594 lines
16 KiB
TOML
594 lines
16 KiB
TOML
[options]
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base_path = "$config_dir"
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output_path = "./tables/experiments-iccv"
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cache_dir = "./tables/cache"
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show_values_failed_runs = false
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screenread = true
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#overwrite_cache = true
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###################
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## abbreviate some sequence names for more compact tables / legends
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[seq_displayname_mapping]
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"tumvi-corridor1" = "tumvi-corr1"
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"tumvi-corridor2" = "tumvi-corr2"
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"tumvi-magistrale1" = "tumvi-mag1"
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"tumvi-magistrale2" = "tumvi-mag2"
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###################
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## define method names in table headers / legends globally
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[[substitutions]]
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DISPLAY_NAME_SQRTVIO64 = "$\\sqrt{VIO}$-64"
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DISPLAY_NAME_SQRTVIO32 = "$\\sqrt{VIO}$-32"
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DISPLAY_NAME_SQRTVO64 = "$\\sqrt{VO}$-64"
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DISPLAY_NAME_SQRTVO32 = "$\\sqrt{VO}$-32"
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DISPLAY_NAME_SQVIO64 = "$VIO$-64"
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DISPLAY_NAME_SQVIO32 = "$VIO$-32"
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DISPLAY_NAME_SQVO64 = "$VO$-64"
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DISPLAY_NAME_SQVO32 = "$VO$-32"
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###################
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## where to find experimental runs
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[[substitutions]]
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EXP_PATTERN_VIO = "01_iccv_all/*-*/vio_*/"
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EXP_PATTERN_VO = "01_iccv_all/*-*/vo_*/"
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#EXP_PATTERN_VIO = "02_iccv_runtime/*-*/vio_*/"
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#EXP_PATTERN_VO = "02_iccv_runtime/*-*/vo_*/"
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###################
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## which kind of plots to show
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[[substitutions]]
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SHOW_TRAJECTORY_PLOTS = true
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SHOW_EIGENVALUE_PLOTS = true
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SHOW_NULLSPACE_PLOTS = true
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###################
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## define which sequences to show in plots
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[[substitutions]]
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SEQUENCES_EUROC = [
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"eurocMH01",
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"eurocMH02",
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"eurocMH03",
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"eurocMH04",
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"eurocMH05",
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"eurocV101",
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"eurocV102",
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"eurocV103",
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"eurocV201",
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"eurocV202",
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]
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SEQUENCES_TUMVI = [
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"tumvi-corridor1",
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"tumvi-corridor2",
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"tumvi-magistrale1",
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"tumvi-magistrale2",
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"tumvi-room1",
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"tumvi-room2",
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"tumvi-slides1",
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"tumvi-slides2",
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]
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SEQUENCES_KITTI = [
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"kitti00",
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"kitti02",
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"kitti03",
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"kitti04",
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"kitti05",
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"kitti06",
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"kitti07",
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"kitti08",
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"kitti09",
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"kitti10",
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]
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###################
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## VIO experiments
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[[experiments]]
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name = "vio_sqrt-nsllt-qr-64"
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display_name = "${DISPLAY_NAME_SQRTVIO64}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sqrt-nsllt-qr_double_*"
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[[experiments]]
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name = "vio_sqrt-nsllt-qr-32"
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display_name = "${DISPLAY_NAME_SQRTVIO32}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sqrt-nsllt-qr_float_*"
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[[experiments]]
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name = "vio_sqrt-sc-sc-64"
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display_name = "${DISPLAY_NAME_SQRTVIO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sqrt-sc-sc_double_*"
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[[experiments]]
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name = "vio_sqrt-sc-sc-32"
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display_name = "${DISPLAY_NAME_SQRTVIO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sqrt-sc-sc_float_*"
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[[experiments]]
