Print nbv-grasp times

scripts/print_stats.ipynb

@@ -24,13 +24,11 @@
    "source": [
     "logfile = \"\"\n",
     "\n",
-    "###\n",
-    "\n",
     "df = pd.read_csv(logfile)\n",
     "\n",
     "n_attempts = len(df.index)\n",
     "n_succeeded = (df.result == \"succeeded\").sum()\n",
-    "n_failed = (df.result == \"failed\").sum()\n",
+    "n_failed = ((df.result == \"failed\") | (df.result == \"no_motion_plan_found\")).sum()\n",
     "n_aborted = (df.result == \"aborted\").sum()\n",
     "views_mean = df.view_count.mean()\n",
     "views_std = df.view_count.std()\n",
@@ -42,6 +40,52 @@
     "print(f\"${n_succeeded}$ & ${n_failed}$ & ${n_aborted}$ & ${views_mean:.1f} \\pm {views_std:.1f}$ & ${search_time_mean:.2f} \\pm {search_time_std:.2f}$ & ${grasp_time_mean:.2f} \\pm {grasp_time_std:.2f}$\")"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "How often does it fail because no motion plan was found?\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "print((df.result == \"no_motion_plan_found\").sum())"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Compute timings"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "view_generation = df.view_generation / df.view_count\n",
+    "state_update = df.state_update / df.view_count\n",
+    "tsdf_update = df.tsdf_integration / df.view_count\n",
+    "grasp_prediction = df.grasp_prediction / df.view_count\n",
+    "grasp_selection = df.grasp_selection / df.view_count\n",
+    "ig_computation = df.ig_computation / df.view_count\n",
+    "\n",
+    "print(f\"View generation: {view_generation.mean():.3f}\")\n",
+    "print(f\"State update: {state_update.mean():.3f}\")\n",
+    "print(f\"  TSDF update: {tsdf_update.mean():.3f}\")\n",
+    "print(f\"  Grasp prediction: {grasp_prediction.mean():.3f}\")\n",
+    "print(f\"  Grasp selection: {grasp_selection.mean():.3f}\")\n",
+    "print(f\"IG computation: {ig_computation.mean():.3f}\")\n",
+    "print(\"---\")\n",
+    "print(f\"Total time: {view_generation.mean() + state_update.mean() + ig_computation.mean():.3f}\")\n"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,