from optparse import OptionParser
parser = OptionParser()
parser.add_option('-n',
'--number',
dest='pointNum',
help='number of points in the point cloud',
type='int',
default=256)
parser.add_option('-p',
'--plot',
dest='plot',
action='store_true',
help='visualize icp result',
default=False)
parser.add_option('-c',
'--core',
dest='coreNum',
help='number of threads used in the cuda',
type='int',
default=0)
(options, args) = parser.parse_args()
pc1 = PointCloud()
pc1.initFromRand(options.pointNum, 0, 1, 10, 20, 0, 1)
pc2 = PointCloud(pc1)
pc2.applyTransformation()
icpSolver = ICPParallel(pc1,
pc2,
numCore=options.coreNum,
plot=options.plot)
icpSolver.solve()
indexArray[resultIndex] = minIndex
totalDistance += minDistance
return totalDistance, PointCloud(self.dst.points[indexArray, 0:3])
if __name__ == '__main__':
"""
When icp.py is used as main module,
- Create a random PointClound pc1
- Create a another PointCloud pc2 as a random transformation from pc1
- Compute the ICP between them
"""
from optparse import OptionParser
parser = OptionParser()
parser.add_option('-n', '--number', dest='pointNum', help='number of points in the point cloud', type='int', default=256)
parser.add_option('-p', '--plot', dest='plot', action='store_true', help='visualize icp result', default=False)
(options, args) = parser.parse_args()
pc1 = PointCloud()
pc1.initFromRand(options.pointNum, 0, 10, 10, 11, 20, 100)
pc2 = PointCloud(pc1)
pc2.applyTransformation()
icpSolver = ICP(pc1, pc2, plot=options.plot)
icpSolver.solve()