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,
