35 lines
2.1 KiB
PowerShell
35 lines
2.1 KiB
PowerShell
param([string]$ResultRoot = "")
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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if ([string]::IsNullOrWhiteSpace($ResultRoot)) { $ResultRoot = Join-Path $Repo "results\01_previous_two_batches" }
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$Code = Join-Path $Repo "code\rigorous_calibration.py"
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$Filter = Join-Path $Repo "code\cross_backend_filter.py"
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$Finalize = Join-Path $Repo "code\finalize_consensus.py"
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function Run-Python {
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param([string[]]$Arguments)
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& python @Arguments
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if ($LASTEXITCODE -ne 0) { throw "Python failed with exit code $LASTEXITCODE" }
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}
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Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch2_refined.npz"),
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"--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch2_refined.npz"),
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"--output", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz"))
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Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch1_auxiliary_refined.npz"),
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"--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch1_auxiliary_refined.npz"),
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"--output", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"), "--min-pairs", "15")
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Run-Python @($Code, "calibrate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz"),
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"--ground-planes", (Join-Path $ResultRoot "common\ground_planes_batch2.csv"),
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"--output", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"))
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Run-Python @($Code, "validate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"),
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"--extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"),
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"--output", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json"))
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Run-Python @($Finalize,
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"--consensus-extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"),
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"--consensus-check", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json"),
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"--open3d-extrinsic", (Join-Path $ResultRoot "open3d_gicp\extrinsic_batch2_refined.json"),
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"--small-extrinsic", (Join-Path $ResultRoot "small_gicp\extrinsic_batch2_refined.json"),
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"--output", (Join-Path $ResultRoot "final_extrinsic_recommended.json"),
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"--summary", (Join-Path $ResultRoot "final_summary.json"))
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