示例#1
0
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
示例#2
0
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")
示例#3
0
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)
示例#4
0
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
示例#5
0
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) #######################################
###############################################################################
示例#6
0
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]
示例#7
0
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
示例#8
0
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 ")


###############################################################################