def main(): models = [get_reconstructed_model(f,True) for f in model_files] scene_full = get_raw_depth(depth_file) errors = [] for i in range(len(objects)): R,t = icp(models[i]['positions'],scene_full,True) #apply the ICP results to the model transformed_points = [se3.apply((R,t),p) for p in models[i]['positions']] errors.append(matching_error(transformed_points,scene_full)) print "Object",objects[i],"matching error:",errors[-1] models[i]['positions'] = transformed_points bestIndex = 0 bestError = min(errors) for i in range(len(objects)): if errors[i] == bestError: bestIndex = i break #pick one of the models to visualize visualization_model = bestIndex print scene, " scene's best match was the object: ", objects[bestIndex] opengl_plot = OpenGLPlot(models[visualization_model], scene_full) opengl_plot.initialize_main_loop()
def main(): models = [get_reconstructed_model(f,True) for f in model_files] scene_full = get_raw_depth(depth_file) errors = [] for i in range(len(objects)): R,t = icp(models[i]['positions'],scene_full) #apply the ICP results to the model transformed_points = [se3.apply((R,t),p) for p in models[i]['positions']] errors.append(matching_error(transformed_points,scene_full)) print "Object",objects[i],"matching error:",errors[-1] models[i]['positions'] = transformed_points #pick one of the models to visualize visualization_model = 2
def main(): models = [get_reconstructed_model(f, True) for f in model_files] scene_full = get_raw_depth(depth_file) errors = [] for i in range(len(objects)): print "started main" R, t = icp(models[i]["positions"], scene_full) print "exited icp" # apply the ICP results to the model transformed_points = [se3.apply((R, t), p) for p in models[i]["positions"]] print "transformed points" errors.append(matching_error(transformed_points, scene_full)) print "appended errors" print "Object", objects[i], "matching error:", errors[-1] models[i]["positions"] = transformed_points # pick one of the models to visualize visualization_model = 0 opengl_plot = OpenGLPlot(models[visualization_model], scene_full) opengl_plot.initialize_main_loop()