rtabmap/tools/Report/main.cpp

/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UPlot.h>
#include <rtabmap/utilite/ULogger.h>
#include <QApplication>
#include <stdio.h>

using namespace rtabmap;

void showUsage()
{
	printf("\nUsage:\n"
			"rtabmap-report [\"Statistic/Id\"] [--latex] [--kitti] [--scale] [--poses] path\n"
			"  path               Directory containing rtabmap databases or path of a database.\n"
			"  --latex            Print table formatted in LaTeX with results.\n"
			"  --kitti            Compute error based on KITTI benchmark.\n"
			"  --scale            Find the best scale for the map against the ground truth\n"
			"                       and compute error based on the scaled path.\n"
			"  --poses            Export poses to [path]_poses.txt, ground truth to [path]_gt.txt\n"
			"                       and valid ground truth indices to [path]_indices.txt \n\n");
	exit(1);
}

int main(int argc, char * argv[])
{
	if(argc < 2)
	{
		showUsage();
	}

	ULogger::setType(ULogger::kTypeConsole);
	ULogger::setLevel(ULogger::kWarning);

	QApplication app(argc, argv);

	bool outputLatex = false;
	bool outputScaled = false;
	bool outputPoses = false;
	bool outputKittiError = false;
	std::map<std::string, UPlot*> figures;
	for(int i=1; i<argc-1; ++i)
	{
		if(strcmp(argv[i], "--latex") == 0)
		{
			outputLatex = true;
		}
		else if(strcmp(argv[i], "--kitti") == 0)
		{
			outputKittiError = true;
		}
		else if(strcmp(argv[i], "--scale") == 0)
		{
			outputScaled = true;
		}
		else if(strcmp(argv[i], "--poses") == 0)
		{
			outputPoses = true;
		}
		else
		{
			std::string figureTitle = argv[i];
			printf("Plot %s\n", figureTitle.c_str());
			UPlot * fig = new UPlot();
			fig->setTitle(figureTitle.c_str());
			fig->setXLabel("Time (s)");
			figures.insert(std::make_pair(figureTitle, fig));
		}
	}

	std::string path = argv[argc-1];
	path = uReplaceChar(path, '~', UDirectory::homeDir());

	std::string fileName;
	std::list<std::string> paths;
	paths.push_back(path);
	std::vector<std::map<std::string, std::vector<float> > > outputLatexStatistics;
	std::map<std::string, std::vector<float> > outputLatexStatisticsMap;
	bool odomRAMSet = false;
	std::set<std::string> topDirs;
	while(paths.size())
	{
		std::string currentPath = paths.front();
		UDirectory currentDir(currentPath);
		paths.pop_front();
		bool currentPathIsDatabase = false;
		if(!currentDir.isValid())
		{
			if(UFile::getExtension(currentPath).compare("db") == 0)
			{
				currentPathIsDatabase=true;
				printf("Database: %s\n", currentPath.c_str());
			}
			else
			{
				continue;
			}
		}
		std::list<std::string> subDirs;
		if(!currentPathIsDatabase)
		{
			printf("Directory: %s\n", currentPath.c_str());
			std::list<std::string> fileNames = currentDir.getFileNames();
			if(topDirs.empty())
			{
				for(std::list<std::string>::iterator iter = fileNames.begin(); iter!=fileNames.end(); ++iter)
				{
					topDirs.insert(currentPath+"/"+*iter);
				}
			}
			else
			{
				if(topDirs.find(currentPath) != topDirs.end())
				{
					if(outputLatexStatisticsMap.size())
					{
						outputLatexStatistics.push_back(outputLatexStatisticsMap);
						outputLatexStatisticsMap.clear();
					}
				}
			}
		}

		while(currentPathIsDatabase || !(fileName = currentDir.getNextFileName()).empty())
		{
			if(currentPathIsDatabase || UFile::getExtension(fileName).compare("db") == 0)
			{
				std::string filePath;
				if(currentPathIsDatabase)
				{
					filePath = currentPath;
				}
				else
				{
					filePath = currentPath + UDirectory::separator() + fileName;
				}

