remove_uncertainties.py

from pathlib import Path
from scantools.capture import Capture

path = Path('/media/SSD2/ms_eth_dataset/datasets/release_public/v2.0')

for location in ['LIN', 'CAB', 'HGE']:
    print(location)
    capture = Capture.load(path / location)
 
    for session_id in ['map', 'query_hololens', 'query_phone', 'query_val_hololens', 'query_val_phone']:
        print(location, '->', session_id)
        session = capture.sessions[session_id]

        print('Removing uncertainties from trajectories')
        for key in session.trajectories.key_pairs():
            session.trajectories[key]._covar = None
        session.trajectories.save(capture.session_path(session_id) / 'trajectories.txt')

        if session.proc.alignment_trajectories:
            if session_id in ['query_ext_hololens', 'query_ext_phone']:
                print('Deleting alignment trajectories from queries')
                (capture.session_path(session_id) / 'proc' / 'alignment_trajectories.txt').unlink()
            else:
                print('Removing uncertainties from alignment trajectories')
                for key in session.proc.alignment_trajectories.key_pairs():
                    session.proc.alignment_trajectories[key]._covar = None
                session.proc.alignment_trajectories.save(capture.session_path(session_id) / 'proc' / 'alignment_trajectories.txt')