def main():
import argcomplete
basic_desc = "crappy configuration tool"
lic = "(c) evo authors"
shared_parser = argparse.ArgumentParser(add_help=False)
shared_parser.add_argument("--no_color", help="don't color output",
action="store_true")
main_parser = argparse.ArgumentParser(description="%s %s" %
(basic_desc, lic))
sub_parsers = main_parser.add_subparsers(dest="subcommand")
sub_parsers.required = True
show_parser = sub_parsers.add_parser(
"show", description="show configuration - %s" % lic,
parents=[shared_parser])
show_parser.add_argument(
"config",
help="optional config file to display (default: package settings)",
nargs='?')
show_parser.add_argument("--brief", help="show only the .json data",
action="store_true")
set_parser = sub_parsers.add_parser(
"set", description=SET_HELP, parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
set_parser.add_argument("params",
choices=list(DEFAULT_SETTINGS_DICT.keys()),
nargs=argparse.REMAINDER, help="parameters to set")
set_parser.add_argument(
"-c", "--config",
help="optional config file (default: package settings)", default=None)
set_parser.add_argument("-m", "--merge",
help="other config file to merge in (priority)",
default=None)
set_parser.add_argument("--soft", help="do a soft-merge (no overwriting)",
action="store_true")
gen_parser = sub_parsers.add_parser(
"generate", description=GENERATE_HELP, parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
gen_parser.add_argument("-o", "--out",
help="path for config file to generate")
reset_parser = sub_parsers.add_parser(
"reset", description="reset package settings - %s" % lic,
parents=[shared_parser])
reset_parser.add_argument("-y", help="acknowledge automatically",
action="store_true")
reset_parser.add_argument(
"params", choices=list(DEFAULT_SETTINGS_DICT.keys()),
nargs=argparse.REMAINDER, help="parameters to reset")
argcomplete.autocomplete(main_parser)
if len(sys.argv) > 1 and sys.argv[1] == "set":
args, other_args = main_parser.parse_known_args()
other_args = [arg for arg in sys.argv[2:]]
else:
args, other_args = main_parser.parse_known_args()
log.configure_logging()
colorama.init()
config = settings.DEFAULT_PATH
if hasattr(args, "config"):
if args.config:
config = args.config
if args.subcommand == "show":
if not args.brief and not args.config:
style = Style.BRIGHT if not args.no_color else Style.NORMAL
doc_str = "\n".join(
"{0}{1}{2}:\n{3}\n".format(style, k, Style.RESET_ALL, v[1])
for k, v in sorted(DEFAULT_SETTINGS_DICT_DOC.items()))
logger.info(doc_str)
logger.info("{0}\n{1}\n{0}".format(SEP, config))
show(config, colored=not args.no_color)
if config == settings.DEFAULT_PATH and not args.brief:
logger.info(SEP + "\nSee text above for parameter descriptions.")
elif args.subcommand == "set":
if not os.access(config, os.W_OK):
logger.error("No permission to modify " + config)
sys.exit(1)
if other_args or args.merge:
logger.info("{0}\nOld configuration:\n{0}".format(SEP))
show(config, colored=not args.no_color)
try:
set_config(config, other_args)
except ConfigError as e:
logger.error(e)
sys.exit(1)
if args.merge:
merge_json_union(config, args.merge, args.soft)
logger.info(SEP + "\nNew configuration:\n" + SEP)
show(config, colored=not args.no_color)
else:
logger.error("No configuration parameters given (see --help).")
