evaluation_code_v2.zip

%% DSO Paper: Figure 11. Results on TUM monoVO dataset. clf [ MallErrorsAlign, MallErrorsR, MallErrorsS, MallErrorsRMSE, MallErrorsA, MallErrorsE, Mn] = getSortedLOOPError( DSO_LOOP_FWD, [0:9] +1, DSO_LOOP_BWD ); [ OallErrorsAlign, OallErrorsR, OallErrorsS, OallErrorsRMSE, OallErrorsA, OallErrorsE, On] = getSortedLOOPError( ORB_LOOP_FWD, [0:9] +1, ORB_LOOP_BWD ); [ MallErrorsAlign_RT, MallErrorsR_RT, MallErrorsS_RT, MallErrorsRMSE_RT, MallErrorsA_RT, MallErrorsE_RT, Mn_RT] = getSortedLOOPError( DSO_LOOP_RT, [0:9] + 1 ); [ OallErrorsAlign_RT, OallErrorsR_RT, OallErrorsS_RT, OallErrorsRMSE_RT, OallErrorsA_RT, OallErrorsE_RT, On_RT] = getSortedLOOPError( ORB_LOOP_RTFIX, [0:9] +1 ); [ MallErrorsAlign_RT2, MallErrorsR_RT2, MallErrorsS_RT2, MallErrorsRMSE_RT2, MallErrorsA_RT2, MallErrorsE_RT2, Mn_RT2] = getSortedLOOPError( DSO_LOOP_RT, [10:19]+1 ); steps=1:1:10; subplot(1,3,1) hold on semilogx(MallErrorsAlign,500*(1:Mn)/Mn,'blue','LineWidth',2) semilogx(MallErrorsAlign_RT,500*(1:Mn_RT)/Mn_RT,'blue','LineWidth',2,'LineStyle','--') semilogx(MallErrorsAlign_RT2,500*(1:Mn_RT2)/Mn_RT2,'blue','LineWidth',1,'LineStyle','-') plot(steps,findXVec(500*(1:Mn_RT2)/Mn_RT2, MallErrorsAlign_RT2,steps),'blue','LineWidth',1,'LineStyle','none', 'Marker','o') semilogx(OallErrorsAlign,500*(1:On)/On,'red','LineWidth',2) semilogx(OallErrorsAlign_RT,500*(1:On_RT)/On_RT,'red','LineWidth',2,'LineStyle','--') axis([0 10 0 500]); grid on set(gca, 'XTick',[0:2:10]) title('alignment error') subplot(1,3,2) steps=1:2:20; hold on semilogx(MallErrorsR,500*(1:Mn)/Mn,'blue','LineWidth',2) semilogx(MallErrorsR_RT,500*(1:Mn_RT)/Mn_RT,'blue','LineWidth',2,'LineStyle','--') semilogx(MallErrorsR_RT2,500*(1:Mn_RT2)/Mn_RT2,'blue','LineWidth',1,'LineStyle','-') plot(steps,findXVec(500*(1:Mn_RT2)/Mn_RT2, MallErrorsR_RT2,steps),'blue','LineWidth',1,'LineStyle','none', 'Marker','o') semilogx(OallErrorsR,500*(1:On)/On,'red','LineWidth',2) semilogx(OallErrorsR_RT,500*(1:On_RT)/On_RT,'red','LineWidth',2,'LineStyle','--') axis([0 20 0 500]); grid on set(gca, 'XTick',[0:4:20]) title('rotation error') subplot(1,3,3) steps=1:0.5:4; hold on semilogx(MallErrorsS,500*(1:Mn)/Mn,'blue','LineWidth',2) semilogx(MallErrorsS_RT,500*(1:Mn_RT)/Mn_RT,'blue','LineWidth',2,'LineStyle','--') semilogx(MallErrorsS_RT2,5000+500*(1:Mn_RT2)/Mn_RT2,'blue','LineWidth',1,'LineStyle','-', 'Marker','o') semilogx(OallErrorsS,500*(1:On)/On,'red','LineWidth',2) semilogx(OallErrorsS_RT,500*(1:On_RT)/On_RT,'red','LineWidth',2,'LineStyle','--') semilogx(MallErrorsS_RT2,500*(1:Mn_RT2)/Mn_RT2,'blue','LineWidth',1,'LineStyle','-') plot(steps,findXVec(500*(1:Mn_RT2)/Mn_RT2, MallErrorsS_RT2,steps),'blue','LineWidth',1,'LineStyle','none', 'Marker','o') legend('DSO', 'DSO (real-time)', 'DSO (LQ, 5x real-time)', 'ORB-SLAM', 'ORB-SLAM (real-time)','Location','southeast') axis([1 4 0 500]); grid on set(gca, 'XTick',[1:0.5:4]) title('scale error') %% DSO: Figure 14. Photometric Calibration. clf idx_default = 0:9; % default. idx_allFix = 50:54; % no exposure correction whatsoever, AB FIX idx_noABPrior = 45:49; % full correction, no prior on AB (unknown exposure) idx_noVignette = 40:44; % no vignette correction, no prior on AB idx_nogamma = 35:39; % no vignette & no gamma correction, no prior on AB idx_Cfix = 255:259; % full correction, AB FIX idx_Cmfix = 260:264; % full correction, AB MOSTLY FIX [ err_default, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_default + 1, DSO_LOOP_BWD ); n_default = size(err_default,1); [ err_noABPrior, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_noABPrior + 1, DSO_LOOP_BWD ); n_noABPrior = size(err_noABPrior,1); [ err_noVignette, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_noVignette + 1, DSO_LOOP_BWD ); n_noVignette = size(err_noVignette,1); [ err_nogamma, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_nogamma + 1, DSO_LOOP_BWD ); n_nogamma = size(err_nogamma,1); [ err_allFix, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_allFix + 1, DSO_LOOP_BWD ); n_allFix = size(err_allFix,1); [ err_Cfix, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_Cfix + 1 , DSO_LOOP_BWD ); n_Cfix = size(err_Cfix,1); [ err_Cmfix, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_Cmfix + 1, DSO_LOOP_BWD ); n_Cmfix = size(err_Cmfix,1); clf hold on plot(err_default,500*(1:n_default)/n_default,'red','LineWidth',2) plot(err_noABPrior,500*(1:n_noABPrior)/n_noABPrior,'blue','LineWidth',2) plot(err_noVignette,500*(1:n_noVignette)/n_noVignette,'green','LineWidth',2) plot(err_nogamma,500*(1:n_nogamma)/n_nogamma,'yellow','LineWidth',2) plot(err_allFix,500*(1:n_allFix)/n_allFix,'black','LineWidth',2) axis([0 10 0 500]); grid on legend('full calib.', 'unknown t', 'unknown t, V', 'unknown t, V, G', 'brightness cons.','Location','eastoutside'); set(gca, 'XTick',[0:1:10]) %% DSO: Figure 15. Amount of Data Used. clf idx_50 = 275:279; idx_100 = 270:274; idx_200 = 265:269; idx_300 = 205:209; idx_500 = 200:204; idx_700 = 195:199; idx_1000 = 55:59; idx_1500 = 60:64; idx_3000 = 65:69; idx_6000 = 70:74; idx_10000 = 75:79; idx_kf4 = 280:284; idx_kf5 = 80:84; idx_kf6 = 185:189; idx_kf9 = 85:89; idx_kf11 = 190:194; idx_fixWindow = 285:289; [ err_default, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_default + 1, DSO_LOOP_BWD); n_default = size(err_default,1); [ err_50, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_50 + 1, DSO_LOOP_BWD ); n_50 = size(err_50,1); [ err_100, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_100 + 1, DSO_LOOP_BWD ); n_100 = size(err_100,1); [ err_200, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_200 + 1, DSO_LOOP_BWD ); n_200 = size(err_200,1); [ err_300, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_300 + 1, DSO_LOOP_BWD ); n_300 = size(err_300,1); [ err_500, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_500 + 1, DSO_LOOP_BWD ); n_500 = size(err_500,1); [ err_700, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_700 + 1, DSO_LOOP_BWD ); n_700 = size(err_700,1); [ err_1000, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_1000 + 1, DSO_LOOP_BWD ); n_1000 = size(err_1000,1); [ err_1500, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_1500 + 1, DSO_LOOP_BWD ); n_1500 = size(err_1500,1); [ err_3000, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_3000 + 1, DSO_LOOP_BWD ); n_3000 = size(err_3000,1); [ err_6000, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_6000 + 1, DSO_LOOP_BWD ); n_6000 = size(err_6000,1); [ err_10000, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_10000 + 1, DSO_LOOP_BWD ); n_10000 = size(err_10000,1); [ err_kf4, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_kf4 + 1, DSO_LOOP_BWD ); n_kf4 = size(err_kf4,1); [ err_kf5, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_kf5 + 1, DSO_LOOP_BWD ); n_kf5 = size(err_kf5,1); [ err_kf6, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_kf6 + 1, DSO_LOOP_BWD ); n_kf6 = size(err_kf6,1); [ err_kf9, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_kf9 + 1, DSO_LOOP_BWD ); n_kf9 = size(err_kf9,1); [ err_kf11, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_kf11 + 1, DSO_LOOP_BWD ); n_kf11 = size(err_kf11,1); [ err_fixWindow, ~, ~, ~] = getSortedLOOPError( DSO_LOOP_FWD, idx_fixWindow + 1, DSO_LOOP_BWD ); n_fixWindow = size(err_fixWindow,1); subplot(1,2,1) C = jet(8); C=C(end:-1:1,:); hold on semilogx(err_50,500*(1:n_50)/n_50,'Color',C(1,:)','LineWidth',2) semilogx(err_100,500*(1:n_100)/n_100,'Color',C(2,:)','LineWidth',2) semilogx(err_200,500*(1:n_200)/n_200,'Color',C(3,:)','LineWidth',2) semilogx(err_500,500*(1:n_500)/n_500,'Color',C(4,:)','LineWidth',2) semilogx(err_1000,500*(1:n_1000)/n_1000,'Color',C(5,:)','LineWidth',2) semilogx(err_default,500*(1:n_default)/n_default,'Color',C(6,:)','LineWidth',2) semilogx(err_6000,500*(1:n_6000)/n_6000,'Color',C(7,:)','LineWidth',2) semilogx(err_10000,500*(1:n_10000)/n_10000,'Color',C(8,:)','LineWidth',2) axis([0 10 0 500]); grid on legend('N_p=50', 'N_p=100'