for sigma_idx in range(0,len(sigma)):
print "***** Iter: " , niter
IA_error = np.zeros((ntrials, 3));
ICP_error = np.zeros((ntrials, 3));
for trial in range(0,ntrials):
trial_root_dir = root_dir + "/pert_" + sigma_str[sigma_idx] + "_" + str(trial)
print "***** Trial: " , trial
IA_error[trial,:], ICP_error[trial,:] = reg3d.transformation_error(root_dir = trial_root_dir,
descriptor_type = descriptor,
percentile = percentile,
nr_iterations = niter,
gt_fname = "Hs-identity.txt",
geo_tfile = geo_tfile)
print "IA:"
print IA_error
print "ICP Error:"
print ICP_error
#Compute mean, max and min
IA_error_mean[sigma_idx, :] = np.mean(IA_error, axis=0)
ICP_error_mean[sigma_idx, :]= np.mean(ICP_error, axis=0)
IA_error_max[sigma_idx, :] = np.max(IA_error, axis=0)
ICP_error_max[sigma_idx, :]= np.max(ICP_error, axis=0)
IA_error_min[sigma_idx, :] = np.min(IA_error, axis=0)
ICP_error_min[sigma_idx, :]= np.min(ICP_error, axis=0)
descriptor_string = descriptor_string + "_cropped"
aux_output_string = aux_output_string + "-cropped"
if compute_scale:
aux_output_string = aux_output_string + "_scale"
if bound_scale:
aux_output_string = aux_output_string + "_bound_" + str(bound_percentile)
print descriptor_string, aux_output_string
IA_error_FPFH, ICP_error_FPFH = reg3d.transformation_error( root_dir = trial_root_dir,
descriptor_type = "FPFH",
percentile = 99,
nr_iterations = nr_iter,
aux_output_string = aux_output_string,
gt_fname = gt_fname,
geo_tfile = geo_tfile,
nsamples = nsamples[ns],
sample_distance = sample_distance[sd],
compute_scale = True)
IA_error_SHOT, ICP_error_SHOT = reg3d.transformation_error( root_dir = trial_root_dir,
descriptor_type = "SHOT",
percentile = 99,
nr_iterations = nr_iter,
aux_output_string = aux_output_string,
gt_fname = gt_fname,
geo_tfile = geo_tfile,
nsamples = nsamples[ns],
sample_distance = sample_distance[sd],
compute_scale = True)
if cropped:
descriptor_string = "descriptors_cropped"
# aux_output_string = flight + "-" + gt_flight + "-cropped"
#Note: when I run the experiment the output files were labeled by mistake src-src
aux_output_string = flight + "-" + flight + "-cropped"
else:
descriptor_string = "descriptors"
aux_output_string = flight + "-" + gt_flight
IA_error_FPFH_99, ICP_error_FPFH_99 = reg3d.transformation_error(root_dir = trial_root_dir,
descriptor_type = "FPFH",
percentile = 99,
nr_iterations = nr_iter,
aux_output_string = aux_output_string,
gt_fname = gt_fname,
geo_tfile = geo_tfile)
IA_error_FPFH_95, ICP_error_FPFH_95 = reg3d.transformation_error(root_dir = trial_root_dir,
descriptor_type = "FPFH",
percentile = 95,
nr_iterations = nr_iter,
aux_output_string = aux_output_string,
gt_fname = gt_fname,
geo_tfile = geo_tfile)
IA_error_FPFH_90, ICP_error_FPFH_90 = reg3d.transformation_error(root_dir = trial_root_dir,
descriptor_type = "FPFH",
percentile = 90,
nr_iterations = nr_iter,
aux_output_string = aux_output_string,