				DBDriver * driver = DBDriver::create();
				ParametersMap params;
				if(driver->openConnection(filePath))
				{
					ULogger::setLevel(ULogger::kError); // to suppress parameter warnings
					params = driver->getLastParameters();
					ULogger::setLevel(ULogger::kWarning);
					std::set<int> ids;
					driver->getAllNodeIds(ids);
					std::map<int, std::pair<std::map<std::string, float>, double> > stats = driver->getAllStatistics();
					std::map<int, Transform> odomPoses, gtPoses;
					std::vector<float> cameraTime;
					cameraTime.reserve(ids.size());
					std::vector<float> odomTime;
					odomTime.reserve(ids.size());
					std::vector<float> slamTime;
					slamTime.reserve(ids.size());
					float rmse = -1;
					float maxRMSE = -1;
					float maxOdomRAM = -1;
					float maxMapRAM = -1;
					std::map<std::string, UPlotCurve*> curves;
					std::map<std::string, double> firstStamps;
					for(std::map<std::string, UPlot*>::iterator iter=figures.begin(); iter!=figures.end(); ++iter)
					{
						curves.insert(std::make_pair(iter->first, iter->second->addCurve(filePath.c_str())));
					}

					for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
					{
						Transform p, gt;
						GPS gps;
						int m=-1, w=-1;
						std::string l;
						double s;
						std::vector<float> v;
						EnvSensors sensors;
						if(driver->getNodeInfo(*iter, p, m, w, l, s, gt, v, gps, sensors))
						{
							odomPoses.insert(std::make_pair(*iter, p));
							if(!gt.isNull())
							{
								gtPoses.insert(std::make_pair(*iter, gt));
							}
							if(uContains(stats, *iter))
							{
								const std::map<std::string, float> & stat = stats.at(*iter).first;
								if(uContains(stat, Statistics::kGtTranslational_rmse()))
								{
									rmse = stat.at(Statistics::kGtTranslational_rmse());
									if(maxRMSE==-1 || maxRMSE < rmse)
									{
										maxRMSE = rmse;
									}
								}
								if(uContains(stat, std::string("Camera/TotalTime/ms")))
								{
									cameraTime.push_back(stat.at(std::string("Camera/TotalTime/ms")));
								}
								if(uContains(stat, std::string("Odometry/TotalTime/ms")))
								{
									odomTime.push_back(stat.at(std::string("Odometry/TotalTime/ms")));
								}

								if(uContains(stat, std::string("RtabmapROS/TotalTime/ms")))
								{
									if(w>=0 || stat.at("RtabmapROS/TotalTime/ms") > 10.0f)
									{
										slamTime.push_back(stat.at("RtabmapROS/TotalTime/ms"));
									}
								}
								else if(uContains(stat, Statistics::kTimingTotal()))
								{
									if(w>=0 || stat.at(Statistics::kTimingTotal()) > 10.0f)
									{
										slamTime.push_back(stat.at(Statistics::kTimingTotal()));
									}
								}

								if(uContains(stat, std::string(Statistics::kMemoryRAM_usage())))
								{
									float ram = stat.at(Statistics::kMemoryRAM_usage());
									if(maxMapRAM==-1 || maxMapRAM < ram)
									{
										maxMapRAM = ram;
									}
								}
								if(uContains(stat, std::string("Odometry/RAM_usage/MB")))
								{
									float ram = stat.at("Odometry/RAM_usage/MB");
									if(maxOdomRAM==-1 || maxOdomRAM < ram)
									{
										maxOdomRAM = ram;
									}
								}

								for(std::map<std::string, UPlotCurve*>::iterator jter=curves.begin(); jter!=curves.end(); ++jter)
								{
									if(uContains(stat, jter->first))
									{
										if(!uContains(firstStamps, jter->first))
										{
											firstStamps.insert(std::make_pair(jter->first, s));
										}
										float x = s - firstStamps.at(jter->first);
										float y = stat.at(jter->first);
										jter->second->addValue(x,y);
									}
								}
							}
						}
					}

					std::multimap<int, Link> links;
					driver->getAllLinks(links, true);
					std::multimap<int, Link> loopClosureLinks;
					for(std::multimap<int, Link>::iterator jter=links.begin(); jter!=links.end(); ++jter)
					{
						if(jter->second.type() == Link::kGlobalClosure &&
							graph::findLink(loopClosureLinks, jter->second.from(), jter->second.to()) == loopClosureLinks.end())
						{
							loopClosureLinks.insert(*jter);
						}
					}

					float bestScale = 1.0f;
					float bestRMSE = -1;
					float bestRMSEAng = -1;
					float bestVoRMSE = -1;
					Transform bestGtToMap = Transform::getIdentity();
					float kitti_t_err = 0.0f;
					float kitti_r_err = 0.0f;
					if(ids.size())
					{
						std::map<int, Transform> posesOut;
						std::multimap<int, Link> linksOut;
						int firstId = *ids.begin();
						rtabmap::Optimizer * optimizer = rtabmap::Optimizer::create(params);
						optimizer->getConnectedGraph(firstId, odomPoses, graph::filterDuplicateLinks(links), posesOut, linksOut);

