init GPU

2021-05-05 11:19:06 +02:00
parent 85470c37b6
commit fa3b7f1e1a
145 changed files with 37 additions and 842 deletions
@@ -0,0 +1,111 @@
+#!/usr/bin/python
+"""
+Created on Sat Aug 10 18:21:47 2013
+
+@author: Christian Forster
+"""
+
+import os
+import yaml
+import rospkg
+import argparse
+import time
+import vikit_py.cpu_info as cpu_info
+import vikit_py.ros_node as ros_node
+import evaluate
+import shutil
+
+def run_experiment(dataset, params):
+    # load dataset parameters
+    params['dataset_directory'] = os.path.join(os.environ['SVO_DATASET_DIR'], dataset)
+    if not os.path.exists(params['dataset_directory']):
+        raise Exception("Provided dataset folder does not exist.")
+    dataset_params_file = os.path.join(params['dataset_directory'], 'dataset_params.yaml')
+    dataset_params = yaml.load(open(dataset_params_file,'r'))
+      
+    # load algorithm parameters
+    algo_params_file = os.path.join(rospkg.RosPack().get_path('svo_ros'), 
+                                   'param', params['param_settings']+'.yaml')
+    algo_params = yaml.load(open(algo_params_file,'r'))
+    
+    # combine all parameters
+    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']
+    else:
+        params['dataset_is_blender'] = False
+    if 'dataset_first_frame' in dataset_params:
+        params['dataset_first_frame'] = dataset_params['dataset_first_frame']
+    else:
+        params['dataset_first_frame'] = 0
+    
+    # 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'))
+    
+    # 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_nominal.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)
+    node.run(params)
+    
+if __name__=="__main__":
+  
+    # 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('--evaluate', help='evaluate tracefile after running SVO', action='store_true')
+    parser.add_argument('--version', help='version of svo to evaluate', default='svo_ros')
+    parser.add_argument('--executable', help='the executable to be called', default='benchmark')
+    args = parser.parse_args()
+    
+    # load experiment parameters
+    args.experiment_file = args.experiment_file.replace('.yaml','')
+    experiment_params_file = os.path.join(rospkg.RosPack().get_path('svo_analysis'), 
+                               'experiments', args.experiment_file+'.yaml')
+    if os.path.exists(experiment_params_file):
+        experiment_params = yaml.load(open(experiment_params_file, 'r'))
+    else:
+        print('experiment file does not exist. run with default setttings')
+        experiment_params = dict({'experiment_label':'default','param_settings':'vo_fast',
+                                  'datasets':list([args.experiment_file])})
+    params = dict()
+    params['experiment_label'] = experiment_params['experiment_label']
+    params['param_settings'] = experiment_params['param_settings']
+    params['time'] = time.strftime("%Y%m%d_%H%M", time.localtime())
+    params['platform'] = cpu_info.get_cpu_info()
+    params['trace_name'] = 'trace'
+    
+    trace_dirs = list()
+    for dataset in experiment_params['datasets']:
+        params['experiment_name'] = params['time']+'_'+args.version+'_'+args.experiment_file+'_'+dataset
+        params['trace_dir'] = os.path.join(rospkg.RosPack().get_path('svo_analysis'),
+                                           'results', params['experiment_name'])
+        if not os.path.exists(params['trace_dir']):
+            os.makedirs(params['trace_dir'])
+        trace_dirs.append(params['trace_dir'])
+        run_experiment(dataset, params)
+        
+    # TODO: check if it is a synthetic dataset 
+    for trace in trace_dirs:
+        evaluate.evaluate_dataset(trace)
+      
+      
+  
+  
+  
+