modular_cloud_matcher_experiments: mk_exp

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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 matcher/epsilon=0 keyframeDataPointsFilter/1/k=17'
00007 
00008 
00009 for test in range(15):
00010   for step in range(1, 40, 1):
00011     localParams = 'readingDataPointsFilter/1/name=FixstepSamplingDataPointsFilter readingDataPointsFilter/1/stepMult=1'
00012     localParams = localParams + ' readingDataPointsFilter/1/startStep=' +str(step) 
00013     localParams = localParams + ' readingDataPointsFilter/1/endStep=' + str(step)
00014     print(cstParams + ' ' + localParams)
00015 
00016   for step in arange(0.025, 1, 0.025):
00017     localParams = 'readingDataPointsFilter/1/name=RandomSamplingDataPointsFilter'
00018     localParams = localParams + ' readingDataPointsFilter/1/prob=' +str(step) 
00019     print(cstParams + ' ' + localParams)