						std::map<int, Transform> poses = optimizer->optimize(firstId, posesOut, linksOut);
						if(poses.empty())
						{
							// try incremental optimization
							UWARN("Optimization failed! Try incremental optimization...");
							poses = optimizer->optimizeIncremental(firstId, posesOut, linksOut);
							if(poses.empty())
							{
								UERROR("Incremental optimization also failed! Only original RMSE will be shown.");
								bestRMSE = rmse;
							}
							else
							{
								UWARN("Incremental optimization succeeded!");
							}
						}

						if(poses.size())
						{
							std::map<int, Transform> groundTruth;
							for(std::map<int, Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
							{
								if(gtPoses.find(iter->first) != gtPoses.end())
								{
									groundTruth.insert(*gtPoses.find(iter->first));
								}
							}

							outputScaled = outputScaled && groundTruth.size();
							for(float scale=outputScaled?0.900f:1.0f; scale<1.100f; scale+=0.001)
							{
								std::map<int, Transform> scaledPoses;
								std::map<int, Transform> scaledOdomPoses;

								for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
								{
									Transform t = iter->second.clone();
									t.x() *= scale;
									t.y() *= scale;
									t.z() *= scale;
									scaledPoses.insert(std::make_pair(iter->first, t));

									UASSERT(posesOut.find(iter->first)!=posesOut.end());
									t = posesOut.at(iter->first).clone();
									t.x() *= scale;
									t.y() *= scale;
									t.z() *= scale;
									scaledOdomPoses.insert(std::make_pair(iter->first, t));
								}
								// compute RMSE statistics
								float translational_rmse = 0.0f;
								float translational_mean = 0.0f;
								float translational_median = 0.0f;
								float translational_std = 0.0f;
								float translational_min = 0.0f;
								float translational_max = 0.0f;
								float rotational_rmse = 0.0f;
								float rotational_mean = 0.0f;
								float rotational_median = 0.0f;
								float rotational_std = 0.0f;
								float rotational_min = 0.0f;
								float rotational_max = 0.0f;

								graph::calcRMSE(
										groundTruth,
										scaledOdomPoses,
										translational_rmse,
										translational_mean,
										translational_median,
										translational_std,
										translational_min,
										translational_max,
										rotational_rmse,
										rotational_mean,
										rotational_median,
										rotational_std,
										rotational_min,
										rotational_max);
								float translational_rmse_vo = translational_rmse;

								Transform gtToMap = graph::calcRMSE(
										groundTruth,
										scaledPoses,
										translational_rmse,
										translational_mean,
										translational_median,
										translational_std,
										translational_min,
										translational_max,
										rotational_rmse,
										rotational_mean,
										rotational_median,
										rotational_std,
										rotational_min,
										rotational_max);

								if(bestRMSE!=-1 && translational_rmse > bestRMSE)
								{
									break;
								}
								bestRMSE = translational_rmse;
								bestVoRMSE = translational_rmse_vo;
								bestRMSEAng = rotational_rmse;
								bestScale = scale;
								bestGtToMap = gtToMap;
								if(!outputScaled)
								{
									// just did iteration without any scale, then exit
									break;
								}
							}

							for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
							{
								iter->second.x()*=bestScale;
								iter->second.y()*=bestScale;
								iter->second.z()*=bestScale;
								iter->second = bestGtToMap * iter->second;
							}

							if(outputKittiError)
							{
								if(groundTruth.size() == poses.size())
								{
									// compute KITTI statistics
									graph::calcKittiSequenceErrors(uValues(groundTruth), uValues(poses), kitti_t_err, kitti_r_err);
								}
								else
								{
									printf("Cannot compute KITTI statistics as optimized poses and ground truth don't have the same size (%d vs %d).\n",
											(int)poses.size(), (int)groundTruth.size());
								}
							}

