83 lines
2.3 KiB
Python
Executable File
83 lines
2.3 KiB
Python
Executable File
#!/usr/bin/env python3
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#
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# BSD 3-Clause License
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#
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# This file is part of the Basalt project.
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# https://gitlab.com/VladyslavUsenko/basalt.git
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#
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# Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
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# All rights reserved.
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#
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import os
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import sys
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import json
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datasets = ['Seq.', '00', '02', '03','04', '05', '06','07', '08', '09', '10']
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lengths = [100, 200, 300, 400, 500, 600, 700, 800]
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# Other results.
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vo = {
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'trans_error': {},
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'rot_error': {}
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}
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for l in lengths:
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vo['trans_error'][l] = ['Trans. error [%] ' + str(l) + 'm.']
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vo['rot_error'][l] = ['Rot. error [deg/m] ' + str(l) + 'm.']
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out_dir = sys.argv[1]
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mean_values = {
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'mean_trans_error' : 0.0,
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'mean_rot_error' : 0.0,
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'total_num_meas' : 0.0
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}
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def load_data(x, prefix, key, mean_values):
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fname = out_dir + '/' + prefix + '_' + key + '.txt'
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if os.path.isfile(fname):
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with open(fname, 'r') as f:
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j = json.load(f)
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res = j['results']
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for v in lengths:
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num_meas = res[str(v)]['num_meas']
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trans_error = res[str(v)]['trans_error']
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rot_error = res[str(v)]['rot_error']
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x['trans_error'][int(v)].append(round(trans_error, 5))
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x['rot_error'][int(v)].append(round(rot_error, 5))
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if num_meas > 0:
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mean_values['mean_trans_error'] += trans_error*num_meas
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mean_values['mean_rot_error'] += rot_error*num_meas
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mean_values['total_num_meas'] += num_meas
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else:
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for v in lengths:
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x['trans_error'][int(v)].append(float('inf'))
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x['rot_error'][int(v)].append(float('inf'))
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for key in datasets[1:]:
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load_data(vo, 'rpe', key, mean_values)
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row_format ="{:>24}" + "{:>10}" * (len(datasets)-1)
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datasets_short = [x[:5] for x in datasets]
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print('\nVisual Odometry (Stereo)')
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print(row_format.format(*datasets_short))
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for l in lengths:
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print(row_format.format(*(vo['trans_error'][l])))
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print()
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for l in lengths:
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print(row_format.format(*(vo['rot_error'][l])))
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print('Mean translation error [%] ', mean_values['mean_trans_error']/mean_values['total_num_meas'])
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print('Mean rotation error [deg/m] ', mean_values['mean_rot_error']/mean_values['total_num_meas']) |