-
Notifications
You must be signed in to change notification settings - Fork 70
/
verifyCornerAccuracyWRTDatasetOnItsOwnMethod.m
66 lines (63 loc) · 3.88 KB
/
verifyCornerAccuracyWRTDatasetOnItsOwnMethod.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
%{
* Copyright (C) 2020-2030, The Regents of The University of Michigan.
* All rights reserved.
* This software was developed in the Biped Lab (https://www.biped.solutions/)
* under the direction of Jessy Grizzle, grizzle@umich.edu. This software may
* be available under alternative licensing terms; contact the address above.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* The views and conclusions contained in the software and documentation are those
* of the authors and should not be interpreted as representing official policies,
* either expressed or implied, of the Regents of The University of Michigan.
*
* AUTHOR: Bruce JK Huang (bjhuang[at]umich.edu)
* WEBSITE: https://www.brucerobot.com/
%}
function cost = verifyCornerAccuracyWRTDatasetOnItsOwnMethod(method, indices, opt, bag_data, P)
validate_methods = {'baseline', 'GN', 'GL_1', 'GL1-R'};
chosen_method = find(strcmp(method, validate_methods));
if isfield(method, 'optimized_method') || strcmpi(method, "baseline" )
chosen_method = 1;
end
for i = 1:length(indices) % which validation data
current_index = indices(i);
cost_array = zeros(bag_data(current_index).num_tag, opt.num_lidar_target_pose);
current_num_poses = bag_data(current_index).num_tag * opt.num_lidar_target_pose * opt.correspondance_per_pose;
for j = 1:bag_data(current_index).num_tag % which tag in the validation dataset
for k=1:opt.num_lidar_target_pose % which scan in the validation dataset
if chosen_method == 1
current_corners_X = [bag_data(current_index).baseline(j).scan(k).corners];
elseif chosen_method == 2
current_corners_X = [bag_data(current_index).baseline(j).scan(k).corners];
elseif chosen_method == 3
current_corners_X = [bag_data(current_index).lidar_target(j).scan(k).corners];
elseif chosen_method == 4
current_corners_X = [bag_data(current_index).lidar_target(j).scan(k).refined_corners];
end
current_corners_Y = [bag_data(current_index).camera_target(j).corners];
scan_cost = verifyCornerAccuracy(current_corners_X(:, 1:4), current_corners_Y(:, 1:4), P);
cost_array(j, k) = scan_cost;
end
end
cost(i).name = bag_data(current_index).bagfile;
cost(i).total_cost = sum(sum(cost_array, 2), 1);
cost(i).num_pose = current_num_poses;
cost(i).RMSE = sqrt(sum(sum(cost_array, 2), 1)/current_num_poses); % total cost of this dataset
% cost(i).std = std(cost_array'); % std of cost of each scan
end
end