							if(outputPoses)
							{
								std::string dir = UDirectory::getDir(filePath);
								std::string dbName = UFile::getName(filePath);
								dbName = dbName.substr(0, dbName.size()-3); // remove db
								std::string path = dir+UDirectory::separator()+dbName+"_poses.txt";
								if(!graph::exportPoses(path, outputKittiError?2:0, poses))
								{
									printf("Could not export the poses to \"%s\"!?!\n", path.c_str());
								}
								if(groundTruth.size())
								{
									// For missing ground truth poses, set them to null
									std::vector<int> validIndices(poses.size(), 1);
									int i=0;
									for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter, ++i)
									{
										if(groundTruth.find(iter->first) == groundTruth.end())
										{
											groundTruth.insert(std::make_pair(iter->first, Transform()));
											validIndices[i] = 0;
										}
									}
									path = dir+UDirectory::separator()+dbName+"_gt.txt";
									if(!graph::exportPoses(path, outputKittiError?2:0, groundTruth))
									{
										printf("Could not export the ground truth to \"%s\"!?!\n", path.c_str());
									}
									else
									{
										// save valid indices
										path = dir+UDirectory::separator()+dbName+"_indices.txt";
										FILE * file = 0;
	#ifdef _MSC_VER
										fopen_s(&file, path.c_str(), "w");
	#else
										file = fopen(path.c_str(), "w");
	#endif
										if(file)
										{
											// VERTEX3 id x y z phi theta psi
											for(unsigned int k=0; k<validIndices.size(); ++k)
											{
												fprintf(file, "%d\n", validIndices[k]);
											}
											fclose(file);
										}
									}
								}
							}
						}
					}
					printf("   %s (%d, s=%.3f):\terror lin=%.3fm (max=%.3fm, odom=%.3fm) ang=%.1fdeg%s, slam: avg=%dms (max=%dms) loops=%d, odom: avg=%dms (max=%dms), camera: avg=%dms, %smap=%dMB\n",
							fileName.c_str(),
							(int)ids.size(),
							bestScale,
							bestRMSE,
							maxRMSE,
							bestVoRMSE,
							bestRMSEAng,
							!outputKittiError?"":uFormat(", KITTI: t_err=%.2f%% r_err=%.2f deg/100m", kitti_t_err, kitti_r_err*100).c_str(),
							(int)uMean(slamTime), (int)uMax(slamTime),
							(int)loopClosureLinks.size(),
							(int)uMean(odomTime), (int)uMax(odomTime),
							(int)uMean(cameraTime),
							maxOdomRAM!=-1.0f?uFormat("RAM odom=%dMB ", (int)maxOdomRAM).c_str():"",
							(int)maxMapRAM);

					if(outputLatex)
					{
						std::vector<float> stats;
						stats.push_back(ids.size());
						stats.push_back(bestRMSE);
						stats.push_back(maxRMSE);
						stats.push_back(bestRMSEAng);
						stats.push_back(uMean(odomTime));
						stats.push_back(uMean(slamTime));
						stats.push_back(uMax(slamTime));
						stats.push_back(maxOdomRAM);
						stats.push_back(maxMapRAM);
						outputLatexStatisticsMap.insert(std::make_pair(filePath, stats));

						if(maxOdomRAM != -1.0f)
						{
							odomRAMSet = true;
						}
					}
				}
				driver->closeConnection();
				delete driver;
			}
			else if(uSplit(fileName, '.').size() == 1)
			{
				//sub directory
				subDirs.push_front(currentPath + UDirectory::separator() + fileName);
			}
			currentPathIsDatabase = false;
		}

		for(std::list<std::string>::iterator iter=subDirs.begin(); iter!=subDirs.end(); ++iter)
		{
			paths.push_front(*iter);
		}

		if(outputLatexStatisticsMap.size() && paths.empty())
		{
			outputLatexStatistics.push_back(outputLatexStatisticsMap);
			outputLatexStatisticsMap.clear();
		}
	}

	if(outputLatex && outputLatexStatistics.size())
	{
		printf("\nLaTeX output:\n----------------\n");
		printf("\\begin{table*}[!t]\n");
		printf("\\caption{$t_{end}$ is the absolute translational RMSE value at the end "
				"of the experiment as $ATE_{max}$ is the maximum during the experiment. "
				"$r_{end}$ is rotational RMSE value at the end of the experiment. "
				"$o_{avg}$ and $m_{avg}$ are the average computational time "
				"for odometry (front-end) and map update (back-end). "
				"$m_{avg}$ is the maximum computational time for map update. "
				"$O_{end}$ and $M_{end}$ are the RAM usage at the end of the experiment "
				"for odometry and map management respectively.}\n");
		printf("\\label{}\n");
		printf("\\centering\n");
		if(odomRAMSet)
		{
			printf("\\begin{tabular}{l|c|c|c|c|c|c|c|c|c}\n");
			printf("\\cline{2-10}\n");
			printf(" & Size & $t_{end}$ & $t_{max}$ & $r_{end}$ & $o_{avg}$ & $m_{avg}$ & $m_{max}$ & $O_{end}$ & $M_{end}$  \\\\\n");
			printf(" & (nodes) & (m) & (m) & (deg) & (ms) & (ms) & (ms) & (MB) & (MB) \\\\\n");
		}
		else
		{
			printf("\\begin{tabular}{l|c|c|c|c|c|c|c|c}\n");
			printf("\\cline{2-9}\n");
			printf(" & Size & $t_{end}$ & $t_{max}$ & $r_{end}$ & $o_{avg}$ & $m_{avg}$ & $m_{max}$ & $M_{end}$  \\\\\n");
			printf(" & (nodes) & (m) & (m) & (deg) & (ms) & (ms) & (ms) & (MB)  \\\\\n");
		}

