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) if args.vis_icp: import reg3d print "Visualizing ICP" reg3d.visualize_reg_icp(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, args.rej_normals, args.geo, trial_number)
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, descriptor_type, radius, percentile, args.n_iter, args.geo, aux_output_string, args.basename_in) if args.vis_icp: print "Visualizing ICP" reg3d.visualize_reg_icp(gt_root_dir, trial_root_dir, descriptor_type, radius, percentile, args.n_iter, args.rej_normals, args.geo, aux_output_string, args.basename_in) if args.plot_Terror: print "Saving Terror plots" import compute_transformation_error as TE TE.main() import plot_ICP_iterations plot_ICP_iterations.main()