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report: fixed how localization stats are split against localization sessions only

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This commit is contained in:
matlabbe
2020-09-10 14:09:27 -04:00
parent bd80811ea1
commit a689d8a23f
1 changed files with 89 additions and 33 deletions
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122
tools/Report/main.cpp
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@@ -196,7 +196,21 @@ int main(int argc, char * argv[])
} }
else else
{ {
printf("Missing type for \"--showLoc\" option.\n"); printf("Missing type for \"--loc\" option.\n");
showUsage();
}
}
else if(strcmp(argv[i],"--loc_delay") == 0)
{
++i;
if(i<argc-1)
{
locDelay = atof(argv[i]);
printf("Localization delay=%fs (--loc_delay)\n", locDelay);
}
else
{
printf("Missing value for \"--loc_delay\" option.\n");
showUsage(); showUsage();
} }
} }
@@ -313,6 +327,7 @@ int main(int argc, char * argv[])
// For all databases in currentDir // For all databases in currentDir
while(currentPathIsDatabase || !(fileName = currentDir.getNextFileName()).empty()) while(currentPathIsDatabase || !(fileName = currentDir.getNextFileName()).empty())
{ {
int startIdPerDb = startId;
if(currentPathIsDatabase || UFile::getExtension(fileName).compare("db") == 0) if(currentPathIsDatabase || UFile::getExtension(fileName).compare("db") == 0)
{ {
std::string filePath; std::string filePath;
@@ -424,12 +439,31 @@ int main(int argc, char * argv[])
#endif #endif
// Find localization sessions and adjust startId // Find localization sessions and adjust startId
if(!localizationMultiStats.empty() && startId ==0) std::set<int> mappingSessionIds;
if(!localizationMultiStats.empty())
{ {
std::map<int, Transform> poses = driver->loadOptimizedPoses(); std::map<int, Transform> poses = driver->loadOptimizedPoses();
if(!poses.empty()) if(!poses.empty())
{ {
startId = poses.rbegin()->first+1; for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.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->first, p, m, w, l, s, gt, v, gps, sensors))
{
mappingSessionIds.insert(m);
}
}
if(startIdPerDb ==0)
{
startIdPerDb = poses.rbegin()->first+1;
}
} }
} }
@@ -452,7 +486,13 @@ int main(int argc, char * argv[])
{ {
gtPoses.insert(std::make_pair(*iter, gt)); gtPoses.insert(std::make_pair(*iter, gt));
} }
if(uContains(stats, *iter))
if(!localizationMultiStats.empty() && mappingSessionIds.find(m) != mappingSessionIds.end())
{
continue;
}
if(*iter >= startIdPerDb && uContains(stats, *iter))
{ {
const std::map<std::string, float> & stat = stats.at(*iter).first; const std::map<std::string, float> & stat = stats.at(*iter).first;
if(uContains(stat, Statistics::kGtTranslational_rmse())) if(uContains(stat, Statistics::kGtTranslational_rmse()))
@@ -517,36 +557,38 @@ int main(int argc, char * argv[])
++jter) ++jter)
{ {
#endif #endif
if(*iter >= startId) if(uContains(stat, jter->first))
{ {
if(uContains(stat, jter->first)) double y = stat.at(jter->first);
{
double y = stat.at(jter->first);
#ifdef WITH_QT #ifdef WITH_QT
double x = s; double x = s;
if(useIds) if(useIds)
{ {
x = *iter; x = *iter;
} }
jter->second->addValue(x,y); jter->second->addValue(x,y);
#endif #endif
if(!localizationMultiStats.empty()) if(!localizationMultiStats.empty())
{
if(previousStamp > 0 && fabs(s - previousStamp) > locDelay && uContains(localizationSessionStats, jter->first))
{ {
if(previousStamp > 0 && s - previousStamp > locDelay && uContains(localizationSessionStats, jter->first)) // changed session
for(std::map<std::string, std::vector<float> >::iterator kter=localizationSessionStats.begin(); kter!=localizationSessionStats.end(); ++kter)
{ {
// changed session LocStats values = LocStats::from(localizationSessionStats.at(kter->first));
