Reorganize scripts directory.

BhavyanshM · Nov 21, 2021 · 8810c07 · 8810c07
1 parent 2c29ae0
commit 8810c07
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Showing 27 changed files with 33 additions and 33 deletions.
diff --git a/scripts/profile.sh → Bash/profile.sh b/scripts/profile.sh → Bash/profile.sh
diff --git a/scripts/startMapSense.sh → Bash/startMapSense.sh b/scripts/startMapSense.sh → Bash/startMapSense.sh
diff --git a/scripts/startMapSenseCLion.sh → Bash/startMapSenseCLion.sh b/scripts/startMapSenseCLion.sh → Bash/startMapSenseCLion.sh
diff --git a/scripts/startMapSenseHeadless.sh → Bash/startMapSenseHeadless.sh b/scripts/startMapSenseHeadless.sh → Bash/startMapSenseHeadless.sh
diff --git a/scripts/startRviz.sh → Bash/startRviz.sh b/scripts/startRviz.sh → Bash/startRviz.sh
diff --git a/scripts/data2D.txt → Python/Plotting/data2D.txt b/scripts/data2D.txt → Python/Plotting/data2D.txt
diff --git a/scripts/data3D.txt → Python/Plotting/data3D.txt b/scripts/data3D.txt → Python/Plotting/data3D.txt
diff --git a/scripts/depth.npy → Python/Plotting/depth.npy b/scripts/depth.npy → Python/Plotting/depth.npy
diff --git a/scripts/nvvp.cfg → Python/Plotting/nvvp.cfg b/scripts/nvvp.cfg → Python/Plotting/nvvp.cfg
diff --git a/scripts/patches.csv → Python/Plotting/patches.csv b/scripts/patches.csv → Python/Plotting/patches.csv
diff --git a/scripts/plotter.py → Python/Plotting/plotter.py b/scripts/plotter.py → Python/Plotting/plotter.py
diff --git a/scripts/plotter3d.py → Python/Plotting/plotter3d.py b/scripts/plotter3d.py → Python/Plotting/plotter3d.py
diff --git a/scripts/plotter_data.csv → Python/Plotting/plotter_data.csv b/scripts/plotter_data.csv → Python/Plotting/plotter_data.csv
diff --git a/scripts/vis_depth.py → Python/Plotting/vis_depth.py b/scripts/vis_depth.py → Python/Plotting/vis_depth.py
@@ -4,7 +4,7 @@
 
 xy_min, xy_max = -10, 10
 
-D = np.load('depth.npy')[:,:,2]
+D = np.load('depth.npy')[:, :, 2]
 D = 255 - D
 D = D/2
 

diff --git a/scripts/PatchGenerator.py → Python/Processing/PatchGenerator.py b/scripts/PatchGenerator.py → Python/Processing/PatchGenerator.py
@@ -18,7 +18,7 @@
 
 context = cl.Context([cl.get_platforms()[0].get_devices()[0]])
 queue = cl.CommandQueue(context,properties=cl.command_queue_properties.PROFILING_ENABLE)
-program = cl.Program(context, open('../kernels/fitting_kernel.cpp').read()).build()
+program = cl.Program(context, open('../../kernels/fitting_kernel.cpp').read()).build()
 depthKernel = cl.Kernel(program, 'depthKernel')
 segmentKernel = cl.Kernel(program, 'segmentKernel')
 

diff --git a/scripts/bezier_gen.py → Python/Processing/bezier_gen.py b/scripts/bezier_gen.py → Python/Processing/bezier_gen.py
diff --git a/scripts/depth_listener.py → Python/Processing/depth_listener.py b/scripts/depth_listener.py → Python/Processing/depth_listener.py
@@ -18,7 +18,7 @@
 
 context = cl.Context([cl.get_platforms()[0].get_devices()[0]])
 queue = cl.CommandQueue(context,properties=cl.command_queue_properties.PROFILING_ENABLE)
-program = cl.Program(context, open('../kernels/fitting_kernel.cpp').read()).build()
+program = cl.Program(context, open('../../kernels/fitting_kernel.cpp').read()).build()
 depthKernel = cl.Kernel(program, 'depthKernel')
 segmentKernel = cl.Kernel(program, 'segmentKernel')
 

diff --git a/scripts/map_listener.py → Python/Processing/map_listener.py b/scripts/map_listener.py → Python/Processing/map_listener.py
diff --git a/scripts/mayavi2_fitting_poly.py → Python/Processing/mayavi2_fitting_poly.py b/scripts/mayavi2_fitting_poly.py → Python/Processing/mayavi2_fitting_poly.py
@@ -47,7 +47,7 @@ def grad(f, Z, P, gdel):
 	return gd
 
 
-D = np.load('depth.npy')
+D = np.load('../Plotting/depth.npy')
 
 print(D.shape)
 

diff --git a/scripts/opencl_ex.py → Python/Processing/opencl_ex.py b/scripts/opencl_ex.py → Python/Processing/opencl_ex.py
diff --git a/scripts/poly → Python/Processing/poly b/scripts/poly → Python/Processing/poly
diff --git a/scripts/poly.c → Python/Processing/poly.c b/scripts/poly.c → Python/Processing/poly.c
diff --git a/scripts/Blackfly_Rectify.py → Python/Sensors/Blackfly_Rectify.py b/scripts/Blackfly_Rectify.py → Python/Sensors/Blackfly_Rectify.py
diff --git a/scripts/Calibrate.py → Python/Sensors/Calibrate.py b/scripts/Calibrate.py → Python/Sensors/Calibrate.py
diff --git a/scripts/ZED_StereoDepth.py → Python/Sensors/ZED_StereoDepth.py b/scripts/ZED_StereoDepth.py → Python/Sensors/ZED_StereoDepth.py
diff --git a/scripts/opencv_camera.py → Python/Sensors/opencv_camera.py b/scripts/opencv_camera.py → Python/Sensors/opencv_camera.py
diff --git a/src/SLAM/IterativeClosestPoint.cpp b/src/SLAM/IterativeClosestPoint.cpp
@@ -68,35 +68,35 @@ Eigen::Matrix4f IterativeClosestPoint::CalculateAlignment(std::vector<float>& cl
    _openCL->SetArgumentInt("normalsKernel", 6, numVertBlocks);
    _openCL->commandQueue.enqueueNDRangeKernel(_openCL->normalsKernel, cl::NullRange, cl::NDRange(numBlocksTotal), cl::NullRange);
 