elif args.subcommand == "generate":
if other_args:
logger.info(
"{0}\nParsed by argparse:\n{1}\n"
"{0}\nWARNING:\nMake sure you use the 'long-style' -- options "
"(e.g. --plot) if possible\nand no combined short '-' flags, "
"(e.g. -vp)\n{0}".format(SEP, other_args))
data = generate(other_args)
log_info_dict_json(data, colored=not args.no_color)
if args.out and user.check_and_confirm_overwrite(args.out):
with open(args.out, 'w') as out:
out.write(json.dumps(data, indent=4, sort_keys=True))
elif not args.out:
logger.warning("\n(-o | --out) not specified - saving nothing")
else:
logger.error("No command line arguments given (see --help)")
elif args.subcommand == "reset":
if not os.access(config, os.W_OK):
logger.error("No permission to modify" + config)
sys.exit(1)
if args.params:
settings.reset(settings.DEFAULT_PATH, parameter_subset=args.params)
elif args.y or user.confirm(
"Reset all package settings to the default settings? (y/n)"):
settings.reset()
else:
sys.exit()
logger.info("{0}\nPackage settings after reset:\n{0}".format(SEP))
show(settings.DEFAULT_PATH, colored=not args.no_color)
def serialize(self, dest, confirm_overwrite=True):
logger.debug("Serializing PlotCollection to " + dest + "...")
if confirm_overwrite and not user.check_and_confirm_overwrite(dest):
return
else:
pickle.dump(self.figures, open(dest, 'wb'))
def main():
import argcomplete
basic_desc = "crappy configuration tool"
lic = "(c) [email protected]"
shared_parser = argparse.ArgumentParser(add_help=False)
shared_parser.add_argument("--no_color", help="don't color output", action="store_true")
main_parser = argparse.ArgumentParser(description="%s %s" % (basic_desc, lic))
sub_parsers = main_parser.add_subparsers(dest="subcommand")
sub_parsers.required = True
show_parser = sub_parsers.add_parser("show", description="show configuration - %s" % lic,
parents=[shared_parser])
show_parser.add_argument("config",
help="optional config file to display (default: package settings)",
nargs='?')
show_parser.add_argument("--brief", help="show only the .json data",
action="store_true")
set_parser = sub_parsers.add_parser("set", description=SET_HELP, parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
set_parser.add_argument("params", choices=list(DEFAULT_SETTINGS_DICT.keys()),
nargs=argparse.REMAINDER, help="parameters to set")
set_parser.add_argument("-c", "--config",
help="optional config file (default: package settings)", default=None)
set_parser.add_argument("-m", "--merge",
help="other config file to merge in (priority)", default=None)
set_parser.add_argument("--soft", help="do a soft-merge (no overwriting)", action="store_true")
gen_parser = sub_parsers.add_parser("generate", description=GENERATE_HELP,
parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
gen_parser.add_argument("-o", "--out", help="path for config file to generate")
reset_parser = sub_parsers.add_parser("reset", description="reset package settings - %s" % lic,
parents=[shared_parser])
reset_parser.add_argument("-y", help="acknowledge automatically", action="store_true")
argcomplete.autocomplete(main_parser)
if len(sys.argv) > 1 and sys.argv[1] == "set":
args, other_args = main_parser.parse_known_args()
other_args = [arg for arg in sys.argv[2:] if not arg.startswith('-')]
else:
args, other_args = main_parser.parse_known_args()
log.configure_logging()
colorama.init()
config = settings.DEFAULT_PATH
if hasattr(args, "config"):
if args.config:
config = args.config
if args.subcommand == "show":
if not args.brief and not args.config:
style = Style.BRIGHT if not args.no_color else Style.NORMAL
doc_str = "\n".join("{0}{1}{2}:\n{3}\n".format(style, k, Style.RESET_ALL, v[1])
for k, v in sorted(DEFAULT_SETTINGS_DICT_DOC.items()))
logger.info(doc_str)
logger.info("{0}\n{1}\n{0}".format(SEP, config))
show(config, colored=not args.no_color)
if config == settings.DEFAULT_PATH and not args.brief:
logger.info(SEP + "\nSee text above for parameter descriptions.")
