Updated visualization in GUI

ctu-vras · Mar 18, 2022 · 5f45c01 · 5f45c01
1 parent 08bd148
commit 5f45c01
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Showing 9 changed files with 32 additions and 24 deletions.
diff --git a/@Robot/getResultKinematics.m b/@Robot/getResultKinematics.m
@@ -66,7 +66,9 @@
         end
         mResults = results.(fnames{field});
         % corrections = results - default 
+
         corrs.(fnames{field}) = zeros(size(mResults));
+
         corrs.(fnames{field})(:,1:3,:,:) = mResults(:,1:3,:,:)/optim.unitsCoef-robot.structure.kinematics.(fnames{field})(:,1:3,1); 
         corrs.(fnames{field})(:,4:6,:,:) = mResults(:,4:6,:,:)-robot.structure.kinematics.(fnames{field})(:,4:6,1);
         % wrap to [-pi,pi]

diff --git a/@Robot/prepareDataset.m b/@Robot/prepareDataset.m
@@ -81,10 +81,11 @@
                     camFrames = [camFrames{:}];
                     uniqueFrames = [uniqueFrames; {camFrames.name}'];
                 end
-                if isstruct(datasets.(part){dataset}.rtMat)
+                if isfield(datasets.(part){dataset}, 'rtMat') && isstruct(datasets.(part){dataset}.rtMat)
                     rtFields = fieldnames(datasets.(part){dataset}.rtMat)';
                 else
                     rtFields = {};
+                    datasets.(part){dataset}.rtMat = [];
                 end
                 % Preallocate arrays
                 links(length(datasets.(part){dataset}.frame), 1) = Link();

diff --git a/Calib/errors_fcn.m b/Calib/errors_fcn.m
@@ -98,8 +98,8 @@
         end
     end
     % concat all results into output variable, with right scalling
-    error_vec = [(distances - refDist)*approach.selftouch, ...
-        plane_distances*approach.planes, dist_from_ext*approach.external, ...
-        proj_dist*approach.projection];
+    error_vec = [reshape((distances - refDist)*approach.selftouch, 1, []), ...
+        reshape(plane_distances*approach.planes, 1, []), reshape(dist_from_ext*approach.external, 1, []), ...
+        reshape(proj_dist*approach.projection, 1, [])];
 end
 
diff --git a/MRC.mlappinstall b/MRC.mlappinstall
diff --git a/UserData/Robots/iCub/loadDatasetICub.m b/UserData/Robots/iCub/loadDatasetICub.m
@@ -43,6 +43,9 @@
             nmbPoses = length(idxs);
         else
             nmbPoses = varargin{1};
+            if ischar(nmbPoses)
+                nmbPoses = str2double(nmbPoses);
+            end
         end
         data2(nmbPoses+1:end,:) = [];
         eyeAngle = data2(:,29)/2;
@@ -111,7 +114,7 @@
                 dataset2.cameras(:,2) = 1;
             end
             cam_frames = robot.findLinkByType('eye');
-            dh_pars = robot.structure.defaultKinematics;
+            dh_pars = robot.structure.kinematics;
             right_finger = robot.findLink('rightHandFinger');
             left_finger = robot.findLink('leftHandFinger');
             parents = struct('rightArm', robot.links{3}, 'leftArm', robot.links{3}, 'torso', robot.links{1}, ...

diff --git a/Visualisation/plotErrorBars.m b/Visualisation/plotErrorBars.m
@@ -63,17 +63,18 @@ function plotErrorBars(folders,varargin)
         errors=errors.errors;
         optim = info.optim;
         if strcmp(units,'m') &&  strcmp(optim.units,'mm')
-            const = 0.001;
+            const = repmat(0.001, 1, 8);
         elseif strcmp(units,'mm') &&  strcmp(optim.units,'m')
-            const = 1000;
+            const = repmat(1000, 1, 8);
         else
-            const = 1;
+            const = ones(1, 8);
         end
+        const(end-1:end) = 1;
         for l = 1:numLines
-            mins(l, fi) = min(errors(lines(l),  optim.repetitions*(pert-1)+(1:optim.repetitions)))*const;
-            maxs(l, fi) = max(errors(lines(l), optim.repetitions*(pert-1)+(1:optim.repetitions)))*const;
-            means(l, fi) = mean(errors(lines(l), optim.repetitions*(pert-1)+(1:optim.repetitions)))*const;
-            stds(l, fi) = std(errors(lines(l),  optim.repetitions*(pert-1)+(1:optim.repetitions)))*const;
+            mins(l, fi) = min(errors(lines(l),  optim.repetitions*(pert-1)+(1:optim.repetitions)))*const(l);
+            maxs(l, fi) = max(errors(lines(l), optim.repetitions*(pert-1)+(1:optim.repetitions)))*const(l);
+            means(l, fi) = mean(errors(lines(l), optim.repetitions*(pert-1)+(1:optim.repetitions)))*const(l);
+            stds(l, fi) = std(errors(lines(l),  optim.repetitions*(pert-1)+(1:optim.repetitions)))*const(l);
         end
     end
 

