if 1:
skel = Skeleton(stereo_cam)
filename = "/wg/wgdata1/vol1/iros2009/mkplot_snap"
filename = "ABCDEFG"
skel.load(filename)
print "skel.nodes:", len(skel.nodes)
for e in skel.edges:
if e[0] in bad_vertices or e[1] in bad_vertices:
print "bad edge", e
skel.nodes = [ id for id in skel.nodes if not id in bad_vertices ]
print "skel.nodes:", len(skel.nodes)
print set(skel.labelization())
skel.optimize()
skel.optimize()
skel.save("iros2009/ABCDEF2")
pos,edges,_ = skel.localization()
f = open("deletion2.pickle", "w")
pickle.dump(pos, f)
pickle.dump(edges, f)
pickle.dump(skel.labelization(), f)
f.close()
res_views = []
res_newedges = []
res_view_nb = []
res_clusters_nb = []
op = open("1", "w")
for kappa in [2]: # [ 9999,7,5,4,3,2 ]:
print "Starting kappa", kappa
connected = False
for i in range(0, 800):
print i
(desired_pose, imL, imR) = getImage(i)
ground_truth.append(desired_pose.xform(0, 0, 0))
f = SparseStereoFrame(imL, imR, feature_detector=fd, descriptor_scheme=ds)
vo.handle_frame(f)
skel.add(vo.keyframe, connected)
connected = True
if 0:
(desired_pose, imL, imR) = getImage(408)
ground_truth.append(desired_pose.xform(0, 0, 0))
qf = SparseStereoFrame(imL, imR)
skel.localization(qf)
sys.exit(0)
print "nodes", skel.nodes
ended = time.time()
took = ended - started
print "Took", took, "so", 1000 * took / i, "ms/frame"
skel.optimize()
#skel.save("saved-skel400")
#skel = Skeleton(stereo_cam)
#skel.load("saved-skel")
#print "about to optimize..."
