Script for vilens and hba evaluation

scripts/localisation_benchmark/vilens_hba.py

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+import re
+import sys
+
+sys.path.append("/home/oxford_spires_dataset")
+
+from oxford_spires_utils.bash_command import run_command
+
+def evaluation_ape_rmse (path_gt, path_traj):
+
+    output = run_command("evo_ape tum {} {} --align_origin --t_max_diff 0.01".format(path_gt, path_traj), print_output=False)
+
+    for line in output.stdout:
+        print(line, end="")
+        if "rmse" in line:
+            numbers = re.findall('\d+\.\d+|\d+', line)
+            rmse = numbers[0]
+
+    print("RMSE added to log: {}".format(rmse))
+
+    return rmse
+
+if __name__ == "__main__":
+
+    path = '/home/oxford_spires_dataset/data/' # TODO: get path from arg an define folders in the future class.
+    sequence = '2024-03-20-christ-church-05' # TODO: get sequence from arg an define folders in the future class.
+    sub_dir = "/output_slam/"
+    file_name = "vilens_poses_tum.txt"
+    file_name_gt = "/ground_truth_traj/gt_lidar.txt"
+
+    path_gt = path + sequence + file_name_gt
+    path_traj = path + sequence + sub_dir + file_name
+
+    print("RUNNING VILENS EVALUATION ...")
+    rmse = evaluation_ape_rmse (path_gt, path_traj)
+
+    file_name = "hba_poses_tum.txt"
+    path_traj = path + sequence + sub_dir + file_name
+    print("RUNNING HBA EVALUATION ...")
+    rmse = evaluation_ape_rmse (path_gt, path_traj)
+