68 lines
1.9 KiB
Python
Executable File
68 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python
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import os
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import sys
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import json
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datasets = ['Sequence', 'MH_01_easy', 'MH_02_easy', 'MH_03_medium', 'MH_04_difficult',
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'MH_05_difficult', 'V1_01_easy', 'V1_02_medium',
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'V1_03_difficult', 'V2_01_easy', 'V2_02_medium']
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# Other results.
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results_vio = ['VIO RMS ATE [m]']
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time_vio = ['VIO Time [s]']
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num_frames_vio = ['VIO Num. Frames']
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results_mapping = ['MAP RMS ATE [m]']
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time_mapping = ['MAP Time [s]']
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num_frames_mapping = ['MAP Num. KFs']
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out_dir = sys.argv[1]
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for key in datasets[1:]:
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fname = out_dir + '/vio_' + key
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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 = round(j['rms_ate'], 3)
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results_vio.append(float(res))
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time_vio.append(round(j['exec_time_ns']*1e-9, 3))
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num_frames_vio.append(j['num_frames'])
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else:
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results_vio.append(float('Inf'))
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time_vio.append(float('Inf'))
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num_frames_vio.append(float('Inf'))
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fname = out_dir + '/mapper_' + key
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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 = round(j['rms_ate'], 3)
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results_mapping.append(float(res))
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time_mapping.append(round(j['exec_time_ns']*1e-9, 3))
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num_frames_mapping.append(j['num_frames'])
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else:
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results_mapping.append(float('Inf'))
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time_mapping.append(float('Inf'))
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num_frames_mapping.append(float('Inf'))
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row_format ="{:>17}" * (len(datasets))
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print 'Visual-Inertial Odometry'
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print row_format.format(*datasets)
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print row_format.format(*results_vio)
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print row_format.format(*time_vio)
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print row_format.format(*num_frames_vio)
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print 'Visual-Inertial Mapping'
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print row_format.format(*datasets)
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print row_format.format(*results_mapping)
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print row_format.format(*time_mapping)
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print row_format.format(*num_frames_mapping)
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