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name = "vio_sq-sc-sc-64"
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display_name = "${DISPLAY_NAME_SQVIO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sq-sc-sc_double_*"
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[[experiments]]
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name = "vio_sq-sc-sc-32"
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display_name = "${DISPLAY_NAME_SQVIO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VIO}/*_sq-sc-sc_float_*"
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###################
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## VIO experiments -- aliases with shorter display names for plots
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[[experiments]]
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name = "vio_sqrt-64"
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display_name = "${DISPLAY_NAME_SQRTVIO64}"
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extend = "vio_sqrt-nsllt-qr-64"
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[[experiments]]
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name = "vio_sqrt-32"
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display_name = "${DISPLAY_NAME_SQRTVIO32}"
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extend = "vio_sqrt-nsllt-qr-32"
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[[experiments]]
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name = "vio_sq-64"
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display_name = "${DISPLAY_NAME_SQVIO64}"
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extend = "vio_sq-sc-sc-64"
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[[experiments]]
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name = "vio_sq-32"
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display_name = "${DISPLAY_NAME_SQVIO32}"
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extend = "vio_sq-sc-sc-32"
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###################
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## VO experiments
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[[experiments]]
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name = "vo_sqrt-nsllt-qr-64"
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display_name = "${DISPLAY_NAME_SQRTVO64}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
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pattern = "${EXP_PATTERN_VO}/*_sqrt-nsllt-qr_double_*"
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[[experiments]]
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name = "vo_sqrt-nsllt-qr-32"
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display_name = "${DISPLAY_NAME_SQRTVO32}${}^{\\textrm{NS}}_{\\textrm{QR}}$"
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pattern = "${EXP_PATTERN_VO}/*_sqrt-nsllt-qr_float_*"
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[[experiments]]
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name = "vo_sqrt-sc-sc-64"
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display_name = "${DISPLAY_NAME_SQRTVO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VO}/*_sqrt-sc-sc_double_*"
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[[experiments]]
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name = "vo_sqrt-sc-sc-32"
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display_name = "${DISPLAY_NAME_SQRTVO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VO}/*_sqrt-sc-sc_float_*"
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[[experiments]]
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name = "vo_sq-sc-sc-64"
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display_name = "${DISPLAY_NAME_SQVO64}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VO}/*_sq-sc-sc_double_*"
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[[experiments]]
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name = "vo_sq-sc-sc-32"
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display_name = "${DISPLAY_NAME_SQVO32}${}^{\\textrm{SC}}_{\\textrm{SC}}$"
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pattern = "${EXP_PATTERN_VO}/*_sq-sc-sc_float_*"
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###################
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## VIO experiments -- aliases with shorter display names for plots
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[[experiments]]
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name = "vo_sqrt-64"
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display_name = "${DISPLAY_NAME_SQRTVO64}"
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extend = "vo_sqrt-nsllt-qr-64"
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[[experiments]]
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name = "vo_sqrt-32"
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display_name = "${DISPLAY_NAME_SQRTVO32}"
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extend = "vo_sqrt-nsllt-qr-32"
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[[experiments]]
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name = "vo_sq-64"
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display_name = "${DISPLAY_NAME_SQVO64}"
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extend = "vo_sq-sc-sc-64"
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[[experiments]]
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name = "vo_sq-32"
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display_name = "${DISPLAY_NAME_SQVO32}"
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extend = "vo_sq-sc-sc-32"
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Accuracy VIO & VO"
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show = true
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###################
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## accuracy results table for all VIO sequences
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[[results]]
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class = "results_table"
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name = "vio ate"
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show = true
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export_latex = "vio_ate"
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metrics_legend = false
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rotate_header = true
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escape_latex_header = false
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vertical_bars = false
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color_failed = ""
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filter_regex = "euroc|tumvi.*1|tumvi.*2"
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experiments = [
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"vio_sqrt-nsllt-qr-64",
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"vio_sqrt-nsllt-qr-32",
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"vio_sq-sc-sc-64",
