param([int]$PairIndex = 0)
$Repo = Split-Path -Parent $PSScriptRoot
$Code = "$Repo\code\scan_extrinsic_sensitivity.py"
$X = "$Repo\results\final_extrinsic_recommended.json"
$Ground = "$Repo\results\common\ground_planes_batch2.csv"
$Out = "$Repo\results\diagnostics"

python $Code --pairs "$Repo\results\open3d_gicp\B_batch2_refined.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\open3d_refined_pair${PairIndex}_left_rpy_scan.json"
if ($LASTEXITCODE -ne 0) { exit $LASTEXITCODE }

python $Code --pairs "$Repo\results\small_gicp\B_batch2_refined.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\small_gicp_refined_pair${PairIndex}_left_rpy_scan.json"
if ($LASTEXITCODE -ne 0) { exit $LASTEXITCODE }

python $Code --pairs "$Repo\results\consensus\B_batch2_consensus.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\consensus_pair${PairIndex}_left_rpy_scan.json"
exit $LASTEXITCODE