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rename to reinitialize and separate method for saving results

release/4.3a0
Varun Agrawal 2025-02-13 17:56:20 -05:00
parent fa37ce710d
commit a560f373fa
1 changed files with 8 additions and 4 deletions
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12
python/gtsam/examples/HybridCity10000.py
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@ -147,7 +147,7 @@ class Experiment:
after_update = time.time() after_update = time.time()
return after_update - before_update return after_update - before_update
def reInitialize(self) -> float: def reinitialize(self) -> float:
"""Re-linearize, solve ALL, and re-initialize smoother.""" """Re-linearize, solve ALL, and re-initialize smoother."""
print(f"================= Re-Initialize: {self.all_factors_.size()}") print(f"================= Re-Initialize: {self.all_factors_.size()}")
before_update = time.time() before_update = time.time()
@ -157,7 +157,7 @@ class Experiment:
bayesNet = linearized.eliminateSequential() bayesNet = linearized.eliminateSequential()
delta: HybridValues = bayesNet.optimize() delta: HybridValues = bayesNet.optimize()
self.initial_ = self.initial_.retract(delta.continuous()) self.initial_ = self.initial_.retract(delta.continuous())
self.smoother_.reInitialize(bayesNet) self.smoother_.reinitialize(bayesNet)
after_update = time.time() after_update = time.time()
print(f"Took {after_update - before_update} seconds.") print(f"Took {after_update - before_update} seconds.")
return after_update - before_update return after_update - before_update
@ -240,7 +240,7 @@ class Experiment:
update_count += 1 update_count += 1
if update_count % self.relinearization_frequency == 0: if update_count % self.relinearization_frequency == 0:
self.reInitialize() self.reinitialize()
# Record timing for odometry edges only # Record timing for odometry edges only
if key_s == key_t - 1: if key_s == key_t - 1:
@ -271,8 +271,12 @@ class Experiment:
total_time = end_time - start_time total_time = end_time - start_time
print(f"Total time: {total_time} seconds") print(f"Total time: {total_time} seconds")
self.save_results(result, key_t + 1, time_list)
def save_results(self, result, final_key, time_list):
"""Save results to file."""
# Write results to file # Write results to file
self.write_result(result, key_t + 1, "Hybrid_City10000.txt") self.write_result(result, final_key, "Hybrid_City10000.txt")
# Write timing info to file # Write timing info to file
self.write_timing_info(time_list=time_list) self.write_timing_info(time_list=time_list)