LocStats values = LocStats::from(localizationSessionStats.at(jter->first)); localizationMultiStats.at(kter->first).rbegin()->second.push_back(values);
localizationMultiStats.at(jter->first).rbegin()->second.push_back(values); localizationSessionStats.at(kter->first).clear();
localizationSessionStats.at(jter->first).clear();
} }
if(!uContains(localizationSessionStats, jter->first)) previousStamp = s;
{
localizationSessionStats.insert(std::make_pair(jter->first, std::vector<float>()));
}
localizationSessionStats.at(jter->first).push_back(y);
} }
if(!uContains(localizationSessionStats, jter->first))
{
localizationSessionStats.insert(std::make_pair(jter->first, std::vector<float>()));
}
localizationSessionStats.at(jter->first).push_back(y);
} }
} }
} }
@@ -894,7 +936,7 @@ int main(int argc, char * argv[])
} }
} }
} }
printf(" %s (%d, s=%.3f):\terror lin=%.3fm (max=%.3fm, odom=%.3fm) ang=%.1fdeg%s%s, slam: avg=%dms (max=%dms) loops=%d%s, odom: avg=%dms (max=%dms), camera: avg=%dms, %smap=%dMB\n", printf(" %s (%d, s=%.3f):\terror lin=%.3fm (max=%.3fm, odom=%.3fm) ang=%.1fdeg%s%s, %s: avg=%dms (max=%dms) loops=%d%s, odom: avg=%dms (max=%dms), camera: avg=%dms, %smap=%dMB\n",
fileName.c_str(), fileName.c_str(),
(int)ids.size(), (int)ids.size(),
bestScale, bestScale,
@@ -904,6 +946,7 @@ int main(int argc, char * argv[])
bestRMSEAng, bestRMSEAng,
!outputKittiError?"":uFormat(", KITTI: t_err=%.2f%% r_err=%.2f deg/100m", kitti_t_err, kitti_r_err*100).c_str(), !outputKittiError?"":uFormat(", KITTI: t_err=%.2f%% r_err=%.2f deg/100m", kitti_t_err, kitti_r_err*100).c_str(),
!outputRelativeError?"":uFormat(", Relative: t_err=%.3fm r_err=%.2f deg", relative_t_err, relative_r_err).c_str(), !outputRelativeError?"":uFormat(", Relative: t_err=%.3fm r_err=%.2f deg", relative_t_err, relative_r_err).c_str(),
!localizationMultiStats.empty()?"loc":"slam",
(int)uMean(slamTime), (int)uMax(slamTime), (int)uMean(slamTime), (int)uMax(slamTime),
(int)loopClosureLinks.size(), (int)loopClosureLinks.size(),
!outputLoopAccuracy?"":uFormat(" (t_err=%.3fm r_err=%.2f deg)", loop_t_err, loop_r_err).c_str(), !outputLoopAccuracy?"":uFormat(" (t_err=%.3fm r_err=%.2f deg)", loop_t_err, loop_r_err).c_str(),
@@ -952,21 +995,25 @@ int main(int argc, char * argv[])
{ {
if(showLoc & (0x1 << k)) if(showLoc & (0x1 << k))
{ {
printf(" %s:\n", std::string prefix = uFormat(" %s=[",
k==0?"min": k==0?"min":
k==1?"max": k==1?"max":
k==2?"mean": k==2?"mean":
k==3?"stddev": k==3?"stddev":
k==4?"total": k==4?"total":
"nonnull%"); "nonnull%");
for(std::map<std::string, std::vector<LocStats> >::iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter) printf("%s", prefix.c_str());
for(std::map<std::string, std::vector<LocStats> >::iterator jter=iter->second.begin(); jter!=iter->second.end();)
{ {
printf(" %s ", jter->first.c_str()); if(jter!=iter->second.begin())
{
printf("%s", std::string(prefix.size(), ' ').c_str());
}
for(size_t j=0; j<jter->second.size(); ++j) for(size_t j=0; j<jter->second.size(); ++j)
{ {
if(k<4) if(k<4)
{ {
printf("%f ", printf("%f",
k==0?jter->second[j].min: k==0?jter->second[j].min:
k==1?jter->second[j].max: k==1?jter->second[j].max:
k==2?jter->second[j].mean: k==2?jter->second[j].mean:
@@ -974,15 +1021,24 @@ int main(int argc, char * argv[])
} }
else if(k==4) else if(k==4)
{ {
printf("%d ",jter->second[j].total); printf("%d",jter->second[j].total);
} }
else if(k==5) else if(k==5)
{ {
printf("%.2f ", (jter->second[j].nonNull*100)); printf("%.2f", (jter->second[j].nonNull*100));
}
if(j+1 < jter->second.size())
{
printf(" ");
} }
} }
printf("\n"); ++jter;
if(jter!=iter->second.end())
{
printf(";\n");
}
} }
printf("]\n");
} }
} }
iter->second.clear(); iter->second.clear();