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Ivan
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src/kitti_eval.cpp
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src/kitti_eval.cpp
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/**
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BSD 3-Clause License
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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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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <CLI/CLI.hpp>
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#include <basalt/utils/sophus_utils.hpp>
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#include <cereal/archives/json.hpp>
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#include <cereal/types/string.hpp>
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namespace cereal {
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template <class Archive, class T, class C, class A>
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inline void save(Archive& ar, std::map<std::string, T, C, A> const& map) {
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for (const auto& i : map) ar(cereal::make_nvp(i.first, i.second));
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}
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template <class Archive, class T, class C, class A>
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inline void load(Archive& ar, std::map<std::string, T, C, A>& map) {
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map.clear();
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auto hint = map.begin();
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while (true) {
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const auto namePtr = ar.getNodeName();
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if (!namePtr) break;
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std::string key = namePtr;
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T value;
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ar(value);
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hint = map.emplace_hint(hint, std::move(key), std::move(value));
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}
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}
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} // namespace cereal
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Eigen::aligned_vector<Sophus::SE3d> load_poses(const std::string& path) {
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Eigen::aligned_vector<Sophus::SE3d> res;
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std::ifstream f(path);
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std::string line;
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while (std::getline(f, line)) {
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if (line[0] == '#') continue;
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std::stringstream ss(line);
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Eigen::Matrix3d rot;
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Eigen::Vector3d pos;
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ss >> rot(0, 0) >> rot(0, 1) >> rot(0, 2) >> pos[0] >> rot(1, 0) >>
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rot(1, 1) >> rot(1, 2) >> pos[1] >> rot(2, 0) >> rot(2, 1) >>
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rot(2, 2) >> pos[2];
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res.emplace_back(Eigen::Quaterniond(rot), pos);
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}
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return res;
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}
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void eval_kitti(const std::vector<double>& lengths,
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const Eigen::aligned_vector<Sophus::SE3d>& poses_gt,
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const Eigen::aligned_vector<Sophus::SE3d>& poses_result,
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std::map<std::string, std::map<std::string, double>>& res) {
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auto lastFrameFromSegmentLength = [](std::vector<float>& dist,
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int first_frame, float len) {
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for (int i = first_frame; i < (int)dist.size(); i++)
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if (dist[i] > dist[first_frame] + len) return i;
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return -1;
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};
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std::cout << "poses_gt.size() " << poses_gt.size() << std::endl;
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std::cout << "poses_result.size() " << poses_result.size() << std::endl;
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// pre-compute distances (from ground truth as reference)
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std::vector<float> dist_gt;
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dist_gt.emplace_back(0);
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for (size_t i = 1; i < poses_gt.size(); i++) {
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const auto& p1 = poses_gt[i - 1];
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const auto& p2 = poses_gt[i];
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dist_gt.emplace_back(dist_gt.back() +
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(p2.translation() - p1.translation()).norm());
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}
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const size_t step_size = 10;
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for (size_t i = 0; i < lengths.size(); i++) {
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// current length
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float len = lengths[i];
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double t_error_sum = 0;
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double r_error_sum = 0;
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int num_meas = 0;
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for (size_t first_frame = 0; first_frame < poses_gt.size();
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first_frame += step_size) {
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// for all segment lengths do
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// compute last frame
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int32_t last_frame =
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lastFrameFromSegmentLength(dist_gt, first_frame, len);
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// continue, if sequence not long enough
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if (last_frame == -1) continue;
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// compute rotational and translational errors
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Sophus::SE3d pose_delta_gt =
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poses_gt[first_frame].inverse() * poses_gt[last_frame];
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Sophus::SE3d pose_delta_result =
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poses_result[first_frame].inverse() * poses_result[last_frame];
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// Sophus::SE3d pose_error = pose_delta_result.inverse() * pose_delta_gt;
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double r_err = pose_delta_result.unit_quaternion().angularDistance(
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pose_delta_gt.unit_quaternion()) *
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180.0 / M_PI;
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double t_err =
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(pose_delta_result.translation() - pose_delta_gt.translation())
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.norm();
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t_error_sum += t_err / len;
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r_error_sum += r_err / len;
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num_meas++;
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}
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std::string len_str = std::to_string((int)len);
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res[len_str]["trans_error"] = 100.0 * t_error_sum / num_meas;
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res[len_str]["rot_error"] = r_error_sum / num_meas;
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res[len_str]["num_meas"] = num_meas;
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}
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}
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int main(int argc, char** argv) {
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std::vector<double> lengths = {100, 200, 300, 400, 500, 600, 700, 800};
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std::string result_path;
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std::string traj_path;
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std::string gt_path;
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CLI::App app{"KITTI evaluation"};
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app.add_option("--traj-path", traj_path,
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"Path to the file with computed trajectory.")
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->required();
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app.add_option("--gt-path", gt_path,
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"Path to the file with ground truth trajectory.")
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->required();
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app.add_option("--result-path", result_path, "Path to store the result file.")
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->required();
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app.add_option("--eval-lengths", lengths, "Trajectory length to evaluate.");
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try {
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app.parse(argc, argv);
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} catch (const CLI::ParseError& e) {
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return app.exit(e);
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}
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const Eigen::aligned_vector<Sophus::SE3d> poses_gt = load_poses(gt_path);
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const Eigen::aligned_vector<Sophus::SE3d> poses_result =
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load_poses(traj_path);
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if (poses_gt.empty() || poses_gt.size() != poses_result.size()) {
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std::cerr << "Wrong number of poses: poses_gt " << poses_gt.size()
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<< " poses_result " << poses_result.size() << std::endl;
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std::abort();
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}
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std::map<std::string, std::map<std::string, double>> res_map;
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eval_kitti(lengths, poses_gt, poses_result, res_map);
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{
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cereal::JSONOutputArchive ar(std::cout);
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ar(cereal::make_nvp("results", res_map));
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std::cout << std::endl;
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}
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if (!result_path.empty()) {
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std::ofstream os(result_path);
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{
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cereal::JSONOutputArchive ar(os);
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ar(cereal::make_nvp("results", res_map));
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}
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os.close();
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}
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}
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