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updated trajectory comparison

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This commit is contained in:
Christian Forster
2014-03-31 21:21:34 +02:00
parent 74a6d3d699
commit d0a2406041
4 changed files with 78 additions and 90 deletions
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svo_analysis/experiments/.gitignore
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*.yaml
!.gitignore
svo_analysis/experiments/asl2_acc.yaml
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@@ -1,2 +1,3 @@
dataset: asl_vicon_d2
param_settings: vo_accurate
param_settings: vo_accurate
experiment_label: 'svo acc'
svo_analysis/experiments/asl2_fast.yaml
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@@ -1,2 +1,3 @@
dataset: asl_vicon_d2
param_settings: vo_fast
param_settings: vo_fast
experiment_label: 'svo fast'
svo_analysis/scripts/comparison.py
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@@ -1,32 +1,32 @@
# -*- coding: utf-8 -*-
#!/usr/bin/python
import os
import sys
import time
import rospkg
import numpy as np
import matplotlib.pyplot as plt
import yaml
import argparse
from matplotlib import rc
# tell matplotlib to use latex font
rc('font',**{'family':'serif','serif':['Cardo']})
rc('text', usetex=True)
from mpl_toolkits.axes_grid1.inset_locator import zoomed_inset_axes
from mpl_toolkits.axes_grid1.inset_locator import mark_inset
def plotTrajectory(ax, filename, label, color, linewidth):
def plot_trajectory(ax, filename, label, color, linewidth):
file = open(filename)
data = file.read()
lines = data.replace(","," ").replace("\t"," ").split("\n")
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)
ax.plot(trajectory[:,1], trajectory[:,2], label=label, color=color, linewidth=linewidth)
if __name__ == '__main__':
def compare_results(experiments, results_dir, comparison_dir,
plot_scale_drift = False):
results_dir = '../results'
experiments = ['20130911_2113_nslam_i7_asl2_acc',
'20130911_2229_nslam_i7_asl2_fast',
'20130906_2149_ptam_i7_asl2']
# tell matplotlib to use latex font
rc('font',**{'family':'serif','serif':['Cardo']})
rc('text', usetex=True)
# ------------------------------------------------------------------------------
# position error
fig_poserr = plt.figure(figsize=(8,6))
@@ -37,28 +37,25 @@ if __name__ == '__main__':
for exp in experiments:
# load dataset parameters
params_stream = open(results_dir+'/'+exp+'/params.yaml')
params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
params = yaml.load(params_stream)
# plot translation error
trans_error_filename = results_dir+'/'+exp+'/translation_error.txt'
file = open(trans_error_filename)
data = file.read()
lines = data.replace(","," ").replace("\t"," ").split("\n")
trans_error = 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)
trans_error = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt'))
trans_error[:,0] = trans_error[:,0]-trans_error[0,0]
ax_poserr_x.plot(trans_error[:,0], trans_error[:,1], label=params['experiment_label'])
ax_poserr_y.plot(trans_error[:,0], trans_error[:,2])
ax_poserr_z.plot(trans_error[:,0], trans_error[:,3])
ax_poserr_x.set_xlim([0, trans_error[-1,0]+4])
ax_poserr_y.set_xlim([0, trans_error[-1,0]+4])
ax_poserr_y.set_xlim([0, trans_error[-1,0]+4])
ax_poserr_z.set_xlim([0, trans_error[-1,0]+4])
ax_poserr_x.legend(bbox_to_anchor=[0, 0], loc='lower left', ncol=3)
ax_poserr_x.grid()
ax_poserr_y.grid()
ax_poserr_z.grid()
fig_poserr.tight_layout()
fig_poserr.savefig('../results/translation_error.pdf')
fig_poserr.savefig(os.path.join(comparison_dir, 'translation_error.pdf'))
# ------------------------------------------------------------------------------
# orientation error
@@ -70,15 +67,12 @@ if __name__ == '__main__':
for exp in experiments:
# load dataset parameters
params_stream = open(results_dir+'/'+exp+'/params.yaml')
params_stream = open(os.path.join(results_dir, exp, 'params.yaml'))
params = yaml.load(params_stream)
# plot translation error
rot_error_filename = results_dir+'/'+exp+'/orientation_error.txt'
file = open(rot_error_filename)
data = file.read()
lines = data.replace(","," ").replace("\t"," ").split("\n")
rot_error = 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)
