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comparison of depth estimates in synthetic scenes

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This commit is contained in:
Christian Forster
2014-05-22 19:48:02 +02:00
parent d6927c0bbe
commit e8d6757e9e
5 changed files with 210 additions and 178 deletions
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svo_analysis/scripts/comparison.py
+31 -18
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@@ -40,6 +40,13 @@ def distances_along_trajectory(traj):
distances.append(sum)
return distances
def get_distance_from_start(gt):
distances = np.diff(gt[:,1:4],axis=0)
distances = np.sqrt(np.sum(np.multiply(distances,distances),1))
distances = np.cumsum(distances)
distances = np.concatenate(([0], distances))
return distances
def compare_results(comp_params, results_dir, comparison_dir):
print('run comparison: '+comp_params['comparison_name'])
@@ -71,10 +78,7 @@ def compare_results(comp_params, results_dir, comparison_dir):
for i, exp in enumerate(exp_set['experiments']):
gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt'))
distances = np.diff(gt[:,1:4],axis=0)
distances = np.sqrt(np.sum(np.multiply(distances,distances),1))
distances = np.cumsum(distances)
distances = np.concatenate(([0], distances))
distances = get_distance_from_start(gt)
data = np.loadtxt(os.path.join(results_dir, exp, 'translation_error.txt'))
e = np.sqrt(np.sum(np.multiply(data[:,1:4],data[:,1:4]),1))
@@ -100,21 +104,30 @@ def compare_results(comp_params, results_dir, comparison_dir):
# -------------------------------------------------------------------------
# plot depth estimation error:
fig = plt.figure(figsize=(6,5))
ax = fig.add_subplot(111, xlabel='Error [m]', ylabel='Precision [\%]')
ax = fig.add_subplot(111, xlabel='Travelled distance [m]', ylabel='Error [m]')
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)
print('plot depth error for experiment: ' + exp)
exp = exp_set['experiments'][0]
gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt'))
x_axis_data = get_distance_from_start(gt)
analyse_depth.plot_depth_over_time(os.path.join(results_dir, exp), ax,
x_axis_data[1:], line_colors[k], exp_set['label'])
ax.legend(loc='upper left', ncol=3)
save_figure(fig, 'depth_error_textures', comparison_dir)
fig = plt.figure(figsize=(6,5))
ax = fig.add_subplot(111, xlabel='Travelled distance [m]', ylabel='Error [m]')
exp_set = comp_params['experiment_sets'][0]
for i, exp in enumerate(exp_set['experiments']):
print('plot depth error for speed: ' + exp)
gt = np.loadtxt(os.path.join(results_dir, exp, 'groundtruth_matched.txt'))
x_axis_data = get_distance_from_start(gt)
params = yaml.load(open(os.path.join(results_dir, exp, 'dataset_params.yaml')))
analyse_depth.plot_depth_over_time(os.path.join(results_dir, exp), ax,
x_axis_data[1:], line_colors[i],
str(params['trajectory_modifiers']['speed'])+' m/s')
ax.legend(loc='upper left', ncol=3)
save_figure(fig, 'depth_error_speed', comparison_dir)
if __name__ == '__main__':