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Add percentile computations in position_test

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Set minimal Armadillo version to 9.900 for quantile()
This commit is contained in:
Carles Fernandez
2025-12-14 10:02:38 +01:00
parent 19210e8c1f
commit dd5ce88e62
2 changed files with 75 additions and 35 deletions
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CMakeLists.txt
+29 -22
View File
@@ -337,7 +337,7 @@ endif()
# Minimum required versions
################################################################################
set(GNSSSDR_APPLECLANG_MIN_VERSION "500")
set(GNSSSDR_ARMADILLO_MIN_VERSION "5.300.0")
set(GNSSSDR_ARMADILLO_MIN_VERSION "9.900.0")
set(GNSSSDR_BOOST_MIN_VERSION "1.53")
set(GNSSSDR_CLANG_MIN_VERSION "3.4.0")
set(GNSSSDR_GCC_MIN_VERSION "4.7.2")
@@ -376,6 +376,11 @@ endif()
if(CMAKE_VERSION VERSION_LESS "3.5")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.8.x")
endif()
if(((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.1)) OR
((CMAKE_CXX_COMPILER_ID STREQUAL "Clang") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.0)) OR
((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)))
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "12.8.x")
endif()
if(CMAKE_VERSION VERSION_LESS "3.22")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.6.0")
@@ -2195,7 +2200,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND ${CMAKE_CXX_COMPILER_VERSION} VERSION_LESS 4.8.3)
set(ARMADILLO_CXX_VERSION -DCMAKE_CXX_FLAGS=-std=c++11)
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
if(${GNSSSDR_ARMADILLO_LOCAL_VERSION} MATCHES "12.8")
ExternalProject_Add(armadillo-${armadillo_RELEASE}
PREFIX ${GNSSSDR_BINARY_DIR}/armadillo-${armadillo_RELEASE}
GIT_REPOSITORY https://gitlab.com/conradsnicta/armadillo-code.git
@@ -2277,26 +2282,28 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
PURPOSE "Armadillo ${GNSSSDR_ARMADILLO_LOCAL_VERSION} will be downloaded, built, and statically linked when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
)
# Fix for macOS
find_library(ARPACK_LIBRARY
NAMES arpack
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(ARPACK_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${ARPACK_LIBRARY})
endif()
find_library(FLEXIBLAS_LIBRARY
NAMES flexiblas
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(FLEXIBLAS_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${FLEXIBLAS_LIBRARY})
endif()
find_library(SUPERLU_LIBRARY
NAMES superlu
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(SUPERLU_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${SUPERLU_LIBRARY})
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
find_library(ARPACK_LIBRARY
NAMES arpack
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(ARPACK_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${ARPACK_LIBRARY})
endif()
find_library(FLEXIBLAS_LIBRARY
NAMES flexiblas
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(FLEXIBLAS_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${FLEXIBLAS_LIBRARY})
endif()
find_library(SUPERLU_LIBRARY
NAMES superlu
PATHS ${CMAKE_SYSTEM_LIBRARY_PATH} ${GNSSSDR_LIB_PATHS}
)
if(SUPERLU_LIBRARY)
target_link_libraries(Armadillo::armadillo INTERFACE ${SUPERLU_LIBRARY})
endif()
endif()
endif()
tests/system-tests/position_test.cc
+46 -13
View File
@@ -657,22 +657,21 @@ void PositionSystemTest::check_results()
double sigma_U_2_accuracy = arma::as_scalar(error_up_m * error_up_m.t());
sigma_U_2_accuracy = sigma_U_2_accuracy / error_up_m.n_elem;
// arma::mat error_enu_mat = arma::zeros(3, error_east_m.n_elem);
// error_enu_mat.row(0) = error_east_m;
// error_enu_mat.row(1) = error_north_m;
// error_enu_mat.row(2) = error_up_m;
//
// arma::vec error_2D_m = arma::zeros(error_enu_mat.n_cols, 1);
// arma::vec error_3D_m = arma::zeros(error_enu_mat.n_cols, 1);
// for (uint64_t n = 0; n < error_enu_mat.n_cols; n++)
