maxF4 = np.max(bboxF4, axis=1) #Load f5-f2 f5_f2_file = cvg_root + "/flight5_sites/site_1/f5-f2_Hs.txt" f5_f2 = reg3d_T.gt_transformation(f5_f2_file) bboxF5 = LA.inv(f5_f2.Hs).dot(bboxF2) minF5 = np.min(bboxF5, axis=1) maxF5 = np.max(bboxF5, axis=1) #Crop and threshold f2 sceneroot = cvg_root + "/flight2_sites/site_1"; file_in = sceneroot + "/gauss_233_normals.ply"; file_out = sceneroot + "/gauss_233_normals_cropped.ply" if thresh: ply_util.thresh_bbox(file_in, file_out, minF2, maxF2) file_in = sceneroot + "/gauss_233_normals_cropped.ply"; basename_out = sceneroot + "/gauss_233_normals_pvn_cropped" if thresh: ply_util.thresh_pvn(file_in, basename_out) vpcl_descriptors.compute_omp_descriptors(sceneroot, "SHOT", "gauss_233_normals_pvn_cropped", radius, njobs, percentile, True, "descriptors_cropped") vpcl_descriptors.compute_omp_descriptors(sceneroot, "FPFH", "gauss_233_normals_pvn_cropped", radius, njobs, percentile, True, "descriptors_cropped") #Crop and threshold f4 sceneroot = cvg_root + "/flight4_sites/site_1"; file_in = sceneroot + "/gauss_233_normals.ply"; file_out = sceneroot + "/gauss_233_normals_cropped.ply" if thresh: ply_util.thresh_bbox(file_in, file_out, minF4, maxF4)
bbox2006 = (f4_2006.Hs).dot(bboxCVGF4)
min2006 = np.min(bbox2006, axis=1)
max2006 = np.max(bbox2006, axis=1)
print "2006"
print bbox2006
print bbox2006
#Crop and threshold CVGF4
sceneroot = cvg_root;
file_in = sceneroot + "/gauss_233_normals.ply";
file_out = sceneroot + "/gauss_233_normals_cropped.ply"
if thresh:
ply_util.thresh_bbox(file_in, file_out, minCVGF4, maxCVGF4)
file_in = sceneroot + "/gauss_233_normals_cropped.ply";
basename_out = sceneroot + "/gauss_233_normals_pvn_cropped"
if thresh:
ply_util.thresh_pvn(file_in, basename_out)
else:
vpcl_descriptors.compute_omp_descriptors(sceneroot, "SHOT", "gauss_233_normals_pvn_cropped", radius, njobs, percentile, True, "descriptors_cropped")
vpcl_descriptors.compute_omp_descriptors(sceneroot, "FPFH", "gauss_233_normals_pvn_cropped", radius, njobs, percentile, True, "descriptors_cropped")
#Crop and threshold 2006
sceneroot = "/Users/isa/Experiments/reg3d_eval/BH_2006/original";
file_in = sceneroot + "/gauss_233_normals.ply";
file_out = sceneroot + "/gauss_233_normals_cropped.ply"
if thresh:
ply_util.thresh_bbox(file_in, file_out, min2006, max2006)
