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scoring.py
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import argparse
import csv
import os
from evo.tools import file_interface
from evo.core import sync
from evo.core.metrics import PoseRelation, Unit
import evo.main_ape as main_ape
import evo.common_ape_rpe as common
parser = argparse.ArgumentParser()
parser.add_argument('--gt-path', type=str)
parser.add_argument('--root-path', type=str)
parser.add_argument('--dataset', type=str)
args = parser.parse_args()
if __name__=="__main__":
root = args.root_path
gt_dir = args.gt_path
f = open(os.path.join(root, 'result.csv'), 'r+', encoding='utf-8')
rdr = csv.reader(f)
lines = []
if args.dataset=='kitti':
for i, line in enumerate(rdr):
if (i==0 or i==1):
lines.append(line)
continue
gt = file_interface.read_kitti_poses_file(gt_dir)
name = line[0]
est_dir = os.path.join(root, name+"CameraTrajectory.txt")
print(est_dir)
est = file_interface.read_kitti_poses_file(est_dir)
result_ate_r = main_ape.ape(gt, est, pose_relation=PoseRelation.rotation_part, align=True)
result_ate = main_ape.ape(gt, est, pose_relation=PoseRelation.translation_part, align=True)
line+=['{:.5f}'.format(result_ate_r.stats['rmse']), '{:.5f}'.format(result_ate.stats['rmse'])]
lines.append(line)
if args.dataset=='euroc':
for i, line in enumerate(rdr):
if (i==0 or i==1):
lines.append(line)
continue
gt = file_interface.read_euroc_csv_trajectory(gt_dir)
name = line[0]
est_dir = os.path.join(root, name+"CameraTrajectory.txt")
print(est_dir)
est = file_interface.read_tum_trajectory_file(est_dir)
traj_ref, traj_est = sync.associate_trajectories(gt, est, 0.01, 0.0)
result_ate_r = main_ape.ape(traj_ref, traj_est, pose_relation=PoseRelation.rotation_part, align=True)
result_ate = main_ape.ape(traj_ref, traj_est, pose_relation=PoseRelation.translation_part, align=True)
line+=['{:.5f}'.format(result_ate_r.stats['rmse']), '{:.5f}'.format(result_ate.stats['rmse'])]
lines.append(line)
if args.dataset=='tum':
for i, line in enumerate(rdr):
if (i==0 or i==1):
lines.append(line)
continue
gt = file_interface.read_tum_trajectory_file(gt_dir)
name = line[0]
est_dir = os.path.join(root, name+"CameraTrajectory.txt")
print(est_dir)
est = file_interface.read_tum_trajectory_file(est_dir)
traj_ref, traj_est = sync.associate_trajectories(gt, est, 0.01, 0.0)
result_ate_r = main_ape.ape(traj_ref, traj_est, pose_relation=PoseRelation.rotation_part, align=True)
result_ate = main_ape.ape(traj_ref, traj_est, pose_relation=PoseRelation.translation_part, align=True)
line+=['{:.5f}'.format(result_ate_r.stats['rmse']), '{:.5f}'.format(result_ate.stats['rmse'])]
lines.append(line)
f.close()
f = open(os.path.join(root, 'result_f.csv'), 'w')
wr = csv.writer(f)
wr.writerows(lines)
f.close()