def saveErrors(self):
if self.n_traj == 0:
return
abs_fn = os.path.join(self.save_results_dir,
'mt_abs_err_' + self.align_str + '.yaml')
for et, label in zip(self.kAbsMetrics, self.kAbsMetricLabels):
rw.update_and_save_stats(self.abs_errors[et + '_stats'], label,
abs_fn)
np.savetxt(
os.path.join(self.save_results_dir,
'mt_' + et + '_all_' + self.align_str + '.txt'),
np.array(self.abs_errors[et]))
for dist in self.rel_errors:
cur_err = self.rel_errors[dist]
dist_str = "{:3.1f}".format(dist).replace('.', '_')
dist_fn = os.path.join(self.save_results_dir,
'mt_rel_err_' + dist_str + '.yaml')
for et, label in zip(kRelMetrics, kRelMetricLables):
rw.update_and_save_stats(cur_err[et + '_stats'], label,
dist_fn)
overall_rel_fn = os.path.join(self.save_results_dir,
'mt_rel_err_overall' + '.yaml')
for et, label in zip(kRelMetrics, kRelMetricLables):
rw.update_and_save_stats(self.overall_rel_errors[et], label,
overall_rel_fn)
np.savetxt(os.path.join(self.save_results_dir,
'mt_success_indices' + '.txt'),
np.array(self.success_indices).astype(int),
fmt='%i')
def write_errors_to_yaml(self):
self.abs_err_stats_fn = os.path.join(
self.saved_results_dir, 'absolute_err_statistics' + '_' +
self.align_str + self.suffix_str + '.yaml')
res_writer.update_and_save_stats(self.abs_errors['abs_e_trans_stats'],
'trans', self.abs_err_stats_fn)
res_writer.update_and_save_stats(self.abs_errors['abs_e_rot_stats'],
'rot', self.abs_err_stats_fn)
res_writer.update_and_save_stats(self.abs_errors['abs_e_scale_stats'],
'scale', self.abs_err_stats_fn)
self.rel_error_stats_fns = []
for dist in self.rel_errors:
cur_err = self.rel_errors[dist]
dist_str = "{:3.1f}".format(dist).replace('.', '_')
dist_fn = os.path.join(
self.saved_results_dir, Trajectory.rel_error_prefix +
dist_str + self.suffix_str + '.yaml')
for et, label in zip(kRelMetrics, kRelMetricLables):
res_writer.update_and_save_stats(cur_err[et + '_stats'], label,
dist_fn)
self.rel_error_stats_fns.append(dist_fn)
def write_errors_to_yaml(self):
self.abs_err_stats_fn = os.path.join(
self.saved_results_dir, 'absolute_err_statistics'+'_' +
self.align_str+'.yaml')
res_writer.update_and_save_stats(
self.abs_errors['abs_e_trans_stats'], 'trans',
self.abs_err_stats_fn)
res_writer.update_and_save_stats(
self.abs_errors['abs_e_rot_stats'], 'rot',
self.abs_err_stats_fn)
res_writer.update_and_save_stats(
self.abs_errors['abs_e_scale_stats'], 'scale',
self.abs_err_stats_fn)
self.rel_error_stats_fns = []
for dist in self.rel_errors:
cur_err = self.rel_errors[dist]
dist_str = "{:3.1f}".format(dist).replace('.', '_')
dist_fn = os.path.join(
self.saved_results_dir,
Trajectory.rel_error_prefix+dist_str+'.yaml')
res_writer.update_and_save_stats(
cur_err['rel_trans_stats'], 'trans', dist_fn)
res_writer.update_and_save_stats(
cur_err['rel_rot_stats'], 'rot', dist_fn)
res_writer.update_and_save_stats(
cur_err['rel_trans_perc_stats'], 'trans_perc', dist_fn)
res_writer.update_and_save_stats(
cur_err['rel_yaw_stats'], 'yaw', dist_fn)
res_writer.update_and_save_stats(
cur_err['rel_gravity_stats'], 'gravity', dist_fn)
self.rel_error_stats_fns.append(dist_fn)