data.py:106

↓ 1 callersMethod_formatted_str

(self)

src/ptudes/ins/data.py:366

↓ 1 callersMethod_formatted_str

(self)

src/ptudes/ins/es_ekf.py:34

↓ 1 callersMethod_insMech

IMU mechanization to propagate NavState based on the new IMU meas

src/ptudes/ins/es_ekf.py:239

↓ 1 callersMethod_kiss_register_frame

(self, frame, timestamps,

src/ptudes/kiss.py:83

↓ 1 callersMethod_log_on_imu_process

Logging IMU data for graphs

src/ptudes/ins/es_ekf.py:331

↓ 1 callersMethod_log_on_pose_corr

Logging pose correstion step for graphs/debugs

src/ptudes/ins/es_ekf.py:348

↓ 1 callersMethod_lookup_start_scan

(self, pviz: PointViz)

src/ptudes/fly.py:115

↓ 1 callersMethod_track_min_max_range

(self, range: np.ndarray)

src/ptudes/ins/data.py:273

↓ 1 callersMethoddisable

Disable the cloud and remove it from the viz

src/ptudes/viz_utils.py:66

↓ 1 callersFunctionekf_error_graphs

Plots of pos/angle errors

src/ptudes/ins/viz_utils.py:205

↓ 1 callersFunctionekf_traj_ate

Calculate ATE for trajectories in update knots.

src/ptudes/ins/data.py:210

↓ 1 callersFunctionfilter_nc_gt_by_cmp

Find the closest subset of nc_gt_cmp in nc_gt poses.

src/ptudes/utils.py:306

↓ 1 callersFunctiongt_poses_graphs

(trajs: List[List[Tuple[float, pu.PoseH]]] = [], xy_plot: bool = False,

src/ptudes/ins/viz_utils.py:57

↓ 1 callersFunctionmain

()

src/ptudes/cli/run.py:24

↓ 1 callersFunctionmake_osd_str

()

src/ptudes/cli/flyby.py:176

↓ 1 callersFunctionmap_points_num

Helper to extract the number of points in the map

src/ptudes/utils.py:115

↓ 1 callersFunctionon_update

(pviz, tick_ts)

src/ptudes/cli/flyby.py:221

↓ 1 callersFunctionpose_scans_from_nc_gt

Add poses to LidarScans stream Newer College Dataset ground truth poses. Scans with timestamps outside of the timestamps in `nc_gt_poses` file ar

src/ptudes/utils.py:345

↓ 1 callersFunctionprune_trajectory

Make pruned poses by removing close to each other knots TODO: Stretch goal - generate a B-Spline for smoother camera moves :)

src/ptudes/utils.py:123

↓ 1 callersFunctionptudes_cli

P(oint) (e)Tudes - viz, slam and mapping playground. Various experiments with mainly Ouster Lidar and other sensors.

src/ptudes/cli/run.py:10

↓ 1 callersFunctionreduce_active_beams

Reduces the active beams of a lidar scan to beams_num. Achieved by setting RANGE field to 0 of 'inactive' beams. Args: beam

src/ptudes/utils.py:329

↓ 1 callersMethodreset

Resets the state to zeros

src/ptudes/ins/es_ekf.py:44

↓ 1 callersFunctionsave_poses_kitti_format

(filename: str, poses: List[np.ndarray], header: str =

src/ptudes/utils.py:192

↓ 1 callersFunctionsave_poses_nc_gt_format

Save odom result in the Newer College GT format for comparison.

src/ptudes/utils.py:200

↓ 1 callersFunctionsim_imu

(acc_mean: np.ndarray = np.zeros(3), acc_std: float = 1.5, acc_noise_std: float = 0.4,

src/ptudes/cli/ekf_bench.py:44

↓ 1 callersFunctionspin

(pviz: PointViz, on_update: Callable[[PointViz, float], None], *, period: float = 0

src/ptudes/utils.py:40

↓ 1 callersFunctionupdate_min_max

(cmm: np.array, new_point: np.array)

src/ptudes/fly.py:15

Method__init__

(self, metadata: SensorInfo, *, _min_range: float = 5,

src/ptudes/kiss.py:21

Method__init__

(self, data_path: Union[str, list], info: client.SensorInfo,

src/ptudes/bag.py:29

Method__init__

(self, data_path: Union[str, list], imu_topic: Optional[str] = None)

src/ptudes/bag.py:109

Method__init__

(self, point_viz: PointViz, *, pose: pu.PoseH = np.eye(4),

src/ptudes/viz_utils.py:23

Method__init__

Args: source: any source of packets fields: chan field to add to LidarScans

src/ptudes/data.py:15

Method__init__

(self, scan_source: Iterable[client.LidarScan], scans_accum: LidarScanVizAcc

src/ptudes/fly.py:42

Method__init__

(self, name: str = "", target: Optional[PoseH] = None, pitc

src/ptudes/fly.py:144

Method__init__

(self, traj_eval: pu.TrajectoryEvaluator, start_time: Optional[float] = None

src/ptudes/fly.py:200

Method__init__

(self, point_viz: viz.PointViz)

src/ptudes/ins/viz_utils.py:340

Method__init__

(self, use_beams_num: Optional[int] = None, metadata: Optional[client.Sensor

src/ptudes/ins/data.py:224

Method__init__

Creates ES EKF TODO: Expose more init params to the ctor Args: init_grav: initial gravity vector direction

src/ptudes/ins/es_ekf.py:73

src/ptudes/bag.py:138

Method__iter__

Make an iterator just data

src/ptudes/data.py:79

Method__repr__

(self)

src/ptudes/ins/data.py:117

Method__repr__

(self)

src/ptudes/ins/data.py:382

Method__repr__

(self)

src/ptudes/ins/es_ekf.py:53

Method_config

Get underlying kiss icp config

src/ptudes/kiss.py:170

Methodacc_mean

(self)

src/ptudes/ins/data.py:347

Methodacc_std

(self)

src/ptudes/ins/data.py:351

Functionanimate

()

src/ptudes/utils.py:50

Methodatt_h

(self)

src/ptudes/ins/data.py:91

Methodatt_v

(self)

src/ptudes/ins/data.py:99

Functioncalc_ate_from_navs

Calculate Avg Traj Error (ATE) Args: navs: list of NavStates from the filter gt_poses: aligned ground truth poses Return:

src/ptudes/ins/data.py:170

Methodclose

(self)

src/ptudes/bag.py:102

Methodclose

Close the underlying PacketSource.

src/ptudes/data.py:84

Methoddeskew

(self, frame, timestamps)

src/ptudes/kiss.py:76

Methoddt

(self)

src/ptudes/ins/data.py:363

Methodenabled

True if cloud is added to the viz

src/ptudes/viz_utils.py:56

Methodgyr_mean

(self)

src/ptudes/ins/data.py:355

Methodgyr_std

(self)

src/ptudes/ins/data.py:359

Functionhandle_keys

(ctx, key, mods)

src/ptudes/utils.py:78

Functionhandle_keys

(ctx, key, mods)

src/ptudes/ins/viz_utils.py:530

Functionhandle_keys

(ctx, key, mods)

src/ptudes/cli/flyby.py:152

Functionlast_valid_packet_ts

Return last valid packet timestamp of a LidarScan

src/ptudes/data.py:94

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