diff --git a/python/gtsam/examples/RangeSLAMExample_plaza2.ipynb b/python/gtsam/examples/RangeSLAMExample_plaza2.ipynb new file mode 100644 index 000000000..4fea60c14 --- /dev/null +++ b/python/gtsam/examples/RangeSLAMExample_plaza2.ipynb @@ -0,0 +1,17841 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Range SLAM with Batch Optimization\n", + "\n", + "A 2D Range SLAM example using batch optimization (Levenberg-Marquardt) on the Plaza2 dataset.\n", + "\n", + "This notebook mirrors the functionality of the MATLAB batch SLAM script, adapted using Python and GTSAM, drawing structural elements from the iSAM example.\n", + "\n", + "Author: Frank Dellaert (adapted for batch by AI)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "\"Open" + ] + }, + { + "cell_type": "markdown", + "metadata": { + "tags": [ + "remove-cell" + ] + }, + "source": [ + "GTSAM Copyright 2010-2022, Georgia Tech Research Corporation,\n", + "Atlanta, Georgia 30332-0415\n", + "All Rights Reserved\n", + "\n", + "Authors: Frank Dellaert, et al. (see THANKS for the full author list)\n", + "\n", + "See LICENSE for the license information" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Data is second UWB ranging dataset, B2 or \"plaza 2\", from\n", + "\n", + "> \"Navigating with Ranging Radios: Five Data Sets with Ground Truth\", by Joseph Djugash, Bradley Hamner, and Stephan Roth, available at https://www.ri.cmu.edu/pub_files/2009/9/Final_5datasetsRangingRadios.pdf\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "metadata": { + "tags": [ + "remove-cell" + ], + "vscode": { + "languageId": "markdown" + } + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\u001b[31mERROR: Could not find a version that satisfies the requirement gtsam-develop (from versions: none)\u001b[0m\u001b[31m\n", + "\u001b[0m\u001b[31mERROR: No matching distribution found for gtsam-develop\u001b[0m\u001b[31m\n", + "\u001b[0mNote: you may need to restart the kernel to use updated packages.\n" + ] + } + ], + "source": [ + "%pip install --quiet gtsam-develop" + ] + }, + { + "cell_type": "code", + "execution_count": 34, + "metadata": {}, + "outputs": [], + "source": [ + "# pylint: disable=invalid-name, E1101\n", + "\n", + "import gtsam\n", + "from gtsam import Point2, Pose2, symbol\n", + "import numpy as np\n", + "import math\n", + "import time \n", + "import plotly.express as px\n", + "\n", + "from gtsam.utils import plot # Needs matplotlib\n", + "from numpy.random import default_rng\n", + "\n", + "rng = default_rng()\n", + "\n", + "NM = gtsam.noiseModel" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Load Data" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Read 4090 odometry entries.\n" + ] + } + ], + "source": [ + "# load the odometry\n", + "# DR: Odometry Input (delta distance traveled and delta heading change)\n", + "# Time (sec) Delta Distance Traveled (m) Delta Heading (rad)\n", + "odometry_data = {}\n", + "data_file_dr = gtsam.findExampleDataFile(\"Plaza2_DR.txt\")\n", + "odo_times_list = []\n", + "for row in np.loadtxt(data_file_dr):\n", + " t, distance_traveled, delta_heading = row\n", + " odometry_data[t] = Pose2(distance_traveled, 0, delta_heading)\n", + " odo_times_list.append(t)\n", + "\n", + "odo_times_list.sort() # Ensure times are sorted\n", + "M = len(odometry_data)\n", + "print(f\"Read {M} odometry entries.