def test_values(values, job_id, value_names, output_dir, bag_file, map_file,
image_topic, config_path, robot_config, world,
use_image_features, groundtruth_bagfile, rmse_rel_start_time,
rmse_rel_end_time):
new_output_dir = os.path.join(output_dir, str(job_id))
os.mkdir(new_output_dir)
graph_config_filepath = os.path.join(config_path, "config",
"graph_localizer.config")
new_graph_config_filepath = os.path.join(new_output_dir,
"graph_localizer.config")
config_creator.make_config(values, value_names, graph_config_filepath,
new_graph_config_filepath)
output_bag = os.path.join(new_output_dir, "results.bag")
output_stats_file = os.path.join(new_output_dir, "graph_stats.csv")
graph_config_prefix = new_output_dir + '/'
run_command = 'rosrun graph_bag run_graph_bag ' + bag_file + ' ' + map_file + ' ' + config_path + ' -o ' + output_bag + ' -s ' + output_stats_file + ' -r ' + robot_config + ' -w ' + world + ' -g ' + graph_config_prefix + ' -f ' + str(
use_image_features)
if image_topic is not None:
run_command += ' -i ' + image_topic
os.system(run_command)
output_pdf_file = os.path.join(new_output_dir, str(job_id) + '_output.pdf')
output_csv_file = os.path.join(new_output_dir, 'graph_stats.csv')
plot_command = 'rosrun graph_bag plot_results_main.py ' + output_bag + ' --output-file ' + output_pdf_file + ' --output-csv-file ' + output_csv_file + ' -g ' + groundtruth_bagfile + ' --rmse-rel-start-time ' + str(
rmse_rel_start_time) + ' --rmse-rel-end-time ' + str(rmse_rel_end_time)
os.system(plot_command)
def test_values(
values,
job_id,
value_names,
output_dir,
bag_file,
map_file,
image_topic,
config_path,
robot_config,
world,
use_image_features,
groundtruth_bagfile,
rmse_rel_start_time,
rmse_rel_end_time,
):
new_output_dir = os.path.join(output_dir, str(job_id))
os.mkdir(new_output_dir)
graph_config_filepath = os.path.join(config_path, "config",
"graph_localizer.config")
new_graph_config_filepath = os.path.join(new_output_dir,
"graph_localizer.config")
config_creator.make_config(values, value_names, graph_config_filepath,
new_graph_config_filepath)
output_bag = os.path.join(new_output_dir, "results.bag")
output_stats_file = os.path.join(new_output_dir, "graph_stats.csv")
graph_config_prefix = new_output_dir + "/"
run_command = ("rosrun graph_bag run_graph_bag " + bag_file + " " +
map_file + " " + config_path + " -o " + output_bag +
" -s " + output_stats_file + " -r " + robot_config +
" -w " + world + " -g " + graph_config_prefix + " -f " +
str(use_image_features))
if image_topic is not None:
run_command += " -i " + image_topic
os.system(run_command)
output_pdf_file = os.path.join(new_output_dir, str(job_id) + "_output.pdf")
output_csv_file = os.path.join(new_output_dir, "graph_stats.csv")
plot_command = ("rosrun graph_bag plot_results_main.py " + output_bag +
" --output-file " + output_pdf_file +
" --output-csv-file " + output_csv_file + " -g " +
groundtruth_bagfile + " --rmse-rel-start-time " +
str(rmse_rel_start_time) + " --rmse-rel-end-time " +
str(rmse_rel_end_time))
os.system(plot_command)
def test_values(values, job_id, value_names, output_dir, bag_file, map_file, image_topic, gnc_config):
new_gnc_config_filepath = os.path.join(output_dir, str(job_id) + "_gnc.config")
config_creator.make_config(values, value_names, gnc_config, new_gnc_config_filepath)
ekf_output_file = os.path.join(output_dir, str(job_id) + "_ekf_results.txt")
pdf_output_file = os.path.join(output_dir, str(job_id) + "_plots.pdf")
results_csv_output_file = os.path.join(output_dir, str(job_id) + "_results.csv")
values_file_name = str(job_id) + '_values.csv'
with open(os.path.join(output_dir, values_file_name), 'w') as values_file:
id_and_values = (job_id,) + values
id_name_and_value_names = ['job_id'] + value_names
writer = csv.writer(values_file)
writer.writerow(id_name_and_value_names)
writer.writerow(id_and_values)
options = ekf_graph.RunEKFOptions(bag_file, map_file, ekf_output_file, pdf_output_file, results_csv_output_file)
options.set_param_sweep_params(image_topic, job_id, new_gnc_config_filepath)
ekf_graph.run_ekf_and_save_stats(options)
def test_values(
values,
job_id,
value_names,
output_dir,
bag_file,
config_path,
robot_config,
world,
groundtruth_bagfile,
rmse_rel_start_time,
rmse_rel_end_time,
):
new_output_dir = os.path.join(output_dir, str(job_id))
os.mkdir(new_output_dir)
depth_odometry_config_filepath = os.path.join(
config_path, "config", "localization/depth_odometry.config")
new_depth_odometry_config_filepath = os.path.join(new_output_dir,
"depth_odometry.config")
config_creator.make_config(
values,
value_names,
depth_odometry_config_filepath,
new_depth_odometry_config_filepath,
)
output_bag = os.path.join(new_output_dir, "results.bag")
output_stats_file = os.path.join(new_output_dir, "depth_odom_stats.csv")
depth_odometry_config_prefix = new_output_dir + "/"
run_command = ("rosrun localization_analysis run_depth_odometry_adder " +
bag_file + " " + config_path + " -r " + robot_config +
" -o " + output_bag + " -w " + world + " -p " +
depth_odometry_config_prefix)
os.system(run_command)
output_pdf_file = os.path.join(new_output_dir, str(job_id) + "_output.pdf")
output_csv_file = os.path.join(new_output_dir, "depth_odom_stats.csv")
plot_command = ("rosrun localization_analysis plot_results.py " +
output_bag + " --output-file " + output_pdf_file +
" --output-csv-file " + output_csv_file + " -g " +
groundtruth_bagfile + " --rmse-rel-start-time " +
str(rmse_rel_start_time) + " --rmse-rel-end-time " +
str(rmse_rel_end_time))
os.system(plot_command)