elif args.subcommand == "set":
if not os.access(config, os.W_OK):
logger.error("No permission to modify " + config)
sys.exit()
if other_args or args.merge:
logger.info("{0}\nOld configuration:\n{0}".format(SEP))
show(config, colored=not args.no_color)
try:
set_cfg(config, other_args)
except ConfigError as e:
logger.error(e)
sys.exit(1)
if args.merge:
merge_json_union(config, args.merge, args.soft)
logger.info(SEP + "\nNew configuration:\n" + SEP)
show(config, colored=not args.no_color)
else:
logger.error("No configuration parameters given (see --help).")
elif args.subcommand == "generate":
if other_args:
logger.info("{0}\nParsed by argparse:\n{1}\n"
"{0}\nWARNING:\n"
"Make sure you use the 'long-style' -- options (e.g. --plot) if possible\n"
"and no combined short '-' flags, (e.g. -vp)\n{0}".format(SEP, other_args))
data = generate(other_args)
log_info_dict_json(data, colored=not args.no_color)
if args.out and user.check_and_confirm_overwrite(args.out):
with open(args.out, 'w') as out:
out.write(json.dumps(data, indent=4, sort_keys=True))
elif not args.out:
logger.warning("\n(-o | --out) not specified - saving nothing")
else:
logger.error("No command line arguments given (see --help)")
elif args.subcommand == "reset":
if not os.access(config, os.W_OK):
logger.error("No permission to modify" + config)
sys.exit()
if args.y or user.confirm("Reset the package settings to the default settings? (y/n)"):
settings.reset()
logger.info("{0}\nPackage settings after reset:\n{0}".format(SEP))
show(settings.DEFAULT_PATH, colored=not args.no_color)
def run(args):
import sys
import pandas as pd
from evo.tools import file_interface, log, user, settings, pandas_bridge
from evo.tools.settings import SETTINGS
pd.options.display.width = 80
pd.options.display.max_colwidth = 20
log.configure_logging(args.verbose,
args.silent,
args.debug,
local_logfile=args.logfile)
if args.debug:
import pprint
arg_dict = {arg: getattr(args, arg) for arg in vars(args)}
logger.debug("main_parser config:\n{}\n".format(
pprint.pformat(arg_dict)))
df = pd.DataFrame()
for result_file in args.result_files:
result = file_interface.load_res_file(result_file)
name = result_file if args.use_filenames else None
df = pd.concat([df, pandas_bridge.result_to_df(result, name)],
axis="columns")
keys = df.columns.values.tolist()
if SETTINGS.plot_usetex:
keys = [key.replace("_", "\\_") for key in keys]
df.columns = keys
duplicates = [x for x in keys if keys.count(x) > 1]
if duplicates:
logger.error("Values of 'est_name' must be unique - duplicates: {}\n"
"Try using the --use_filenames option to use filenames "
"for labeling instead.".format(", ".join(duplicates)))
sys.exit(1)
# derive a common index type if possible - preferably timestamps
common_index = None
time_indices = ["timestamps", "seconds_from_start", "sec_from_start"]
if args.use_rel_time:
del time_indices[0]
for idx in time_indices:
if idx not in df.loc["np_arrays"].index:
continue
if df.loc["np_arrays", idx].isnull().values.any():
continue
else:
common_index = idx
break
# build error_df (raw values) according to common_index
if common_index is None:
# use a non-timestamp index
error_df = pd.DataFrame(df.loc["np_arrays", "error_array"].tolist(),
index=keys).T
else:
error_df = pd.DataFrame()
for key in keys:
new_error_df = pd.DataFrame(
{key: df.loc["np_arrays", "error_array"][key]},
index=df.loc["np_arrays", common_index][key])
duplicates = new_error_df.index.duplicated(keep="first")
if any(duplicates):
logger.warning(
"duplicate indices in error array of {} - "
"keeping only first occurrence of duplicates".format(key))
new_error_df = new_error_df[~duplicates]
error_df = pd.concat([error_df, new_error_df], axis=1)
# check titles
first_title = df.loc["info", "title"][0]
first_file = args.result_files[0]
if not args.no_warnings:
checks = df.loc["info", "title"] != first_title
for i, differs in enumerate(checks):
