def run_tests(config, output_dir, corners_dir):
# pylint:disable=too-many-locals
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq),), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir)
if not corner_storage:
continue
ground_truth = _read_ground_truth(test_info.ground_truth)
track, point_cloud = _do_tracking(test_info, ground_truth,
corner_storage, test_dir)
if not track:
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
r_errors, t_errors = cmptrack.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
click.echo(' rotation error (degrees): median={}, max={}'.format(
np.median(np.degrees(r_errors)),
np.degrees(r_errors).max()
))
click.echo(' translation error: median={}, max={}'.format(
np.median(t_errors),
t_errors.max()
))
click.echo(' overall error measure: {}'.format(
cmptrack.calc_vol_under_surface(r_errors, t_errors)
))
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmptrack.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('total error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
def run_tests(config, output_dir, corners_dir, corners_config, min_track_len):
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq), ), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir,
corners_config,
min_track_len)
if not corner_storage:
continue
track, point_cloud = _do_tracking(test_info, corner_storage, test_dir)
if not track:
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
ground_truth = _read_ground_truth(test_info.ground_truth)
r_errors, t_errors = cmp.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
click.echo(' error measure: {}'.format(
cmp.calc_vol_under_surface(r_errors, t_errors)))
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmp.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('overall error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
def run_tests(config, output_dir, corners_dir):
# pylint:disable=too-many-locals
_make_dir_if_needed(output_dir)
_make_dir_if_needed(corners_dir)
corners_ok_count = 0
tracking_ok_count = 0
all_r_errors = []
all_t_errors = []
for test_name, test_info in config.items():
click.echo(test_name)
test_dir = path.join(output_dir, test_name)
_make_dir_if_needed(test_dir, 1)
grayscale_seq = frameseq.read_grayscale_f32(test_info.rgb)
inf_errors = np.full((len(grayscale_seq), ), np.inf)
all_r_errors.append(inf_errors)
all_t_errors.append(inf_errors)
corner_storage = _load_or_calculate_corners(grayscale_seq, test_name,
test_dir, corners_dir)
if not corner_storage:
click.echo(' corner tracking failed')
continue
corners_ok_count += _describe_and_check_corners(corner_storage)
ground_truth = _read_ground_truth(test_info.ground_truth)
track, point_cloud = _do_tracking(test_info, ground_truth,
corner_storage, test_dir)
if not track:
click.echo(' camera tracking failed')
continue
_write_poses(track, path.join(test_dir, 'track.yml'))
_write_point_cloud(point_cloud, path.join(test_dir, 'point_cloud.yml'))
r_errors, t_errors = cmptrack.calc_errors(ground_truth, track)
all_r_errors[-1] = r_errors
all_t_errors[-1] = t_errors
tracking_ok_count += _describe_and_check_camera_track_errors(
r_errors, t_errors, test_info.translation_error_allowed,
test_info.rotation_deg_error_allowed)
all_r_errors = np.concatenate(all_r_errors)
all_t_errors = np.concatenate(all_t_errors)
error_measure = cmptrack.calc_vol_under_surface(all_r_errors, all_t_errors)
click.echo('corners OK: {}/{}'.format(corners_ok_count, len(config)))
click.echo('tracking OK: {}/{}'.format(tracking_ok_count, len(config)))
click.echo('total error measure: {}'.format(error_measure))
_write_error_measure(error_measure,
path.join(output_dir, 'error_measure.yml'))
def _describe_and_check_camera_track_errors(r_errors, t_errors,
translation_error_allowed,
rotation_deg_error_allowed):
r_errors_deg = np.degrees(r_errors)
max_r_error_deg = r_errors_deg.max()
max_t_error = t_errors.max()
click.echo(' rotation error (degrees): median={}, max={}'.format(
np.median(r_errors_deg), max_r_error_deg))
click.echo(' translation error: median={}, max={}'.format(
np.median(t_errors), t_errors.max()))
click.echo(' overall error measure: {}'.format(
cmptrack.calc_vol_under_surface(r_errors, t_errors)))
solution_ok = max_r_error_deg <= rotation_deg_error_allowed and \
max_t_error <= translation_error_allowed
click.echo(' {}'.format('OK' if solution_ok else 'LOW QUALITY'))
return solution_ok