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"vio_sq-sc-sc-32",
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]
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metrics = [
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"ate_rmse",
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]
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###################
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## accuracy results table for all VO sequences
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[[results]]
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class = "results_table"
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name = "vo ate"
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show = true
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export_latex = "vo_ate"
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metrics_legend = false
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rotate_header = true
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escape_latex_header = false
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vertical_bars = false
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color_failed = ""
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#filter_regex = "kitti00|kitti0[2-9]|kitti10"
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#filter_regex = "kitti"
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override_as_failed = ["kitti01"]
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experiments = [
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"vo_sqrt-nsllt-qr-64",
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"vo_sqrt-nsllt-qr-32",
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"vo_sq-sc-sc-64",
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"vo_sq-sc-sc-32",
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]
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metrics = [
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{name = "ate_rmse", failed_threshold = 100, decimals = 2},
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Runtime VIO & VO"
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show = true
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###################
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## runtime results table for all VIO sequences
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[[results]]
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class = "results_table"
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name = "vio time optimize / marginalize"
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show = true
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export_latex = "vio_runtime"
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metrics_legend = false
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rotate_header = true
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escape_latex_header = false
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vertical_bars = false
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color_failed = ""
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multirow = false
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filter_regex = "euroc|tumvi.*1|tumvi.*2"
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experiments = [
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"vio_sqrt-nsllt-qr-64",
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"vio_sqrt-nsllt-qr-32",
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"vio_sq-sc-sc-64",
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"vio_sq-sc-sc-32",
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]
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metrics = [
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{name = "time_opt", decimals = 1},
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{name = "time_marg", decimals = 1},
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]
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###################
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## runtime results table for all VO sequences
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[[results]]
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class = "results_table"
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name = "vo time optimize / marginalize"
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show = true
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export_latex = "vo_runtime"
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metrics_legend = false
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rotate_header = true
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escape_latex_header = false
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vertical_bars = false
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color_failed = ""
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multirow = false
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#filter_regex = "kitti00|kitti0[2-9]|kitti10"
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#filter_regex = "kitti"
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override_as_failed = ["kitti01"]
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experiments = [
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"vo_sqrt-nsllt-qr-64",
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"vo_sqrt-nsllt-qr-32",
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"vo_sq-sc-sc-64",
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"vo_sq-sc-sc-32",
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]
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metrics = [
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"time_opt",
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"time_marg",
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Ablation VIO & VO"
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show = true
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###################
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## ablation study table for VIO summarized over all EuRoC sequences
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[[results]]
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class = "summarize_sequences_table"
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name = "summary euroc ablation"
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export_latex = "vio_euroc_ablation"
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escape_latex_header = false
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filter_regex = "euroc"
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experiments = [
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"vio_sqrt-nsllt-qr-64",
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"vio_sqrt-nsllt-qr-32",
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"vio_sqrt-sc-sc-64",
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"vio_sqrt-sc-sc-32",
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]
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metrics = [
