def compare(reference, reconstruction):
completeness = sm.completeness_errors(reference, reconstruction)
absolute_position = sm.position_errors(reference, reconstruction)
absolute_rotation = sm.rotation_errors(reference, reconstruction)
absolute_points = sm.points_errors(reference, reconstruction)
absolute_gps = sm.gps_errors(reconstruction)
aligned = sm.aligned_to_reference(reference, reconstruction)
aligned_position = sm.position_errors(reference, aligned)
aligned_rotation = sm.rotation_errors(reference, aligned)
aligned_points = sm.points_errors(reference, aligned)
aligned_gps = sm.gps_errors(aligned)
return {
'ratio_cameras': completeness[0],
'ratio_points': completeness[1],
'absolute_position_rmse': sm.rmse(absolute_position),
'absolute_rotation_rmse': sm.rmse(absolute_rotation),
'absolute_points_rmse': sm.rmse(absolute_points),
'absolute_gps_rmse': sm.rmse(absolute_gps),
'aligned_position_rmse': sm.rmse(aligned_position),
'aligned_rotation_rmse': sm.rmse(aligned_rotation),
'aligned_points_rmse': sm.rmse(aligned_points),
'aligned_gps_rmse': sm.rmse(aligned_gps),
}
def compare(reference: types.Reconstruction,
reconstruction: types.Reconstruction) -> Dict[str, float]:
"""Compare a reconstruction with reference groundtruth."""
completeness = sm.completeness_errors(reference, reconstruction)
absolute_position = sm.position_errors(reference, reconstruction)
absolute_rotation = sm.rotation_errors(reference, reconstruction)
absolute_points = sm.points_errors(reference, reconstruction)
absolute_gps = sm.gps_errors(reconstruction)
aligned = sm.aligned_to_reference(reference, reconstruction)
aligned_position = sm.position_errors(reference, aligned)
aligned_rotation = sm.rotation_errors(reference, aligned)
aligned_points = sm.points_errors(reference, aligned)
aligned_gps = sm.gps_errors(aligned)
return {
"ratio_cameras": completeness[0],
"ratio_points": completeness[1],
"absolute_position_rmse": sm.rmse(absolute_position),
"absolute_rotation_rmse": sm.rmse(absolute_rotation),
"absolute_points_rmse": sm.rmse(absolute_points),
"absolute_gps_rmse": sm.rmse(absolute_gps),
"aligned_position_rmse": sm.rmse(aligned_position),
"aligned_rotation_rmse": sm.rmse(aligned_rotation),
"aligned_points_rmse": sm.rmse(aligned_points),
"aligned_gps_rmse": sm.rmse(aligned_gps),
}
def compare(reference, reconstruction):
position = sm.position_errors(reference, reconstruction)
gps = sm.gps_errors(reconstruction)
rotation = sm.rotation_errors(reference, reconstruction)
points = sm.points_errors(reference, reconstruction)
completeness = sm.completeness_errors(reference, reconstruction)
return {
'position_average': np.linalg.norm(np.average(position, axis=0)),
'position_std': np.linalg.norm(np.std(position, axis=0)),
'gps_average': np.linalg.norm(np.average(gps, axis=0)),
'gps_std': np.linalg.norm(np.std(gps, axis=0)),
'rotation_average': np.average(rotation),
'rotation_std': np.std(rotation),
'points_average': np.linalg.norm(np.average(points, axis=0)),
'points_std': np.linalg.norm(np.std(points, axis=0)),
'ratio_cameras': completeness[0],
'ratio_points': completeness[1]
}
def compare(self, reconstruction):
reference = self.get_reconstruction()
position = sm.position_errors(reference, reconstruction)
gps = sm.gps_errors(reconstruction)
rotation = sm.rotation_errors(reference, reconstruction)
points = sm.points_errors(reference, reconstruction)
completeness = sm.completeness_errors(reference, reconstruction)
return {
'position_average': np.linalg.norm(np.average(position, axis=0)),
'position_std': np.linalg.norm(np.std(position, axis=0)),
'gps_average': np.linalg.norm(np.average(gps, axis=0)),
'gps_std': np.linalg.norm(np.std(gps, axis=0)),
'rotation_average': np.average(rotation),
'rotation_std': np.std(rotation),
'points_average': np.linalg.norm(np.average(points, axis=0)),
'points_std': np.linalg.norm(np.std(points, axis=0)),
'ratio_cameras': completeness[0],
'ratio_points': completeness[1]
}
def compare(
reference: types.Reconstruction,
gcps: Dict[str, pymap.GroundControlPoint],
reconstruction: types.Reconstruction,
) -> Dict[str, float]:
"""Compare a reconstruction with reference groundtruth."""
completeness = sm.completeness_errors(reference, reconstruction)
absolute_position = sm.position_errors(reference, reconstruction)
absolute_rotation = sm.rotation_errors(reference, reconstruction)
absolute_points = sm.points_errors(reference, reconstruction)
absolute_gps = sm.gps_errors(reconstruction)
absolute_gcp = sm.gcp_errors(reconstruction, gcps)
aligned = sm.aligned_to_reference(reference, reconstruction)
aligned_position = sm.position_errors(reference, aligned)
aligned_rotation = sm.rotation_errors(reference, aligned)
aligned_points = sm.points_errors(reference, aligned)
aligned_gps = sm.gps_errors(aligned)
return {
"ratio_cameras":
completeness[0],
"ratio_points":
completeness[1],
"absolute_position_rmse":
sm.rmse(absolute_position),
"absolute_position_mad":
sm.mad(absolute_position),
"absolute_rotation_rmse":
sm.rmse(absolute_rotation),
"absolute_rotation_median":
np.median(absolute_rotation),
"absolute_points_rmse":
sm.rmse(absolute_points),
"absolute_points_mad":
sm.mad(absolute_points),
"absolute_gps_rmse":
sm.rmse(absolute_gps),
"absolute_gps_mad":
sm.mad(absolute_gps),
"absolute_gcp_rmse_horizontal":
sm.rmse(absolute_gcp[:, :2]) if len(absolute_gcp.shape) > 1 else 0.0,
"absolute_gcp_rmse_vertical":
sm.rmse(absolute_gcp[:, 2]) if len(absolute_gcp.shape) > 1 else 0.0,
"aligned_position_rmse":
sm.rmse(aligned_position),
"aligned_position_mad":
sm.mad(aligned_position),
"aligned_rotation_rmse":
sm.rmse(aligned_rotation),
"aligned_rotation_median":
np.median(aligned_rotation),
"aligned_gps_rmse":
sm.rmse(aligned_gps),
"aligned_gps_mad":
sm.mad(aligned_gps),
"aligned_points_rmse":
sm.rmse(aligned_points),
"aligned_points_mad":
sm.mad(aligned_points),
}