def load_results_as_dataframe(result_files: typing.Iterable[str],
use_filenames: bool = False,
merge: bool = False) -> pd.DataFrame:
if merge:
results = [file_interface.load_res_file(f) for f in result_files]
return pandas_bridge.result_to_df(merge_results(results))
df = pd.DataFrame()
for result_file in result_files:
result = file_interface.load_res_file(result_file)
name = result_file if use_filenames else None
df = pd.concat([df, pandas_bridge.result_to_df(result, name)],
axis="columns")
return df
def load_results_as_dataframe(result_files, use_filenames=False, merge=False):
import pandas as pd
from evo.tools import pandas_bridge
from evo.tools import file_interface
if merge:
from evo.core.result import merge_results
results = [file_interface.load_res_file(f) for f in result_files]
return pandas_bridge.result_to_df(merge_results(results))
df = pd.DataFrame()
for result_file in result_files:
result = file_interface.load_res_file(result_file)
name = result_file if use_filenames else None
df = pd.concat([df, pandas_bridge.result_to_df(result, name)],
axis="columns")
return df
def run(args):
import sys
import logging
import pandas as pd
from evo.tools import file_interface, user, settings, pandas_bridge
from evo.tools.settings import SETTINGS
pd.options.display.width = 80
pd.options.display.max_colwidth = 20
settings.configure_logging(args.verbose, args.silent, args.debug)
if args.debug:
import pprint
arg_dict = {arg: getattr(args, arg) for arg in vars(args)}
logging.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:
logging.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):
logging.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]
logging.debug(SEP)
logging.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()
if logging.getLogger().isEnabledFor(logging.DEBUG):
logging.debug(SEP)
logging.debug("Aggregated dataframe:\n{}".format(
df.to_string(line_width=80)))
# show a statistics overview
logging.debug(SEP)
logging.info("\n{}\n\n{}\n".format(
first_title, df.loc["stats"].T.to_string(line_width=80)))
if args.save_table:
logging.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)
logging.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:
logging.debug(SEP)
logging.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)
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)
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)
def stats(apes_x, apes_y, apes_vx, apes_vy, apes_psi, apes_omega, apes_length,
apes_width, rpes_x, rpes_y, rpes_length, rpes_width, filename):
import pandas as pd
from evo.tools import pandas_bridge, plot
import matplotlib as mpl
import matplotlib.pyplot as plt
import matplotlib.patches as mpatches
import seaborn as sns
current_palette = sns.color_palette()
sns.set_color_codes("dark")
# sns.palplot(current_palette)
df_x = pd.DataFrame()
df_y = pd.DataFrame()
df_vx = pd.DataFrame()
df_vy = pd.DataFrame()
df_psi = pd.DataFrame()
df_omega = pd.DataFrame()
df_length = pd.DataFrame()
df_width = pd.DataFrame()
df_rx = pd.DataFrame()
df_ry = pd.DataFrame()
df_rlength = pd.DataFrame()
df_rwidth = pd.DataFrame()
# print(list(df_x.columns.values))
for ape in apes_x:
name = None
df_x = pd.concat([df_x, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in apes_y:
name = None
df_y = pd.concat([df_y, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in apes_vx:
name = None
df_vx = pd.concat([df_vx, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in apes_vy:
name = None
df_vy = pd.concat([df_vy, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in apes_psi:
name = None
df_psi = pd.concat(
[df_psi, pandas_bridge.result_to_df(ape, name)], axis="columns")
for ape in apes_omega:
name = None
df_omega = pd.concat(
[df_omega, pandas_bridge.result_to_df(ape, name)], axis="columns")
for ape in apes_length:
name = None
df_length = pd.concat(
[df_length, pandas_bridge.result_to_df(ape, name)], axis="columns")
for ape in apes_width:
name = None
df_width = pd.concat(
[df_width, pandas_bridge.result_to_df(ape, name)], axis="columns")
for ape in rpes_x:
name = None
df_rx = pd.concat([df_rx, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in rpes_y:
name = None
df_ry = pd.concat([df_ry, pandas_bridge.result_to_df(ape, name)],
axis="columns")
for ape in rpes_width:
name = None
df_rwidth = pd.concat(
[df_rwidth, pandas_bridge.result_to_df(ape, name)], axis="columns")
for ape in rpes_length:
name = None
df_rlength = pd.concat(
[df_rlength, pandas_bridge.result_to_df(ape, name)],
axis="columns")
# print(df_omega)
mpl.use('pgf')
mpl.rcParams.update({
"text.usetex": True,
"pgf.texsystem": "pdflatex",
})
setting = ["RMSE"]
include = df_x.loc["stats"].index.isin(setting)
# print(df_x.loc["stats"])
# print(include)
print("ape_x", df_x.loc["stats"][include])
print("ape_y", df_y.loc["stats"][include])
print("ape_vx", df_vx.loc["stats"][include])
