parser.add_argument(
"--null-information-scale",
type=float,
default=1e-12,
dest="null_inf_factor",
help=
"Factor for generating the null hypothesis information matrix, default: 1e-12"
)
args = parser.parse_args()
if args.do_bfs and args.do_seq:
print("ERROR: specify either --seq-init or --bfs-init, not both")
exit(1)
g = G.readg2o(args.input)
g.readExtraOutliers(args.outliers)
if args.all_hyper:
g.makeAllLoopsHaveNullHypothesis()
if args.do_bfs:
g.setNonfixedPosesToZero()
g.intializePosesBFS(args.do_bfs_with_null)
if args.do_seq:
g.setNonfixedPosesToZero()
g.initializePosesSequential()
g.writeg2o(args.output,
help="Output file to append the errors to. Default: stdout")
parser.add_argument(
"--5-summary",
dest="summary",
default=False,
action='store_true',
help=
"If given, calculate min,lower quartile,median,upper quartile,max instead of printing all error values."
)
args = parser.parse_args()
if not args.output:
args.output = sys.stdout
G_ref = G.readg2o(args.reference)
errs = error_calc(G_ref)
tr = []
rot = []
for pattern in args.graphs:
for graphfile in glob.glob(pattern):
if not os.path.exists(graphfile):
print("ERROR: graph file '",
graphfile,
"does not exist!",
file=sys.stderr)
continue