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improve plot saving

release/4.3a0
Varun Agrawal 2025-02-14 10:42:03 -05:00
parent 435e721f5c
commit fefc6c314b
1 changed files with 4 additions and 5 deletions
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9
python/gtsam/examples/HybridCity10000.py
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@ -121,9 +121,9 @@ def plot_estimates(gt,
color=estimate_color, color=estimate_color,
label=estimate_label) label=estimate_label)
ax.legend() 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") fig.savefig(filename, format="svg")
@ -133,7 +133,7 @@ class Experiment:
def __init__(self, def __init__(self,
filename: str, filename: str,
marginal_threshold: float = 1.9999, marginal_threshold: float = 1.9999,
max_loop_count: int = 100, max_loop_count: int = 150,
update_frequency: int = 3, update_frequency: int = 3,
max_num_hypotheses: int = 10, max_num_hypotheses: int = 10,
relinearization_frequency: int = 10): relinearization_frequency: int = 10):
@ -333,7 +333,6 @@ class Experiment:
all_assignments = gtsam.cartesianProduct(discrete_keys) all_assignments = gtsam.cartesianProduct(discrete_keys)
for idx, assignment in enumerate(all_assignments): for idx, assignment in enumerate(all_assignments):
print(idx)
result = gtsam.Values() result = gtsam.Values()
delta = self.smoother_.hybridBayesNet().optimize(assignment) delta = self.smoother_.hybridBayesNet().optimize(assignment)
result.insert_or_assign(self.initial_.retract(delta)) result.insert_or_assign(self.initial_.retract(delta))
@ -344,7 +343,7 @@ class Experiment:
poses.append((pose.x(), pose.y(), pose.theta())) poses.append((pose.x(), pose.y(), pose.theta()))
poses = np.asarray(poses) poses = np.asarray(poses)
assignment_string = "_".join([ assignment_string = " ".join([
f"{gtsam.DefaultKeyFormatter(k)}={v}" f"{gtsam.DefaultKeyFormatter(k)}={v}"
for k, v in assignment.items() for k, v in assignment.items()
]) ])