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refactor

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This commit is contained in:
Christian Forster
2014-03-24 10:09:58 +01:00
parent bbf5b91bc1
commit ced00885c5
5 changed files with 361 additions and 337 deletions
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svo/CMakeLists.txt
+1 -1
View File
@@ -2,7 +2,7 @@
# user build settings # user build settings
SET(DEBUG FALSE) SET(DEBUG FALSE)
SET(TRACE FALSE) SET(TRACE TRUE)
SET(HAVE_G2O FALSE) SET(HAVE_G2O FALSE)
################################################################################ ################################################################################
svo/test/benchmark.csv
+306 -306
View File
@@ -1,307 +1,307 @@
local_ba,point_optimizer,pose_optimizer,pyramid_creation,reproject,sparse_img_align,tot_time,dropout,img_align_n_tracked,loba_err_fin,loba_err_init,loba_n_erredges_fin,loba_n_erredges_init,n_candidates,repr_n_mps,repr_n_new_references,sfba_error_final,sfba_error_init,sfba_n_edges_final,sfba_thresh local_ba,point_optimizer,pose_optimizer,pyramid_creation,reproject,sparse_img_align,tot_time,dropout,img_align_n_tracked,loba_err_fin,loba_err_init,loba_n_erredges_fin,loba_n_erredges_init,n_candidates,repr_n_mps,repr_n_new_references,sfba_error_final,sfba_error_init,sfba_n_edges_final,sfba_thresh
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1 local_ba point_optimizer pose_optimizer pyramid_creation reproject sparse_img_align tot_time dropout img_align_n_tracked loba_err_fin loba_err_init loba_n_erredges_fin loba_n_erredges_init n_candidates repr_n_mps repr_n_new_references sfba_error_final sfba_error_init sfba_n_edges_final sfba_thresh
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svo_analysis/experiments/flying_room_1_fast.yaml
+2
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@@ -0,0 +1,2 @@
dataset: flying_room_1_rig_1
param_settings: vo_fast
svo_analysis/scripts/benchmark.py
+37 -25
View File
@@ -7,7 +7,10 @@ Created on Sat Aug 10 18:21:47 2013
import os import os
import yaml import yaml
import rospkg
import argparse
import time import time
import svo_analysis.cpu_info as cpu_info
class RosNode: class RosNode:
def __init__(self, package, executable): def __init__(self, package, executable):
@@ -18,38 +21,48 @@ class RosNode:
parameter_string = '' parameter_string = ''
for key in parameter_dictionary.keys(): for key in parameter_dictionary.keys():
parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key]) parameter_string = parameter_string + ' _' + key + ':=' + str(parameter_dictionary[key])
print('starting ros node')
os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string) os.system('rosrun ' + self.package + ' ' + self.executable + ' ' + parameter_string)
print('ros node finished processing')
if __name__=="__main__": if __name__=="__main__":
# config: # parse command line
home_dir = os.getenv("HOME") parser = argparse.ArgumentParser(description='''
dataset_dir = home_dir+'/Datasets/SlamBenchmark/' Runs SVO with the dataset and parameters specified in the provided experiment file.
algo_dir = home_dir+'/workspace/rpg_slam/svo_ros' ''')
trace_dir = home_dir+'/workspace/rpg_slam/svo_analysis/results' parser.add_argument('experiment_file', help='experiment file in svo_analysis/experiments folder')
platform = 'i7' 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 parameters # load experiment parameters
experiment_name = 'asl2_fast' expParamsFile = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
experiment_file = 'experiments/'+experiment_name+'.yaml' 'experiments', args.experiment_file+'.yaml')
experiment_file_stream = open(experiment_file,'r') expParams = yaml.load(open(expParamsFile, 'r'))
experiment_dict = yaml.load(experiment_file_stream) 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
dataset_param_file = dataset_dir+experiment_dict['dataset']+'/dataset_params.yaml' # load dataset parameters
dataset_param_file_stream = open(dataset_param_file,'r') datasetParamsFile = os.path.join(rospkg.RosPack().get_path('Datasets'),
dataset_param_dict = yaml.load(dataset_param_file_stream) expParams['dataset'], 'dataset_params.yaml')
datasetParams = yaml.load(open(datasetParamsFile,'r'))
algo_param_file = algo_dir+'/param/'+experiment_dict['param_settings']+'.param' # load algorithm parameters
algo_param_file_stream = open(algo_param_file,'r') algoParamsFile = os.path.join(rospkg.RosPack().get_path('svo_ros'),
algo_param_dict = yaml.load(algo_param_file_stream) 'param', expParams['param_settings']+'.yaml')
algoParams = yaml.load(open(algoParamsFile,'r'))
params = dict(dataset_param_dict.items() + algo_param_dict.items() + experiment_dict.items()) # combine all parameters
localtime = time.localtime() params = dict(expParams.items() + datasetParams.items() + algoParams.items())
params['trace_name'] = time.strftime("%Y%m%d_%H%M", localtime)+'_nslam_'+platform+'_'+experiment_name params['trace_name'] = 'trace'
params['trace_dir'] = trace_dir+'/'+params['trace_name'] params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
params['run_id'] = 0 'results', params['experiment_name'])
# create folder for experiment results # create folder for tracing
if not os.path.exists(params['trace_dir']): if not os.path.exists(params['trace_dir']):
os.makedirs(params['trace_dir']) os.makedirs(params['trace_dir'])
@@ -59,9 +72,8 @@ if __name__=="__main__":
outfile.write(yaml.dump(params, default_flow_style=False)) outfile.write(yaml.dump(params, default_flow_style=False))
# start ros node # start ros node
print 'starting ros node'
node = RosNode('svo_ros','benchmark') node = RosNode('svo_ros','benchmark')
node.run(params) node.run(params)
print 'ros node finished processing'
svo_analysis/src/svo_analysis/cpu_info.py
+10
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@@ -0,0 +1,10 @@
#!/usr/bin/python
import subprocess, re
def getCpuInfo():
command = "cat /proc/cpuinfo"
all_info = subprocess.check_output(command, shell=True).strip()
for line in all_info.split("\n"):
if "model name" in line:
return re.sub( ".*model name.*:", "", line,1)