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root / rgbdslam / rgbd_benchmark / summarize_evaluation.sh @ 9240aaa3

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#!/bin/bash
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DIR=`readlink -f $1`
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if  test ! -d "$DIR"; then  
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  echo "'$DIR' is not a directory" 
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  echo "Usage: $0 <directory-where-results-are>"
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  echo "e.g., $0 some/path/to/SURF/"
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  exit
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fi
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pushd $DIR > /dev/null
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for num in 1 2; do 
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  rm -f eval_translational.txt eval_rotational.txt eval_runtime.txt 
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  for BASENAME in `ls -d rgbd_dataset_freiburg1*`; do
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    echo $BASENAME
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    if test ! -d $BASENAME;then
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      echo "Not ready yet"
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      break;
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    fi
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    ESTIMATE_FILE=$BASENAME/${BASENAME}.bagafter${num}_optimization_estimate.txt
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    if test ! -f $ESTIMATE_FILE;then
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      echo "No estimate at level " $num 
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      continue;
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    fi
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    EVAL_FILE=$ESTIMATE_FILE.evaluation
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    if rosrun rgbd_benchmark_tools evaluate_rpe.py --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > $EVAL_FILE; then
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      rosrun rgbd_benchmark_tools evaluate_ate.py --plot $BASENAME/$BASENAME.difference_plot$num.png --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > $EVAL_FILE.ate; then
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      #rosrun rgbd_benchmark_tools align_and_plot.py --plot $BASENAME/$BASENAME.alignment_plot$num.png --verbose $BASENAME/${BASENAME}-groundtruth.txt $ESTIMATE_FILE > /dev/null
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      #RMSE
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      echo -n "FR${BASENAME#rgbd_dataset_freiburg}; " >> eval_translational.txt
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      echo -n "FR${BASENAME#rgbd_dataset_freiburg}; " >> eval_rotational.txt
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      grep translational_error.rmse $EVAL_FILE |sed "s#$DIR##g" | sed 's/ /; /g' >> eval_translational.txt
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      grep rotational_error.rmse $EVAL_FILE |sed "s#$DIR##g" | sed 's/ /; /g' >> eval_rotational.txt
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      #OVERALL RUNTIME
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      STARTTIME=`grep -B1 createXYZ $BASENAME/logfile |head -n1|grep -o '13[0-9]*\.'` #timestamp first relevant action
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      ENDTIME=`grep "Finished process" $BASENAME/logfile |grep -o '13[0-9]*\.'` #timestamp first relevant action
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      STARTTIME_NSEC=`grep -B1 createXYZ $BASENAME/logfile |head -n1|grep -o '\.[0-9]*'` #timestamp first relevant action
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      ENDTIME_NSEC=`grep "Finished with $num" $BASENAME/logfile |grep -o '\.[0-9]*'` #timestamp first relevant action
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      echo -n "Start; ${STARTTIME%.}.${STARTTIME_NSEC#.};s; End; ${ENDTIME%.}.${ENDTIME_NSEC#.};s;" >> eval_runtime.txt
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      #OPTIMIZER RUNTIME
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      OPT_TIME=`grep -B1 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9.]* s'` #timestamp first relevant action
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      echo -n "Optimizer Time; ${OPT_TIME% s};s;" >> eval_runtime.txt
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      #NUMBER OF NODES
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      NODE_NUM=`grep -B4 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9]* nodes'` #timestamp first relevant action
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      EDGE_NUM=`grep -B4 "Finished with $num" $BASENAME/logfile |head -n1|grep -o '[0-9]* edges'` #timestamp first relevant action
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      echo -n "Number of Nodes/Edges; ${NODE_NUM% nodes};${EDGE_NUM% edges};" >> eval_runtime.txt
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      echo >> eval_runtime.txt
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      paste "-d;" eval_rotational.txt eval_translational.txt eval_runtime.txt |sed "s#$DIR/##g" | sed 's/rgbd_dataset_freiburg/FR/g' |sed 's/.evaluation//g' |sed 's/.bagafter._optimization_estimate.txt//g'|sed 's/.bag//g'|sed 's/flowerbouquet/flwrbqt/g' |sed 's/background/bg/g'|sed 's#/FR[^/]*/##g'|sed 's/_/ /g' > evaluation_$num.csv
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    else
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      echo "Evaluation Failed"
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    fi
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  done
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  echo Results stored in $DIR/evaluation_$num.csv
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done
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rm -f eval_translational.txt eval_rotational.txt eval_runtime.txt 
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popd > /dev/null