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 36, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Read 1816 range triples for 4 unique landmarks.\n" + ] + } + ], + "source": [ + "# load the ranges from TD\n", + "# Time (sec) Sender / Antenna ID Receiver Node ID Range (m)\n", + "triples = []\n", + "landmark_ids = set()\n", + "data_file_td = gtsam.findExampleDataFile(\"Plaza2_TD.txt\")\n", + "for row in np.loadtxt(data_file_td):\n", + " t, sender, receiver, _range = row\n", + " landmark_id = int(receiver)\n", + " triples.append((t, landmark_id, _range))\n", + " landmark_ids.add(landmark_id)\n", + "\n", + "K = len(triples)\n", + "sorted_landmark_ids = sorted(list(landmark_ids))\n", + "print(f\"Read {K} range triples for {len(landmark_ids)} unique landmarks.\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Set Parameters and Noise Models" + ] + }, + { + "cell_type": "code", + "execution_count": 37, + "metadata": {}, + "outputs": [], + "source": [ + "# parameters\n", + "sigmaR = 50 # range standard deviation (matches MATLAB)\n", + "sigmaInitialLandmark = 1.0 # Stddev for random landmark init (matches MATLAB)\n", + "robust = True" + ] + }, + { + "cell_type": "code", + "execution_count": 38, + "metadata": {}, + "outputs": [], + "source": [ + "# Set Noise parameters (mirrors MATLAB script)\n", + "priorSigmas = gtsam.Point3(1, 1, math.pi) # Prior on Pose 0\n", + "pointPriorSigmas = gtsam.Point2(1, 1) # Loose prior on landmarks\n", + "odoSigmas = gtsam.Point3(0.05, 0.01, 0.2) # Odometry noise\n", + "\n", + "priorNoise = NM.Diagonal.Sigmas(priorSigmas) # prior on pose 0\n", + "pointPriorNoise = NM.Diagonal.Sigmas(pointPriorSigmas) # loose LM prior\n", + "odoNoise = NM.Diagonal.Sigmas(odoSigmas) # odometry\n", + "\n", + "# Range noise\n", + "gaussian = NM.Isotropic.Sigma(1, sigmaR) # non-robust\n", + "base = NM.mEstimator.Tukey(15) # Tukey M-estimator like MATLAB\n", + "tukey = NM.Robust.Create(base, gaussian) # robust\n", + "rangeNoise = tukey if robust else gaussian" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Build Factor Graph and Initial Estimate" + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Initializing Landmarks...\n", + "Initialized 4 landmarks.\n" + ] + } + ], + "source": [ + "# Initialize Factor Graph and Initial Values\n", + "graph = gtsam.NonlinearFactorGraph()\n", + "initial = gtsam.Values()\n", + "\n", + "# Add prior on first pose\n", + "# Estimate pose0 from the first odometry time's neighborhood or use a fixed reasonable guess.\n", + "# Using the same value as the iSAM example for consistency.\n", + "pose0 = Pose2(-34.2086489999201, 45.3007639991120, math.pi - 2.021089)\n", + "graph.add(gtsam.PriorFactorPose2(0, pose0, priorNoise))\n", + "initial.insert(0, pose0)\n", + "\n", + "# Initialize Landmarks (similar to MATLAB approach)\n", + "print(\"Initializing Landmarks...\")\n", + "for j in sorted_landmark_ids:\n", + " landmark_key = symbol('L', j)\n", + " # Initialize randomly around origin (adjust scale if needed)\n", + " initial_point = Point2(sigmaInitialLandmark * rng.normal(), sigmaInitialLandmark * rng.normal())\n", + " initial.insert(landmark_key, initial_point)\n", + " # Optional: Add a loose prior to help localization if landmarks are poorly constrained\n", + " # graph.add(gtsam.PriorFactorPoint2(landmark_key, Point2(0,0), pointPriorNoise))\n", + "print(f\"Initialized {len(sorted_landmark_ids)} landmarks.