refactor

svo_analysis/scripts/benchmark.py

@@ -7,7 +7,10 @@ Created on Sat Aug 10 18:21:47 2013
 
 import os
 import yaml
+import rospkg
+import argparse
 import time
+import svo_analysis.cpu_info as cpu_info
 
 class RosNode:
   def __init__(self, package, executable):
@@ -18,50 +21,59 @@ class RosNode:
     parameter_string = ''
     for key in parameter_dictionary.keys():
       parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key])
+    print('starting ros node')
     os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string)
+    print('ros node finished processing')
 
 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'
+  # parse command line
+  parser = argparse.ArgumentParser(description='''
+  Runs SVO with the dataset and parameters specified in the provided experiment file.
+  ''')
+  parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder')
+  parser.add_argument('--name', help='experiment name')
+  parser.add_argument('--evaluate', help='evaluate tracefile after running SVO', action='store_true')
+  args = parser.parse_args()
+
+  # load experiment parameters
+  expParamsFile = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 
+                               'experiments', args.experiment_file+'.yaml')
+  expParams = yaml.load(open(expParamsFile, 'r'))
+  expParams['time'] = time.strftime("%Y%m%d_%H%M", time.localtime())
+  #expParams['platform'] = cpu_info.getCpuInfo()
+  expParams['experiment_name'] = args.name
+  if(expParams['experiment_name'] == None):
+    expParams['experiment_name'] = expParams['time']+'_svo_' + args.experiment_file
+
+  # load dataset parameters
+  datasetParamsFile = os.path.join(rospkg.RosPack().get_path('Datasets'), 
+                                   expParams['dataset'], 'dataset_params.yaml')
+  datasetParams = yaml.load(open(datasetParamsFile,'r'))
   
-  # 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)
+  # load algorithm parameters
+  algoParamsFile = os.path.join(rospkg.RosPack().get_path('svo_ros'), 
+                                   'param', expParams['param_settings']+'.yaml')
+  algoParams = yaml.load(open(algoParamsFile,'r'))
+
+  # combine all parameters
+  params = dict(expParams.items() + datasetParams.items() + algoParams.items())
+  params['trace_name'] = 'trace'
+  params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
+                                     'results', params['experiment_name'])
   
-  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
+  # create folder for tracing
   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) )
+    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'
+