run_ycbineoat.m

%% Base parameters
params = struct();

videos = ["cracker_box_reorient", "cracker_box_yalehand0", ...
          "sugar_box1", "sugar_box_yalehand0", ...
          "mustard0", "mustard_easy_00_02", ...
          "bleach0", "bleach_hard_00_03_chaitanya", ...
          "tomato_soup_can_yalehand0"];
params.videoNumber = 1; %***********
params.skipPruning = false;
params.interp = false;
params.gt = false;

params.savename = "ycbineoat_" + string(params.videoNumber);
params.maxL = 8;

% for outliers
params.noiseBound_GRAPH = 0.005;
params.noiseBound_GNC = 0.005;
% for solver
params.velocityBound = 1.5;
params.translationBound = 2.5;
params.covar_measure_base = 0.01;
params.covar_velocity_base = 0.1;
params.covar_rotrate_base = 0.1;

ParamList = params;

%% Set param sweep
% ratios = [0.001, 1000];
% for r = ratios
%     params2 = params;
%     params2.savename = strrep(params2.savename + "_r" + string(r),'.','');
%     params2.covar_velocity_base = r*params.covar_velocity_base;
%     params2.covar_rotrate_base = r*params.covar_rotrate_base;
%     ParamList = [ParamList; params2];
% end
% 
% noisebounds = [0.02, 0.01, 0.005, 0.0025];
% for n = noisebounds
%     params2 = params;
%     params2.savename = strrep(params2.savename + "_ngra" + string(n),'.','');
%     params2.noiseBound_GRAPH = n;
%     params2.noiseBound_GNC = n;
%     ParamList = [ParamList; params2];
% end
% 
% noisebounds = [0.02, 0.05, 0.1];
% for n = noisebounds
%     params2 = params;
%     params2.savename = strrep(params2.savename + "_ngnc" + string(n),'.','');
%     params.noiseBound_GNC = n;
%     ParamList = [ParamList; params2];
% end
% videos = [7,8,9];
% for v = videos
%     params2 = params;
%     params2.videoNumber = v;
%     params2.savename = "ycbineoat_" + string(v);
% 
%     if v == 9
%         params2.noiseBound_GRAPH = 0.0025;
%         params2.noiseBound_GNC = 0.0025;
%     end
% 
%     ParamList = [ParamList; params2];
% end

%% Run!
for p = 1:length(ParamList)
    par = ParamList(p);
    ycbineoat(par)
end