basalt/scripts/eval_full/gen_results_kitti.py

74 lines
2.1 KiB
Python
Executable File

#!/usr/bin/env python3
import os
import sys
import json
datasets = ['Seq.', '00', '02', '03','04', '05', '06','07', '08', '09', '10']
lengths = [100, 200, 300, 400, 500, 600, 700, 800]
# Other results.
vo = {
'trans_error': {},
'rot_error': {}
}
for l in lengths:
vo['trans_error'][l] = ['Trans. error [%] ' + str(l) + 'm.']
vo['rot_error'][l] = ['Rot. error [deg/m] ' + str(l) + 'm.']
out_dir = sys.argv[1]
mean_values = {
'mean_trans_error' : 0.0,
'mean_rot_error' : 0.0,
'total_num_meas' : 0.0
}
def load_data(x, prefix, key, mean_values):
fname = out_dir + '/' + prefix + '_' + key + '.txt'
if os.path.isfile(fname):
with open(fname, 'r') as f:
j = json.load(f)
res = j['results']
for v in lengths:
num_meas = res[str(v)]['num_meas']
trans_error = res[str(v)]['trans_error']
rot_error = res[str(v)]['rot_error']
x['trans_error'][int(v)].append(round(trans_error, 5))
x['rot_error'][int(v)].append(round(rot_error, 5))
if num_meas > 0:
mean_values['mean_trans_error'] += trans_error*num_meas
mean_values['mean_rot_error'] += rot_error*num_meas
mean_values['total_num_meas'] += num_meas
else:
for v in lengths:
x['trans_error'][int(v)].append(float('inf'))
x['rot_error'][int(v)].append(float('inf'))
for key in datasets[1:]:
load_data(vo, 'rpe', key, mean_values)
row_format ="{:>24}" + "{:>10}" * (len(datasets)-1)
datasets_short = [x[:5] for x in datasets]
print('\nVisual Odometry (Stereo)')
print(row_format.format(*datasets_short))
for l in lengths:
print(row_format.format(*(vo['trans_error'][l])))
print()
for l in lengths:
print(row_format.format(*(vo['rot_error'][l])))
print('Mean translation error [%] ', mean_values['mean_trans_error']/mean_values['total_num_meas'])
print('Mean rotation error [deg/m] ', mean_values['mean_rot_error']/mean_values['total_num_meas'])