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{name = "ate_rmse", display_name = "ATE [m]", geometric_mean = false, decimals = 3},
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{name = "time_exec_realtimefactor", display_name = "real-time", geometric_mean = true, format_string = "{:.1f}x"},
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{name = "time_exec", display_name = "t total [s]", geometric_mean = false, decimals = 1},
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{name = "time_opt", display_name = "t opt [s]", geometric_mean = false, decimals = 1},
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{name = "time_marg", display_name = "t marg [s]", geometric_mean = false, decimals = 1},
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# {name = "time_marg", display_name = "t marg (frac. of meas)", relative_to_metric = "time_measure", geometric_mean = true, format_string = "{:.2f}"},
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# {name = "time_opt", display_name = "t opt (frac. of meas)", relative_to_metric = "time_measure", geometric_mean = true, format_string = "{:.2f}"},
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# {name = "time_marg", display_name = "t marg (frac. of total)", relative_to_metric = "time_exec", geometric_mean = true, format_string = "{:.2f}"},
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# {name = "time_opt", display_name = "t opt (frac. of total)", relative_to_metric = "time_exec", geometric_mean = true, format_string = "{:.2f}"},
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{name = "avg_num_it", display_name = "avg #it", geometric_mean = false, decimals = 1},
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{name = "avg_num_it_failed", display_name = "avg #it-failed", geometric_mean = false, decimals = 1},
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]
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###################
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## ablation study table for VO summarized over all Kitti sequences (w/o kitti01)
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[[results]]
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class = "summarize_sequences_table"
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name = "summary kitti (w/o kitti01) ablation"
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show = true
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export_latex = "vo_kitti_ablation"
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escape_latex_header = false
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filter_regex = "kitti00|kitti0[2-9]|kitti10"
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experiments = [
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"vo_sqrt-nsllt-qr-64",
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"vo_sqrt-nsllt-qr-32",
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"vo_sqrt-sc-sc-64",
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"vo_sqrt-sc-sc-32",
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]
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metrics = [
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{name = "ate_rmse", display_name = "ATE [m]", geometric_mean = false, decimals = 3},
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{name = "time_exec_realtimefactor", display_name = "real-time", geometric_mean = true, format_string = "{:.1f}x"},
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{name = "time_exec", display_name = "t total [s]", geometric_mean = false, decimals = 1},
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{name = "time_opt", display_name = "t opt [s]", geometric_mean = false, decimals = 1},
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{name = "time_marg", display_name = "t marg [s]", geometric_mean = false, decimals = 1},
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{name = "avg_num_it", display_name = "avg #it", geometric_mean = false, decimals = 1},
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{name = "avg_num_it_failed", display_name = "avg #it-failed", geometric_mean = false, decimals = 1},
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Trajectories EuRoC"
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show = "<SHOW_TRAJECTORY_PLOTS>"
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###################
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## template for trajectory plots for a set of sequences
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[[templates]]
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_name = "TRAJECTORY"
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_arguments = ["SEQUENCE", "EXPERIMENTS", "AXES"]
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class = "plot"
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name = "trajectory"
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type = "trajectory"
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figsize = [4.0,2.5]
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trajectory_axes = "<AXES>"
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sequence = "<SEQUENCE>"
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experiments = "<EXPERIMENTS>"
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###################
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## instantiate trajectory plot template for EuRoC
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[[results]]
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[results._template]
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_name = "TRAJECTORY"
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AXES = "xy"
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SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
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EXPERIMENTS = [
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"vio_sqrt-32",
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"vio_sq-32",
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Eigenvalues EuRoC"
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show = "<SHOW_EIGENVALUE_PLOTS>"
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###################
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## template for eigenvalue plots for a set of sequences
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[[templates]]
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_name = "EIGENVALUES"
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_arguments = ["SEQUENCE", "EXPERIMENTS"]
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class = "plot"
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type = "eigenvalues"
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name = "vio"
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#legend_loc = "upper left"
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#ylim.top = 1e6
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#ylim.bottom = -1e6
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sequence = "<SEQUENCE>"