if not differs:
continue
else:
mismatching_title = df.loc["info", "title"][i]
mismatching_file = args.result_files[i]
logger.debug(SEP)
logger.warning(
CONFLICT_TEMPLATE.format(first_file, first_title,
mismatching_title,
mismatching_file))
if not user.confirm(
"Go on anyway? - enter 'y' or any other key to exit"):
sys.exit()
logger.debug(SEP)
logger.debug("Aggregated dataframe:\n{}".format(
df.to_string(line_width=80)))
# show a statistics overview
logger.debug(SEP)
logger.info("\n{}\n\n{}\n".format(
first_title, df.loc["stats"].T.to_string(line_width=80)))
if args.save_table:
logger.debug(SEP)
if args.no_warnings or user.check_and_confirm_overwrite(
args.save_table):
if SETTINGS.table_export_data.lower() == "error_array":
data = error_df
elif SETTINGS.table_export_data.lower() in ("info", "stats"):
data = df.loc[SETTINGS.table_export_data.lower()]
else:
raise ValueError(
"unsupported export data specifier: {}".format(
SETTINGS.table_export_data))
if SETTINGS.table_export_transpose:
data = data.T
if SETTINGS.table_export_format == "excel":
writer = pd.ExcelWriter(args.save_table)
data.to_excel(writer)
writer.save()
writer.close()
else:
getattr(data,
"to_" + SETTINGS.table_export_format)(args.save_table)
logger.debug("{} table saved to: {}".format(
SETTINGS.table_export_format, args.save_table))
if args.plot or args.save_plot or args.serialize_plot:
# check if data has NaN "holes" due to different indices
inconsistent = error_df.isnull().values.any()
if inconsistent and common_index != "timestamps" and not args.no_warnings:
logger.debug(SEP)
logger.warning("Data lengths/indices are not consistent, "
"raw value plot might not be correctly aligned")
from evo.tools import plot
import matplotlib.pyplot as plt
import seaborn as sns
import math
# use default plot settings
figsize = (SETTINGS.plot_figsize[0], SETTINGS.plot_figsize[1])
use_cmap = SETTINGS.plot_multi_cmap.lower() != "none"
colormap = SETTINGS.plot_multi_cmap if use_cmap else None
linestyles = ["-o" for x in args.result_files
] if args.plot_markers else None
# labels according to first dataset
title = first_title
if "xlabel" in df.loc["info"].index and not df.loc[
"info", "xlabel"].isnull().values.any():
index_label = df.loc["info", "xlabel"][0]
else:
index_label = "$t$ (s)" if common_index else "index"
metric_label = df.loc["info", "label"][0]
plot_collection = plot.PlotCollection(title)
# raw value plot
fig_raw = plt.figure(figsize=figsize)
# handle NaNs from concat() above
error_df.interpolate(method="index").plot(
ax=fig_raw.gca(),
colormap=colormap,
style=linestyles,
title=first_title,
alpha=SETTINGS.plot_trajectory_alpha)
plt.xlabel(index_label)
plt.ylabel(metric_label)
plt.legend(frameon=True)
plot_collection.add_figure("raw", fig_raw)
# statistics plot
fig_stats = plt.figure(figsize=figsize)
exclude = df.loc["stats"].index.isin(["sse"]) # don't plot sse
df.loc["stats"][~exclude].plot(kind="barh",
ax=fig_stats.gca(),
colormap=colormap,
stacked=False)
plt.xlabel(metric_label)
plt.legend(frameon=True)
plot_collection.add_figure("stats", fig_stats)
# grid of distribution plots
raw_tidy = pd.melt(error_df,
value_vars=list(error_df.columns.values),
var_name="estimate",
value_name=metric_label)
col_wrap = 2 if len(args.result_files) <= 2 else math.ceil(
len(args.result_files) / 2.0)
dist_grid = sns.FacetGrid(raw_tidy, col="estimate", col_wrap=col_wrap)
# TODO: see issue #98
import warnings
with warnings.catch_warnings():
warnings.simplefilter("ignore")
dist_grid.map(sns.distplot, metric_label) # fits=stats.gamma
plot_collection.add_figure("histogram", dist_grid.fig)
# box plot
fig_box = plt.figure(figsize=figsize)
ax = sns.boxplot(x=raw_tidy["estimate"],
y=raw_tidy[metric_label],
ax=fig_box.gca())
# ax.set_xticklabels(labels=[item.get_text() for item in ax.get_xticklabels()], rotation=30)
plot_collection.add_figure("box_plot", fig_box)
