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true-real-michaeltrue-real-michael
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Update benchmark notebook so that it is compatible with the octreelib@v0.0.5
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‎notebooks/benchmark.ipynb

Lines changed: 45 additions & 69 deletions
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@@ -10,38 +10,33 @@
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},
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{
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": 5,
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"id": "d009f3b8-3f04-4aac-b10a-4a2e0a34836e",
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
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"[Open3D INFO] WebRTC GUI backend enabled.\n",
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"[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n"
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]
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"metadata": {
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"ExecuteTime": {
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"end_time": "2023-12-20T14:25:22.551281Z",
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"start_time": "2023-12-20T14:25:21.002067Z"
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}
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],
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},
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"outputs": [],
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"source": [
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"import sys\n",
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"import mrob\n",
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"import time\n",
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"import os\n",
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"from octreelib.grid import Grid, GridConfig, VisualizationConfig\n",
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"from octreelib.octree import MultiPoseOctree, OctreeConfig\n",
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"from typing import Tuple, List\n",
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"import tqdm\n",
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"from octreelib.grid import Grid, GridConfig\n",
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"from typing import Tuple, List, Dict\n",
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"from dataclasses import dataclass\n",
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"import numpy as np\n",
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"import open3d as o3d\n",
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"\n",
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"sys.path.append(\"..\")\n",
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"from slam.backend import BaregBackend, EigenFactorBackend, Backend, BackendOutput\n",
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"from slam.pipeline import StaticPipeline, StaticPipelineRuntimeParameters\n",
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"\n",
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"from slam.segmenter import Segmenter, CAPESegmenter, RansacSegmenter\n",
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"from slam.subdivider import Subdivider, CountSubdivider, EigenValueSubdivider, SizeSubdivider\n",
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"from slam.utils import Reader, HiltiReader, KittiReader"
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"from slam.utils import DatasetReader, HiltiReader, KittiReader"
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]
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},
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{
@@ -54,9 +49,14 @@
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": 6,
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"id": "4e183c65-5a53-4152-a1e0-9eeb8afc49de",
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"metadata": {},
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"metadata": {
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"ExecuteTime": {
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"end_time": "2023-12-20T14:25:23.389009Z",
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"start_time": "2023-12-20T14:25:23.384258Z"
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}
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},
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"outputs": [],
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"source": [
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"SAMPLES_COUNT = 10"
@@ -72,9 +72,14 @@
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 7,
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"id": "49fcabc0-83d2-4bdb-821e-4f5735930ca1",
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"metadata": {},
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"metadata": {
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"ExecuteTime": {
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"end_time": "2023-12-20T14:25:24.005440Z",
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"start_time": "2023-12-20T14:25:23.992233Z"
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}
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},
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"outputs": [],
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"source": [
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"def evaluate(timestamps: List[float]):\n",
@@ -90,7 +95,7 @@
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" timestamps = np.array(timestamps)\n",
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" print_metrics(timestamps)\n",
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"\n",
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"def read_patch(reader: Reader,path: str, start: int, end: int) -> List[o3d.geometry.PointCloud]:\n",
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"def read_patch(reader: DatasetReader,path: str, start: int, end: int) -> List[o3d.geometry.PointCloud]:\n",
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" \"\"\"\n",
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" Reads patch of point clouds\n",
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" \"\"\"\n",
@@ -121,9 +126,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"id": "22088f09-504b-4221-a0df-8bd09ad2a15c",
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"metadata": {},
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"execution_count": 8,
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"outputs": [],
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"source": [
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"@dataclass\n",
@@ -147,7 +150,7 @@
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" distribution: float\n",
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" segmenters: float\n",
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" backend: float\n",
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"\n",
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" \n",
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"\n",
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"def run_pipeline(point_clouds: List[o3d.geometry.PointCloud], pipeline: PipelineConfiguration) -> PipelineDurations:\n",
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" \"\"\"\n",
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" initialization_start = time.perf_counter()\n",
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" pipeline.grid.insert_points(\n",
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" middle_pose_number,\n",
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" point_clouds[middle_pose_number].points,\n",
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" np.asarray(point_clouds[middle_pose_number].points),\n",
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" )\n",
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" initialization_end = time.perf_counter() - initialization_start\n",
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" \n",
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" for pose_number, point_cloud in enumerate(point_clouds):\n",
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" if pose_number == middle_pose_number:\n",
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" continue\n",
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" pipeline.grid.insert_points(pose_number, point_cloud.points)\n",
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" pipeline.grid.insert_points(pose_number, np.asarray(point_cloud.points))\n",
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" distribution_end = time.perf_counter() - distribution_start\n",
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"\n",
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" segmenters_start = time.perf_counter()\n",
@@ -190,7 +193,15 @@
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" segmenters=segmenters_end,\n",
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" backend=backend_end,\n",
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" )"
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]
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],
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"metadata": {
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"collapsed": false,
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"ExecuteTime": {
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"end_time": "2023-12-20T14:25:24.923503Z",
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"start_time": "2023-12-20T14:25:24.918673Z"
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}
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},
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"id": "1528c7c19e4d9cfe"
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},
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{
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"cell_type": "markdown",
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"id": "1156e0c8-d70d-4c12-a9ff-773ca383912b",
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"execution_count": null,
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"id": "1eed4317-fa5b-4980-8fae-58263c0b1cfd",
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"Patch 0 -> 3; Samples count = 10\n",
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"First point clouds insertion stage\n",
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"\tmin = 2.647s\n",
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"\tmax = 2.863s\n",
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"\tmean = 2.708s\n",
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"\tstd = 0.066s\n",
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"Subdividers stage\n",
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"\tmin = 8.991s\n",
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"\tmax = 9.287s\n",
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"\tmean = 9.077s\n",
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"\tstd = 0.087s\n",
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"Distribution stage\n",
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"\tmin = 20.751s\n",
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"\tmax = 21.297s\n",
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"\tmean = 20.877s\n",
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"\tstd = 0.151s\n",
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"Segmenters stage\n",
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"\tmin = 7.337s\n",
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"\tmax = 9.898s\n",
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"\tmean = 7.762s\n",
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"\tstd = 0.769s\n",
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"Backend stage\n",
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"\tmin = 0.096s\n",
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"\tmax = 0.155s\n",
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"\tmean = 0.104s\n",
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"\tstd = 0.017s\n"
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]
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}
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],
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"outputs": [],
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"source": [
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"# Pipeline configuration\n",
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"# TODO(user): You can manipulate configuration spec below as you want\n",
@@ -274,9 +252,7 @@
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"\n",
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" grid = Grid(\n",
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" GridConfig(\n",
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" octree_type=MultiPoseOctree,\n",
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" octree_config=OctreeConfig(),\n",
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" grid_voxel_edge_length=4,\n",
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" voxel_edge_length=4,\n",
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" )\n",
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" )\n",
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" \n",
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" segmenters_timestamps = []\n",
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" backend_timestamps = []\n",
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" \n",
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" for sample in range(SAMPLES_COUNT):\n",
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" for sample in tqdm.tqdm(range(SAMPLES_COUNT)):\n",
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" point_clouds = read_patch(dataset_reader, dataset_path, ind, ind + step)\n",
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" \n",
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" pipeline_durations = run_pipeline(point_clouds, create_configuration())\n",

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