def write_overall_odometry_errors_table(overall_err_tables, output_dir):
print("Writing to overall error to text files...")
res_writer.write_tex_table(
overall_err_tables['trans_err']['values'],
overall_err_tables['trans_err']['rows'],
overall_err_tables['trans_err']['cols'],
os.path.join(output_dir, 'overall_rel_trans_err.txt'))
res_writer.write_tex_table(
overall_err_tables['trans_err_perc']['values'],
overall_err_tables['trans_err_perc']['rows'],
overall_err_tables['trans_err_perc']['cols'],
os.path.join(output_dir, 'overall_rel_trans_err_perc.txt'))
res_writer.write_tex_table(
overall_err_tables['yaw_err']['values'],
overall_err_tables['yaw_err']['rows'],
overall_err_tables['yaw_err']['cols'],
os.path.join(output_dir, 'overall_rel_yaw_err.txt'))
mt_error_d.abs_errors['rmse_trans_stats']['median']))
else:
cur_trans_rmse.append(
"{:3.3f}, {:3.3f} ({:3.3f} - {:3.3f})".format(
mt_error_d.abs_errors['rmse_trans_stats']['mean'],
mt_error_d.abs_errors['rmse_trans_stats']
['median'],
mt_error_d.abs_errors['rmse_trans_stats']['min'],
mt_error_d.abs_errors['rmse_trans_stats']['max']))
rmse_table['values'].append(cur_trans_rmse)
rmse_table['rows'] = algorithms
rmse_table['cols'] = datasets
print('\n--- Generating RMSE tables... ---')
res_writer.write_tex_table(
rmse_table['values'], rmse_table['rows'], rmse_table['cols'],
os.path.join(
output_dir,
args.platform + '_translation_rmse_' + eval_uid + '.txt'))
if args.rmse_boxplot and n_trials > 1:
rmse_plot_alg = [v for v in algorithms]
algorithm_rmse = collect_rmse_per_dataset(config_multierror_list,
rmse_plot_alg)
print("--- Generate boxplot for RMSE ---")
plot_rmse_per_dataset(algorithm_rmse, datasets, algorithms, output_dir,
plot_settings)
print(Fore.GREEN + "<<< ...processing absolute trajectory errors done.")
print(Fore.RED + ">>> Collecting odometry errors per dataset...")
if args.odometry_error_per_dataset:
dataset_rel_err = {}
for traj in config_trajs:
print('> Saving {0}'.format(traj.uid))
traj.cache_current_error()
traj.write_errors_to_yaml()
print("#####################################")
print(">>> Start plotting and writing results....")
print("#####################################")
if args.plot_trajectories:
print('\n--- Plotting trajectory top and side view ... ---')
plot_trajectories(dataset_trajectories_list, datasets, output_dir)
if args.odometry_error_per_dataset:
print('\n--- Generating relative (KITTI style) error plots... ---')
plot_odometry_error_per_dataset(dataset_rel_err, datasets, output_dir)
if args.overall_odometry_error:
print('\n--- Plotting overall error ... ---')
plot_overall_odometry_errors(overall_err, output_dir)
write_overall_odometry_errors_table(overall_err_tables, output_dir)
if args.rmse_table:
print('\n--- Generating RMSE tables... ---')
res_writer.write_tex_table(
rmse_table['values'], rmse_table['rows'], rmse_table['cols'],
os.path.join(output_dir, args.platform + '_translation_rmse.txt'))
res_writer.write_tex_table(
data_table['values'], data_table['rows'], data_table['cols'],
os.path.join(output_dir, args.platform + '_data_vel.txt'))
print("#####################################")
print("<<< Finished.")
print("#####################################")
