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]"
