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svo_analysis/benchmark.py

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+#!/usr/bin/python
+"""
+Created on Sat Aug 10 18:21:47 2013
+
+@author: Christian Forster
+"""
+
+import os
+import yaml
+import time
+
+class RosNode:
+  def __init__(self, package, executable):
+    self.package = package
+    self.executable = executable
+    
+  def run(self, parameter_dictionary):
+    parameter_string = ''
+    for key in parameter_dictionary.keys():
+      parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key])
+    os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string)
+
+if __name__=="__main__":
+  
+  # config:  
+  home_dir = os.getenv("HOME")
+  dataset_dir = home_dir+'/Datasets/SlamBenchmark/'
+  algo_dir = home_dir+'/workspace/rpg_slam/svo_ros'
+  trace_dir = home_dir+'/workspace/rpg_slam/svo_analysis/results'
+  platform = 'i7'
+  
+  # load parameters
+  experiment_name = 'asl2_fast'
+  experiment_file = 'experiments/'+experiment_name+'.yaml'
+  experiment_file_stream = open(experiment_file,'r')
+  experiment_dict = yaml.load(experiment_file_stream)
+  
+  dataset_param_file = dataset_dir+experiment_dict['dataset']+'/dataset_params.yaml'
+  dataset_param_file_stream = open(dataset_param_file,'r')
+  dataset_param_dict = yaml.load(dataset_param_file_stream)
+  
+  algo_param_file = algo_dir+'/param/'+experiment_dict['param_settings']+'.param'
+  algo_param_file_stream = open(algo_param_file,'r')
+  algo_param_dict = yaml.load(algo_param_file_stream)
+  
+  params = dict(dataset_param_dict.items() + algo_param_dict.items() + experiment_dict.items())
+  localtime = time.localtime()
+  params['trace_name'] = time.strftime("%Y%m%d_%H%M", localtime)+'_nslam_'+platform+'_'+experiment_name
+  params['trace_dir'] = trace_dir+'/'+params['trace_name']
+  params['run_id'] = 0
+  
+  # create folder for experiment results
+  if not os.path.exists(params['trace_dir']):
+    os.makedirs(params['trace_dir'])
+    
+  # dump experiment params to file:
+  params_dump_file = params['trace_dir']+'/params.yaml'
+  with open(params_dump_file,'w') as outfile:
+    outfile.write( yaml.dump(params, default_flow_style=False) )
+    
+  # start ros node
+  print 'starting ros node'
+  node = RosNode('svo_ros','benchmark')
+  node.run(params)
+  print 'ros node finished processing'
+  
+