print("ape_vy", df_vy.loc["stats"][include])
print("ape_psi", df_psi.loc["stats"][include])
print("ape_omega", df_omega.loc["stats"][include])
print("ape_length", df_length.loc["stats"][include])
print("ape_width", df_width.loc["stats"][include])
fig_stats, axarr = plt.subplots(4, 2, figsize=(6.125, 8.6))
setting = ["Mean", "STD", "Max", "Min", "RMSE"]
include = df_x.loc["stats"].index.isin(setting)
# df_x.loc["stats"].reorder_levels(['STD','SSE','RMSE','Min','Median','Mean','Max'])
# print(df_x.names)
# df_x.reindex(['STD','SSE','RMSE','Min','Median','Mean','Max'],
# level='stats')
# df_x.loc["stats"][['STD','SSE','RMSE','Min','Median','Mean','Max']]
# print(df_x.xs('stats'))
dfx_stats = df_x.xs('stats')
x_stats = dfx_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
x_stats.drop(index="SSE", inplace=True)
dfy_stats = df_y.xs('stats')
y_stats = dfx_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
y_stats.drop(index="SSE", inplace=True)
dfvx_stats = df_vx.xs('stats')
vx_stats = dfvx_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
vx_stats.drop(index="SSE", inplace=True)
dfvy_stats = df_vy.xs('stats')
vy_stats = dfvy_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
vy_stats.drop(index="SSE", inplace=True)
dfpsi_stats = df_psi.xs('stats')
psi_stats = dfpsi_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
psi_stats.drop(index="SSE", inplace=True)
dfomega_stats = df_omega.xs('stats')
omega_stats = dfomega_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
omega_stats.drop(index="SSE", inplace=True)
dflength_stats = df_length.xs('stats')
length_stats = dflength_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
length_stats.drop(index="SSE", inplace=True)
dfwidth_stats = df_width.xs('stats')
width_stats = dfwidth_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
width_stats.drop(index="SSE", inplace=True)
dfrx_stats = df_rx.xs('stats')
rx_stats = dfrx_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
rx_stats.drop(index="SSE", inplace=True)
dfry_stats = df_ry.xs('stats')
ry_stats = dfy_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
ry_stats.drop(index="SSE", inplace=True)
dfrlength_stats = df_rlength.xs('stats')
rlength_stats = dfrlength_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
rlength_stats.drop(index="SSE", inplace=True)
dfrwidth_stats = df_rwidth.xs('stats')
rwidth_stats = dfrwidth_stats.reindex(
["Max", "Min", "STD", "RMSE", "SSE", "Median", "Mean"])
rwidth_stats.drop(index="SSE", inplace=True)
# setting = ["Mean", "STD", "Max","Min","RMSE"]
# include = df_x.loc["stats"].index.isin(setting)
# print(x_stats)
# x_stats.plot(kind="barh", ax = axarr[0,0],legend =None)
# axarr[0,0].set_xlabel("Absolute error $x$ (m)")
# y_stats.plot(kind="barh", ax = axarr[0,1], legend=None)
# axarr[0,1].set_xlabel("Absolute error $y$ (m)")
rx_stats.plot(kind="barh", ax=axarr[0, 0], legend=None)
axarr[0, 0].set_xlabel("Relative error $x$")
ry_stats.plot(kind="barh", ax=axarr[0, 1], legend=None)
axarr[0, 1].set_xlabel("Relative error $y$")
vx_stats.plot(kind="barh", ax=axarr[1, 0], legend=None)
axarr[1, 0].set_xlabel("Absolute error $v_x$ (m/s)")
vy_stats.plot(kind="barh", ax=axarr[1, 1], legend=None)
axarr[1, 1].set_xlabel("Absolute error $v_y$ (m/s)")
psi_stats.plot(kind="barh",
width=0.3,
ax=axarr[2, 0],
legend=None,
color='indianred')
axarr[2, 0].set_xlabel("Absolute error $\psi$ (degrees)")
omega_stats.plot(kind="barh",
width=0.3,
ax=axarr[2, 1],
legend=None,
color='indianred')
axarr[2, 1].set_xlabel("Absolute error $\omega$ (degrees/s)")
# length_stats.plot(kind="barh", width =0.3, ax = axarr[3,0],
# legend=None, color='indianred')
# axarr[3,0].set_xlabel("Absolute error Length (m)")
# width_stats.plot(kind="barh", width =0.3, ax = axarr[3,1],
# legend=None, color='indianred')
# axarr[3,1].set_xlabel("Absolute error Width (m)")
rlength_stats.plot(kind="barh",
width=0.3,
ax=axarr[3, 0],
legend=None,
color='indianred')
axarr[3, 0].set_xlabel("Relative error Length")
rwidth_stats.plot(kind="barh",
width=0.3,
ax=axarr[3, 1],
legend=None,
color='indianred')
axarr[3, 1].set_xlabel("Relative error Width")
# handles, labels = axarr[0,0].get_legend_handles_labels()
# lgd = fig_stats.legend(handles, labels, loc='lower center',ncol = len(labels))
current_palette = sns.color_palette()
sns.set_color_codes()
red = mpatches.Patch(color='indianred', label='Shape KF')
gray = mpatches.Patch(color='gray', label='Reference')
green = mpatches.Patch(color='b', label='KF')
blue = mpatches.Patch(color='g', label='UKF')
lgd = fig_stats.legend(handles=[green,blue,red,gray],\
loc='lower center',ncol = 4, borderpad=0.7,\
bbox_to_anchor=(0.54,0), columnspacing=0.8)
fig_stats.tight_layout()
fig_stats.subplots_adjust(bottom=0.12)
# plt.show()
fig_stats.savefig("/home/kostas/report/figures/" + filename + "_stats.pgf")
