exist_ok=True, parents=True)
reader = Reader()
PATH_SUMMARY = '%s/relative_pose/summary/{}/{}/{}.mat' % home
for sceneid in reader.list_scenes(dataset):
scanids = reader.get_scanids(dataset, sceneid)
output_mat = PATH_SUMMARY.format(dataset, source, sceneid)
if os.path.exists(output_mat):
continue
n = len(scanids)
scanid_map = {str(scanid): i for i, scanid in enumerate(scanids)}
T = np.zeros((n*4, n*4))
sigma = np.zeros((n, n))
aerr = np.zeros((n, n)) + 10000000.0
terr = np.zeros((n, n)) + 10000000.0
RLlist = reader.list_relative_poses(dataset, source, sceneid)
if len(RLlist) < 4950:
continue
top = 0
bottom = 0
for mat in reader.list_relative_poses(dataset, source, sceneid):
s = sio.loadmat(mat)
src, tgt = mat.split('/')[-1].split('.')[0].split('_')[:2]
sid = scanid_map[src]
tid = scanid_map[tgt]
Tij = s['Tij']
if sid > tid:
tmp = sid; sid = tid; tid = tmp
Tij = inverse(Tij)
assert sid < tid
