v01

scripts/eval_full/gen_results_tumvi.py

@@ -0,0 +1,62 @@
+#!/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.', 'dataset-corridor1_512_16', 'dataset-magistrale1_512_16', 'dataset-room1_512_16', 'dataset-slides1_512_16']
+
+# Other results.
+
+
+vio = {
+'ate' : ['VIO RMS ATE [m]'],
+'time' : ['VIO Time [s]'],
+'num_frames' : ['VIO Num. Frames']
+}
+
+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)
+
+
+row_format ="{:>17}" + "{:>13}" * (len(datasets)-1)
+
+datasets_short = [x[8:].split('_')[0] 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']))
+
+
+
+