if __name__ == '__main__':
# Map loading
_map1m = np.loadtxt(
'/home/sujiwo/Data/Road_Datasets/2016-01-21-15-12-49/s1-map.csv')
_map2m = np.loadtxt(
'/home/sujiwo/Data/Road_Datasets/2016-01-21-15-12-49/s2-map.csv')
# For ground truth
tmp1g = np.zeros((_map1m.shape[0], 8))
tmp2g = np.zeros((_map2m.shape[0], 8))
tmp1g[:, 0] = _map1m[:, 0]
tmp1g[:, 1:] = _map1m[:, 8:]
tmp2g[:, 0] = _map2m[:, 0]
tmp2g[:, 1:] = _map2m[:, 8:]
mapGroundTruth1 = PoseTable.loadFromArray(tmp1g)
mapGroundTruth2 = PoseTable.loadFromArray(tmp2g)
# For ORB Poses
tmp1o = np.zeros(tmp1g.shape)
tmp2o = np.zeros(tmp1g.shape)
tmp1o[:, 0] = _map1m[:, 0]
tmp1o[:, 1:] = _map1m[:, 1:8]
tmp2g[:, 0] = _map2m[:, 0]
tmp2g[:, 1:] = _map2m[:, 1:8]
mapOrb1 = PoseTable.loadFromArray(tmp1o)
mapOrb2 = PoseTable.loadFromArray(tmp2o)
print('XXX')
pass
if __name__ == "__main__":
# Map loading
_map1m = np.loadtxt("/home/sujiwo/Data/Road_Datasets/2016-01-21-15-12-49/s1-map.csv")
_map2m = np.loadtxt("/home/sujiwo/Data/Road_Datasets/2016-01-21-15-12-49/s2-map.csv")
# For ground truth
tmp1g = np.zeros((_map1m.shape[0], 8))
tmp2g = np.zeros((_map2m.shape[0], 8))
tmp1g[:, 0] = _map1m[:, 0]
tmp1g[:, 1:] = _map1m[:, 8:]
tmp2g[:, 0] = _map2m[:, 0]
tmp2g[:, 1:] = _map2m[:, 8:]
mapGroundTruth1 = PoseTable.loadFromArray(tmp1g)
mapGroundTruth2 = PoseTable.loadFromArray(tmp2g)
# For ORB Poses
tmp1o = np.zeros(tmp1g.shape)
tmp2o = np.zeros(tmp1g.shape)
tmp1o[:, 0] = _map1m[:, 0]
tmp1o[:, 1:] = _map1m[:, 1:8]
tmp2g[:, 0] = _map2m[:, 0]
tmp2g[:, 1:] = _map2m[:, 1:8]
mapOrb1 = PoseTable.loadFromArray(tmp1o)
mapOrb2 = PoseTable.loadFromArray(tmp2o)
print("XXX")
