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miguelriemoliveira / OptimizationUtils

A set of utilities for using the python scipy optimizer functions
GNU General Public License v3.0
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Evaluate optimization of camera poses with arucos #27

Closed miguelriemoliveira closed 4 years ago

miguelriemoliveira commented 5 years ago

After having found two capital errors (see #25 and #22 ), we need to reevaluate accuracy of the aruco based optimizations

miguelriemoliveira commented 5 years ago

Data from @tiagomfmadeira

Hausdorff Distance computed Sampled 2831151 pts (rng: 0) on MeetingRoom4_original_ICP.ply searched closest on FARO_meeting_room_vox_clipped.ply

min : 0.000031 max 0.050080 mean : 0.018958 RMS : 0.022740 Values w.r.t. BBox Diag (20.692211) min : 0.000002 max 0.002420 mean : 0.000916 RMS : 0.001099

Hausdorff Distance computed Sampled 2929856 pts (rng: 0) on MeetingRoom4_optimized_ICP.ply searched closest on FARO_meeting_room_vox_clipped.ply

min : 0.000050 max 0.049970 mean : 0.017471 RMS : 0.021115 Values w.r.t. BBox Diag (20.649876) min : 0.000002 max 0.002420 mean : 0.000846 RMS : 0.001023

miguelriemoliveira commented 5 years ago

MeetingRoom4 MeetingRoom5_comparisson1 MeetingRoom5_comparisson2 MeetingRoom5_comparisson3 MeetingRoom5_comparisson4 MeetingRoom5_comparisson5

Original on top, optimized on the bottom.

miguelriemoliveira commented 5 years ago

Hi @tiagomfmadeira , so I guess the optimization works. The Hausdorff goes from mean 0.018 to 0.017, so, an average gain of one millimeter. Not significant I would say.

The first image is clearly better on the corner for the bottom image, thus the optimized improves.

Do you agree with these analyses?

miguelriemoliveira commented 5 years ago

Simple suggestion: set the meshlab background color to white. That way, all these images can go directly to your thesis.

tiagomfmadeira commented 5 years ago

@miguelriemoliveira I was thinking of using these... but now that you mention it, a white background would indeed make it look better... Also should I change the color map too??

miguelriemoliveira commented 5 years ago

Yes, a white background is better, especially for thesis and papers ... and we want a lot of those :)

Which colormap you are referring to? the one of the points clouds for each camera? Yes, it s not adequate. It should be one like lines or something from the qualitative colormaps, such as the paired from here

https://matplotlib.org/users/colormaps.html

tiagomfmadeira commented 5 years ago

Yes the one that maps each point cloud to a different color... I'll have to look into that

miguelriemoliveira commented 5 years ago

Issue, create and Issue before doing anything else :)

tiagomfmadeira commented 5 years ago

Issue, create and Issue before doing anything else :)

Discussed further in issue #31

miguelriemoliveira commented 4 years ago

Hi @tiagomfmadeira , I was housecleaning and found this issue, these images were quite nice ...