experiment_results.py 文件源码

def write_pose_pair_to_csv_line(self, pose_pair_idx):

    singular_values = self.singular_values[pose_pair_idx]

    return "{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{},{}\n".format(
        self.algorithm_name,
        pose_pair_idx,
        self.iteration_num,
        self.prefiltering_enabled,
        self.dataset_names[pose_pair_idx][0],
        self.dataset_names[pose_pair_idx][1],
        self.success[pose_pair_idx],
        self.rmse[pose_pair_idx][0],
        self.rmse[pose_pair_idx][1],
        self.num_inliers[pose_pair_idx],
        self.num_initial_poses[pose_pair_idx],
        self.num_poses_kept[pose_pair_idx],
        self.runtimes[pose_pair_idx],
        self.loop_error_position,
        self.loop_error_orientation,
        ("" if singular_values is None else np.array_str(
            singular_values, max_line_width=1000000)),
        self.bad_singular_value[pose_pair_idx],
        self.optimization_enabled,
        self.optimization_success[pose_pair_idx],
        self.optimization_runtime[pose_pair_idx],
        self.spoiled_initial_guess_angle_offset[pose_pair_idx],
        (None if self.spoiled_initial_guess_translation_offset[pose_pair_idx] is None else np.array_str(
            self.spoiled_initial_guess_translation_offset[pose_pair_idx], max_line_width=1000000)),
        self.spoiled_initial_guess_time_offset[pose_pair_idx])