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use command line args

release/4.3a0
Varun Agrawal 2025-02-09 12:00:07 -05:00
parent e67e4cd41d
commit 2e10cbb295
1 changed files with 10 additions and 9 deletions
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19
examples/plot_city10000.py
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@ -8,7 +8,10 @@ See LICENSE for the license information
Script to plot City10000 results. Script to plot City10000 results.
Can be used to plot results from both C++ and python scripts. Can be used to plot results from both C++ and python scripts.
python plot_city10000.py Data/ISAM2_GT_city10000.txt ../build/examples/ISAM2_city10000.txt ../build/examples/Hybrid_City10000.txt Usage:
```
python plot_city10000.py Data/ISAM2_GT_city10000.txt --estimates ../build/examples/ISAM2_city10000.txt ../build/examples/Hybrid_City10000.txt
```
Author: Varun Agrawal Author: Varun Agrawal
""" """
@ -24,7 +27,7 @@ def parse_args():
parser = argparse.ArgumentParser() parser = argparse.ArgumentParser()
parser.add_argument("ground_truth", help="The ground truth data file.") parser.add_argument("ground_truth", help="The ground truth data file.")
parser.add_argument( parser.add_argument(
"estimates", "--estimates",
nargs='+', nargs='+',
help="File(s) with estimates (as .txt), can be more than one.") help="File(s) with estimates (as .txt), can be more than one.")
return parser.parse_args() return parser.parse_args()
@ -55,17 +58,15 @@ def plot_estimates(gt,
def main(): def main():
gt = np.loadtxt('', delimiter=" ") """Main runner"""
args = parse_args()
gt = np.loadtxt(args.ground_truth, delimiter=" ")
# Generate by running `make ISAM2_City10000.run` # Generate by running `make ISAM2_City10000.run`
eh_poses = np.loadtxt('', delimiter=" ") eh_poses = np.loadtxt(args.estimates[0], delimiter=" ")
# Generate by running `make Hybrid_City10000.run` # Generate by running `make Hybrid_City10000.run`
h_poses = np.loadtxt('', delimiter=" ") h_poses = np.loadtxt(args.estimates[1], delimiter=" ")
# Plot the same number of GT poses as estimated ones
gt = gt[:h_poses.shape[0], :]
eh_poses = eh_poses[:h_poses.shape[0], :]
plot_estimates(gt, plot_estimates(gt,
h_poses, h_poses,