feat: compare reconstructions

Summary:
This Diff adds a small binary for producing metrics between two reconstructions.

We also modify the generation of augment data so they're more realistic wrt. current algorithm and fixed a few bits here and there (save of reference_lla), and add MAD metrics

Reviewed By: paulinus

Differential Revision: D28380463

fbshipit-source-id: 4104adfc456fa01bbee967d7461b4310e5b5b47a

Author: YanNoun

opensfm/synthetic_data/synthetic_metrics.py

@@ -124,3 +124,7 @@ def _copy_reconstruction(reconstruction: types.Reconstruction) -> types.Reconstr
 
 def rmse(errors: np.ndarray) -> float:
     return np.sqrt(np.mean(errors ** 2))
+
+
+def mad(errors: np.ndarray) -> float:
+    return np.median(np.absolute(errors - np.median(errors)))

opensfm/synthetic_data/synthetic_scene.py

@@ -407,11 +407,19 @@ def compare(
         "ratio_cameras": completeness[0],
         "ratio_points": completeness[1],
         "absolute_position_rmse": sm.rmse(absolute_position),
+        "absolute_position_mad": sm.mad(absolute_position),
         "absolute_rotation_rmse": sm.rmse(absolute_rotation),
+        "absolute_rotation_mad": sm.mad(absolute_rotation),
         "absolute_points_rmse": sm.rmse(absolute_points),
+        "absolute_points_mad": sm.mad(absolute_points),
         "absolute_gps_rmse": sm.rmse(absolute_gps),
+        "absolute_gps_mad": sm.mad(absolute_gps),
         "aligned_position_rmse": sm.rmse(aligned_position),
+        "aligned_position_mad": sm.mad(aligned_position),
         "aligned_rotation_rmse": sm.rmse(aligned_rotation),
-        "aligned_points_rmse": sm.rmse(aligned_points),
+        "aligned_rotation_mad": sm.mad(aligned_rotation),
         "aligned_gps_rmse": sm.rmse(aligned_gps),
+        "aligned_gps_mad": sm.mad(aligned_gps),
+        "aligned_points_rmse": sm.rmse(aligned_points),
+        "aligned_points_mad": sm.mad(aligned_points),
     }