33 lines
3.7 KiB
PowerShell
33 lines
3.7 KiB
PowerShell
param(
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[string]$Batch1Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_20260717\prepared",
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[string]$Batch2Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared"
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)
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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$Code = Join-Path $Repo "code\rigorous_calibration.py"
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$Refine = Join-Path $Repo "code\refine_pairs.py"
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$Summary = Join-Path $Repo "code\summarize_results.py"
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$R = Join-Path $Repo "results"
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$B1Frames = Join-Path $Batch1Prepared "frames_all"
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$B2Frames = Join-Path $Batch2Prepared "frames_all"
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$B1Body = Join-Path $Batch1Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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$B2Body = Join-Path $Batch2Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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python $Code ground --frames $B2Frames --output "$R\common\ground_planes_batch2.csv"
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python $Code pairs --backend small_gicp --frames $B2Frames --body $B2Body --output "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --quality-csv "$R\small_gicp\B_batch2_quality.csv"
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python $Code pairs --backend open3d --frames $B2Frames --body $B2Body --output "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --quality-csv "$R\open3d_gicp\B_batch2_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Refine --pairs "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --output "$R\small_gicp\B_batch2_refined.npz"
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python $Refine --pairs "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --output "$R\open3d_gicp\B_batch2_refined.npz"
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python $Code calibrate --pairs "$R\small_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\small_gicp\extrinsic_batch2_refined.json"
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python $Code calibrate --pairs "$R\open3d_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\open3d_gicp\extrinsic_batch2_refined.json"
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python $Code pairs --backend small_gicp --frames $B1Frames --body $B1Body --output "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --quality-csv "$R\small_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Code pairs --backend open3d --frames $B1Frames --body $B1Body --output "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --quality-csv "$R\open3d_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Refine --pairs "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --output "$R\small_gicp\B_batch1_auxiliary_refined.npz"
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python $Refine --pairs "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --output "$R\open3d_gicp\B_batch1_auxiliary_refined.npz"
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python $Code validate --pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\small_gicp\batch1_auxiliary_check.json"
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python $Code validate --pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --output "$R\open3d_gicp\batch1_auxiliary_check.json"
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python $Summary --open3d "$R\open3d_gicp\extrinsic_batch2_refined.json" --small "$R\small_gicp\extrinsic_batch2_refined.json" --open3d-quality "$R\open3d_gicp\B_batch2_quality.json" --small-quality "$R\small_gicp\B_batch2_quality.json" --open3d-check "$R\open3d_gicp\batch1_auxiliary_check.json" --small-check "$R\small_gicp\batch1_auxiliary_check.json" --output "$R\comparison_summary.json" --recommended-output "$R\final_extrinsic_recommended.json"
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