// {
// error_2D_m(n) = arma::norm(error_enu_mat.submat(0, n, 1, n));
// error_3D_m(n) = arma::norm(error_enu_mat.col(n));
// }
double static_2D_error_m = sqrt(pow(arma::mean(error_east_m), 2.0) + pow(arma::mean(error_north_m), 2.0));
double static_3D_error_m = sqrt(pow(arma::mean(error_east_m), 2.0) + pow(arma::mean(error_north_m), 2.0) + pow(arma::mean(error_up_m), 2.0));
// Percentiles
arma::vec p = {0.25, 0.50, 0.67, 0.95, 0.99};
arma::mat R_centered_accuracy = R_eb_enu.each_col() - ref_r_enu;
arma::rowvec squared_sum_accuracy = arma::sum(arma::square(R_centered_accuracy), 0);
arma::vec errors_3d_accuracy = arma::sqrt(squared_sum_accuracy.t());
arma::vec percentiles_accuracy = arma::quantile(errors_3d_accuracy, p);
arma::mat R_centered_precision = R_eb_enu.each_col() - arma::mean(R_eb_enu, 1);
arma::rowvec squared_sum_precision = arma::sum(arma::square(R_centered_precision), 0);
arma::vec errors_3d_precision = arma::sqrt(squared_sum_precision.t());
arma::vec percentiles_precision = arma::quantile(errors_3d_precision, p);
std::chrono::duration<double> elapsed_seconds = end - start;
std::stringstream stm;
@@ -700,6 +699,16 @@ void PositionSystemTest::check_results()
stm << "Static Bias 3D = " << static_3D_error_m << " [m]\n";
stm << '\n';
stm << "---- STATIC ACCURACY 3D PERCENTILES ----\n";
stm << "Minimum error = " << errors_3d_accuracy.min() << " [m]\n";
stm << "25th = " << percentiles_accuracy(0) << " [m]\n";
stm << "50th = " << percentiles_accuracy(1) << " [m]\n";
stm << "67th = " << percentiles_accuracy(2) << " [m]\n";
stm << "95th = " << percentiles_accuracy(3) << " [m]\n";
stm << "99th = " << percentiles_accuracy(4) << " [m]\n";
stm << "Maximum error = " << errors_3d_accuracy.max() << " [m]\n";
stm << '\n';
stm << "---- STATIC PRECISION ----\n";
stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]\n";
stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]\n";
@@ -710,6 +719,16 @@ void PositionSystemTest::check_results()
stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]\n";
stm << '\n';
stm << "---- STATIC PRECISION 3D PERCENTILES ----\n";
stm << "Minimum error = " << errors_3d_precision.min() << " [m]\n";
stm << "25th = " << percentiles_precision(0) << " [m]\n";
stm << "50th = " << percentiles_precision(1) << " [m]\n";
stm << "67th = " << percentiles_precision(2) << " [m]\n";
stm << "95th = " << percentiles_precision(3) << " [m]\n";
stm << "99th = " << percentiles_precision(4) << " [m]\n";
stm << "Maximum error = " << errors_3d_precision.max() << " [m]\n";
stm << '\n';
stm << "Receiver runtime: " << elapsed_seconds.count() << " [seconds]\n";
std::cout << stm.rdbuf();
@@ -822,6 +841,12 @@ void PositionSystemTest::check_results()
double max_error_V_eb_e = arma::max(error_module_V_eb_e);
double min_error_V_eb_e = arma::min(error_module_V_eb_e);
// Percentiles
arma::vec p = {0.25, 0.50, 0.67, 0.95, 0.99};
arma::rowvec squared_sum_accuracy = arma::sum(arma::square(error_R_eb_e), 0);
arma::vec errors_3d_accuracy = arma::sqrt(squared_sum_accuracy.t());
arma::vec percentiles_accuracy = arma::quantile(errors_3d_accuracy, p);
// report
std::cout << "----- Position and Velocity 3D ECEF error statistics -----\n";
#if USE_GLOG_AND_GFLAGS
@@ -848,6 +873,14 @@ void PositionSystemTest::check_results()
<< " (max,min) = " << max_error_V_eb_e
<< "," << min_error_V_eb_e
<< " [m/s]\n";
std::cout << "---- Percentiles 3D position error:\n";
std::cout << "Minimum error = " << errors_3d_accuracy.min() << " [m]\n";
std::cout << "25th = " << percentiles_accuracy(0) << " [m]\n";
std::cout << "50th = " << percentiles_accuracy(1) << " [m]\n";
std::cout << "67th = " << percentiles_accuracy(2) << " [m]\n";
std::cout << "95th = " << percentiles_accuracy(3) << " [m]\n";
std::cout << "99th = " << percentiles_accuracy(4) << " [m]\n";
std::cout << "Maximum error = " << errors_3d_accuracy.max() << " [m]\n";
std::cout.precision(ss);
// plots