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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
# examples/python/reconstruction_system/debug/pairwise_pc_alignment.py
import argparse
import json
import sys
pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
sys.path.append(pyexample_path)
from open3d_example import *
sys.path.append(".")
from initialize_config import *
from register_fragments import *
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="matching two point clouds")
parser.add_argument("config", help="reading json file for initial pose")
parser.add_argument("source_id", type=int, help="ID of source point cloud")
parser.add_argument("target_id", type=int, help="ID of target point cloud")
args = parser.parse_args()
with open(args.config) as json_file:
config = json.load(json_file)
initialize_config(config)
config['debug_mode'] = True
ply_file_names = get_file_list(
join(config["path_dataset"], config["folder_fragment"]), ".ply")
register_point_cloud_pair(ply_file_names, args.source_id,
args.target_id, config)
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