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")