Fork ape rpe

Author: tutunarsl

evaluation_script/evo_ape_fork.py

@@ -21,17 +21,14 @@
 along with evo.  If not, see <http://www.gnu.org/licenses/>.
 """
 
-import argparse
 import logging
 import typing
 
 import numpy as np
 
-import evo.common_ape_rpe as common
-from evo.core import lie_algebra, sync, metrics
+from evo.core import lie_algebra, metrics
 from evo.core.result import Result
 from evo.core.trajectory import PosePath3D, PoseTrajectory3D, Plane
-from evo.tools import log
 from evo.tools.settings import SETTINGS
 
 logger = logging.getLogger(__name__)
@@ -115,56 +112,6 @@ def ape(traj_ref: PosePath3D, traj_est: PosePath3D,
     return ape_result
 
 
-def run(args: argparse.Namespace) -> None:
-    log.configure_logging(args.verbose, args.silent, args.debug,
-                          local_logfile=args.logfile)
-    if args.debug:
-        from pprint import pformat
-        parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
-        logger.debug("main_parser config:\n{}".format(parser_str))
-    logger.debug(SEP)
-
-    traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
-    pose_relation = common.get_pose_relation(args)
-    change_unit = metrics.Unit(args.change_unit) if args.change_unit else None
-    plane = Plane(args.project_to_plane) if args.project_to_plane else None
-
-    traj_ref_full = None
-    if args.plot_full_ref:
-        import copy
-        traj_ref_full = copy.deepcopy(traj_ref)
-
-    # Downsample or filtering has to be done before synchronization.
-    # Otherwise filtering might mess up the sync.
-    common.downsample_or_filter(args, traj_ref, traj_est)
-
-    if isinstance(traj_ref, PoseTrajectory3D) and isinstance(
-            traj_est, PoseTrajectory3D):
-        logger.debug(SEP)
-        if args.t_start or args.t_end:
-            if args.t_start:
-                logger.info("Using time range start: {}s".format(args.t_start))
-            if args.t_end:
-                logger.info("Using time range end: {}s".format(args.t_end))
-            traj_ref.reduce_to_time_range(args.t_start, args.t_end)
-        logger.debug("Synchronizing trajectories...")
-        traj_ref, traj_est = sync.associate_trajectories(
-            traj_ref, traj_est, args.t_max_diff, args.t_offset,
-            first_name=ref_name, snd_name=est_name)
-
-    result = ape(traj_ref=traj_ref, traj_est=traj_est,
-                 pose_relation=pose_relation, align=args.align,
-                 correct_scale=args.correct_scale, n_to_align=args.n_to_align,
-                 align_origin=args.align_origin, ref_name=ref_name,
-                 est_name=est_name, change_unit=change_unit,
-                 project_to_plane=plane)
-
-    if args.plot or args.save_plot or args.serialize_plot:
-        common.plot_result(args, result, traj_ref,
-                           result.trajectories[est_name],
-                           traj_ref_full=traj_ref_full)
-
-
-if __name__ == '__main__':
-    from evo import entry_points
-    entry_points.ape()
+# if __name__ == '__main__':
+#     from evo import entry_points
+#     entry_points.ape()

evaluation_script/evo_rpe_fork.py

@@ -21,17 +21,13 @@
 along with evo.  If not, see <http://www.gnu.org/licenses/>.
 """
 
-import argparse
 import logging
 import typing
 
 import numpy as np
-
-import evo.common_ape_rpe as common
-from evo.core import lie_algebra, sync, metrics
+from evo.core import lie_algebra, metrics
 from evo.core.result import Result
 from evo.core.trajectory import PosePath3D, PoseTrajectory3D, Plane
-from evo.tools import log
 from evo.tools.settings import SETTINGS
 
 logger = logging.getLogger(__name__)
@@ -130,64 +126,4 @@ def rpe(traj_ref: PosePath3D, traj_est: PosePath3D,
         rpe_result.add_np_array("alignment_transformation_sim3",
                                 alignment_transformation)
 
