plotting comparison of tracefiles from different runs
This commit is contained in:
Christian Forster
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comparison_name: speed
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experiment_sets:
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- label: 'old'
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experiments:
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- 20140415_1028_svo_ros_synthetic_speed_1404150920_plane_straight_speed4
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- 20140415_1028_svo_ros_synthetic_speed_1404150928_plane_straight_speed5
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- 20140415_1028_svo_ros_synthetic_speed_1404150935_plane_straight_speed6
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- 20140415_1028_svo_ros_synthetic_speed_1404150940_plane_straight_speed7
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- label: 'new'
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experiments:
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- 20140513_0949_svo_ros_synthetic_speed_1404150920_plane_straight_speed4
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- 20140513_0949_svo_ros_synthetic_speed_1404150928_plane_straight_speed5
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- 20140513_0949_svo_ros_synthetic_speed_1404150935_plane_straight_speed6
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- 20140513_0949_svo_ros_synthetic_speed_1404150940_plane_straight_speed7
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@@ -51,7 +51,7 @@ def run_experiment(dataset, params):
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# copy the groundtruth trajectory to the trace dir for later evaluation
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# copy the groundtruth trajectory to the trace dir for later evaluation
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if params['dataset_is_blender']:
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if params['dataset_is_blender']:
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shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory.txt'),
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shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory_nominal.txt'),
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os.path.join(params['trace_dir'], 'groundtruth_matched.txt'))
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os.path.join(params['trace_dir'], 'groundtruth_matched.txt'))
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else:
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else:
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shutil.copyfile(os.path.join(params['dataset_directory'], 'groundtruth_matched.txt'),
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shutil.copyfile(os.path.join(params['dataset_directory'], 'groundtruth_matched.txt'),
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Executable
+150
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#!/usr/bin/python
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import os
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import sys
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import time
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import rospkg
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import numpy as np
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import matplotlib.pyplot as plt
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import yaml
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import argparse
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from matplotlib import rc
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# tell matplotlib to use latex font
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rc('font',**{'family':'serif','serif':['Cardo']})
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rc('text', usetex=True)
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from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes
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from mpl_toolkits.axes_grid1.inset_locator import mark_inset
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def plot_trajectory(ax, filename, label, color, linewidth):
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file = open(filename)
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data = file.read()
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lines = data.replace(","," ").replace("\t"," ").split("\n")
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trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64)
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ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth)
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def compare_results(experiments, results_dir, comparison_dir,
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plot_scale_drift = False):
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# ------------------------------------------------------------------------------
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# position error
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fig_poserr = plt.figure(figsize=(8,6))
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ax_poserr_x = fig_poserr.add_subplot(311, ylabel='x-error [m]')
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ax_poserr_y = fig_poserr.add_subplot(312, ylabel='y-error [m]')
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ax_poserr_z = fig_poserr.add_subplot(313, ylabel='z-error [m]', xlabel='time [s]')
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for exp in experiments:
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# load dataset parameters
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params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
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params = yaml.load(params_stream)
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# plot translation error
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trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt'))
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trans_error[:,0] = trans_error[:,0]-trans_error[0,0]
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ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label'])
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ax_poserr_y.plot(trans_error[:,0], trans_error[:,2])
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ax_poserr_z.plot(trans_error[:,0], trans_error[:,3])
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ax_poserr_x.set_xlim([0, trans_error[-1,0]+4])
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ax_poserr_y.set_xlim([0, trans_error[-1,0]+4])
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ax_poserr_z.set_xlim([0, trans_error[-1,0]+4])
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ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3)
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ax_poserr_x.grid()
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ax_poserr_y.grid()
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ax_poserr_z.grid()
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fig_poserr.tight_layout()
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fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf'))
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# ------------------------------------------------------------------------------
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# orientation error
