import os
import argparse
try:
from include_in_path import include, FF_PROJECT_ROOT
# include(FF_PROJECT_ROOT, "vendor", "TanksAndTemples", "tanksandtemples_evaluator")
# from tanksandtemples_evaluator import TanksAndTemplesEvaluator
include(FF_PROJECT_ROOT, "misc", "tools", "tanksandtemples_evaluator")
from tanksandtemples_evaluator import TanksAndTemplesEvaluator
except:
raise
SCENE_NAME = "angel"
SCENE_FOLDER = os.path.join(FF_PROJECT_ROOT, "scripts", "data", "uavmvs",
"angel_v1", "capture-initial_2D")
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description=f"Runs tanksandtemples_evaluator.py on {SCENE_FOLDER}/")
parser.add_argument("--dtau", type=float, default=0.5)
parser.add_argument("--out_dir", type=str, default=None)
parser.add_argument("--plot_stretch", type=int, default=5)
args = parser.parse_args()
dTau = args.dtau
plot_stretch = args.plot_stretch
try:
from include_in_path import include, FF_PROJECT_ROOT
python_toolbox_path = [
FF_PROJECT_ROOT, "vendor", "TanksAndTemples", "python_toolbox"
]
v1_tanksandtemples_path = [
FF_PROJECT_ROOT, "misc", "v1", "reconstruction", "tanksandtemples"
]
# FIXME stop using the modified version from v1/, but also, don't use the different
# files from python_toolbox/evaluation/, instead, use tanksandtemples_evaluator.py!
# Check out eval_Cidadela_2021-01-09-18-27-07.py to see what changes are necessary.
if False:
include(*python_toolbox_path, "evaluation", "plot")
include(*python_toolbox_path, "evaluation", "evaluation")
include(*python_toolbox_path, "evaluation", "registration")
include(*python_toolbox_path, "evaluation", "trajectory_io")
else:
include(*v1_tanksandtemples_path, "plot")
include(*v1_tanksandtemples_path, "evaluation")
include(*v1_tanksandtemples_path, "registration")
include(*v1_tanksandtemples_path, "trajectory_io")
from plot import plot_graph
from evaluation import EvaluateHisto
from registration import registration_unif, registration_vol_ds, trajectory_alignment
from trajectory_io import read_trajectory
include(*python_toolbox_path, "convert_to_logfile")
import os
import argparse
try:
from include_in_path import FF_PROJECT_ROOT, include
include(FF_PROJECT_ROOT, "misc", "tools", "uavmvs_make_traj")
import uavmvs_make_traj as uavmvs
from uavmvs_make_traj import Uavmvs
except:
raise
###############################################################################
###############################################################################
CWD = os.getcwd()
HERE = os.path.dirname(os.path.abspath(__file__))
HOME = os.path.expanduser("~")
def path_to(*relative_path):
return os.path.abspath(os.path.join(*relative_path))
ASSETS_DIR = path_to(HERE, "assets")
def setup_args(args: argparse.Namespace) -> None:
args.scene = path_to(args.scene)
root, ext = os.path.splitext(args.scene)
from ds.rgba import Rgba
from ff.types import to_xyz_str, to_xyz_tuple
from ie.airsimy import (
YAW_N,
AirSimImage,
AirSimRecord,
connect,
pose_at_simulation_pause,
quaternion_orientation_from_eye_to_look_at,
)
from airsim.types import Pose, YawMode, DrivetrainType
try:
from include_in_path import FF_PROJECT_ROOT, include
include(FF_PROJECT_ROOT, "misc", "tools", "uavmvs_parse_traj")
from uavmvs_parse_traj import parse_uavmvs, convert_uavmvs_to_airsim_position
include(FF_PROJECT_ROOT, "scripts", "data_config")
import data_config
except:
raise
VELOCITY = 5
# SIM_MODE = ff.SimMode.Multirotor
SIM_MODE = ff.SimMode.ComputerVision
LOOK_AT_TARGET = data_config.Ned.Cidadela_Statue
# LOOK_AT_TARGET = data_config.Ned.Urban_Building
from enum import Enum
from typing import List
import ff
import airsim
from ds import Rgba, EditMode
from airsim import Vector3r
from ff.helper import input_or_exit
from ie.airsimy import connect
try:
from include_in_path import FF_PROJECT_ROOT, include
include(FF_PROJECT_ROOT, "misc", "tools", "io_ply")
from io_ply import read_ply
include(FF_PROJECT_ROOT, "misc", "tools", "uavmvs_parse_traj")
from uavmvs_parse_traj import (
parse_uavmvs,
convert_uavmvs_to_airsim_pose,
convert_uavmvs_to_airsim_position,
)
except:
raise
###############################################################################
## preflight (called before connecting) #######################################
###############################################################################
import os
import argparse
from typing import Tuple, Optional, NamedTuple
import numpy as np
import matplotlib.pyplot as plt
from ie.airsimy import AirSimRecord
from ie.meshroomy import MeshroomParser, MeshroomTransform
try:
from include_in_path import include, FF_PROJECT_ROOT
include(FF_PROJECT_ROOT, "vendor", "tartanair_tools", "evaluation", "tartanair_evaluator")
from tartanair_evaluator import TartanAirEvaluator
except:
raise
DEBUG_ATE = True
class TartanAir:
# NOTE ATE is well-suited for measuring the performance of visual SLAM systems, in contrast,
# RPE is well-suited for measuring the drift of visual odometry systems (e.g. the drift per second)
class Result(NamedTuple):
ate_score: float
rpe_score: Tuple[float, float]
kitti_score: Tuple[float, float]
import os
import argparse
try:
from include_in_path import include, FF_PROJECT_ROOT
include(FF_PROJECT_ROOT, "vendor", "TanksAndTemples",
"tanksandtemples_evaluator")
from tanksandtemples_evaluator import TanksAndTemplesEvaluator
except:
raise
SCENE_NAME = "angel"
SCENE_FOLDER = os.path.join(FF_PROJECT_ROOT, "scripts", "data", "uavmvs",
"angel_v1")
RECONSTRUCTION_FOLDER = os.path.join(SCENE_FOLDER, "capture-shortened_2D",
"Reconstruction")
assert os.path.isdir(RECONSTRUCTION_FOLDER), RECONSTRUCTION_FOLDER
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description=f"Runs tanksandtemples_evaluator.py on {SCENE_FOLDER}/")
parser.add_argument("--dtau", type=float, default=0.5)
parser.add_argument("--out_dir", type=str, default=None)
parser.add_argument("--plot_stretch", type=int, default=5)
args = parser.parse_args()
dTau = args.dtau
plot_stretch = args.plot_stretch
import argparse
import ff
import airsim
from ie import airsimy
from ds.rgba import Rgba
from ie.airsimy import AirSimNedTransform, connect
from airsim.types import Pose, Vector3r, Quaternionr
try:
from include_in_path import FF_PROJECT_ROOT, include
include(FF_PROJECT_ROOT, "scripts", "data_config")
import data_config
except:
raise
###############################################################################
## preflight (called before connecting) #######################################
###############################################################################
def preflight(args: argparse.Namespace) -> None:
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
###############################################################################