def run(args):
import evo.common_ape_rpe as common
from evo.core import sync
from evo.tools import file_interface, log
log.configure_logging(args.verbose, args.silent, args.debug,
local_logfile=args.logfile)
if args.debug:
from pprint import pformat
parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
logger.debug("main_parser config:\n{}".format(parser_str))
logger.debug(SEP)
traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
pose_relation = common.get_pose_relation(args)
delta_unit = common.get_delta_unit(args)
traj_ref_full = None
if args.plot_full_ref:
import copy
traj_ref_full = copy.deepcopy(traj_ref)
if args.subcommand != "kitti":
logger.debug("Synchronizing trajectories...")
traj_ref, traj_est = sync.associate_trajectories(
traj_ref, traj_est, args.t_max_diff, args.t_offset,
first_name=ref_name, snd_name=est_name)
result = rpe(
traj_ref=traj_ref,
traj_est=traj_est,
pose_relation=pose_relation,
delta=args.delta,
delta_unit=delta_unit,
rel_delta_tol=args.delta_tol,
all_pairs=args.all_pairs,
align=args.align,
correct_scale=args.correct_scale,
n_to_align=args.n_to_align,
align_origin=args.align_origin,
ref_name=ref_name,
est_name=est_name,
)
if args.plot or args.save_plot or args.serialize_plot:
common.plot(args, result, traj_ref, result.trajectories[est_name],
traj_ref_full=traj_ref_full)
if args.save_results:
logger.debug(SEP)
if not SETTINGS.save_traj_in_zip:
del result.trajectories[ref_name]
del result.trajectories[est_name]
file_interface.save_res_file(args.save_results, result,
confirm_overwrite=not args.no_warnings)
def run(args):
import evo.common_ape_rpe as common
from evo.tools import file_interface, log
from evo.tools.settings import SETTINGS
log.configure_logging(args.verbose,
args.silent,
args.debug,
local_logfile=args.logfile)
if args.debug:
from pprint import pformat
parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
logger.debug("main_parser config:\n{}".format(parser_str))
logger.debug(SEP)
if (args.plot or args.save_plot or args.serialize_plot) and args.all_pairs:
raise NotImplementedError(
"all_pairs mode cannot be used with plotting functions")
traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
pose_relation = common.get_pose_relation(args)
delta_unit = common.get_delta_unit(args)
result = rpe(
traj_ref=traj_ref,
traj_est=traj_est,
pose_relation=pose_relation,
delta=args.delta,
delta_unit=delta_unit,
rel_delta_tol=args.delta_tol,
all_pairs=args.all_pairs,
align=args.align,
correct_scale=args.correct_scale,
ref_name=ref_name,
est_name=est_name,
)
if args.plot or args.save_plot or args.serialize_plot:
common.plot(args, result, result.trajectories[ref_name],
result.trajectories[est_name])
if args.save_results:
logger.debug(SEP)
if not SETTINGS.save_traj_in_zip:
del result.trajectories[ref_name]
del result.trajectories[est_name]
file_interface.save_res_file(args.save_results,
result,
confirm_overwrite=not args.no_warnings)
def run(args):
import evo.common_ape_rpe as common
from evo.tools import file_interface, log
from evo.tools.settings import SETTINGS
log.configure_logging(args.verbose,
args.silent,
args.debug,
local_logfile=args.logfile)
if args.debug:
from pprint import pformat
parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
logger.debug("main_parser config:\n{}".format(parser_str))
logger.debug(SEP)
traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
pose_relation = common.get_pose_relation(args)
result = ape(
traj_ref=traj_ref,
traj_est=traj_est,
pose_relation=pose_relation,
align=args.align,
correct_scale=args.correct_scale,
ref_name=ref_name,
est_name=est_name,
)
if args.plot or args.save_plot or args.serialize_plot:
common.plot(args, result, result.trajectories[ref_name],
result.trajectories[est_name])
if args.save_results:
logger.debug(SEP)
if not SETTINGS.save_traj_in_zip:
del result.trajectories[ref_name]
del result.trajectories[est_name]
file_interface.save_res_file(args.save_results,
result,
confirm_overwrite=not args.no_warnings)
def run(args):
import evo.common_ape_rpe as common
from evo.tools import file_interface, log
from evo.tools.settings import SETTINGS
log.configure_logging(args.verbose, args.silent, args.debug)
if args.debug:
from pprint import pformat
parser_str = pformat({arg: getattr(args, arg) for arg in vars(args)})
logger.debug("main_parser config:\n{}".format(parser_str))
logger.debug(SEP)
traj_ref, traj_est, ref_name, est_name = common.load_trajectories(args)
pose_relation = common.get_pose_relation(args)
result = ape(
traj_ref=traj_ref,
traj_est=traj_est,
pose_relation=pose_relation,
align=args.align,
correct_scale=args.correct_scale,
ref_name=ref_name,
est_name=est_name,
)
if args.plot or args.save_plot or args.serialize_plot:
common.plot(
args, result,
result.trajectories[ref_name],
result.trajectories[est_name])
if args.save_results:
logger.debug(SEP)
if not SETTINGS.save_traj_in_zip:
del result.trajectories[ref_name]
del result.trajectories[est_name]
file_interface.save_res_file(
args.save_results, result, confirm_overwrite=not args.no_warnings)