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fig_roterr = plt.figure(figsize=(8,6))
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ax_roterr_r = fig_roterr.add_subplot(311, ylabel='roll-error [rad]')
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ax_roterr_p = fig_roterr.add_subplot(312, ylabel='pitch-error [rad]')
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ax_roterr_y = fig_roterr.add_subplot(313, ylabel='yaw-error [rad]', xlabel='time [s]')
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for exp in experiments:
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# load dataset parameters
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params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
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params = yaml.load(params_stream)
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# plot translation error
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rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt'))
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rot_error[:,0] = rot_error[:,0]-rot_error[0,0]
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ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label'])
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ax_roterr_p.plot(rot_error[:,0], rot_error[:,2])
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ax_roterr_y.plot(rot_error[:,0], rot_error[:,1])
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ax_roterr_r.set_xlim([0, rot_error[-1,0]+4])
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ax_roterr_p.set_xlim([0, rot_error[-1,0]+4])
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ax_roterr_y.set_xlim([0, rot_error[-1,0]+4])
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ax_roterr_r.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
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ax_roterr_r.grid()
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ax_roterr_p.grid()
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ax_roterr_y.grid()
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fig_roterr.tight_layout()
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fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf'))
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# ------------------------------------------------------------------------------
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# scale error
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if plot_scale_drift:
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fig_scale = plt.figure(figsize=(8,2.5))
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ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]')
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for exp in experiments:
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# load dataset parameters
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params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml')))
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# plot translation error
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scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt'))
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scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0]
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ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label'])
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ax_scale.set_xlim([0, rot_error[-1,0]+4])
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ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
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ax_scale.grid()
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fig_scale.tight_layout()
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fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf'))
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# ------------------------------------------------------------------------------
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# trajectory
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# fig_traj = plt.figure(figsize=(8,4.8))
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# ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6])
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#
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# plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5)
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# plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1)
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# plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1)
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#
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# mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b')
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# plt.draw()
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# plt.show()
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# ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3)
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# ax_traj.grid()
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# fig_traj.tight_layout()
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# fig_traj.savefig('../results/trajectory_asl.pdf')
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if __name__ == '__main__':
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default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison'
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parser = argparse.ArgumentParser(description='Compare results.')
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parser.add_argument('result_directories', nargs='+', help='list of result directories to compare')
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parser.add_argument('--name', help='name of the comparison', default=default_name)
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args = parser.parse_args()
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# create folder for comparison results
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results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results')
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comparison_dir = os.path.join(results_dir, args.name)
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if not os.path.exists(comparison_dir):
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os.makedirs(comparison_dir)
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# run comparison
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compare_results(args.result_directories, results_dir, comparison_dir)
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@@ -18,133 +18,105 @@ from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes
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from mpl_toolkits.axes_grid1.inset_locator import mark_inset
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from mpl_toolkits.axes_grid1.inset_locator import mark_inset
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def plot_trajectory(ax, filename, label, color, linewidth):
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def plot_trajectory(ax, filename, label, color, linewidth):
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file = open(filename)
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file = open(filename)
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data = file.read()
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data = file.read()
