Result Utilites

In the utilities/results_utils folders there are 3 scripts to evaluate the results.

check_result_files.py

check_result_files.py cheks if the results files have the correct number of rows and if they present NaN values.

result_statistics.py

result_statistics.py calculates some simple statistics from the results files.

Example:

              sequence     median     0.75 Q     0.95 Q       mean    std_dev
                 plain   8.635178  10.740477  14.649261   8.756511   3.437896
                stairs   4.872906   7.194193   8.958641   5.289068   2.601733
             apartment   5.841619   8.364921  12.250792   6.158945   3.175140
          hauptgebaude   3.585037   4.811563   7.415440   3.896931   1.828342
           wood_autumn   3.594213   4.684638   6.861046   3.860898   1.487164
           wood_summer   3.522547   4.498967   6.233321   3.634764   1.490259
         gazebo_summer   3.277733   4.410910   5.909955   3.369739   1.525438
         gazebo_winter   4.033363   5.022938   6.740163   3.978954   1.620586
               box_met  10.912566  14.998527  20.491057  11.751078   5.123530
              p2at_met  13.172891  16.882214  23.065813  13.219075   5.658420
         planetary_map  30.271654  41.147192  61.436237  33.253880  15.455425
          pioneer_slam  13.278287  23.230572  37.320254  16.710926  10.137308
         pioneer_slam3  10.111703  13.723334  18.854005  10.615107   4.656812
 long_office_household  17.979942  28.611525  45.193945  20.820530  12.110199
               urban05   2.946621   3.771746   5.747051   2.999680   1.380879
                 Total   6.096906  12.505095  32.253036   9.918852  10.407407

residual_statistics.py

residual_statistics.py calculates for results file the initial error, the final error, and the residual error.

time_statistics.py

time_statistics.py calculates statistics on the computational time of an algorithm. Requires _time.txt' files generated by our experiments. Can be used to calculate statistics of the feature extraction and transformation estimation phases (using the corresponding _time.txt' files.

memory_statistics.py

memory_statistics.py calculates statistics about the GPU memory usage of an algorithm. Requires `_memory.txt' files generated by our experiments.