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experiments = "<EXPERIMENTS>"
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###################
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## instantiate eigenvalue plot template for EuRoC
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[[results]]
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[results._template]
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_name = "EIGENVALUES"
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SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
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EXPERIMENTS = [
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"vio_sqrt-64",
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"vio_sqrt-32",
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"vio_sq-64",
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"vio_sq-32",
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Nullspace EuRoC"
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show = "<SHOW_NULLSPACE_PLOTS>"
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###################
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## template for nullspace plots for a set of sequences
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[[templates]]
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_name = "NULLSPACE"
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_arguments = ["SEQUENCE", "EXPERIMENTS"]
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class = "plot"
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type = "nullspace"
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name = "vio"
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#legend_loc = "lower right"
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sequence = "<SEQUENCE>"
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experiments = "<EXPERIMENTS>"
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###################
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## instantiate nullspace plot template for EuRoC
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[[results]]
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[results._template]
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_name = "NULLSPACE"
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SEQUENCE = {_argument = "product", _value = "<SEQUENCES_EUROC>"}
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EXPERIMENTS = [
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"vio_sqrt-64",
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"vio_sqrt-32",
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"vio_sq-64",
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"vio_sq-32",
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]
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################################################################################
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################################################################################
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[[results]]
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class = "section"
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name = "Trajectories TUMVI"
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show = "<SHOW_TRAJECTORY_PLOTS>"
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###################
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## instantiate trajectory plot template for TUMVI
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[[results]]
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[results._template]
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_name = "TRAJECTORY"
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AXES = "xy"
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SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
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EXPERIMENTS = [
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"vio_sqrt-32",
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"vio_sq-32",
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]
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|
|
|
|
|
################################################################################
|
|
################################################################################
|
|
[[results]]
|
|
class = "section"
|
|
name = "Eigenvalues TUMVI"
|
|
show = "<SHOW_EIGENVALUE_PLOTS>"
|
|
|
|
###################
|
|
## instantiate eigenvalue plot template for TUMVI
|
|
[[results]]
|
|
[results._template]
|
|
_name = "EIGENVALUES"
|
|
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
|
|
EXPERIMENTS = [
|
|
"vio_sqrt-64",
|
|
"vio_sqrt-32",
|
|
"vio_sq-64",
|
|
"vio_sq-32",
|
|
]
|
|
|
|
|
|
################################################################################
|
|
################################################################################
|
|
[[results]]
|
|
class = "section"
|
|
name = "Nullspace TUMVI"
|
|
show = "<SHOW_NULLSPACE_PLOTS>"
|
|
|
|
###################
|
|
## instantiate nullspace plot template for TUMVI
|
|
[[results]]
|
|
[results._template]
|
|
_name = "NULLSPACE"
|
|
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_TUMVI>"}
|
|
EXPERIMENTS = [
|
|
"vio_sqrt-64",
|
|
"vio_sqrt-32",
|
|
"vio_sq-64",
|
|
"vio_sq-32",
|
|
]
|
|
|
|
|
|
################################################################################
|
|
################################################################################
|
|
[[results]]
|
|
class = "section"
|
|
name = "Trajectories Kitti"
|
|
show = "<SHOW_TRAJECTORY_PLOTS>"
|
|
|
|
###################
|
|
## instantiate trajectory plot template for Kitti
|
|
[[results]]
|
|
[results._template]
|
|
_name = "TRAJECTORY"
|
|
AXES = "xz"
|
|
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
|
|
EXPERIMENTS = [
|
|
"vo_sqrt-32",
|
|
"vo_sq-32",
|
|
]
|
|
|
|
|
|
################################################################################
|
|
################################################################################
|
|
[[results]]
|
|
class = "section"
|
|
name = "Eigenvalues Kitti"
|
|
show = "<SHOW_EIGENVALUE_PLOTS>"
|
|
|
|
###################
|
|
## instantiate eigenvalue plot template for Kitti
|
|
[[results]]
|
|
[results._template]
|
|
_name = "EIGENVALUES"
|
|
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
|
|
EXPERIMENTS = [
|
|
"vo_sqrt-64",
|
|
"vo_sqrt-32",
|
|
"vo_sq-64",
|
|
"vo_sq-32",
|
|
]
|
|
|
|
|
|
################################################################################
|
|
################################################################################
|
|
[[results]]
|
|
class = "section"
|
|
name = "Nullspace Kitti"
|
|
show = "<SHOW_NULLSPACE_PLOTS>"
|
|
|
|
###################
|
|
## instantiate nullspace plot template for Kitti
|
|
[[results]]
|
|
[results._template]
|
|
_name = "NULLSPACE"
|
|
SEQUENCE = {_argument = "product", _value = "<SEQUENCES_KITTI>"}
|
|
EXPERIMENTS = [
|
|
"vo_sqrt-64",
|
|
"vo_sqrt-32",
|
|
"vo_sq-64",
|
|
"vo_sq-32",
|
|
]
|
|
|
|
|
|
|