		printf("\\hline\n");

		for(unsigned int j=0; j<outputLatexStatistics.size(); ++j)
		{
			if(outputLatexStatistics[j].size())
			{
				std::vector<int> lowestIndex;
				if(outputLatexStatistics[j].size() > 1)
				{
					std::vector<float> lowestValue(outputLatexStatistics[j].begin()->second.size(),-1);
					lowestIndex = std::vector<int>(lowestValue.size(),0);
					int index = 0;
					for(std::map<std::string, std::vector<float> >::iterator iter=outputLatexStatistics[j].begin(); iter!=outputLatexStatistics[j].end(); ++iter)
					{
						UASSERT(lowestValue.size() == iter->second.size());
						for(unsigned int i=0; i<iter->second.size(); ++i)
						{
							if(lowestValue[i] == -1 || (iter->second[i]>0.0f && lowestValue[i]>iter->second[i]))
							{
								lowestValue[i] = iter->second[i];
								lowestIndex[i] = index;
							}
						}
						++index;
					}
				}

				int index = 0;
				for(std::map<std::string, std::vector<float> >::iterator iter=outputLatexStatistics[j].begin(); iter!=outputLatexStatistics[j].end(); ++iter)
				{
					UASSERT(iter->second.size() == 9);
					printf("%s & ", uReplaceChar(iter->first.c_str(), '_', '-').c_str());
					printf("%d & ", (int)iter->second[0]);
					printf("%s%.3f%s & ", lowestIndex.size()&&lowestIndex[1]==index?"\\textbf{":"", iter->second[1], lowestIndex.size()&&lowestIndex[1]==index?"}":"");
					printf("%s%.3f%s & ", lowestIndex.size()&&lowestIndex[2]==index?"\\textbf{":"", iter->second[2], lowestIndex.size()&&lowestIndex[2]==index?"}":"");
					printf("%s%.2f%s & ", lowestIndex.size()&&lowestIndex[3]==index?"\\textbf{":"", iter->second[3], lowestIndex.size()&&lowestIndex[3]==index?"}":"");
					printf("%s%d%s & ", lowestIndex.size()&&lowestIndex[4]==index?"\\textbf{":"", (int)iter->second[4], lowestIndex.size()&&lowestIndex[4]==index?"}":"");
					printf("%s%d%s & ", lowestIndex.size()&&lowestIndex[5]==index?"\\textbf{":"", (int)iter->second[5], lowestIndex.size()&&lowestIndex[5]==index?"}":"");
					printf("%s%d%s & ", lowestIndex.size()&&lowestIndex[6]==index?"\\textbf{":"", (int)iter->second[6], lowestIndex.size()&&lowestIndex[6]==index?"}":"");
					if(odomRAMSet)
					{
						printf("%s%d%s & ", lowestIndex.size()&&lowestIndex[7]==index?"\\textbf{":"", (int)iter->second[7], lowestIndex.size()&&lowestIndex[7]==index?"}":"");
					}
					printf("%s%d%s ", lowestIndex.size()&&lowestIndex[8]==index?"\\textbf{":"", (int)iter->second[8], lowestIndex.size()&&lowestIndex[8]==index?"}":"");
					printf("\\\\\n");
					++index;
				}
				printf("\\hline\n");
			}
		}

		printf("\\end{tabular}\n");
		printf("\\end{table*}\n----------------\n");
	}

	if(figures.size())
	{
		for(std::map<std::string, UPlot*>::iterator iter=figures.begin(); iter!=figures.end(); ++iter)
		{
			iter->second->show();
		}
		return app.exec();
	}
	return 0;
}