def main():
logging.basicConfig(level=logging.INFO,
format="%(asctime)s - %(levelname)s - %(message)s",
datefmt="%Y-%m-%d %H:%M:%S",
filename="log.txt",
filemode='w')
console = logging.StreamHandler()
console.setLevel(logging.INFO)
formatter = logging.Formatter('%(message)s')
console.setFormatter(formatter)
logging.getLogger('').addHandler(console)
DATA_PATH = "/Users/usi/PycharmProjects/data/"
name = "BebopFlightSim_06_03_20.pickle"
[x_test, y_test,
z_test] = DataProcessor.ProcessTestData(DATA_PATH + name, True)
t_test = DataProcessor.GetTimeStampsFromTestData(DATA_PATH + name)
o_test = DataProcessor.GetOutputsFromTestData(DATA_PATH + name)
# x = y_test[:, 0]
# size = y_test.shape[0]
#
# plt.plot(range(size), x, linewidth=2.0)
# plt.show()
x_test2 = []
y_test2 = []
z_test2 = []
o_test2 = []
for i in range(len(x_test)):
gt = y_test[i]
if ((gt[0] > 1.0) and (gt[0] < 2.0)):
if ((gt[1] > -1.0) and (gt[1] < 1.0)):
x_test2.append(x_test[i])
y_test2.append(y_test[i])
z_test2.append(z_test[i])
o_test2.append(o_test[i])
x_test = np.asarray(x_test2)
y_test = np.asarray(y_test2)
z_test = np.asarray(z_test2)
o_test = np.asarray(o_test2)
#utils.SaveResultsToCSVWithCamPoses(y_test, o_test, t_test, z_test, "BebopPatterns_06_03_20.csv")
x_gt = y_test[:, 0]
y_gt = y_test[:, 1]
z_gt = y_test[:, 2]
phi_gt = y_test[:, 3]
x = o_test[:, 0]
y = o_test[:, 1]
z = o_test[:, 2]
phi = o_test[:, 3]
MSE = np.mean(np.power(o_test - y_test, 2), 0)
MAE = np.mean(np.fabs(o_test - y_test), 0)
logging.info('Test MSE: [{0:.4f}, {1:.4f}, {2:.4f}, {3:.4f}]'.format(
MSE[0], MSE[1], MSE[2], MSE[3]))
logging.info('Test MAE: [{0:.4f}, {1:.4f}, {2:.4f}, {3:.4f}]'.format(
MAE[0], MAE[1], MAE[2], MAE[3]))
x_r2 = sklearn.metrics.r2_score(x_gt, x)
y_r2 = sklearn.metrics.r2_score(y_gt, y)
z_r2 = sklearn.metrics.r2_score(z_gt, z)
phi_r2 = sklearn.metrics.r2_score(phi_gt, phi)
logging.info('Test r2_score: [{0:.4f}, {1:.4f}, {2:.4f}, {3:.4f}]'.format(
x_r2, y_r2, z_r2, phi_r2))
h = x_test.shape[2]
w = x_test.shape[3]
x_test = np.reshape(x_test, (-1, h, w))
VizWorldTopView(x_test, y_test, z_test, o_test, True)
