caor-mines-paristech / ukfm Goto Github PK

Hi @mbrossar !!

Thank you for the amazing package!!

I was wondering if you could do an example with a basic 1d array time series.

Many thanks in advance,
Sincere best,
Andrew

Hi,

I am having Issue converting ENU format to lat long format. origin or reference GPS points is missing.
There's no kitti origin or reference GPS points provided. which is required for converting kitti GPS converted data(ie., in ENU format in KittiGps_converted.txt file) to lat long format. This is required for plotting the resulted trajectory. and also required to compare the stats of input sample data with my data

Could you please help me converting this.

1. Matrix dimensions must agree.
   Error in ukf_propagation (line 54)
   xis_new = xis_new - xi_mean; // xi_mean←xi_mean*ones(1,6)

   Error in ukf_propagation (line 73)
   xis_new = xis_new - xi_mean;// xi_mean←xi_mean*ones(1,6)

   Error in ukf_update (line 45)
   ys = ys - y_bar;// y_bar←y_bar*ones(1,6)

2. Error: File: localization_results_plot.m Line: 46 Column: 18
   The input character is not valid in MATLAB statements or expressions.
   if cur_folder == "matlab" //error

      end
   
   if cur_folder == "matlab" //error
      print(fig1, 'examples/html/figures/main_localization_01', '-dpng', '-r600')
      print(fig2, 'examples/html/figures/main_localization_02', '-dpng', '-r600')
      print(fig3, 'examples/html/figures/main_localization_03', '-dpng', '-r600')
    end
   

while importing import ukfm, faced the following error:

Traceback (most recent call last):
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/texmanager.py", line 235, in _run_checked_subprocess
stderr=subprocess.STDOUT)
File "/usr/lib/python3.7/subprocess.py", line 411, in check_output
**kwargs).stdout
File "/usr/lib/python3.7/subprocess.py", line 512, in run
output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command '['latex', '-interaction=nonstopmode', '--halt-on-error', '../8ddaeba802fcd44188b8e17db5f00669.tex']' returned non-zero exit status 1.

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
File "/home/m/Downloads/ukfm-master/imugnss.py", line 171, in
MODEL.plot_results(ukf_states, ys)
File "/home/m/Downloads/ukfm-master/ukfm/model/imugnss.py", line 435, in plot_results
plt.savefig("imu_gps.svg",dpi=300)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/pyplot.py", line 958, in savefig
res = fig.savefig(*args, **kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/figure.py", line 3019, in savefig
self.canvas.print_figure(fname, **kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/backend_bases.py", line 2325, in print_figure
**kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/backend_bases.py", line 1648, in wrapper
return func(*args, **kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/_api/deprecation.py", line 386, in wrapper
return func(*inner_args, **inner_kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/_api/deprecation.py", line 412, in wrapper
return func(*inner_args, **inner_kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/backends/backend_svg.py", line 1333, in print_svg
self.figure.draw(renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/artist.py", line 73, in draw_wrapper
result = draw(artist, renderer, *args, **kwargs)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/artist.py", line 50, in draw_wrapper
return draw(artist, renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/figure.py", line 2811, in draw
renderer, self, artists, self.suppressComposite)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/image.py", line 132, in _draw_list_compositing_images
a.draw(renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/artist.py", line 50, in draw_wrapper
return draw(artist, renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/axes/_base.py", line 3046, in draw
self._update_title_position(renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/axes/_base.py", line 2996, in _update_title_position
if title.get_window_extent(renderer).ymin < top:
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/text.py", line 910, in get_window_extent
bbox, info, descent = self._get_layout(self._renderer)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/text.py", line 311, in _get_layout
ismath="TeX" if self.get_usetex() else False)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/backends/backend_svg.py", line 1276, in get_text_width_height_descent
return self._text2path.get_text_width_height_descent(s, prop, ismath)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/textpath.py", line 51, in get_text_width_height_descent
renderer=None)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/texmanager.py", line 335, in get_text_width_height_descent
dvifile = self.make_dvi(tex, fontsize)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/texmanager.py", line 273, in make_dvi
f"../{texfile.name}"], tex, cwd=tmpdir)
File "/home/m/.local/lib/python3.7/site-packages/matplotlib/texmanager.py", line 248, in _run_checked_subprocess
exc=exc.output.decode('utf-8'))) from exc
RuntimeError: latex was not able to process the following string:
b'lp'

Here is the full report generated by latex:
This is pdfTeX, Version 3.14159265-2.6-1.40.18 (TeX Live 2017/Debian) (preloaded format=latex)
restricted \write18 enabled.
entering extended mode
(../8ddaeba802fcd44188b8e17db5f00669.tex
LaTeX2e <2017-04-15>
Babel <3.18> and hyphenation patterns for 84 language(s) loaded.
(/usr/share/texlive/texmf-dist/tex/latex/base/article.cls
Document Class: article 2014/09/29 v1.4h Standard LaTeX document class
(/usr/share/texlive/texmf-dist/tex/latex/base/size10.clo))
(/usr/share/texlive/texmf-dist/tex/latex/type1cm/type1cm.sty)
(/usr/share/texmf/tex/latex/cm-super/type1ec.sty
(/usr/share/texlive/texmf-dist/tex/latex/base/t1cmr.fd))
(/usr/share/texlive/texmf-dist/tex/latex/base/inputenc.sty
(/usr/share/texlive/texmf-dist/tex/latex/base/utf8.def
(/usr/share/texlive/texmf-dist/tex/latex/base/t1enc.dfu)
(/usr/share/texlive/texmf-dist/tex/latex/base/ot1enc.dfu)
(/usr/share/texlive/texmf-dist/tex/latex/base/omsenc.dfu)))
! Undefined control sequence.
\ ->\let \reserved@e
\relax \let \reserved@f \relax @ifstar {\let \reserv...
l.9 ...package{amsmath}', '\usepackage{amssymb}']

No pages of output.
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