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Minor fix to python API and gitignore #5

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merged 3 commits into from
Sep 11, 2024
Merged

Minor fix to python API and gitignore #5

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e4b1430
fix gitignore to ignore build folder properly
saurabh1002 Sep 10, 2024
183a214
fix space at EOL issue with evo traj pipeline for evaluation
saurabh1002 Sep 10, 2024
815b856
use numpy savetxt, open file in append mode
saurabh1002 Sep 10, 2024
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2 changes: 1 addition & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
__pycache__
*/build/*
**/build/*
.vscode
3 changes: 2 additions & 1 deletion mad_icp/apps/mad_icp.py
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This change is to open the file in append mode.
The truncate call basically clears existing contents of the file if it existed before, which the write mode does by default, but not the append mode.

Original file line number Diff line number Diff line change
Expand Up @@ -152,7 +152,8 @@ def main(data_path: Annotated[
p_th, b_min, b_ratio, num_keyframes, num_cores, realtime)

estimate_file_name = estimate_path / "estimate.txt"
estimate_file = open(estimate_file_name, 'w')
estimate_file = open(estimate_file_name, 'a')
estimate_file.truncate(0)

with InputDataInterface_lut[reader_type](data_path, min_range, max_range, topic=topic, sensor_hz=sensor_hz, apply_correction=apply_correction) as reader:
t_start = datetime.now()
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5 changes: 1 addition & 4 deletions mad_icp/apps/utils/utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,4 @@
def write_transformed_pose(estimate_file, lidar_to_world, lidar_to_base):
base_to_lidar = np.linalg.inv(lidar_to_base)
base_to_world = np.dot(lidar_to_base, np.dot(lidar_to_world, base_to_lidar))
for row in range(3):
for col in range(4):
estimate_file.write(str(base_to_world[row, col]) + " ")
estimate_file.write("\n")
np.savetxt(estimate_file, base_to_world[:3].reshape(-1, 12))
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