v01

scripts/eval_full/gen_results.py

@@ -0,0 +1,107 @@
+#!/usr/bin/env python3
+#
+# BSD 3-Clause License
+#
+# This file is part of the Basalt project.
+# https://gitlab.com/VladyslavUsenko/basalt.git
+#
+# Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
+# All rights reserved.
+#
+
+import os
+import sys
+import json
+
+
+datasets = ['Seq.', 'MH_01_easy', 'MH_02_easy', 'MH_03_medium', 'MH_04_difficult',
+'MH_05_difficult', 'V1_01_easy', 'V1_02_medium',
+'V1_03_difficult', 'V2_01_easy', 'V2_02_medium']
+
+
+# Other results.
+
+
+vio = {
+'ate' : ['VIO RMS ATE [m]'],
+'time' : ['VIO Time [s]'],
+'num_frames' : ['VIO Num. Frames']
+}
+
+mapping = {
+'ate' : ['MAP RMS ATE [m]'],
+'time' : ['MAP Time [s]'],
+'num_frames' : ['MAP Num. KFs']
+}
+
+pose_graph = {
+'ate' : ['PG RMS ATE [m]'],
+'time' : ['PG Time [s]'],
+'num_frames' : ['PG Num. KFs']
+}
+
+pure_ba = {
+'ate' : ['PG RMS ATE [m]'],
+'time' : ['PG Time [s]'],
+'num_frames' : ['PG Num. KFs']
+}
+
+out_dir = sys.argv[1]
+
+def load_data(x, prefix, key):
+    fname = out_dir + '/' + prefix + '_' + key
+    if os.path.isfile(fname): 
+        with open(fname, 'r') as f:
+            j = json.load(f)
+            res = round(j['rms_ate'], 3)
+            x['ate'].append(float(res))
+            x['time'].append(round(j['exec_time_ns']*1e-9, 3))
+            x['num_frames'].append(j['num_frames'])
+    else:
+        x['ate'].append(float('Inf'))
+        x['time'].append(float('Inf'))
+        x['num_frames'].append(float('Inf'))
+
+
+for key in datasets[1:]:
+    load_data(vio, 'vio', key)
+    load_data(mapping, 'mapper', key)
+    load_data(pose_graph, 'mapper_no_weights', key)
+    load_data(pure_ba, 'mapper_no_factors', key)
+
+
+row_format ="{:>17}" + "{:>13}" * (len(datasets)-1)
+
+datasets_short = [x[:5] for x in datasets]
+
+print('\nVisual-Inertial Odometry')
+print(row_format.format(*datasets_short))
+
+print(row_format.format(*vio['ate']))
+#print(row_format.format(*vio['time']))
+print(row_format.format(*vio['num_frames']))
+
+print('\nVisual-Inertial Mapping')
+print(row_format.format(*datasets_short))
+
+print(row_format.format(*mapping['ate']))
+#print(row_format.format(*mapping['time']))
+print(row_format.format(*mapping['num_frames']))
+
+
+print('\nPose-Graph optimization (Identity weights for all factors)')
+print(row_format.format(*datasets_short))
+
+print(row_format.format(*pose_graph['ate']))
+#print(row_format.format(*pose_graph['time']))
+print(row_format.format(*pose_graph['num_frames']))
+
+
+print('\nPure BA optimization (no factors from the recovery used)')
+print(row_format.format(*datasets_short))
+
+print(row_format.format(*pure_ba['ate']))
+#print(row_format.format(*pure_ba['time']))
+print(row_format.format(*pure_ba['num_frames']))
+
+