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evaluation scripts

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This commit is contained in:
Christian Forster
2014-05-16 19:25:51 +02:00
parent 450cbc096e
commit 0f322b208a
4 changed files with 68 additions and 34 deletions
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svo_analysis/scripts/comparison.py
+23 -3
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@@ -8,6 +8,7 @@ import numpy as np
import matplotlib.pyplot as plt
import yaml
import argparse
import svo_analysis.analyse_depth as analyse_depth
from matplotlib import rc
# tell matplotlib to use latex font
@@ -43,6 +44,7 @@ def compare_results(comp_params, results_dir, comparison_dir):
print('run comparison: '+comp_params['comparison_name'])
line_styles = ['-','--',':']
line_colors = ['b','g','r','m','c']
# -------------------------------------------------------------------------
# plot trajectory:
@@ -57,10 +59,9 @@ def compare_results(comp_params, results_dir, comparison_dir):
base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label'], linestyle=line_styles[np.mod(i, len(line_styles))])
else:
ax.plot(data[:,1], data[:,2], color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))])
ax.legend(loc='upper left', ncol=2)
ax.legend(loc='upper left', ncol=3)
save_figure(fig, 'trajectory', comparison_dir)
# -------------------------------------------------------------------------
# plot translation error:
fig = plt.figure(figsize=(6,2))
@@ -93,8 +94,27 @@ def compare_results(comp_params, results_dir, comparison_dir):
else:
ax.plot(distances, e*1000, color=base_plot.get_color(), linestyle= line_styles[np.mod(i, len(line_styles))])
ax.legend(loc='upper left', ncol=2)
ax.legend(loc='upper left', ncol=3)
save_figure(fig, 'translation_error', comparison_dir)
# -------------------------------------------------------------------------
# plot depth estimation error:
fig = plt.figure(figsize=(6,5))
ax = fig.add_subplot(111, xlabel='Error [m]', ylabel='Precision [\%]')
for k, exp_set in enumerate(comp_params['experiment_sets']):
print('plot depth error for experiment: ' + exp_set['label'])
for i, exp in enumerate(exp_set['experiments']):
D = np.loadtxt(os.path.join(results_dir, exp, 'depth_error.txt'), delimiter=' ')
D = D[np.logical_and(D[:,0] > 1, D[:,0] < D[-1,0]/4),:]
errors = np.abs(D[:,1])
if i == 0:
base_plot = analyse_depth.precision_plot(ax, errors, 0.05, line_colors[k], line_styles[np.mod(i, len(line_styles))])
else:
base_plot = analyse_depth.precision_plot(ax, errors, 0.05, base_plot.get_color(), line_styles[np.mod(i, len(line_styles))])
save_figure(fig, 'depth_error', comparison_dir)
if __name__ == '__main__':