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()