-//   // Set arguments for Correspondence Calculation kernel. Pass the surface normal buffers for both clouds.
-//   _openCL->SetArgument("correspondenceKernel", 0, cloudOneBuffer);
-//   _openCL->SetArgument("correspondenceKernel", 1, transformOneBuffer);
-//   _openCL->SetArgument("correspondenceKernel", 2, cloudTwoBuffer);
-//   _openCL->SetArgument("correspondenceKernel", 3, transformTwoBuffer);
-//   _openCL->SetArgument("correspondenceKernel", 4, matchBuffer);
-//   _openCL->SetArgumentInt("correspondenceKernel", 5, cloudOne.size());
-//   _openCL->SetArgumentInt("correspondenceKernel", 6, cloudTwo.size());
-//   _openCL->SetArgumentInt("correspondenceKernel", 7, numPointsOne);
-//   _openCL->commandQueue.enqueueNDRangeKernel(_openCL->correspondenceKernel, cl::NullRange, cl::NDRange(numPointsOne), cl::NullRange);
-//
-//   // Set arguments for Centroid calculation kernel. Calculates centroids for both clouds at once. Could potentially store & reuse centroid for first cloud.
-//   _openCL->SetArgument("centroidKernel", 0, cloudOneBuffer);
-//   _openCL->SetArgument("centroidKernel", 1, cloudTwoBuffer);
-//   _openCL->SetArgument("centroidKernel", 2, meanBuffer);
-//   _openCL->SetArgument("centroidKernel", 3, matchBuffer);
-//   _openCL->SetArgumentInt("centroidKernel", 4, cloudOne.size());
-//   _openCL->SetArgumentInt("centroidKernel", 5, cloudTwo.size());
-//   _openCL->SetArgumentInt("centroidKernel", 6, threads);
-//
-//   // Set arguments for the Correlation calculation kernel. Pass the point correspondences and surface normals for both clouds.
-//   _openCL->SetArgument("correlationKernel", 0, cloudOneBuffer);
-//   _openCL->SetArgument("correlationKernel", 1, cloudTwoBuffer);
-//   _openCL->SetArgument("correlationKernel", 2, meanBuffer);
-//   _openCL->SetArgument("correlationKernel", 3, matchBuffer);
-//   _openCL->SetArgument("correlationKernel", 4, correlBuffer);
-//   _openCL->SetArgumentInt("correlationKernel", 5, cloudOne.size());
-//   _openCL->SetArgumentInt("correlationKernel", 6, cloudTwo.size());
-//   _openCL->SetArgumentInt("correlationKernel", 7, threads);
+   // Set arguments for Correspondence Calculation kernel. Pass the surface normal buffers for both clouds.
+   _openCL->SetArgument("correspondenceKernel", 0, cloudOneBuffer);
+   _openCL->SetArgument("correspondenceKernel", 1, transformOneBuffer);
+   _openCL->SetArgument("correspondenceKernel", 2, cloudTwoBuffer);
+   _openCL->SetArgument("correspondenceKernel", 3, transformTwoBuffer);
+   _openCL->SetArgument("correspondenceKernel", 4, matchBuffer);
+   _openCL->SetArgumentInt("correspondenceKernel", 5, cloudOne.size());
+   _openCL->SetArgumentInt("correspondenceKernel", 6, cloudTwo.size());
+   _openCL->SetArgumentInt("correspondenceKernel", 7, numPointsOne);
+   _openCL->commandQueue.enqueueNDRangeKernel(_openCL->correspondenceKernel, cl::NullRange, cl::NDRange(numPointsOne), cl::NullRange);
+
+   // Set arguments for Centroid calculation kernel. Calculates centroids for both clouds at once. Could potentially store & reuse centroid for first cloud.
+   _openCL->SetArgument("centroidKernel", 0, cloudOneBuffer);
+   _openCL->SetArgument("centroidKernel", 1, cloudTwoBuffer);
+   _openCL->SetArgument("centroidKernel", 2, meanBuffer);
+   _openCL->SetArgument("centroidKernel", 3, matchBuffer);
+   _openCL->SetArgumentInt("centroidKernel", 4, cloudOne.size());
+   _openCL->SetArgumentInt("centroidKernel", 5, cloudTwo.size());
+   _openCL->SetArgumentInt("centroidKernel", 6, threads);
+
+   // Set arguments for the Correlation calculation kernel. Pass the point correspondences and surface normals for both clouds.
+   _openCL->SetArgument("correlationKernel", 0, cloudOneBuffer);
+   _openCL->SetArgument("correlationKernel", 1, cloudTwoBuffer);
+   _openCL->SetArgument("correlationKernel", 2, meanBuffer);
+   _openCL->SetArgument("correlationKernel", 3, matchBuffer);
+   _openCL->SetArgument("correlationKernel", 4, correlBuffer);
+   _openCL->SetArgumentInt("correlationKernel", 5, cloudOne.size());
+   _openCL->SetArgumentInt("correlationKernel", 6, cloudTwo.size());
+   _openCL->SetArgumentInt("correlationKernel", 7, threads);