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tuw_marker_filter: tuw_marker_noise | tuw_marker_server | tuw_marker_slam

Package Summary

The tuw_marker_noise package provides nodes for adding artificial noise to MarkerDetection messages from the marker_msgs package and for recording MarkerDetection messages in order to obtain a measurement noise model.

Content

tuw_record.py

In order to obtain a measurement noise model one needs first to record samples. The tuw_record node stores for later comparison the poses of observed markers in combination with their expected pose in a separate output file record.csv.

Usage

rosrun tuw_marker_noise tuw_record.py

Subscribed Topics

markers (marker_msgs/MarkerDetection)

Parameters

input (string) output_dir (string) frame_id_odom (string, default: "odom")

Example

roslaunch tuw_marker_noise record.launch

variance.py

Based on the observed and expected measurements given in the record file a statistical variance can be calculated. For more grained resolution variance.py separates the measurements into boxes of given precision determined by the expected pose. The calculated variances are written out again with their corresponding expected measurements into the file variance.csv. Then parameter.m is called with this CSV-file as input. Finally, the result of this call is stored in another CSV-file parameter.csv.

Usage

./variance.py -r ../output/record.csv -p 1.0

Parameters

recordfile (string) precision (double)

Output

variance.csv

parameter.csv

paramater.m

Calculates the parameters of an underlying measurement noise model based on the expected poses of markers and their measured variance using a least square root approximation.

Usage

octave> parameter('../output/variance.csv')

Parameters

file (string)

tuw_marker_noise.py

This node implements a parametrized measurement noise model for simulation purposes. It receives (perfect) measurements of markers and puts noise on it based on the underlying measurement noise model. The noised poses are then re-send again illustrating more realistic measurement results.

Usage

rosrun tuw_marker_noise tuw_marker_noise.py

Subscribed Topics

marker (marker_msgs/MarkerDetection)

Published Topics

marker_noise (marker_msgs/MarkerDetection)

Parameters

beta_1/18 (double) plot_data (boolean, default: false)

Example

roslaunch tuw_marker_noise noise.launch

2019-09-21 13:18