12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add discrete assignments as labels

release/4.3a0
Varun Agrawal 2025-02-18 15:57:36 -05:00
parent 0c349f7805
commit 2062e0124e
1 changed files with 12 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
python/gtsam/examples/HybridCity10000.py
View File

@ -118,7 +118,8 @@ class City10000Dataset:
def plot_all_results(ground_truth,
all_results,
estimate_color=(0.1, 0.1, 0.9, 0.4),
estimate_label="Hybrid Factor Graphs"):
estimate_label="Hybrid Factor Graphs",
text=""):
"""Plot the City10000 estimates against the ground truth.
Args:
@ -130,7 +131,7 @@ def plot_all_results(ground_truth,
Defaults to "Hybrid Factor Graphs".
"""
fig, axes = plt.subplots(int(np.ceil(len(all_results) / 2)), 2)
for i, (estimates, text) in enumerate(all_results):
for i, (estimates, s) in enumerate(all_results):
ax = axes[i]
ax.axis('equal')
ax.axis((-75.0, 75.0, -75.0, 75.0))
@ -149,7 +150,11 @@ def plot_all_results(ground_truth,
color=estimate_color,
label=estimate_label)
ax.legend()
ax.text(0.0, 100.0, text)
ax.text(0.0, 100.0, s)
num_chunks = int(np.ceil(len(text) / 90))
text = "\n".join(text[i * 60:(i + 1) * 60] for i in range(num_chunks))
fig.text(0.0, 0.015, s=text)
fig.savefig("city10000_results.svg", format="svg")
@ -371,6 +376,9 @@ class Experiment:
key, cardinality = discrete_keys.at(i)
if key not in self.smoother_.fixedValues().keys():
dkeys.push_back((key, cardinality))
fixed_values_str = "_".join(
f"{gtsam.DefaultKeyFormatter(k)}:{v}"
for k, v in self.smoother_.fixedValues().items())
all_assignments = gtsam.cartesianProduct(dkeys)
@ -402,7 +410,7 @@ class Experiment:
])
all_results.append((poses, assignment_string))
plot_all_results(gt, all_results)
plot_all_results(gt, all_results, text=fixed_values_str)
def save_results(self, result, final_key, time_list):
"""Save results to file."""