Python script for hybrid inference on City10000 dataset #2019
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dellaert
approved these changes
Feb 9, 2025
examples/Hybrid_City10000.cpp
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| @@ -127,7 +127,7 @@ class Experiment { | |||
| auto bayesNet = linearized->eliminateSequential(); | |||
| HybridValues delta = bayesNet->optimize(); | |||
| initial_ = initial_.retract(delta.continuous()); | |||
| smoother_.reInitialize(std::move(*bayesNet)); | |||
| smoother_.reInitialize(*bayesNet); | |||
gtsam/hybrid/HybridSmoother.h
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| @@ -49,8 +49,8 @@ class GTSAM_EXPORT HybridSmoother { | |||
| /** | |||
| * Re-initialize the smoother from a new hybrid Bayes Net. | |||
| */ | |||
| void reInitialize(HybridBayesNet&& hybridBayesNet) { | |||
| hybridBayesNet_ = std::move(hybridBayesNet); | |||
| void reInitialize(HybridBayesNet& hybridBayesNet) { | |||
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Just add another non && constructor rather than deleting this one?
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Wrapped a bunch of methods and recreated the script
Hybrid_City10000.cppasHybridCity10000.py.I get a similar final error:
Final error: 0.6931471805599453and a similar total time:
Total time: 21.018189191818237 secondsPlease see the results of this new script below.
Update: I added a python script for plotting the results. It takes an arbitrary number of estimate files (.txt) but needs a corresponding number of labels and colors associated.