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "Building Pose Chain and Odometry Factors...\n", + "Added 4090 odometry factors and initial pose estimates.\n" + ] + } + ], + "source": [ + "print(\"\\nBuilding Pose Chain and Odometry Factors...\")\n", + "lastPose = pose0\n", + "pose_times = [odo_times_list[0]] # Approximate time for pose 0\n", + "# Loop over odometry measurements\n", + "for i, t in enumerate(odo_times_list, 1):\n", + " # get odometry measurement for this time step\n", + " odometry = odometry_data[t]\n", + "\n", + " # add odometry factor\n", + " graph.add(gtsam.BetweenFactorPose2(i - 1, i, odometry, odoNoise))\n", + "\n", + " # predict pose and add as initial estimate\n", + " predictedPose = lastPose.compose(odometry)\n", + " lastPose = predictedPose\n", + " initial.insert(i, predictedPose)\n", + " pose_times.append(t)\n", + "\n", + "print(f\"Added {M} odometry factors and initial pose estimates.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "Adding Range Factors...\n", + "Added 1816 range factors.\n" + ] + } + ], + "source": [ + "print(\"\\nAdding Range Factors...\")\n", + "# Convert pose_times to numpy array for efficient search\n", + "pose_times_np = np.array(pose_times)\n", + "\n", + "# Add range factors\n", + "range_factors_added = 0\n", + "for t_range, landmark_id, measured_range in triples:\n", + " # Find the pose index active at the time of the range measurement\n", + " # Get the index of the *last* pose time that is <= t_range\n", + " pose_index = np.searchsorted(pose_times_np, t_range, side='right') - 1\n", + " \n", + " # Ensure pose_index is valid (it might be -1 if t_range is before the first odometry time)\n", + " if pose_index < 0:\n", + " # print(f\"Warning: Range measurement at time {t_range} is before the first pose time {pose_times_np[0]}. Skipping.\")\n", + " pose_index = 0 # Or skip the measurement\n", + "\n", + " landmark_key = symbol('L', landmark_id)\n", + " graph.add(gtsam.RangeFactor2D(pose_index, landmark_key, measured_range, rangeNoise))\n", + " range_factors_added += 1\n", + "\n", + "print(f\"Added {range_factors_added} range factors.\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Optimize the Factor Graph" + ] + }, + { + "cell_type": "code", + "execution_count": 42, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "Optimizing the factor graph...\n", + "Initial error: 2.9e+02, values: 4095\n", + "iter cost cost_change lambda success iter_time\n", + " 0 1.4e+05 -1.4e+05 1e-05 1 0.03\n", + "iter cost cost_change lambda success iter_time\n", + " 0 9.1e+03 -8.8e+03 0.0001 1 0.03\n", + "iter cost cost_change lambda success iter_time\n", + " 0 1.9e+02 1e+02 0.001 1 0.03\n", + " 1 2.7e+03 -2.5e+03 0.0001 1 0.03\n", + " 1 1.1e+02 86 0.001 1 0.02\n", + " 2 1.7e+03 -1.6e+03 0.0001 1 0.02\n", + " 2 85 22 0.001 1 0.03\n", + " 3 6.3e+02 -5.5e+02 0.0001 1 0.03\n", + " 3 76 8.4 0.001 1 0.02\n", + " 4 3.1e+02 -2.3e+02 0.0001 1 0.02\n", + " 4 68 8.6 0.001 1 0.03\n", + " 5 1.9e+02 -1.2e+02 0.0001 1 0.03\n", + " 5 55 13 0.001 1 0.03\n", + " 6 2.6e+02 -2e+02 0.0001 1 0.02\n", + " 6 39 16 0.001 1 0.02\n", + " 7 1.4e+02 -99 0.0001 1 0.04\n", + " 7 26 13 0.001 1 0.03\n", + " 8 94 -68 0.0001 1 