# violin plot
fig_violin = plt.figure(figsize=figsize)
ax = sns.violinplot(x=raw_tidy["estimate"],
y=raw_tidy[metric_label],
ax=fig_violin.gca())
# ax.set_xticklabels(labels=[item.get_text() for item in ax.get_xticklabels()], rotation=30)
plot_collection.add_figure("violin_histogram", fig_violin)
if args.plot:
plot_collection.show()
if args.save_plot:
logger.debug(SEP)
plot_collection.export(args.save_plot,
confirm_overwrite=not args.no_warnings)
if args.serialize_plot:
logger.debug(SEP)
plot_collection.serialize(args.serialize_plot,
confirm_overwrite=not args.no_warnings)
def save_res_file(zip_path,
pe_metric,
pe_statistics,
title,
ref_name,
est_name,
seconds_from_start=None,
traj_ref=None,
traj_est=None,
xlabel=None,
confirm_overwrite=False):
"""
save results of a pose error metric (pe_metric) to a zip file
:param zip_path: path to zip file
:param pe_metric: instance of metrics.APE or metrics.RPE
:param pe_statistics: dictionary with statistics from pe_metric.get_[all_]statistic[s]
:param title: the title of the experiment
:param ref_name: name of the reference (ground_truth)
:param est_name: name of the estimate
:param seconds_from_start: optional time array (useful for plotting the time instead of index)
:param traj_ref: optional - save trajectory that was used as the reference (requires traj_est)
:param traj_est: optional - save trajectory that was used as the estimate (requires traj_ref)
:param xlabel: optional custom (plot) xlabel to save
:param confirm_overwrite: whether to require user interaction to overwrite existing files
"""
from tempfile import TemporaryFile
from evo.algorithms.metrics import APE
logging.debug("saving results to " + zip_path + "...")
if confirm_overwrite and not user.check_and_confirm_overwrite(zip_path):
return
with zipfile.ZipFile(zip_path, 'w') as archive:
pe_type = "APE" if isinstance(pe_metric, APE) else "RPE"
info = {
"title":
title,
"ref_name":
ref_name,
"est_name":
est_name,
"label":
pe_type +
(" (" + pe_metric.unit.value + ")") if pe_metric.unit else ""
}
if xlabel:
info["xlabel"] = xlabel
archive.writestr("info.json", json.dumps(info))
archive.writestr("stats.json", json.dumps(pe_statistics))
# save np arrays in .npz format
tmp_file_err = TemporaryFile()
np.save(tmp_file_err, pe_metric.error)
tmp_file_err.seek(0)
archive.writestr("error_array.npz", tmp_file_err.read())
tmp_file_err.close()
if seconds_from_start:
tmp_file_sec = TemporaryFile()
if seconds_from_start:
np.save(tmp_file_sec, seconds_from_start)
tmp_file_sec.seek(0)
archive.writestr("sec_from_start.npz", tmp_file_sec.read())
tmp_file_sec.close()
if SETTINGS.save_traj_in_zip and traj_ref is not None and traj_est is not None:
tmp_file_ref = TemporaryFile()
tmp_file_est = TemporaryFile()
if type(traj_ref) is PosePath3D or type(traj_est) is PosePath3D:
traj_type = ".kitti"
write_kitti_poses_file(tmp_file_ref, traj_ref)
write_kitti_poses_file(tmp_file_est, traj_est)
else:
traj_type = ".tum"
write_tum_trajectory_file(tmp_file_ref, traj_ref)
write_tum_trajectory_file(tmp_file_est, traj_est)
tmp_file_ref.seek(0)
tmp_file_est.seek(0)
archive.writestr("traj_ref" + traj_type, tmp_file_ref.read())
archive.writestr("traj_est" + traj_type, tmp_file_est.read())
tmp_file_ref.close()
tmp_file_est.close()
def main():
import argcomplete
basic_desc = "crappy configuration tool"
lic = "(c) [email protected]"
shared_parser = argparse.ArgumentParser(add_help=False)
shared_parser.add_argument("--no_color",
help="don't color output",
action="store_false",
default=True)
main_parser = argparse.ArgumentParser(description="%s %s" %
(basic_desc, lic))
sub_parsers = main_parser.add_subparsers(dest="subcommand")
sub_parsers.required = True
show_parser = sub_parsers.add_parser(
"show",
description="show configuration - %s" % lic,
parents=[shared_parser])
show_parser.add_argument(
"config",
help="optional config file to display (default: package settings)",
nargs='?')
