args = parser.parse_args()
if args.dataset is None:
raise ValueError('Must specify dataset, e.g. redwood or scannet, etc.')
if args.source is None:
raise ValueError('Must specify input source, e.g. fgr or Super4PCS, etc.')
home = env()
dataset = args.dataset
source = args.source
pathlib.Path('%s/relative_pose/summary/%s/%s' % (home, dataset, source)).mkdir(
exist_ok=True, parents=True)
reader = Reader()
PATH_SUMMARY = '%s/relative_pose/summary/{}/{}/{}.mat' % home
for sceneid in reader.list_scenes(dataset):
scanids = reader.get_scanids(dataset, sceneid)
output_mat = PATH_SUMMARY.format(dataset, source, sceneid)
if os.path.exists(output_mat):
continue
n = len(scanids)
scanid_map = {str(scanid): i for i, scanid in enumerate(scanids)}
T = np.zeros((n*4, n*4))
sigma = np.zeros((n, n))
aerr = np.zeros((n, n)) + 10000000.0
terr = np.zeros((n, n)) + 10000000.0
RLlist = reader.list_relative_poses(dataset, source, sceneid)
if len(RLlist) < 4950:
continue
