def bag_and_parameter_sweep(bag_files, output_dir, map_file, image_topic, gnc_config):
for bag_file in bag_files:
# Save parameter sweep output in different directory for each bagfile, name directory using bagfile
bag_name_prefix = os.path.splitext(os.path.basename(bag_file))[0]
bag_output_dir = os.path.join(output_dir, bag_name_prefix)
parameter_sweep.make_values_and_parameter_sweep(
bag_output_dir, bag_file, map_file, image_topic, gnc_config
)
def bag_and_parameter_sweep(graph_bag_params_list, output_dir):
combined_results_csv_files = []
param_range_directory = None
for graph_bag_params in graph_bag_params_list:
# Save parameter sweep output in different directory for each bagfile, name directory using bagfile
bag_name_prefix = os.path.splitext(
os.path.basename(graph_bag_params.bagfile))[0]
bag_output_dir = os.path.join(output_dir, bag_name_prefix)
param_range_directory_for_bag = parameter_sweep.make_values_and_parameter_sweep(
bag_output_dir,
graph_bag_params.bagfile,
graph_bag_params.map_file,
graph_bag_params.image_topic,
graph_bag_params.config_path,
graph_bag_params.robot_config_file,
graph_bag_params.world,
graph_bag_params.use_image_features,
graph_bag_params.groundtruth_bagfile,
graph_bag_params.rmse_rel_start_time,
graph_bag_params.rmse_rel_end_time,
)
if not param_range_directory:
param_range_directory = param_range_directory_for_bag
combined_results_csv_files.append(
os.path.join(bag_output_dir, "param_sweep_combined_results.csv"))
average_parameter_sweep_results(combined_results_csv_files, output_dir)
save_ranges(param_range_directory, output_dir)