0.03\n", + " 8 21 5.5 0.001 1 0.03\n", + " 9 63 -43 0.0001 1 0.02\n", + " 9 19 2.1 0.001 1 0.02\n", + " 10 46 -27 0.0001 1 0.02\n", + " 10 17 1.8 0.001 1 0.03\n", + " 11 35 -18 0.0001 1 0.03\n", + " 11 15 1.5 0.001 1 0.03\n", + " 12 27 -12 0.0001 1 0.03\n", + " 12 14 1.3 0.001 1 0.02\n", + " 13 22 -7.9 0.0001 1 0.02\n", + " 13 13 1.2 0.001 1 0.03\n", + " 14 18 -5.2 0.0001 1 0.03\n", + " 14 12 1 0.001 1 0.03\n", + " 15 15 -3.3 0.0001 1 0.03\n", + " 15 11 0.9 0.001 1 0.02\n", + " 16 13 -2 0.0001 1 0.02\n", + " 16 10 0.79 0.001 1 0.04\n", + " 17 11 -1.1 0.0001 1 0.03\n", + " 17 9.3 0.7 0.001 1 0.03\n", + " 18 9.8 -0.44 0.0001 1 0.03\n", + " 18 8.7 0.62 0.001 1 0.02\n", + " 19 8.7 0.023 0.0001 1 0.02\n", + " 20 67 -58 1e-05 1 0.02\n", + " 20 5 3.7 0.0001 1 0.03\n", + " 21 23 -18 1e-05 1 0.03\n", + " 21 3.5 1.4 0.0001 1 0.03\n", + " 22 9.4 -5.9 1e-05 1 0.03\n", + " 22 3 0.57 0.0001 1 0.03\n", + " 23 5 -2 1e-05 1 0.03\n", + " 23 2.6 0.34 0.0001 1 0.02\n", + " 24 3.3 -0.71 1e-05 1 0.02\n", + " 24 2.4 0.26 0.0001 1 0.03\n", + " 25 2.6 -0.19 1e-05 1 0.03\n", + " 25 2.2 0.21 0.0001 1 0.03\n", + " 26 2.1 0.034 1e-05 1 0.03\n", + " 27 3.7 -1.5 1e-06 1 0.03\n", + " 27 1.1 1 1e-05 1 0.02\n", + " 28 1.4 -0.24 1e-06 1 0.04\n", + " 28 0.93 0.2 1e-05 1 0.03\n", + " 29 0.96 -0.031 1e-06 1 0.04\n", + " 29 0.88 0.048 1e-05 1 0.09\n", + " 30 0.88 0.00063 1e-06 1 0.03\n", + "Optimization complete in 1.93 seconds.\n", + "Initial Error: 294.2927831483431\n", + "Final Error: 0.8771120075818397\n" + ] + } + ], + "source": [ + "# Graph built, optimize!\n", + "print(\"\\nOptimizing the factor graph...\")\n", + "start_time = time.time()\n", + "\n", + "params = gtsam.LevenbergMarquardtParams()\n", + "params.setRelativeErrorTol(1e-3) # Convergence tolerance\n", + "params.setVerbosityLM(\"SUMMARY\") # Print LM progress\n", + "optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params)\n", + "result = optimizer.optimize()\n", + "\n", + "end_time = time.time()\n", + "print(f\"Optimization complete in {end_time - start_time:.2f} seconds.\")\n", + "\n", + "print(f\"Initial Error: {graph.error(initial)}\")\n", + "print(f\"Final Error: {graph.error(result)}\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Print and Visualize Results" + ] + }, + { + "cell_type": "code", + "execution_count": 43, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "Optimized Landmark Locations:\n", + " L0: [-48.11741249 31.92467992]\n", + " L1: [-80.92811295 53.95372591]\n", + " L5: [-47.60339748 -19.97294509]\n", + " L6: [-17.70157972 66.35356579]\n" + ] + } + ], + "source": [ + "# Print optimized landmarks:\n", + "print(\"\\nOptimized Landmark Locations:\")\n", + "for j in [0, 1, 5, 6]: # Print specific landmarks like MATLAB example\n", + " if j in sorted_landmark_ids:\n", + " landmark_key = gtsam.symbol('L', j)\n", + " try:\n", + " p = result.atPoint2(landmark_key)\n", + " print(f\" L{j}: {p}\")\n", + " except Exception as e:\n", + " print(f\" L{j}: Not found in result ({e})\")\n", + " else:\n", + " print(f\" L{j}: Not present in TD data.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 44, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "Extracted 4091 final poses and 4 landmarks.