diff --git a/Visualisation/plotErrorsBoxplots.m b/Visualisation/plotErrorsBoxplots.m
@@ -96,11 +96,12 @@ function plotErrorsBoxplots(folders,varargin)
         robot=info.rob;
         if strcmp(errorsType,'errors')
             % get cellArray from arrays
-            distsTs = num2cell(errors(13:16,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const,2);
+            distsTs = num2cell([errors(13:15,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const; errors(16,(pert-1)*optim.repetitions+(1:optim.repetitions))],2);
+
             if p.Results.train
-                distsTr = num2cell(errors(5:8,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const,2);
+                distsTr = num2cell([errors(5:7,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const;errors(8,(pert-1)*optim.repetitions+(1:optim.repetitions))],2);
             else
-                distsTr = num2cell(errors(9:12,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const,2);
+                distsTr = num2cell([errors(9:11,(pert-1)*optim.repetitions+(1:optim.repetitions)).*const; errors(12,(pert-1)*optim.repetitions+(1:optim.repetitions))],2);
             end
         else
             distsTs=cell(4,1);
@@ -203,7 +204,7 @@ function plotErrorsBoxplots(folders,varargin)
     ax.XAxis.TickLabelInterpreter = 'latex';
     ax.YAxis.TickLabelInterpreter = 'latex';
     xlabel('Dataset');
-    ylabel(['Error [',units,']']);
+    ylabel(['Error [',units,'/px]']);
     title('Comparison of RMS errors')
     %get y limits for lines
     yl=ylim;

diff --git a/Visualisation/plotErrorsHistogram.m b/Visualisation/plotErrorsHistogram.m
@@ -58,12 +58,13 @@ function plotErrorsHistogram(folder,varargin)
     errors=errors.errorsAll;
     optim = info.optim;
     if strcmp(units,'m') &&  strcmp(optim.units,'mm')
-        const = 0.001;
+        const = repmat(0.001, 1, 4);
     elseif strcmp(units,'mm') &&  strcmp(optim.units,'m')
-        const = 1000;
+        const = repmat(1000, 1, 4);
     else
-        const = 1;
+        const = ones(1, 4);
     end
+    const(end) = 1;
     robot=info.rob;
     distsTs=cell(4,1);
     distsTr=cell(4,1);
@@ -74,14 +75,14 @@ function plotErrorsHistogram(folder,varargin)
             distsTr{i,:}=[distsTr{i,:};nan];
         else
             dist=[errors{12+i}{(pert-1)*optim.repetitions+(1:optim.repetitions)}];
-            distsTs{i,:}=[distsTs{i,:};(dist(:)').*const];
+            distsTs{i,:}=[distsTs{i,:};(dist(:)').*const(i)];
             dist=[errors{4+i}{(pert-1)*optim.repetitions+(1:optim.repetitions)}];
-            distsTs{i,:}=[distsTs{i,:},(dist(:)').*const];
+            distsTs{i,:}=[distsTs{i,:},(dist(:)').*const(i)];
 
             dist=[errors{0+i}{(pert-1)*optim.repetitions+(1:optim.repetitions)}];
-            distsTr{i,:}=[distsTr{i,:};(dist(:)').*const];
+            distsTr{i,:}=[distsTr{i,:};(dist(:)').*const(i)];
             dist=[errors{8+i}{(pert-1)*optim.repetitions+(1:optim.repetitions)}];
-            distsTr{i,:}=[distsTr{i,:},(dist(:)').*const];
+            distsTr{i,:}=[distsTr{i,:},(dist(:)').*const(i)];
         end
     end
 
@@ -95,7 +96,6 @@ function plotErrorsHistogram(folder,varargin)
     optTypes2={'Selftouch Before', 'Planes Before', 'External Before', 'Projection Before'};
     colorTypes=[[233,114,77]; [214,215,39]; [149,196,243]; [121,204,179]]./255;
     colorTypes2=[[33,114,177]; [14,215,39]; [0,0,0]; [255,0,255]]./255;
-
     for i=1:4
         % if values for given calibration type
         if any(~isnan(distsTr{i,:}))

diff --git a/gui.mlapp b/gui.mlapp