show_parser.add_argument("--brief",
help="show only the .json data",
action="store_true")
set_parser = sub_parsers.add_parser(
"set",
description=SET_HELP,
parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
set_parser.add_argument(
"-c",
"--config",
help="optional config file (default: package settings)",
default=None)
set_parser.add_argument(
"-m",
"--merge",
help="optional config file (priority) for union merging",
default=None)
gen_parser = sub_parsers.add_parser(
"generate",
description=GENERATE_HELP,
parents=[shared_parser],
formatter_class=argparse.RawTextHelpFormatter)
gen_parser.add_argument("-o",
"--out",
help="path for config file to generate")
reset_parser = sub_parsers.add_parser(
"reset",
description="reset package settings - %s" % lic,
parents=[shared_parser])
argcomplete.autocomplete(main_parser)
args, other_args = main_parser.parse_known_args()
settings.configure_logging()
colorama.init()
config = settings.DEFAULT_PATH
if hasattr(args, "config"):
if args.config:
config = args.config
if args.subcommand == "show":
if not args.brief and not args.config:
logging.info(settings.DEFAULT_SETTINGS_HELP)
logging.info(SEP + "\n" + config + "\n" + SEP)
show(config, colored=args.no_color)
if config == settings.DEFAULT_PATH and not args.brief:
logging.info(SEP + "\nsee text above for parameter descriptions")
elif args.subcommand == "set":
if not os.access(config, os.W_OK):
logging.info("no permission to modify " + config)
sys.exit()
if other_args or args.merge:
logging.info(SEP + "\nold configuration:\n" + SEP)
show(config, colored=args.no_color)
try:
set_cfg(config, other_args)
except ConfigError as e:
logging.error(e)
sys.exit(1)
if args.merge:
merge_json_union(config, args.merge)
logging.info(SEP + "\nnew configuration:\n" + SEP)
show(config, colored=args.no_color)
else:
logging.info("no configuration parameters given (see --help)")
elif args.subcommand == "generate":
if other_args:
logging.info(SEP + "\nparsed by argparse:\n" + str(other_args))
logging.info(
SEP + "\nWARNING:\n" +
"make sure you use the 'long-style' -- options (e.g. --plot) if possible\n"
+ "and no combined 'short' - flags, (e.g. -avp)\n" + SEP)
data = generate(other_args)
log_info_dict_json(data, colored=args.no_color)
if args.out and user.check_and_confirm_overwrite(args.out):
with open(args.out, 'w') as out:
out.write(json.dumps(data, indent=4, sort_keys=True))
elif not args.out:
logging.info(
SEP +
"\nno output file specified (-o / --out) - doing nothing\n"
+ SEP)
else:
logging.info("no command line arguments given (see --help)")
elif args.subcommand == "reset":
if not os.access(config, os.W_OK):
logging.info("no permission to modify" + config)
sys.exit()
if user.confirm(
"reset the package settings to the default settings? (y/n)"):
reset_pkg_settings(settings.DEFAULT_PATH)
logging.info(SEP + "\npackage settings after reset:\n" + SEP)
show(settings.DEFAULT_PATH, colored=args.no_color)
def run(args):
import os
import sys
import logging
import pandas as pd
import numpy as np
from natsort import natsorted
from evo.tools import file_interface, user, settings
from evo.tools.settings import SETTINGS
