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..."