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)