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Extractor Comparison Update #59

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Extractor Comparison Update #59

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82a5a8c
Version of pyboreas used for extractor comparison
Sep 3, 2024
7f32d07
Summer Project Code Cleanups
Dec 12, 2024
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2 changes: 1 addition & 1 deletion pyboreas/data/sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ def dim(self):
class Aeva(Lidar):
def __init__(self, path):
Lidar.__init__(self, path)
self._dim = 7
self._dim = 10

def load_data(self):
self.points = load_lidar(self.path, dim=self._dim)
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22 changes: 20 additions & 2 deletions pyboreas/eval/odometry.py
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Expand Up @@ -23,8 +23,17 @@ def eval_odom(pred="test/demo/pred/3d", gt="test/demo/gt", radar=False):
seq = get_sequences(pred, ".txt")
T_pred, times_pred, seq_lens_pred = get_sequence_poses(pred, seq)

# For sequences where there are extractor specific parameters in the name
# Ex: 'boreas-2021-10-15-12-35_kstrongest_3_0f35.txt' -> 'boreas-2021-10-15-12-35.txt'
seq_gt = []
for s in seq:
curr_seq = s.split('_')[0]
if ".txt" != curr_seq[-4:]:
curr_seq=curr_seq+".txt"
seq_gt.append(curr_seq)

# get corresponding groundtruth poses
T_gt, _, seq_lens_gt, crop = get_sequence_poses_gt(gt, seq, dim)
T_gt, _, seq_lens_gt, crop = get_sequence_poses_gt(gt, seq_gt, dim)

# compute errors
t_err, r_err, _ = compute_kitti_metrics(
Expand All @@ -45,8 +54,17 @@ def eval_odom_vel(pred="test/demo/pred/3d", gt="test/demo/gt", radar=False):
seq = get_sequences(pred, ".txt")
vel_pred, times_pred, seq_vel_lens_pred = get_sequence_velocities(pred, seq, dim)

# For sequences where there are extractor specific parameters in the name
# Ex: 'boreas-2021-10-15-12-35_kstrongest_3_0f35.txt' -> 'boreas-2021-10-15-12-35.txt'
seq_gt = []
for s in seq:
curr_seq = s.split('_')[0]
if ".txt" != curr_seq[-4:]:
curr_seq=curr_seq+".txt"
seq_gt.append(curr_seq)

# get corresponding groundtruth poses
vel_gt, _, seq_lens_gt, crop = get_sequence_velocities_gt(gt, seq, dim)
vel_gt, _, seq_lens_gt, crop = get_sequence_velocities_gt(gt, seq_gt, dim)

# compute errors
v_RMSE, v_mean, v_RMSE_out, v_mean_out = compute_vel_metrics(vel_gt, vel_pred, times_pred, seq, pred, dim, crop)
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