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more stats generation
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@jlblancoc
jlblancoc committed Mar 21, 2016
1 parent 6922e4c commit f9f3991
Showing 1 changed file with 73 additions and 29 deletions.
102 changes: 73 additions & 29 deletions src/dem-gmrf_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <mrpt/utils/round.h>
#include <mrpt/utils/CFileOutputStream.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/math/ops_vectors.h>
#include <algorithm> // std::random_shuffle
#include <ctime> // std::time
#include <cstdlib> // std::rand, std::srand
Expand Down Expand Up @@ -45,6 +46,9 @@ TCLAP::ValueArg<double> arg_std_prior("","std-prior","Standard deviation o
TCLAP::ValueArg<double> arg_std_observations("","std-obs","Default standard deviation of each XYZ point observation [meters]",false,0.20,"0.20",cmd);

TCLAP::SwitchArg arg_skip_variance("","skip-variance", "Skip variance estimation",cmd);
TCLAP::SwitchArg arg_no_gui("","no-gui", "Do not show the graphical window with the 3D visualization at end.",cmd);

void do_residuals_stats(const Eigen::VectorXd & r, Eigen::VectorXd &stats, std::string & file_hdr);

int dem_gmrf_main(int argc, char **argv)
{
Expand Down Expand Up @@ -181,23 +185,38 @@ int dem_gmrf_main(int argc, char **argv)
printf("\n[7] Eval checkpoints...\n");
timlog.enter("7.eval_chkpts");

double rmse=0;
CFileOutputStream fil_eval_chk( sPrefix + string("_chkpt_errors.txt") );
Eigen::VectorXd residuals_NN(N_chk_pts), residuals_Bi(N_chk_pts);

for (size_t k=0;k<N_chk_pts;k++)
{
const size_t i=pts_indices[k+N_insert_pts];

double dem_z, dem_std;
dem_map.predictMeasurement(raw_xyz(i,0),raw_xyz(i,1), dem_z, dem_std, false);
// Neirest neighbor:
double dem_z_NN, dem_std_NN;
dem_map.predictMeasurement(raw_xyz(i,0),raw_xyz(i,1), dem_z_NN, dem_std_NN, false /* sensor normalization */, CRandomFieldGridMap2D::gimNearest);
residuals_NN[k] = raw_xyz(i,2) - dem_z_NN;

fil_eval_chk.printf("%f\n", raw_xyz(i,2) - dem_z );
rmse+=mrpt::utils::square(raw_xyz(i,2) - dem_z);
// Bilinear interp:
double dem_z_Bi, dem_std_Bi;
dem_map.predictMeasurement(raw_xyz(i,0),raw_xyz(i,1), dem_z_Bi, dem_std_Bi, false /* sensor normalization */, CRandomFieldGridMap2D::gimBilinear);
residuals_Bi[k] = raw_xyz(i,2) - dem_z_Bi;
}
rmse/=N_chk_pts;
rmse = std::sqrt(rmse);

// Residuals:
residuals_NN.saveToTextFile( sPrefix + string("_chkpt_residuals_NN.txt") );
residuals_Bi.saveToTextFile( sPrefix + string("_chkpt_residuals_Bi.txt") );

// Residuals stats:
std::string stats_hdr;
Eigen::VectorXd residuals_NN_stats,residuals_Bi_stats;
do_residuals_stats(residuals_NN, residuals_NN_stats,stats_hdr);
do_residuals_stats(residuals_Bi, residuals_Bi_stats,stats_hdr);

residuals_NN_stats.saveToTextFile( sPrefix + string("_chkpt_residuals_NN_stats.txt"), MATRIX_FORMAT_ENG, false, stats_hdr );
residuals_Bi_stats.saveToTextFile( sPrefix + string("_chkpt_residuals_Bi_stats.txt"), MATRIX_FORMAT_ENG, false, stats_hdr );

timlog.leave("7.eval_chkpts");
printf("[7] Done. rmse = %6.03fm\n", rmse);
printf("[7] Done.\n");
}
// ---------------
printf("\n[9] Generate TXT output files...\n");
Expand Down Expand Up @@ -226,30 +245,55 @@ int dem_gmrf_main(int argc, char **argv)
printf("[9] Done.\n");

#if MRPT_HAS_WXWIDGETS
registerClass( CLASS_ID( CSetOfObjects ) );

// 3D view:
mrpt::opengl::CSetOfObjectsPtr glObj_mean = mrpt::opengl::CSetOfObjects::Create();
//mrpt::opengl::CSetOfObjectsPtr glObj_var = mrpt::opengl::CSetOfObjects::Create();
dem_map.getAs3DObject( glObj_mean );//, glObj_var );
glObj_mean->setLocation( -0.5*(minx+maxx), -0.5*(miny+maxy), -0.5*(minz+maxz) );
//glObj_var->setLocation( -0.5*(minx+maxx), -0.5*(miny+maxy), -0.5*(minz+maxz) );

mrpt::gui::CDisplayWindow3D win("Map",640,480);
win.setCameraZoom(maxz-minz);
win.setMinRange(0.1);
win.setMaxRange(1e7);
mrpt::opengl::COpenGLScenePtr &scene = win.get3DSceneAndLock();
scene->insert( glObj_mean );
//scene->insert( glObj_var );
win.unlockAccess3DScene();
win.repaint();

win.waitForKey();
if (!arg_no_gui.isSet())
{
registerClass( CLASS_ID( CSetOfObjects ) );

// 3D view:
mrpt::opengl::CSetOfObjectsPtr glObj_mean = mrpt::opengl::CSetOfObjects::Create();
mrpt::opengl::CSetOfObjectsPtr glObj_var = mrpt::opengl::CSetOfObjects::Create();
dem_map.getAs3DObject( glObj_mean, glObj_var );
glObj_mean->setLocation( -0.5*(minx+maxx), -0.5*(miny+maxy), -0.5*(minz+maxz) );
glObj_var->setLocation( -0.5*(minx+maxx) + 1.1*(maxx-minx), -0.5*(miny+maxy), -0.5*(minz+maxz) );

mrpt::gui::CDisplayWindow3D win("Map",640,480);
win.setCameraZoom( mrpt::utils::max3( maxz-minz, maxx-minx, maxy-miny) );
win.setMinRange(0.1);
win.setMaxRange(1e7);
mrpt::opengl::COpenGLScenePtr &scene = win.get3DSceneAndLock();
scene->insert( glObj_mean );
//scene->insert( glObj_var );
win.unlockAccess3DScene();
win.repaint();

win.waitForKey();
}
#endif
return 0;
}

void do_residuals_stats(const Eigen::VectorXd & r, Eigen::VectorXd &stats, std::string & file_hdr)
{
file_hdr = "% MAX_ABS_ERR MIN_ABS_ERR AVERAGE_ERR STD_DEV RMSE MEDIAN\n";

const size_t N = r.size();
stats.resize(6);
if (!N) return;

stats[0] = r.maxCoeff();
stats[1] = r.minCoeff();

mrpt::math::meanAndStd(r, stats[2], stats[3]);
// RMSE:
stats[4] = std::sqrt( r.array().square().sum() / N );

std::vector<double> v(N);
for (size_t i=0;i<N;i++) v[i]=r[i];
nth_element(v.begin(), v.begin()+(N/2), v.end());
stats[5] = v[N/2];
}


int main(int argc, char **argv)
{
try {
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