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lines = data.replace(","," ").replace("\t"," ").split("\n")
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lines = data.replace(","," ").replace("\t"," ").split("\n")
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trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64)
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trajectory = np.array([[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"], dtype=np.float64)
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ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth)
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ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth)
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def compare_results(experiments, results_dir, comparison_dir,
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def save_figure(fig, name, directory):
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plot_scale_drift = False):
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fig.tight_layout()
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fig.savefig(os.path.join(directory, name+'.pdf'), bbox_inches="tight")
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# ------------------------------------------------------------------------------
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# position error
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def distances_along_trajectory(traj):
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fig_poserr = plt.figure(figsize=(8,6))
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keys = traj.keys()
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ax_poserr_x = fig_poserr.add_subplot(311, ylabel='x-error [m]')
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keys.sort()
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ax_poserr_y = fig_poserr.add_subplot(312, ylabel='y-error [m]')
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motion = [ominus(traj[keys[i+1]],traj[keys[i]]) for i in range(len(keys)-1)]
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ax_poserr_z = fig_poserr.add_subplot(313, ylabel='z-error [m]', xlabel='time [s]')
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distances = [0]
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sum = 0
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for exp in experiments:
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for t in motion:
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sum += compute_distance(t)
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distances.append(sum)
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return distances
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# load dataset parameters
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def compare_results(comp_params, results_dir, comparison_dir):
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params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
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print('run comparison: '+comp_params['comparison_name'])
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params = yaml.load(params_stream)
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# plot translation error
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trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt'))
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trans_error[:,0] = trans_error[:,0]-trans_error[0,0]
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ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label'])
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ax_poserr_y.plot(trans_error[:,0], trans_error[:,2])
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ax_poserr_z.plot(trans_error[:,0], trans_error[:,3])
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ax_poserr_x.set_xlim([0, trans_error[-1,0]+4])
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# -------------------------------------------------------------------------
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ax_poserr_y.set_xlim([0, trans_error[-1,0]+4])
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# plot trajectory:
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ax_poserr_z.set_xlim([0, trans_error[-1,0]+4])
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fig = plt.figure(figsize=(6,2))
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ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3)
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ax = fig.add_subplot(111, xlabel='x [m]', ylabel='y [m]')
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ax_poserr_x.grid()
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for exp_set in comp_params['experiment_sets']:
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ax_poserr_y.grid()
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print('processing experiment set: ' + exp_set['label'])
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ax_poserr_z.grid()
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fig_poserr.tight_layout()
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for i, exp in enumerate(exp_set['experiments']):
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fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf'))
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data = np.loadtxt(os.path.join(results_dir, exp, 'traj_estimate.txt'))
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if i == 0:
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# ------------------------------------------------------------------------------
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base_plot, = ax.plot(data[:,1], data[:,2], label=exp_set['label'])
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# orientation error
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else:
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fig_roterr = plt.figure(figsize=(8,6))
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ax.plot(data[:,1], data[:,2], color=base_plot.get_color())
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ax_roterr_r = fig_roterr.add_subplot(311, ylabel='roll-error [rad]')
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ax.legend(loc='upper left')
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ax_roterr_p = fig_roterr.add_subplot(312, ylabel='pitch-error [rad]')
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save_figure(fig, 'trajectory', comparison_dir)
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ax_roterr_y = fig_roterr.add_subplot(313, ylabel='yaw-error [rad]', xlabel='time [s]')
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for exp in experiments:
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# load dataset parameters
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params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
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params = yaml.load(params_stream)
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# plot translation error
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rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt'))
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rot_error[:,0] = rot_error[:,0]-rot_error[0,0]
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ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label'])
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ax_roterr_p.plot(rot_error[:,0], rot_error[:,2])
