def __init__(self, experiment_poses, ground_truth_poses, label):
assert (len(experiment_poses) == len(ground_truth_poses))
absolute_error_poses = comparador.__computeErrorPoses__(
experiment_poses, ground_truth_poses)
self.absolute_translation_errors = comparador.__computeTranslationError__(
absolute_error_poses)
self.absolute_rotation_errors = comparador.__computeRotationError__(
absolute_error_poses)
#~ self.absolute_translation_errors = comparador.__getPositions__(absolute_error_poses)
#~ self.absolute_rmse = computeRMSE( self.absolute_translation_errors )
relative_error_poses = comparador.__computeRelativeErrorPoses__(
experiment_poses, ground_truth_poses)
self.relative_translation_errors = comparador.__computeTranslationError__(
relative_error_poses)
self.relative_rotation_errors = comparador.__computeRotationError__(
relative_error_poses)
#~ self.relative_translation_errors = comparador.__getPositions__(relative_error_poses)
#~ self.relative_rmse = computeRMSE( self.relative_translation_errors )
self.label = label
assert (np.all(0 < self.relative_translation_errors))
def __init__(self, experiment_poses, ground_truth_poses, label, align=False):
assert( len(experiment_poses) == len(ground_truth_poses) )
if align:
experiment_poses = mh.alignToInitialPose( experiment_poses, ground_truth_poses[0] );
ground_truth_poses = mh.alignToInitialPose( ground_truth_poses, experiment_poses[0] );
#~ self.experiment_poses = experiment_poses
#~ self.ground_truth_poses = ground_truth_poses
print( experiment_poses[0] )
print( ground_truth_poses[0] )
absolute_error_poses = comparador.__computeErrorPoses__(experiment_poses, ground_truth_poses)
self.absolute_translation_errors = comparador.__computeTranslationError__(absolute_error_poses)
self.absolute_rotation_errors = comparador.__computeRotationError__(absolute_error_poses)
#~ self.absolute_translation_errors = comparador.__getPositions__(absolute_error_poses)
#~ self.absolute_rmse = computeRMSE( self.absolute_translation_errors )
relative_error_poses = comparador.__computeRelativeErrorPoses__(experiment_poses, ground_truth_poses)
self.relative_translation_errors = comparador.__computeTranslationError__(relative_error_poses)
self.relative_rotation_errors = comparador.__computeRotationError__(relative_error_poses)
#~ self.relative_translation_errors = comparador.__getPositions__(relative_error_poses)
#~ self.relative_rmse = computeRMSE( self.relative_translation_errors )
self.label = label
assert( np.all( 0 < self.relative_translation_errors ) )
def computeErrors(self, ground_truth_poses):
absolute_error_poses = comparador.__computeErrorPoses__(ground_truth_poses, experiment.poses)
relative_error_poses = comparador.__computeRelativeErrorPoses__(ground_truth_poses, experiment.poses)
self.absolute_translation_errors = comparador.__computeTranslationError__(absolute_error_poses)
self.relative_translation_errors = comparador.__computeTranslationError__(relative_error_poses)
self.absolute_rotation_errors = comparador.__computeRotationError__(absolute_error_poses)
self.relative_rotation_errors = comparador.__computeRotationError__(relative_error_poses)