settings.configure_logging(args.verbose, args.silent, args.debug)
if args.debug:
import pprint
logging.debug("main_parser config:\n"
+ pprint.pformat({arg: getattr(args, arg) for arg in vars(args)}) + "\n")
# store data in Pandas data frames for easier analysis
raw_df = pd.DataFrame()
stat_df = pd.DataFrame()
info_df = pd.DataFrame()
use_seconds = False
for result_file in args.result_files:
logging.debug(SEP)
result_obj = file_interface.load_res_file(result_file, True)
short_est_name = os.path.splitext(os.path.basename(result_obj.info["est_name"]))[0]
error_array = result_obj.np_arrays["error_array"]
if "seconds_from_start" in result_obj.np_arrays:
seconds_from_start = result_obj.np_arrays["seconds_from_start"]
else:
seconds_from_start = None
if not args.no_warnings and (short_est_name in info_df.columns):
logging.warning("double entry detected: " + short_est_name)
if not user.confirm("ignore? enter 'y' to go on or any other key to quit"):
sys.exit()
if SETTINGS.plot_usetex:
short_est_name = short_est_name.replace("_", "\\_")
if args.use_abs_time:
if "timestamps" in result_obj.np_arrays:
index = result_obj.np_arrays["timestamps"]
use_seconds = True
else:
raise RuntimeError("no timestamps found for --use_abs_time")
elif seconds_from_start is not None:
index = seconds_from_start.tolist()
use_seconds = True
else:
index = np.arange(0, error_array.shape[0])
result_obj.info["traj. backup?"] = \
all(k in result_obj.trajectories for k in ("traj_ref", "traj_est"))
result_obj.info["res_file"] = result_file
new_raw_df = pd.DataFrame({short_est_name: error_array.tolist()}, index=index)
duplicates = new_raw_df.index.get_level_values(0).get_duplicates()
if len(duplicates) != 0:
logging.warning("duplicate indices in error array of {} - "
"keeping only first occurrence of duplicates".format(result_file))
new_raw_df.drop_duplicates(keep="first", inplace=True)
new_info_df = pd.DataFrame({short_est_name: result_obj.info})
new_stat_df = pd.DataFrame({short_est_name: result_obj.stats})
# natural sort num strings "10" "100" "20" -> "10" "20" "100"
new_stat_df = new_stat_df.reindex(index=natsorted(new_stat_df.index))
# column-wise concatenation
raw_df = pd.concat([raw_df, new_raw_df], axis=1)
info_df = pd.concat([info_df, new_info_df], axis=1)
stat_df = pd.concat([stat_df, new_stat_df], axis=1)
# if verbose: log infos of the current data
logging.debug("\n" + result_obj.pretty_str(title=True, stats=False, info=True))
logging.debug(SEP)
logging.info("\nstatistics overview:\n" + stat_df.T.to_string(line_width=80) + "\n")
# check titles
first_title = info_df.ix["title", 0]
first_res_file = info_df.ix["res_file", 0]
if args.save_table or args.plot or args.save_plot:
for short_est_name, column in info_df.iteritems():
if column.ix["title"] != first_title and not args.no_warnings:
logging.info(SEP)
msg = ("mismatching titles, you probably use data from different metrics"
+ "\nconflict:\n{} {}\n{}\n".format("<"*7, first_res_file, first_title)
+ "{}\n{}\n".format("="*7, column.ix["title"])
+ "{} {}\n\n".format(">"*7, column.ix["res_file"])
+ "only the first one will be used as the title!")
