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plotting trajectory error

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This commit is contained in:
Christian Forster
2014-04-22 18:35:45 +02:00
parent 5fc8ef36a3
commit b49e436356
2 changed files with 171 additions and 160 deletions
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svo_analysis/scripts/benchmark.py
+12 -2
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@@ -29,18 +29,28 @@ def run_experiment(dataset, params):
algo_params = yaml.load(open(algo_params_file,'r'))
# combine all parameters
if dataset_params['rig_size'] == 1:
if 'rig_size' not in dataset_params or dataset_params['rig_size'] == 1:
params = dict(params.items() + algo_params.items() + dataset_params['cam0'].items())
else:
params = dict(params.items() + algo_params.items() + dataset_params.items())
if 'dataset_is_blender' in dataset_params:
params['dataset_is_blender'] = dataset_params['dataset_is_blender']
params['dataset_first_frame'] = dataset_params['dataset_first_frame']
# dump experiment params to file and copy the other parameter files:
params_dump_file = os.path.join(params['trace_dir'],'params.yaml')
with open(params_dump_file,'w') as outfile:
outfile.write(yaml.dump(params, default_flow_style=False))
shutil.copyfile(dataset_params_file, os.path.join(params['trace_dir'], 'dataset_params.yaml'))
shutil.copyfile(dataset_params_file,
os.path.join(params['trace_dir'], 'dataset_params.yaml'))
# copy the groundtruth trajectory to the trace dir for later evaluation
if params['dataset_is_blender']:
shutil.copyfile(os.path.join(params['dataset_directory'], 'trajectory.txt'),
os.path.join(params['trace_dir'], 'groundtruth_matched.txt'))
else:
shutil.copyfile(os.path.join(params['dataset_directory'], 'groundtruth_matched.txt'),
os.path.join(params['trace_dir'], 'groundtruth_matched.txt'))
# execute ros node
node = ros_node.RosNode(args.version, args.executable)