rot_error = np.loadtxt(os.path.join(results_dir, exp, 'orientation_error.txt'))
rot_error[:,0] = rot_error[:,0]-rot_error[0,0]
ax_roterr_r.plot(rot_error[:,0], rot_error[:,3], label=params['experiment_label'])
ax_roterr_p.plot(rot_error[:,0], rot_error[:,2])
ax_roterr_y.plot(rot_error[:,0], rot_error[:,1])
@@ -91,76 +85,66 @@ if __name__ == '__main__':
ax_roterr_p.grid()
ax_roterr_y.grid()
fig_roterr.tight_layout()
fig_roterr.savefig('../results/orientation_error.pdf')
fig_roterr.savefig(os.path.join(comparison_dir, 'orientation_error.pdf'))
# ------------------------------------------------------------------------------
# scale error
fig_scale = plt.figure(figsize=(8,2.5))
ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]')
for exp in experiments:
if plot_scale_drift:
fig_scale = plt.figure(figsize=(8,2.5))
ax_scale = fig_scale.add_subplot(111, xlabel='time [s]', ylabel='scale change [\%]')
# load dataset parameters
params_stream = open(results_dir+'/'+exp+'/params.yaml')
params = yaml.load(params_stream)
for exp in experiments:
# load dataset parameters
params = yaml.load(open(os.path.join(results_dir, exp, 'params.yaml')))
# plot translation error
scale_drift = open(os.path.join(results_dir, exp, 'scale_drift.txt'))
scale_drift[:,0] = scale_drift[:,0]-scale_drift[0,0]
ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label'])
# plot translation error
scale_drift_filename = results_dir+'/'+exp+'/scale_drift.txt'
file = open(scale_drift_filename)
data = file.read()
lines = data.replace(","," ").replace("\t"," ").split("\n")
scale_drift = 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)
ax_scale.plot(scale_drift[:,0], scale_drift[:,1], label=params['experiment_label'])
ax_scale.set_xlim([0, rot_error[-1,0]+4])
ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
ax_scale.grid()
fig_scale.tight_layout()
fig_scale.savefig('../results/scale_drift.pdf')
ax_scale.set_xlim([0, rot_error[-1,0]+4])
ax_scale.legend(bbox_to_anchor=[0, 1], loc='upper left', ncol=3)
ax_scale.grid()
fig_scale.tight_layout()
fig_scale.savefig(os.path.join(comparison_dir, 'scale_drift.pdf'))
# ------------------------------------------------------------------------------
# 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)
# show detail:
axins = zoomed_inset_axes(ax_traj, 5.0, loc=1) # zoom = 6
plotTrajectory(axins, '/home/cforster/Datasets/asl_vicon_d2/groundtruth_filtered.txt', 'Groundtruth', 'k', 1.5)
plotTrajectory(axins, results_dir+'/20130911_2229_nslam_i7_asl2_fast/traj_estimate_rotated.txt', 'Fast', 'g', 1)
plotTrajectory(axins, results_dir+'/20130906_2149_ptam_i7_asl2/traj_estimate_rotated.txt', 'PTAM', 'r', 1)
axins.set_xlim(1.2, 1.70)
axins.set_ylim(-0.8, -0.3)
axins.patch.set_facecolor('0.9')
plt.xticks(visible=False)
plt.yticks(visible=False)
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')
# 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')
# ------------------------------------------------------------------------------
# number of matches
if __name__ == '__main__':
# plot number of klt tracked and matched points
# fig = plt.figure(figsize=(8,2))
# ax = fig.add_subplot(111, xlabel='time [s]', ylabel='no. features', ylim=[0,220])
# ax.plot(np.arange(len(n_fts_1))/25.0, n_fts_1, 'b-', label='Accurate')
# ax.plot(np.arange(len(n_fts_2))/25.0, n_fts_2, 'g-', label='Fast')
# ax.legend(bbox_to_anchor=[1, 0], loc='lower right', ncol=2)
# fig.tight_layout()
# fig.savefig('../results/number_of_features2.pdf', bbox_inches="tight")
#
default_name = time.strftime("%Y%m%d_%H%M", time.localtime())+'_comparison'
parser = argparse.ArgumentParser(description='Compare results.')
parser.add_argument('result_directories', nargs='+', help='list of result directories to compare')
parser.add_argument('--name', help='name of the comparison', default=default_name)
args = parser.parse_args()
# create folder for comparison results
results_dir = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 'results')
comparison_dir = os.path.join(results_dir, args.name)
if not os.path.exists(comparison_dir):
os.makedirs(comparison_dir)
# run comparison
compare_results(args.result_directories, results_dir, comparison_dir)