#!/usr/bin/python
from __future__ import print_function
import argparse
import sys
from utils import DefaultHelpParser
if __name__ == "__main__":
parser = DefaultHelpParser(
description='Transplant vertex poses from one g2o file to another.')
parser.add_argument("input",
type=argparse.FileType('r'),
help="g2o file to transplant poses to.")
parser.add_argument("poses",
type=argparse.FileType('r'),
help="g2o file to transplant poses from.")
parser.add_argument("output",
type=argparse.FileType('w'),
help="Output g2o file.")
args = parser.parse_args()
poses = dict()
for l in args.poses:
e = l.split()
if e[0] == "VERTEX_SE2" or e[0] == "VERTEX_SE3:QUAT":
for b in e.motion_batches:
for m in b.motions:
w = m.weight
self.out.write(
" %s %s %d %d %s" %
(self.edge_tag, str(w * b.batch_weight), e.reference,
b.target, " ".join([str(x) for x in m])))
self.out.write("\n")
if __name__ == "__main__":
parser = DefaultHelpParser(
description=
'Convert a pair of original g2o file with corresponding outliers to hyper maxmixture graph.'
)
parser.add_argument(
"input",
type=argparse.FileType('r'),
help="Path to the original dataset file (in g2o format).")
parser.add_argument("outliers",
type=argparse.FileType('r'),
help="Outliers will be read from this file.")
parser.add_argument("output",
type=argparse.FileType('w'),
help="Plain graph will be written into this file.")
parser.add_argument(
"--make-all-loops-hyperedges",
default=False,
#!/usr/bin/python
import argparse
import sys
import os
import glob
import traceback
from subprocess import check_call
from utils import DefaultHelpParser
if __name__ == "__main__":
parser = DefaultHelpParser(description='Convert many outlier files with a single original dataset with any of the one-shot converters. Additional arguments are passed on to worker conversion script.')
parser.add_argument("worker", help="Script to use for conversion")
parser.add_argument("input", help = "Path to the original dataset file (in g2o format).")
parser.add_argument("outliers", nargs="+", help = "Filenames or glob patterns matching outlier files.")
parser.add_argument("--output-dir", help="Optional output directory other than the directory containing outliers")
parser.add_argument("--output-prefix", help="Optional prefix that is prepended to the output file name")
parser.add_argument("--output-suffix", help="Optional suffix that is prepended to the output file name")
(args, extra_args) = parser.parse_known_args()
print "Extra args to be passed on are: ", extra_args
if not os.path.exists(args.worker) or not os.path.exists(args.input):
print "ERROR: worker script or input file does not exist!"
exit(1)
args.worker = os.path.realpath(args.worker)
i,
"not in reference file!",
file=sys.stderr)
return
v_ref = self.ref.V[i]
(err_tr, err_rot) = pu.errors(v_ref, v)
self.errors_tr.append(err_tr)
self.errors_rot.append(err_rot)
if __name__ == "__main__":
parser = DefaultHelpParser(
description=
'Compute RMSE errors for translation and rotation (based on angle only) for a set of g2o graph files, given a reference g2o graph file (e.g. ground truth).'
)
parser.add_argument("reference",
type=argparse.FileType('r'),
help="Path to the reference (in g2o format).")
parser.add_argument(
"graphs",
nargs="+",
help="Filenames or glob patterns matching g2o files to be processed.")
parser.add_argument(
"-o",
"--output",
type=argparse.FileType('a+'),
help="Output file to append the errors to. Default: stdout")
parser.add_argument(
#!/usr/bin/python
from __future__ import print_function
import argparse
import sys
import graph as G
from utils import DefaultHelpParser
if __name__ == "__main__":
parser = DefaultHelpParser(description='Read g2o file and filter out duplicate edges and so on.')
parser.add_argument("input", type=argparse.FileType('r'), help = "Path to the original dataset file (in g2o format).")
parser.add_argument("output", type=argparse.FileType('w'), help = "Output graph will be written into this file.")
parser.add_argument("--zero-poses", default=False, dest="do_zero", action='store_true', help="If given, set all poses to identity.")
