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Added evaluation for pose-graph optimization

This commit is contained in:
Vladyslav Usenko 2019-07-29 16:56:22 +02:00
parent ebde229f39
commit e3237cf8cb
2 changed files with 62 additions and 43 deletions
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101
scripts/eval_full/gen_results.py
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@ -5,63 +5,78 @@ import sys
import json import json
datasets = ['Sequence', 'MH_01_easy', 'MH_02_easy', 'MH_03_medium', 'MH_04_difficult', datasets = ['Seq.', 'MH_01_easy', 'MH_02_easy', 'MH_03_medium', 'MH_04_difficult',
'MH_05_difficult', 'V1_01_easy', 'V1_02_medium', 'MH_05_difficult', 'V1_01_easy', 'V1_02_medium',
'V1_03_difficult', 'V2_01_easy', 'V2_02_medium'] 'V1_03_difficult', 'V2_01_easy', 'V2_02_medium']
# Other results. # Other results.
results_vio = ['VIO RMS ATE [m]']
time_vio = ['VIO Time [s]']
num_frames_vio = ['VIO Num. Frames']
results_mapping = ['MAP RMS ATE [m]']
time_mapping = ['MAP Time [s]'] vio = {
num_frames_mapping = ['MAP Num. KFs'] 'ate' : ['VIO RMS ATE [m]'],
'time' : ['VIO Time [s]'],
'num_frames' : ['VIO Num. Frames']
}
mapping = {
'ate' : ['MAP RMS ATE [m]'],
'time' : ['MAP Time [s]'],
'num_frames' : ['MAP Num. KFs']
}
pose_graph = {
'ate' : ['PG RMS ATE [m]'],
'time' : ['PG Time [s]'],
'num_frames' : ['PG Num. KFs']
}
out_dir = sys.argv[1] out_dir = sys.argv[1]
def load_data(x, prefix, key):
fname = out_dir + '/' + prefix + '_' + key
if os.path.isfile(fname):
with open(fname, 'r') as f:
j = json.load(f)
res = round(j['rms_ate'], 3)
x['ate'].append(float(res))
x['time'].append(round(j['exec_time_ns']*1e-9, 3))
x['num_frames'].append(j['num_frames'])
else:
x['ate'].append(float('Inf'))
x['time'].append(float('Inf'))
x['num_frames'].append(float('Inf'))
for key in datasets[1:]: for key in datasets[1:]:
fname = out_dir + '/vio_' + key load_data(vio, 'vio', key)
if os.path.isfile(fname): load_data(mapping, 'mapper', key)
with open(fname, 'r') as f: load_data(pose_graph, 'mapper_no_weights', key)
j = json.load(f)
res = round(j['rms_ate'], 3)
results_vio.append(float(res))
time_vio.append(round(j['exec_time_ns']*1e-9, 3))
num_frames_vio.append(j['num_frames'])
else:
results_vio.append(float('Inf'))
time_vio.append(float('Inf'))
num_frames_vio.append(float('Inf'))
fname = out_dir + '/mapper_' + key
if os.path.isfile(fname):
with open(fname, 'r') as f:
j = json.load(f)
res = round(j['rms_ate'], 3)
results_mapping.append(float(res))
time_mapping.append(round(j['exec_time_ns']*1e-9, 3))
num_frames_mapping.append(j['num_frames'])
else:
results_mapping.append(float('Inf'))
time_mapping.append(float('Inf'))
num_frames_mapping.append(float('Inf'))
row_format ="{:>17}" * (len(datasets))
print 'Visual-Inertial Odometry' row_format ="{:>17}" + "{:>13}" * (len(datasets)-1)
print row_format.format(*datasets)
print row_format.format(*results_vio) datasets_short = [x[:5] for x in datasets]
print row_format.format(*time_vio)
print row_format.format(*num_frames_vio)
print 'Visual-Inertial Mapping' print '\nVisual-Inertial Odometry'
print row_format.format(*datasets) print row_format.format(*datasets_short)
print row_format.format(*results_mapping) print row_format.format(*vio['ate'])
print row_format.format(*time_mapping) print row_format.format(*vio['time'])
print row_format.format(*num_frames_mapping) print row_format.format(*vio['num_frames'])
print '\nVisual-Inertial Mapping'
print row_format.format(*datasets_short)
print row_format.format(*mapping['ate'])
print row_format.format(*mapping['time'])
print row_format.format(*mapping['num_frames'])
print '\nPose-Graph optimization (Identity weights for all factors)'
print row_format.format(*datasets_short)
print row_format.format(*pose_graph['ate'])
print row_format.format(*pose_graph['time'])
print row_format.format(*pose_graph['num_frames'])

4
scripts/eval_full/run_evaluations.sh
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@ -20,6 +20,10 @@ for d in ${DATASETS[$CI_NODE_INDEX-1]}; do
basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config.json --marg-data eval_tmp_marg_data \ basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config.json --marg-data eval_tmp_marg_data \
--result-path $folder_name/mapper_$d --result-path $folder_name/mapper_$d
basalt_mapper --show-gui 0 --cam-calib /usr/etc/basalt/euroc_eucm_calib.json --config-path /usr/etc/basalt/euroc_config_no_weights.json --marg-data eval_tmp_marg_data \
--result-path $folder_name/mapper_no_weights_$d
rm -rf eval_tmp_marg_data rm -rf eval_tmp_marg_data
done done