An issue with the legend when drawing a box plot

[brandfucker]

when i was running your example ,some result PDF in plots/traj_est such as the rel_translation_err has something wrong. The legend did not displayed correctly.

[QiuYue-bit]

i solve this problem by using the release version

[yao-hexiong]

i solve this problem by using the release version

I have the same problem. Can you explain it in detail?

[setareh-soltanieh]

Hi, can you tell me how are you capturing these results? I have recorded the ground truth and the estimated poses in a txt file with the correct format but my results are as follows:

======================================
Absolute Trajectory Error

rmse_ori = 178.702 | rmse_pos = 0.103
mean_ori = 178.701 | mean_pos = 0.097
min_ori = 176.714 | min_pos = 0.016
max_ori = 179.984 | max_pos = 0.173
std_ori = 0.547 | std_pos = 0.037

Relative Pose Error

seg 8 - median_ori = 143.450 | median_pos = 4.591 (2383 samples)
seg 16 - median_ori = 88.770 | median_pos = 3.702 (2082 samples)
seg 24 - median_ori = 92.984 | median_pos = 3.481 (1816 samples)
seg 32 - median_ori = 85.973 | median_pos = 3.481 (1427 samples)
seg 40 - median_ori = 138.841 | median_pos = 3.082 (1099 samples)

[hyq123-cmd]

I have solved this bug by modifying the below code block like this:
the original code block:

def plot_odometry_error_per_dataset(dataset_rel_err, dataset_names, algorithm_names,
                                    datasets_outdir, plot_settings):
    for dataset_idx, dataset_nm in enumerate(dataset_names):
        output_dir = datasets_outdir[dataset_nm]
        print("Plotting {0}...".format(dataset_nm))
        rel_err = dataset_rel_err[dataset_idx]
        assert sorted(algorithm_names) == sorted(list(rel_err['trans_err'].keys()))
        distances = rel_err['subtraj_len']

        config_labels = []
        config_colors = []
        for v in algorithm_names:
            config_labels.append(plot_settings['algo_labels'][v])
            config_colors.append(plot_settings['algo_colors'][v])

        fig = plt.figure(figsize=(12, 3))
        ax = fig.add_subplot(
            121, xlabel='Distance traveled (m)',
            ylabel='Translation error (\%)')
        pu.boxplot_compare(ax, distances, [rel_err['trans_err_perc'][v] for v in algorithm_names],
                           config_labels, config_colors, legend=True)
        ax = fig.add_subplot(
            122, xlabel='Distance traveled (m)', ylabel='Rotation error (deg / m)')
        pu.boxplot_compare(ax, distances, [rel_err['rot_deg_per_m'][v] for v in algorithm_names],
                           config_labels, config_colors, legend=True)
        fig.tight_layout()
        fig.savefig(output_dir+'/'+dataset_nm +
                    '_trans_rot_error'+FORMAT, bbox_inches="tight", dpi=args.dpi)
        plt.close(fig)

and the code block I modified like this:

from matplotlib.patches import Patch          #it is necessary to add this line

def plot_odometry_error_per_dataset(dataset_rel_err, dataset_names, algorithm_names,
                                    datasets_outdir, plot_settings):
    for dataset_idx, dataset_nm in enumerate(dataset_names):
        output_dir = datasets_outdir[dataset_nm]
        print("Plotting {0}...".format(dataset_nm))
        rel_err = dataset_rel_err[dataset_idx]
        assert sorted(algorithm_names) == sorted(list(rel_err['trans_err'].keys()))
        distances = rel_err['subtraj_len']

        config_labels = []
        config_colors = []
        for v in algorithm_names:
            config_labels.append(plot_settings['algo_labels'][v])
            config_colors.append(plot_settings['algo_colors'][v])

        legend_elements = [Patch(facecolor=color, label=label)
                           for label, color in zip(config_labels, config_colors)]
        fig = plt.figure(figsize=(12, 3))
        ax = fig.add_subplot(
            121, xlabel='Distance traveled (m)',
            ylabel='Translation error (\%)')
        pu.boxplot_compare(ax, distances, [rel_err['trans_err_perc'][v] for v in algorithm_names],
                           config_labels, config_colors, legend=False)
        ax.legend(handles=legend_elements, loc='upper right')
        ax = fig.add_subplot(
            122, xlabel='Distance traveled (m)', ylabel='Rotation error (deg / m)')
        pu.boxplot_compare(ax, distances, [rel_err['rot_deg_per_m'][v] for v in algorithm_names],
                           config_labels, config_colors, legend=False)
        ax.legend(handles=legend_elements, loc='upper right')
        fig.tight_layout()
        fig.savefig(output_dir+'/'+dataset_nm +
                    '_trans_rot_error'+FORMAT, bbox_inches="tight", dpi=args.dpi)
        plt.close(fig)