subprocess.call( ["g2o", "-i", "0", "-guessOdometry", "-o", guessOutPath, guessInPath]) # make optimization subprocess.call([ "g2o", "-i", str(g2oIterations), "-guessOdometry", #"-inc", "-robustKernel", "Huber", "-robustKernelWidth", str(kernelWidth), #"-solver", "-o", optPath, guessInPath ]) # compute elapsed time elapsed_time = time.time() - start_time print "Total time tests: " + str(elapsed_time) + " [s]" # get results in lab format g2o2lab(guessOutPath, optPath, "res_lab/") # plot results #plotGuess(simPath, guessOutPath, "res/guess"+ suffix) plotResults(simPath, guessOutPath, optPath, figPath, suffix)
buildPath + "./my_slam", "-i", str(g2oIterations), "-t", str(xi), "-robustKernel", "Huber", "-robustKernelWidth", str(kernelWidth), "-poseSkip", str(poseSkip), "-interOpt", str(interOpt), "-disTest", str(disTest), "-o", optPath, guessInPath, ] ) # get results in lab format g2o2lab(guessOutPath, optPath, "res_lab/") # plot results plotResults(simPath, guessOutPath, optPath, figPath, suffix) # compute elapsed time elapsed_time = time.time() - start_time print "Total time tests: " + str(elapsed_time) + " [s]"
["g2o", "-i", "0", "-guessOdometry", "-o", guessOutPath, dataPath]) # optimize print "Optimize" subprocess.call([ "env", "CPUPROFILE=./my_slam_prof.prof", buildPath + "./my_slam", "-i", str(g2oIterations), "-t", str(xi), "-robustKernel", "Huber", "-robustKernelWidth", str(kernelWidth), "-poseSkip", str(poseSkip), "-interOpt", str(interOpt), "-disTest", str(disTest), "-o", resPath, guessOutPath ]) # get results in lab format g2o2lab(guessOutPath, resPath, "res_lab/") # plot results currTime = strftime("_%Y-%m-%d %H:%M:%S", gmtime()) suffix = "_it_" + str(g2oIterations) + "_xi_" + str(xi) + "_op_" + str( infoOdomPos) + "_oa_" + str(infoOdomAng) + "_lp_" + str( infoPointSen) + "_dsk_" + str(dataSkip) + "_io_" + str( interOpt) + "_ds_" + str(dataSize) + "_dt_" + str( disTest) + "_kw_" + str(kernelWidth) + "_ps_" + str(poseSkip) makeRealPlots(guessOutPath, resPath, figPath, currTime + suffix) #plotResults(dataDir+"gt.g2o", guessOutPath, resPath, figPath, currTime + suffix) # compute elapsed time elapsed_time = time.time() - start_time print "Total time tests: " + str(elapsed_time) + " [s]"
# get initial guess subprocess.call(["g2o", "-i", "0", "-guessOdometry", "-o", guessOutPath, dataPath]) # optimize print "Optimize" subprocess.call(["env", "CPUPROFILE=./my_slam_prof.prof", buildPath+"./my_slam", "-i", str(g2oIterations), "-t", str(xi), "-robustKernel", "Huber", "-robustKernelWidth", str(kernelWidth), "-poseSkip", str(poseSkip), "-interOpt", str(interOpt), "-disTest", str(disTest), "-o", resPath, guessOutPath]) # get results in lab format g2o2lab(guessOutPath, resPath, "res_lab/") # plot results currTime = strftime("_%Y-%m-%d %H:%M:%S", gmtime()) suffix = "_it_" + str(g2oIterations) + "_xi_" + str(xi) + "_op_" + str(infoOdomPos) + "_oa_" + str(infoOdomAng) + "_lp_" + str(infoPointSen) + "_dsk_" + str(dataSkip) + "_io_" + str(interOpt) + "_ds_" + str(dataSize) + "_dt_" + str(disTest) + "_kw_" + str(kernelWidth) + "_ps_" + str(poseSkip) plotResults(gtPath, guessOutPath, resPath, figPath, currTime + suffix) # compute elapsed time elapsed_time = time.time() - start_time print "Total time tests: " + str(elapsed_time) + " [s]"