args = parser.parse_args()
g = G.readg2o(args.input)
if args.do_zero:
g.setNonfixedPosesToZero()
g.writeg2o(args.output)
#!/usr/bin/python
from __future__ import print_function
import argparse
import sys
import graph as G
from utils import DefaultHelpParser
if __name__ == "__main__":
parser = DefaultHelpParser(description='Read g2o file set poses to zero.')
parser.add_argument(
"input",
type=argparse.FileType('r'),
help="Path to the original dataset file (in g2o format).")
parser.add_argument("output",
type=argparse.FileType('w'),
help="Output graph will be written into this file.")
args = parser.parse_args()
g = G.readg2o(args.input)
g.setNonfixedPosesToZero()
g.writeg2o(args.output)
from utils import DefaultHelpParser
class plain_output(G.base_g2o_output):
def output_edge(self, i, e):
for b in e.motion_batches:
for m in b.motions:
print("%s %d %d %s" % (self.edge_tag, e.reference, b.target,
" ".join([str(x) for x in m])),
file=self.out)
if __name__ == "__main__":
parser = DefaultHelpParser(
description=
'Convert a pair of original g2o file with corresponding outliers to plain g2o graph where all outliers are normal edges.'
)
parser.add_argument(
"input",
type=argparse.FileType('r'),
help="Path to the original dataset file (in g2o format).")
parser.add_argument("outliers",
type=argparse.FileType('r'),
help="Outliers will be read from this file.")
parser.add_argument("output",
type=argparse.FileType('w'),
help="Plain graph will be written into this file.")
parser.add_argument(
"--make-all-loops-hyperedges",
default=False,
#!/usr/bin/python
import argparse
import sys
import os
import glob
import traceback
from subprocess import check_call
from utils import DefaultHelpParser
if __name__ == "__main__":
parser = DefaultHelpParser(description='Run g2o command line executable with options for many g2o files. Additional command line options are passed on to g2o.')
parser.add_argument("graphs", nargs="+", help = "Filenames or glob patterns matching g2o files to be optimized.")
parser.add_argument("--g2o", default="/opt/g2o/bin/g2o", help="Path to the g2o executable")
parser.add_argument("--solver", default="gn_var_cholmod", help="Solver to use in g2o, default: gn_var_cholmod")
parser.add_argument("--max-iterations", type=int, default=20, help="Number of iterations to run, default: 20")
parser.add_argument("--env", default=["LD_LIBRARY_PATH=/opt/g2o/lib"], nargs="*", help="List of environment variables to set for subprocess calling g2o. e.g. LD_LIBRARY_PATH+=bla. = assigns, += appends (with semicolon)")
parser.add_argument("--output-dir", help="Optional output directory other than the directory containing g2o files")
parser.add_argument("--output-prefix", help="Optional prefix that is prepended to the output file name")
parser.add_argument("--output-suffix", help="Optional suffix that is prepended to the output file name")
(args, extra_args) = parser.parse_known_args()
print "Going to pass these args on to g2o:", extra_args
if not os.path.exists(args.g2o):
print "ERROR: g2o executable not valid!"
print("VERTEX_SWITCH %d %s" % (self.max_vertex_id, str(prior)),
file=self.out)
print("EDGE_SWITCH_PRIOR %d %s %s" %
(self.max_vertex_id, str(prior), str(self.switch_inf)),
file=self.out)
print("%s %d %d %d %s" %
(self.switchable_edge_tag, e.reference, b.target,
self.max_vertex_id, " ".join([str(x) for x in m])),
file=self.out)
if __name__ == "__main__":
parser = DefaultHelpParser(
description=
'Convert a pair of original g2o file with corresponding outliers to a switchable constraints graph.'
)
parser.add_argument(
"input",
type=argparse.FileType('r'),
help="Path to the original dataset file (in g2o format).")
parser.add_argument("outliers",
type=argparse.FileType('r'),
help="Outliers will be read from this file.")
parser.add_argument("output",
type=argparse.FileType('w'),
help="Plain graph will be written into this file.")
parser.add_argument(
"--make-all-loops-hyperedges",
default=False,