logging.warning(msg)
if not user.confirm("plot/save anyway? - enter 'y' or any other key to exit"):
sys.exit()
if args.save_table:
logging.debug(SEP)
if args.no_warnings or user.check_and_confirm_overwrite(args.save_table):
table_fmt = SETTINGS.table_export_format
if SETTINGS.table_export_transpose:
getattr(stat_df.T, "to_" + table_fmt)(args.save_table)
else:
getattr(stat_df, "to_" + table_fmt)(args.save_table)
logging.debug(table_fmt + " table saved to: " + args.save_table)
if args.plot or args.save_plot or args.serialize_plot:
# check if data has NaN "holes" due to different indices
inconsistent = raw_df.isnull().values.any()
if inconsistent and not args.no_warnings:
logging.debug(SEP)
logging.warning("data lengths/indices are not consistent, plotting could make no sense")
from evo.tools import plot
import matplotlib.pyplot as plt
import seaborn as sns
import math
from scipy import stats
# use default plot settings
figsize = (SETTINGS.plot_figsize[0], SETTINGS.plot_figsize[1])
use_cmap = SETTINGS.plot_multi_cmap.lower() != "none"
colormap = SETTINGS.plot_multi_cmap if use_cmap else None
linestyles = ["-o" for x in args.result_files] if args.plot_markers else None
# labels according to first dataset
title = first_title
if "xlabel" in info_df.ix[:, 0].index:
index_label = info_df.ix["xlabel", 0]
else:
index_label = "$t$ (s)" if use_seconds else "index"
metric_label = info_df.ix["label", 0]
plot_collection = plot.PlotCollection(title)
# raw value plot
fig_raw = plt.figure(figsize=figsize)
# handle NaNs from concat() above
raw_df.interpolate(method="index").plot(ax=fig_raw.gca(), colormap=colormap,
style=linestyles, title=first_title)
plt.xlabel(index_label)
plt.ylabel(metric_label)
plt.legend(frameon=True)
plot_collection.add_figure("raw", fig_raw)
# statistics plot
fig_stats = plt.figure(figsize=figsize)
exclude = stat_df.index.isin(["sse"]) # don't plot sse
stat_df[~exclude].plot(kind="barh", ax=fig_stats.gca(), colormap=colormap, stacked=False)
plt.xlabel(metric_label)
plt.legend(frameon=True)
plot_collection.add_figure("stats", fig_stats)
# grid of distribution plots
raw_tidy = pd.melt(raw_df, value_vars=list(raw_df.columns.values), var_name="estimate",
value_name=metric_label)
col_wrap = 2 if len(args.result_files) <= 2 else math.ceil(len(args.result_files) / 2.0)
dist_grid = sns.FacetGrid(raw_tidy, col="estimate", col_wrap=col_wrap)
dist_grid.map(sns.distplot, metric_label) # fits=stats.gamma
plot_collection.add_figure("histogram", dist_grid.fig)
# box plot
fig_box = plt.figure(figsize=figsize)
ax = sns.boxplot(x=raw_tidy["estimate"], y=raw_tidy[metric_label], ax=fig_box.gca())
# ax.set_xticklabels(labels=[item.get_text() for item in ax.get_xticklabels()], rotation=30)
plot_collection.add_figure("box_plot", fig_box)
# violin plot
fig_violin = plt.figure(figsize=figsize)
ax = sns.violinplot(x=raw_tidy["estimate"], y=raw_tidy[metric_label], ax=fig_violin.gca())
# ax.set_xticklabels(labels=[item.get_text() for item in ax.get_xticklabels()], rotation=30)
plot_collection.add_figure("violin_histogram", fig_violin)
if args.plot:
plot_collection.show()
if args.save_plot:
logging.debug(SEP)
plot_collection.export(args.save_plot, confirm_overwrite=not args.no_warnings)
if args.serialize_plot:
logging.debug(SEP)
plot_collection.serialize(args.serialize_plot, confirm_overwrite=not args.no_warnings)