\n" + ] + } + ], + "source": [ + "# Extract poses and landmarks for plotting\n", + "poses_result = gtsam.utilities.allPose2s(result)\n", + "landmarks_result = gtsam.utilities.extractPoint2(result)\n", + "positions_result = np.array([poses_result.atPose2(key).translation() \n", + " for key in range(M + 1)]) # Poses 0 to M\n", + "\n", + "# Also extract initial estimate poses (dead reckoning)\n", + "poses_initial = gtsam.utilities.allPose2s(initial)\n", + "positions_initial = np.array([poses_initial.atPose2(key).translation() \n", + " for key in range(M + 1)])\n", + "\n", + "print(f\"\\nExtracted {positions_result.shape[0]} final poses and {landmarks_result.shape[0]} landmarks.\")" + ] + }, + { + "cell_type": "code", + "execution_count": 45, + "metadata": {}, + "outputs": [ + { + "data": { + "application/vnd.plotly.v1+json": { + "config": { + "plotlyServerURL": "https://plot.ly" + }, + "data": [ + { + "hovertemplate": "x=%{x}
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"#E5ECF6", + "gridcolor": "white", + "gridwidth": 2, + "linecolor": "white", + "showbackground": true, + "ticks": "", + "zerolinecolor": "white" + }, + "zaxis": { + "backgroundcolor": "#E5ECF6", + "gridcolor": "white", + "gridwidth": 2, + "linecolor": "white", + "showbackground": true, + "ticks": "", + "zerolinecolor": "white" + } + }, + "shapedefaults": { + "line": { + "color": "#2a3f5f" + } + }, + "ternary": { + "aaxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + }, + "baxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + }, + "bgcolor": "#E5ECF6", + "caxis": { + "gridcolor": "white", + "linecolor": "white", + "ticks": "" + } + }, + "title": { + "x": 0.05 + }, + "xaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + }, + "yaxis": { + "automargin": true, + "gridcolor": "white", + "linecolor": "white", + "ticks": "", + "title": { + "standoff": 15 + }, + "zerolinecolor": "white", + "zerolinewidth": 2 + } + } + }, + "title": { + "text": "Plaza2 Batch SLAM Result" + }, + "xaxis": { + "anchor": "y", + "domain": [ + 0, + 1 + ], + "title": { + "text": "X (m)" + } + }, + "yaxis": { + "anchor": "x", + "domain": [ + 0, + 1 + ], + "scaleanchor": "x", + "scaleratio": 1, + "title": { + "text": "Y (m)" + } + } + } + } + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Plot using Plotly (similar to iSAM example)\n", + "fig = px.line(x=positions_initial[:,0], y=positions_initial[:,1], title='Plaza2 Batch SLAM Result')\n", + "fig.data[0].name = 'Initial (Odometry)'\n", + "fig.data[0].showlegend = True\n", + "fig.data[0].line.color = 'orange'\n", + "fig.data[0].line.dash = 'dash'\n", + "\n", + "fig.add_scatter(x=positions_result[:,0], y=positions_result[:,1], mode='lines', \n", + " line=dict(color='black'), name='Optimized Path')\n", + "\n", + "fig.add_scatter(x=landmarks_result[:,0], y=landmarks_result[:,1], mode='markers', \n", + " marker=dict(color='red', symbol='star', size=8), name='Landmarks')\n", + "\n", + "# Configure layout\n", + "fig.update_layout(margin=dict(l=20, r=20, t=40, b=20), \n", + " legend=dict(yanchor=\"top\", y=0.99, xanchor=\"left\", x=0.01),\n", + " xaxis_title=\"X (m)\", yaxis_title=\"Y (m)\")\n", + "fig.update_yaxes(scaleanchor=\"x\", scaleratio=1) # Ensure aspect ratio is 1:1\n", + "fig.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "py312", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.6" + }, + "orig_nbformat": 4 + }, + "nbformat": 4, + "nbformat_minor": 2 +}