def main():
models = [get_reconstructed_model(f,True) for f in model_files]
scene_full = get_raw_depth(depth_file)
errors = []
for i in range(len(objects)):
R,t = icp(models[i]['positions'],scene_full,True)
#apply the ICP results to the model
transformed_points = [se3.apply((R,t),p) for p in models[i]['positions']]
errors.append(matching_error(transformed_points,scene_full))
print "Object",objects[i],"matching error:",errors[-1]
models[i]['positions'] = transformed_points
bestIndex = 0
bestError = min(errors)
for i in range(len(objects)):
if errors[i] == bestError:
bestIndex = i
break
#pick one of the models to visualize
visualization_model = bestIndex
print scene, " scene's best match was the object: ", objects[bestIndex]
opengl_plot = OpenGLPlot(models[visualization_model], scene_full)
opengl_plot.initialize_main_loop()
def main():
models = [get_reconstructed_model(f,True) for f in model_files]
scene_full = get_raw_depth(depth_file)
errors = []
for i in range(len(objects)):
R,t = icp(models[i]['positions'],scene_full)
#apply the ICP results to the model
transformed_points = [se3.apply((R,t),p) for p in models[i]['positions']]
errors.append(matching_error(transformed_points,scene_full))
print "Object",objects[i],"matching error:",errors[-1]
models[i]['positions'] = transformed_points
#pick one of the models to visualize
visualization_model = 2
def main():
models = [get_reconstructed_model(f, True) for f in model_files]
scene_full = get_raw_depth(depth_file)
errors = []
for i in range(len(objects)):
print "started main"
R, t = icp(models[i]["positions"], scene_full)
print "exited icp"
# apply the ICP results to the model
transformed_points = [se3.apply((R, t), p) for p in models[i]["positions"]]
print "transformed points"
errors.append(matching_error(transformed_points, scene_full))
print "appended errors"
print "Object", objects[i], "matching error:", errors[-1]
models[i]["positions"] = transformed_points
# pick one of the models to visualize
visualization_model = 0
opengl_plot = OpenGLPlot(models[visualization_model], scene_full)
opengl_plot.initialize_main_loop()
