import sys
import os
import numpy as np
import pandas as pd
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from params import par
from log import Logger
from data_loader import SequenceData
working_dir = os.path.abspath(sys.argv[1])
pose_est_dir = os.path.join(working_dir, "est_poses")
pose_gt_dir = os.path.join(working_dir, "gt_poses")
pose_est_files = sorted(os.listdir(pose_est_dir))
for i, pose_est_file in enumerate(pose_est_files):
sequence = os.path.splitext(pose_est_file)[0]
traj_est = np.load(os.path.join(pose_est_dir, "%s.npy" % sequence))
length = traj_est.shape[0]
traj_gt = SequenceData(sequence).get_poses()
traj_gt = traj_gt[0:length, :, :]
np.save(Logger.ensure_file_dir_exists(os.path.join(pose_gt_dir, "%s.npy" % sequence)), traj_gt)
print("All Done")
def plot_errors(working_dir):
errors_dir = os.path.join(working_dir, "errors")
rel_errors_dir = os.path.join(errors_dir, "rel")
abs_errors_dir = os.path.join(errors_dir, "abs")
vis_meas_errors_dir = os.path.join(errors_dir, "vis_meas")
vis_meas_covars_dir = os.path.join(working_dir, "vis_meas", "covar")
abs_errors_files = sorted(os.listdir(abs_errors_dir))
rel_errors_files = sorted(os.listdir(rel_errors_dir))
vis_meas_errors_files = sorted(os.listdir(vis_meas_errors_dir))
vis_meas_covars_files = sorted(os.listdir(vis_meas_covars_dir))
assert (abs_errors_files == rel_errors_files == vis_meas_errors_files == vis_meas_covars_files)
sequences = [f[:-4] for f in abs_errors_files]
logger.initialize(working_dir=working_dir, use_tensorboard=False)
logger.print("================ PLOT ERROR ================")
logger.print("Working on directory:", working_dir)
logger.print("Found sequences: [%s]" % ", ".join(sequences))
for i, sequence in enumerate(sequences):
error_rel = np.load(os.path.join(rel_errors_dir, "%s.npy" % sequence))
error_abs = np.load(os.path.join(abs_errors_dir, "%s.npy" % sequence))
error_vis_meas = np.load(os.path.join(vis_meas_errors_dir, "%s.npy" % sequence))
covar_vis_meas = np.load(os.path.join(vis_meas_covars_dir, "%s.npy" % sequence))
labels = ["Rot X", "Rot Y", "Rot Z", "Trans X", "Trans Y", "Trans Z"]
for j in range(0, 6):
err = error_rel[:, j]
plt.clf()
plt.plot(err, color="r")
plt.xlabel("frame # []")
plt.ylabel(labels[j].lower())
plt.title("Seq. %s %s Rel Error" % (sequence, labels[j]))
plt.savefig(Logger.ensure_file_dir_exists(
os.path.join(errors_dir, "rel_error_figures",
"seq_%s_%02d_%s_rel_err_plt.png" % (
sequence, j, "_".join(labels[j].lower().split())))))
plt.clf()
plt.hist(err, bins=np.linspace(start=np.min(err), stop=np.max(err), num=100), normed=True)
ticks = plt.xticks()[0]
lnspc = np.linspace(min(ticks), max(ticks), len(err))
mean, std_dev = stats.norm.fit(err)
pdf_g = stats.norm.pdf(lnspc, mean, std_dev)
plt.plot(lnspc, pdf_g, color="r")
plt.text(0.05, 0.9, r"$\mu$=%.4g" % mean + "\n" + r"$\sigma$=%.4g" % std_dev,
transform=plt.gca().transAxes)
plt.title("Seq. %s %s Rel Error Hist." % (sequence, labels[j]))
plt.savefig(Logger.ensure_file_dir_exists(
os.path.join(errors_dir, "rel_error_histograms",
"fig_%s_%02d_%s_rel_err_hist.png" % (
sequence, j, "_".join(labels[j].lower().split())))))
for j in range(0, 6):
err = np.abs(error_vis_meas[:, j])
covar = covar_vis_meas[:, j, j]
if j in [0, 1, 2]: covar = covar / par.k1
covar_sig = np.sqrt(covar)
plt.clf()
plt.plot(err, color="r", label="Err")
plt.plot(-err, color="r", label="Err")
plt.plot(covar_sig, color="b", label="3sig")
plt.plot(-covar_sig, color="b", label="3sig")
plt.plot()
plt.xlabel("frame # []")
plt.ylabel(labels[j].lower())
plt.title("Seq. %s %s Vis Meas Error & Covar" % (sequence, labels[j]))
plt.legend()
plt.savefig(Logger.ensure_file_dir_exists(
os.path.join(errors_dir, "vis_meas_error_covar_figures",
"fig_%s_%02d_%s_vis_meas_error_covar.png" % (
sequence, j, "_".join(labels[j].lower().split())))))
for j in range(0, 6):
err = error_abs[:, j]
plt.clf()
plt.plot(err, color="r")
plt.xlabel("frame # []")
plt.ylabel(labels[j].lower())
plt.title("Seq. %s %s Abs Error" % (sequence, labels[j]))
plt.savefig(Logger.ensure_file_dir_exists(
os.path.join(errors_dir, "abs_error_figures",
"seq_%s_%02d_%s_abs_err_plt.png" % (
sequence, j, "_".join(labels[j].lower().split())))))
logger.print("Plots saved for sequence %s" % sequence)
