ethzasl_icp_mapper_experiments: mk_exp_keyframe

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00001 #!/usr/bin/env python
00002 
00003 from Numeric import *
00004 
00005 
00006 cstParams = 'startupDropCount=0 readingDataPointsFilterCount=2 readingDataPointsFilter/0/name=ClampOnAxisRatioDataPointsFilter readingDataPointsFilter/0/ratio=0.4 readingDataPointsFilter/0/dim=2 readingStepDataPointsFilterCount=0 keyframeDataPointsFilterCount=2 keyframeDataPointsFilter/0/name=ClampOnAxisRatioDataPointsFilter keyframeDataPointsFilter/0/ratio=0.4 keyframeDataPointsFilter/0/dim=2 keyframeDataPointsFilter/1/name=SamplingSurfaceNormalDataPointsFilter  matcher/name=KDTreeMatcher transformationCheckerCount=2 transformationCheckers/0/name=ErrorTransformationChecker transformationCheckers/0/minRotErrorDelta=0.001 transformationCheckers/0/minTransErrorDelta=0.01 transformationCheckers/0/tail=4 transformationCheckers/1/name=CounterTransformationChecker transformationCheckers/1/maxIterationCount=40 featureOutlierFilterCount=2 featureOutlierFilters/0/name=MaxDistOutlierFilter featureOutlierFilters/0/maxDist=0.2 featureOutlierFilters/1/name=MedianDistOutlierFilter featureOutlierFilters/1/factor=4 inspector/name=Inspector errorMinimizer/name=PointToPlaneErrorMinimizer ratioToSwitchKeyframe=0.7  readingDataPointsFilter/1/name=RandomSamplingDataPointsFilter readingDataPointsFilter/1/prob=0.3 matcher/epsilon=10'
00007 
00008 for test in range(20):
00009   for knn in range(4,40,2):
00010       localParams = 'keyframeDataPointsFilter/1/k=' + str(knn)
00011       print(cstParams + ' ' + localParams)