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Update pipeline.py #218

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merged 4 commits into from
Sep 18, 2023
Merged

Update pipeline.py #218

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1e9af5b
Update pipeline.py
kurthobein Sep 5, 2023
02589f7
Applu suggestions
nachovizzo Sep 18, 2023
bd81b99
Be less pedantic about when to report or not timing result
nachovizzo Sep 18, 2023
6cd305c
Merge branch 'main' into main
nachovizzo Sep 18, 2023
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26 changes: 12 additions & 14 deletions python/kiss_icp/pipeline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -166,24 +166,22 @@ def _write_gt_poses(self):
)

def _run_evaluation(self):
if not self.has_gt:
print("[WARNING] No GT poses available, skipping evaluation")
return

# Run estimation metrics evaluation, only when GT data was provided
if self.has_gt:
avg_tra, avg_rot = sequence_error(self.gt_poses, self.poses)
ate_rot, ate_trans = absolute_trajectory_error(self.gt_poses, self.poses)
self.results.append(desc="Average Translation Error", units="%", value=avg_tra)
self.results.append(desc="Average Rotational Error", units="deg/m", value=avg_rot)
self.results.append(desc="Absolute Trajectory Error (ATE)", units="m", value=ate_trans)
self.results.append(desc="Absolute Rotational Error (ARE)", units="rad", value=ate_rot)

# Run timing metrics evaluation, always
def _get_fps():
total_time_s = sum(self.times) * 1e-9
return float(len(self.times) / total_time_s)

# Run metrics evaluation
avg_tra, avg_rot = sequence_error(self.gt_poses, self.poses)
ate_rot, ate_trans = absolute_trajectory_error(self.gt_poses, self.poses)
avg_fps = int(np.floor(_get_fps()))
avg_ms = 1e3 * (1 / avg_fps)

self.results.append(desc="Average Translation Error", units="%", value=avg_tra)
self.results.append(desc="Average Rotational Error", units="deg/m", value=avg_rot)
self.results.append(desc="Absolute Trajectory Error (ATE)", units="m", value=ate_trans)
self.results.append(desc="Absolute Rotational Error (ARE)", units="rad", value=ate_rot)
avg_fps = int(np.ceil(_get_fps()))
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avg_ms = int(np.ceil(1e3 * (1 / _get_fps())))
self.results.append(desc="Average Frequency", units="Hz", value=avg_fps, trunc=True)
self.results.append(desc="Average Runtime", units="ms", value=avg_ms, trunc=True)

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