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ax_roterr_y.plot(rot_error[:,0], rot_error[:,1])
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ax_roterr_r.set_xlim([0, rot_error[-1,0]+4])
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# -------------------------------------------------------------------------
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ax_roterr_p.set_xlim([0, rot_error[-1,0]+4])
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# plot translation error:
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ax_roterr_y.set_xlim([0, rot_error[-1,0]+4])
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fig = plt.figure(figsize=(6,2))
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ax_roterr_r.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
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ax = fig.add_subplot(111, xlabel='distance [m]', ylabel='translation drift [mm]')
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ax_roterr_r.grid()
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for exp_set in comp_params['experiment_sets']:
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ax_roterr_p.grid()
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print('processing experiment set: ' + exp_set['label'])
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ax_roterr_y.grid()
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fig_roterr.tight_layout()
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for i, exp in enumerate(exp_set['experiments']):
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fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf'))
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gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt'))
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distances = np.diff(gt[:,1:4],axis=0)
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# ------------------------------------------------------------------------------
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distances = np.sqrt(np.sum(np.multiply(distances,distances),1))
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# scale error
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distances = np.cumsum(distances)
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if plot_scale_drift:
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distances = np.concatenate(([0], distances))
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fig_scale = plt.figure(figsize=(8,2.5))
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data = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt'))
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ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]')
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e = np.sqrt(np.sum(np.multiply(data[:,1:4],data[:,1:4]),1))
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for exp in experiments:
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if np.shape(e)[0] > np.shape(distances)[0]:
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print('WARNING: estimate has more measurement than groundtruth: '
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# load dataset parameters
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+str(np.shape(e)[0]-np.shape(distances)[0]))
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params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml')))
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e = e[0:np.shape(distances)[0]]
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# plot translation error
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distances = distances[0:np.shape(e)[0]+1]
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scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt'))
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scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0]
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||||||
ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label'])
|
if i == 0:
|
||||||
|
base_plot, = ax.plot(distances, e*1000, label=exp_set['label'])
|
||||||
ax_scale.set_xlim([0, rot_error[-1,0]+4])
|
else:
|
||||||
ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
|
ax.plot(distances, e*1000, color=base_plot.get_color())
|
||||||
ax_scale.grid()
|
|
||||||
fig_scale.tight_layout()
|
ax.legend(loc='upper left')
|
||||||
fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf'))
|
save_figure(fig, 'translation_error', comparison_dir)
|
||||||
|
|
||||||
# ------------------------------------------------------------------------------
|
|
||||||
# trajectory
|
|
||||||
|
|
||||||
# fig_traj = plt.figure(figsize=(8,4.8))
|
|
||||||
# ax_traj = fig_traj.add_subplot(111, xlabel='x [m]', ylabel='y [m]', aspect='equal', xlim=[-3.1, 4], ylim=[-1.5, 2.6])
|
|
||||||
#
|
|
||||||
# plotTrajectory(ax_traj, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5)
|
|
||||||
# plotTrajectory(ax_traj, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1)
|
|
||||||
# plotTrajectory(ax_traj, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1)
|
|
||||||
#
|
|
||||||
# mark_inset(ax_traj, axins, loc1=2, loc2=4, fc="none", ec='b')
|
|
||||||
# plt.draw()
|
|
||||||
# plt.show()
|
|
||||||
# ax_traj.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=3)
|
|
||||||
# ax_traj.grid()
|
|
||||||
# fig_traj.tight_layout()
|
|
||||||
# fig_traj.savefig('../results/trajectory_asl.pdf')
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
if __name__ == '__main__':
|
||||||
|
|
||||||
default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison'
|
parser = argparse.ArgumentParser(description='Compare results of a VO pipeline.')
|
||||||
parser = argparse.ArgumentParser(description='Compare results.')
|
parser.add_argument('comparison_file', help='A YAML file that contains the details of the comparison')
|
||||||
parser.add_argument('result_directories', nargs='+', help='list of result directories to compare')
|
args = parser.parse_args()
|
||||||
parser.add_argument('--name', help='name of the comparison', default=default_name)
|
|
||||||
args = parser.parse_args()
|
# load comparison file
|
||||||
|
args.experiment_file = args.comparison_file.replace('.yaml','')
|
||||||
# create folder for comparison results
|
comparison_params_file = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
|
||||||
results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results')
|
'comparisons', args.comparison_file+'.yaml')
|
||||||
comparison_dir = os.path.join(results_dir, args.name)
|
if os.path.exists(comparison_params_file):
|
||||||
if not os.path.exists(comparison_dir):
|
comp_params = yaml.load(open(comparison_params_file, 'r'))
|
||||||
os.makedirs(comparison_dir)
|
else:
|
||||||
|
raise Exception("Provided comparison file does not exist.")
|
||||||
|
|
||||||
|
# create folder for comparison results
|
||||||
|
comparison_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
|
||||||
|
'comparisons', comp_params['comparison_name'])
|
||||||
|
if not os.path.exists(comparison_dir):
|
||||||
|
os.makedirs(comparison_dir)
|
||||||
|
|
||||||
|
# folder where the results of previous experiments are saved
|
||||||
|
results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results')
|
||||||
|
|
||||||
# run comparison
|
# run comparison
|
||||||
compare_results(args.result_directories, results_dir, comparison_dir)
|
compare_results(comp_params, results_dir, comparison_dir)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|||||||
Reference in New Issue
Block a user