From fefc6c314bf34f354f0eefd8e7a7efa70433ec89 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Fri, 14 Feb 2025 10:42:03 -0500 Subject: [PATCH] improve plot saving --- python/gtsam/examples/HybridCity10000.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/python/gtsam/examples/HybridCity10000.py b/python/gtsam/examples/HybridCity10000.py index c852e65b2..e429d9611 100644 --- a/python/gtsam/examples/HybridCity10000.py +++ b/python/gtsam/examples/HybridCity10000.py @@ -121,9 +121,9 @@ def plot_estimates(gt, color=estimate_color, label=estimate_label) ax.legend() - fig.text(0.3, 0.03, text) + fig.text(0.1, 0.03, text) - filename = f"city10000_{text.replace('_', ' ')}.svg" + filename = f"city10000_{text.replace(' ', '_')}.svg" fig.savefig(filename, format="svg") @@ -133,7 +133,7 @@ class Experiment: def __init__(self, filename: str, marginal_threshold: float = 1.9999, - max_loop_count: int = 100, + max_loop_count: int = 150, update_frequency: int = 3, max_num_hypotheses: int = 10, relinearization_frequency: int = 10): @@ -333,7 +333,6 @@ class Experiment: all_assignments = gtsam.cartesianProduct(discrete_keys) for idx, assignment in enumerate(all_assignments): - print(idx) result = gtsam.Values() delta = self.smoother_.hybridBayesNet().optimize(assignment) result.insert_or_assign(self.initial_.retract(delta)) @@ -344,7 +343,7 @@ class Experiment: poses.append((pose.x(), pose.y(), pose.theta())) poses = np.asarray(poses) - assignment_string = "_".join([ + assignment_string = " ".join([ f"{gtsam.DefaultKeyFormatter(k)}={v}" for k, v in assignment.items() ])