23 lines
1.2 KiB
PowerShell
23 lines
1.2 KiB
PowerShell
param(
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[int]$PairIndex = 0,
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[string]$ResultRoot = ""
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)
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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 $Repo "code\scan_extrinsic_sensitivity.py"
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$X = Join-Path $ResultRoot "final_extrinsic_recommended.json"
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$Ground = Join-Path $ResultRoot "common\ground_planes_batch2.csv"
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$Out = Join-Path $ResultRoot "diagnostics"
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foreach ($Backend in @("open3d_gicp", "small_gicp")) {
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$Label = if ($Backend -eq "open3d_gicp") { "open3d_refined" } else { "small_gicp_refined" }
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& python $Code --pairs (Join-Path $ResultRoot "$Backend\B_batch2_refined.npz") --extrinsic $X `
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--ground-planes $Ground --pair-index $PairIndex --output (Join-Path $Out "${Label}_pair${PairIndex}_left_rpy_scan.json")
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if ($LASTEXITCODE -ne 0) { throw "$Backend sensitivity scan failed" }
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}
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& python $Code --pairs (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz") --extrinsic $X `
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--ground-planes $Ground --pair-index $PairIndex --output (Join-Path $Out "consensus_pair${PairIndex}_left_rpy_scan.json")
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if ($LASTEXITCODE -ne 0) { throw "Consensus sensitivity scan failed" }
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