if args.bound_scale: aux_output_string = aux_output_string + "_bound_" + str(args.bound_percentile) print descriptor_string, aux_output_string if args.reg_ia: print "Running IA" ransac_scale, avg_scale = reg3d.register_ia(gt_root_dir = gt_root_dir, trial_root_dir = trial_root_dir, descriptor_type = descriptor_type, radius = radius, percentile = percentile, nr_iterations = args.n_iter, nsamples = args.nsamples, sample_distance = args.sample_distance, compute_scale = args.compute_scale, bound_scale = args.bound_scale, bound_percentile = args.bound_percentile, verbose = verbose, aux_output_string = aux_output_string, descriptor_string = descriptor_string, basename_in = args.basename_in, gt_fname = gt_fname) print "ransac_scale: ", ransac_scale print "avg_scale: ", avg_scale # if args.compute_scale: # reg3d.register_ia(gt_root_dir = gt_root_dir,
if args.perturb: import perturb_cameras from bbas_adaptor import * rng = initialize_rng(); #init random number generator print "Peturbing cameras" for si in range(0, len(sigma)): for ti in range(0, 10): root_in = gt_root_dir root_out = args.root_dir + "/pert_" + sigma_str[si] + "_" + str(ti) perturb_cameras.perturb_cams(root_in, root_out, sigma[si], rng) if args.reg_ia: import reg3d print "Running IA" reg3d.register_ia(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, verbose) if args.reg_icp: import reg3d print "Running ICP" reg3d.register_icp(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, args.rej_normals, verbose, True) if args.vis_ia: import reg3d print "Visualizing IA" reg3d.visualize_reg_ia(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, args.geo)
descriptor_string = "descriptors_cropped" aux_output_string = "f" + str(args.flight)+ "-f" +str(args.gt_flight) + "-cropped" else: descriptor_string = "descriptors" aux_output_string = "f" + str(args.flight)+ "-f" +str(args.gt_flight) if args.reg_ia: print "Running IA" reg3d.register_ia(gt_root_dir = gt_root_dir, trial_root_dir = trial_root_dir, descriptor_type = descriptor_type, radius = radius, percentile = percentile, nr_iterations = args.n_iter, verbose = verbose, aux_output_string = aux_output_string, descriptor_string = descriptor_string, basename_in = args.basename_in, gt_fname = gt_fname) if args.reg_icp: print "Running ICP" reg3d.register_icp(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, args.rej_normals, verbose, True, aux_output_string, args.basename_in) if args.vis_ia: print "Visualizing IA" reg3d.visualize_reg_ia(gt_root_dir, trial_root_dir,