gt = []
f = []
for i in range(2100): # range(1,146):
dir = "/u/jamesb/ros/ros-pkg/vision/vslam/trial"
L = Image.open("%s/%06dL.png" % (dir, i))
R = Image.open("%s/%06dR.png" % (dir, i))
nf = SparseStereoFrame(L, R)
vo.setup_frame(nf)
print i, "kp=", len(nf.kp)
nf.id = len(f)
if vt:
vt.add(nf.lf, nf.descriptors)
if skel:
vo.handle_frame_0(nf)
skel.add(vo.keyframe)
vo.correct(skel.correct_frame_pose, nf)
print len(gt), vo.inl
gt.append(vo.pose.xform(0, 0, 0))
else:
pf = open("trial/%06d.pose.pickle" % i, "r")
gt.append(pickle.load(pf))
pf.close()
if 1:
del nf.rawdata
del nf.lgrad
del nf.rgrad
del nf.lf
del nf.rf