-    return rpe_result
-
-
-def run(args: argparse.Namespace) -> None:
-
-    log.configure_logging(args.verbose, args.silent, args.debug,
-                          local_logfile=args.logfile)
-    if args.debug:
-        from pprint import pformat
-        parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
-        logger.debug("main_parser config:\n{}".format(parser_str))
-    logger.debug(SEP)
-
-    traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
-    pose_relation = common.get_pose_relation(args)
-    delta_unit = common.get_delta_unit(args)
-    change_unit = metrics.Unit(args.change_unit) if args.change_unit else None
-    plane = Plane(args.project_to_plane) if args.project_to_plane else None
-
-    traj_ref_full = None
-    if args.plot_full_ref:
-        import copy
-        traj_ref_full = copy.deepcopy(traj_ref)
-
-    # Downsample or filtering has to be done before synchronization.
-    # Otherwise filtering might mess up the sync.
-    common.downsample_or_filter(args, traj_ref, traj_est)
-
-    if isinstance(traj_ref, PoseTrajectory3D) and isinstance(
-            traj_est, PoseTrajectory3D):
-        logger.debug(SEP)
-        if args.t_start or args.t_end:
-            if args.t_start:
-                logger.info("Using time range start: {}s".format(args.t_start))
-            if args.t_end:
-                logger.info("Using time range end: {}s".format(args.t_end))
-            traj_ref.reduce_to_time_range(args.t_start, args.t_end)
-        logger.debug("Synchronizing trajectories...")
-        traj_ref, traj_est = sync.associate_trajectories(
-            traj_ref, traj_est, args.t_max_diff, args.t_offset,
-            first_name=ref_name, snd_name=est_name)
-
-    result = rpe(traj_ref=traj_ref, traj_est=traj_est,
-                 pose_relation=pose_relation, delta=args.delta,
-                 delta_unit=delta_unit, rel_delta_tol=args.delta_tol,
-                 all_pairs=args.all_pairs,
-                 pairs_from_reference=args.pairs_from_reference,
-                 align=args.align, correct_scale=args.correct_scale,
-                 n_to_align=args.n_to_align, align_origin=args.align_origin,
-                 ref_name=ref_name, est_name=est_name, change_unit=change_unit,
-                 project_to_plane=plane)
-
-    if args.plot or args.save_plot or args.serialize_plot:
-        common.plot_result(args, result, traj_ref,
-                           result.trajectories[est_name],
-                           traj_ref_full=traj_ref_full)
-
-
-if __name__ == '__main__':
-    from evo import entry_points
-    entry_points.rpe()
+    return rpe_result

evaluation_script/evo_script.py

@@ -14,8 +14,8 @@
 # from evo.tools import file_interface
 # import evo.main_ape as main_ape
 # import evo.main_rpe as main_rpe
-from .evo_ape_fork import main_ape
-from .evo_rpe_fork import main_rpe
+from .evo_ape_fork import ape
+from .evo_rpe_fork import rpe
 class FileInterfaceException(Exception):
     pass
 
@@ -183,7 +183,7 @@ def evaluate(self, traj_ref: str, traj_est: str) -> Dict[str, float]:
             traj_ref, traj_est, cfg["t_max_diff"], cfg["t_offset"]
         )
 
-        ape = main_ape.ape(
+        ape_res = ape(
             traj_ref,
             traj_est,
             est_name="estimated",
@@ -196,7 +196,7 @@ def evaluate(self, traj_ref: str, traj_est: str) -> Dict[str, float]:
             project_to_plane=plane_param,
         )
 
-        rpe = main_rpe.rpe(
+        rpe_res = rpe(
             traj_ref,
             traj_est,
             est_name="estimated",
@@ -213,9 +213,9 @@ def evaluate(self, traj_ref: str, traj_est: str) -> Dict[str, float]:
         )
 
         return {
-            "ATE": float(ape.stats["rmse"]),
-            "RTE": float(rpe.stats["rmse"]),
-            "LE": float(ape.np_arrays["error_array"][-1]),
+            "ATE": float(ape_res.stats["rmse"]),
+            "RTE": float(rpe_res.stats["rmse"]),
+            "LE": float(ape_res.np_arrays["error_array"][-1]),
         }
 
     # -- filters --------------------------------------------------------